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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2019/01/02 09:47:59 UTC
[GitHub] kasjer closed pull request #1564: lis2dw12 improve self test
kasjer closed pull request #1564: lis2dw12 improve self test
URL: https://github.com/apache/mynewt-core/pull/1564
This is a PR merged from a forked repository.
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As this is a foreign pull request (from a fork), the diff is supplied
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diff --git a/hw/drivers/sensors/lis2dw12/src/lis2dw12.c b/hw/drivers/sensors/lis2dw12/src/lis2dw12.c
index c25df42bae..dd0c71ec50 100644
--- a/hw/drivers/sensors/lis2dw12/src/lis2dw12.c
+++ b/hw/drivers/sensors/lis2dw12/src/lis2dw12.c
@@ -2061,9 +2061,28 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
int32_t scratch[3] = {0,0,0};
int i;
uint8_t prev_config[6];
- *result = 0;
- uint8_t config[6] = { LIS2DW12_DATA_RATE_50HZ | LIS2DW12_PM_HIGH_PERF, LIS2DW12_CTRL_REG2_IF_ADD_INC | LIS2DW12_CTRL_REG2_BDU, 0x00, 0x00, 0x00, LIS2DW12_FS_4G};
+ uint8_t config[6] = { LIS2DW12_DATA_RATE_50HZ | LIS2DW12_PM_HIGH_PERF,
+ LIS2DW12_CTRL_REG2_IF_ADD_INC | LIS2DW12_CTRL_REG2_BDU,
+ 0x00, 0x00, 0x00, LIS2DW12_FS_4G};
uint8_t fs;
+ int16_t diff;
+
+ *result = 0;
+
+ uint8_t fifo_ctrl;
+
+ rc = lis2dw12_read8(itf, LIS2DW12_REG_FIFO_CTRL, &fifo_ctrl);
+ if (rc) {
+ return rc;
+ }
+
+ if (fifo_ctrl) {
+ /* Turn off fifo if was on */
+ rc = lis2dw12_write8(itf, LIS2DW12_REG_FIFO_CTRL, 0);
+ if (rc) {
+ return rc;
+ }
+ }
rc = lis2dw12_readlen(itf, LIS2DW12_REG_CTRL_REG1, prev_config, 6);
if (rc) {
@@ -2088,21 +2107,21 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
return rc;
}
- //discard
+ /* discard */
//TODO poll DRDY in STATUS (27h) instead?
- rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ rc = lis2dw12_get_data(itf, fs, &data[0], &data[1], &data[2]);
if (rc) {
return rc;
}
/* take no st offset reading */
- for(i=0; i<LIS2DW12_ST_NUM_READINGS; i++) {
+ for (i = 0; i < LIS2DW12_ST_NUM_READINGS; i++) {
// TODO poll DRDY in STATUS (27h) instead?
/* wait at least 20 ms */
os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
- rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ rc = lis2dw12_get_data(itf, fs, &data[0], &data[1], &data[2]);
if (rc) {
return rc;
}
@@ -2111,12 +2130,12 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
scratch[2] += data[2];
}
- //average
- no_st[0] = scratch[0]/LIS2DW12_ST_NUM_READINGS;
- no_st[1] = scratch[1]/LIS2DW12_ST_NUM_READINGS;
- no_st[2] = scratch[2]/LIS2DW12_ST_NUM_READINGS;
+ /* average */
+ no_st[0] = scratch[0] / LIS2DW12_ST_NUM_READINGS;
+ no_st[1] = scratch[1] / LIS2DW12_ST_NUM_READINGS;
+ no_st[2] = scratch[2] / LIS2DW12_ST_NUM_READINGS;
- //clean scratch
+ /* clean scratch */
memset(&scratch, 0, sizeof scratch);
/* go into self test mode 1 */
@@ -2128,21 +2147,21 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
/* wait 200ms */
os_time_delay(OS_TICKS_PER_SEC / 5 + 1);
- //discard
+ /* discard */
//TODO poll DRDY in STATUS (27h) instead?
- rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ rc = lis2dw12_get_data(itf, fs, &data[0], &data[1], &data[2]);
if (rc) {
return rc;
}
/* take positive offset reading */
- for(i=0; i<LIS2DW12_ST_NUM_READINGS; i++) {
+ for (i = 0; i < LIS2DW12_ST_NUM_READINGS; i++) {
// TODO poll DRDY in STATUS (27h) instead?
/* wait at least 20 ms */
os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
- rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ rc = lis2dw12_get_data(itf, fs, &data[0], &data[1], &data[2]);
if (rc) {
return rc;
}
@@ -2151,15 +2170,15 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
scratch[2] += data[2];
}
- //average
- st[0] = scratch[0]/LIS2DW12_ST_NUM_READINGS;
- st[1] = scratch[1]/LIS2DW12_ST_NUM_READINGS;
- st[2] = scratch[2]/LIS2DW12_ST_NUM_READINGS;
+ /* average */
+ st[0] = scratch[0] / LIS2DW12_ST_NUM_READINGS;
+ st[1] = scratch[1] / LIS2DW12_ST_NUM_READINGS;
+ st[2] = scratch[2] / LIS2DW12_ST_NUM_READINGS;
- //clean scratch
+ /* clean scratch */
memset(&scratch, 0, sizeof scratch);
- // |Min(ST_X)| <=|OUTX_AVG_ST - OUTX_AVG_NO_ST| <= |Max(ST_X)|
+ /* |Min(ST_X)| <=|OUTX_AVG_ST - OUTX_AVG_NO_ST| <= |Max(ST_X)| */
/* compare values to thresholds */
for (i = 0; i < 3; i++) {
int16_t diff = abs(st[i] - no_st[i]);
@@ -2177,20 +2196,20 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
/* wait 200ms */
os_time_delay(OS_TICKS_PER_SEC / 5 + 1);
- //discard
- rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ /* discard */
+ rc = lis2dw12_get_data(itf, fs, &data[0], &data[1], &data[2]);
if (rc) {
return rc;
}
/* take negative offset reading */
- for(i=0; i<LIS2DW12_ST_NUM_READINGS; i++) {
+ for ( i = 0; i < LIS2DW12_ST_NUM_READINGS; i++) {
// TODO poll DRDY in STATUS (27h) instead?
/* wait at least 20 ms */
os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
- rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ rc = lis2dw12_get_data(itf, fs, &data[0], &data[1], &data[2]);
if (rc) {
return rc;
}
@@ -2199,14 +2218,22 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
scratch[2] += data[2];
}
- //average
- st[0] = scratch[0]/LIS2DW12_ST_NUM_READINGS;
- st[1] = scratch[1]/LIS2DW12_ST_NUM_READINGS;
- st[2] = scratch[2]/LIS2DW12_ST_NUM_READINGS;
+ /* average */
+ st[0] = scratch[0] / LIS2DW12_ST_NUM_READINGS;
+ st[1] = scratch[1] / LIS2DW12_ST_NUM_READINGS;
+ st[2] = scratch[2] / LIS2DW12_ST_NUM_READINGS;
+
+ /* Restore fifo mode if any */
+ if (fifo_ctrl) {
+ rc = lis2dw12_write8(itf, LIS2DW12_REG_FIFO_CTRL, fifo_ctrl);
+ if (rc) {
+ return rc;
+ }
+ }
/* compare values to thresholds */
for (i = 0; i < 3; i++) {
- int16_t diff = abs(st[i] - no_st[i]);
+ diff = abs(st[i] - no_st[i]);
if (diff < LIS2DW12_ST_MIN || diff > LIS2DW12_ST_MAX) {
*result -= 1;
}
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