add LSM9DS1 accelerometer + magnetometer testing and cleanup functions

Core/Src/LSM9DS1.c

@@ -0,0 +1,129 @@
+#include "main.h"
+#include "LSM9DS1.h"
+#include "lcd.h"
+
+#define FAILSAFE_PRE_OP for (size_t t = 0; t < 5; t++) {
+#define FAILSAFE_POST_OP_ACCEL(prefix) if (op_result) print_error_accel(op_result, err_count, t, prefix); else break; }
+#define FAILSAFE_POST_OP_MAGNET(prefix) if (op_result) print_error_magnet(op_result, err_count, t, prefix); else break; }
+
+extern I2C_HandleTypeDef hi2c1;
+
+static void print_error_message(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix)
+{
+	DISPLAY_SET_CURSOR(1, 0);
+	display_write_data_seq(prefix);
+	display_write_data_byte(' ');
+
+	(*err_count)++;
+
+	display_write_data_byte('1' + t);
+	display_write_data_seq("/5 ");
+
+	switch (result) {
+	case HAL_ERROR:
+		display_write_data_seq("ERROR");
+		break;
+	case HAL_BUSY:
+		display_write_data_seq("BUSY");
+		break;
+	case HAL_TIMEOUT:
+		display_write_data_seq("TIMEOUT");
+		break;
+	}
+
+	HAL_Delay(1000);
+}
+
+static void print_error_accel(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Accel");
+
+	print_error_message(result, err_count, t, prefix);
+}
+
+static void print_error_magnet(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Magnet");
+
+	print_error_message(result, err_count, t, prefix);
+}
+
+void LSM9DS1_test_accel(void)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Accel");
+
+	HAL_StatusTypeDef op_result;
+	uint8_t buffer[6];
+	size_t err_count = 0;
+
+	// enable sampling at 10 Hz
+	buffer[0] = 0x20;
+	buffer[1] = 0x20;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6, buffer, 2, 1000);
+	FAILSAFE_POST_OP_ACCEL("E");
+
+	HAL_Delay(100);
+
+	// set future read address
+	buffer[0] = 0x28;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6, buffer, 1, 1000);
+	FAILSAFE_POST_OP_ACCEL("A");
+
+	// read from registers sequentially
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD7, buffer, 6, 1000);
+	FAILSAFE_POST_OP_ACCEL("R");
+
+	if (!err_count) {
+		DISPLAY_SET_CURSOR(1, 1);
+		display_write_data_seq("OK");
+	} else {
+		DISPLAY_SET_CURSOR(1, 0);
+		display_write_data_byte('0' + ((err_count / 10) % 10));
+		display_write_data_byte('0' + (err_count % 10));
+		display_write_data_seq(" errors");
+	}
+}
+
+void LSM9DS1_cleanup_accel(void)
+{
+	// power down the accelerometer
+	uint8_t buffer[2] = {0x20, 0x00};
+	HAL_I2C_Master_Transmit(&hi2c1, 0xD6, buffer, 2, 1000);
+}
+
+void LSM9DS1_test_magnet(void)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Magnet");
+
+	HAL_StatusTypeDef op_result;
+	uint8_t buffer[6];
+	size_t err_count = 0;
+
+	// set future read address
+	buffer[0] = 0x28;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0x3C, buffer, 1, 1000);
+	FAILSAFE_POST_OP_ACCEL("A");
+
+	// read from registers sequentially
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Receive(&hi2c1, 0x3D, buffer, 6, 1000);
+	FAILSAFE_POST_OP_ACCEL("R");
+
+	if (!err_count) {
+		DISPLAY_SET_CURSOR(1, 1);
+		display_write_data_seq("OK");
+	} else {
+		DISPLAY_SET_CURSOR(1, 0);
+		display_write_data_byte('0' + ((err_count / 10) % 10));
+		display_write_data_byte('0' + (err_count % 10));
+		display_write_data_seq(" errors");
+	}
+}

Core/Src/main.c

@@ -32,6 +32,7 @@
 #include "LIS302DL.h"
 #include "DHT11.h"
 #include "MP45DT02.h"
+#include "LSM9DS1.h"
 
 /* USER CODE END Includes */
 
@@ -75,7 +76,9 @@ void ((*executors[])(void)) = {
 		SST25VF016B_run_test,
 		LIS302DL_run_test,
 		LIS302DL_run_test_dynamic,
-		MP45DT02_run_test
+		MP45DT02_run_test,
+		LSM9DS1_test_accel,
+		LSM9DS1_test_magnet
 };
 
 void ((*cleanup_functions[])(void)) = {
@@ -87,6 +90,8 @@ void ((*cleanup_functions[])(void)) = {
 		NULL,
 		NULL,
 		NULL,
+		NULL,
+		LSM9DS1_cleanup_accel,
 		NULL
 };
 
@@ -99,6 +104,8 @@ int delay_between_runs[] = {
 		-1,
 		-1,
 		200,
+		-1,
+		-1,
 		-1
 		};
 
@@ -126,7 +133,7 @@ static void MX_I2S2_Init(void);
 void switch_to_next_test(void)
 {
 	current_executor_id += 1;
-	current_executor_id %= 9;
+	current_executor_id %= 11;
 }
 
 void buttons_switch_to_interrupt(void)