add LIS302DL accelerometer testing function

Core/Inc/LIS302DL.h

@@ -0,0 +1,7 @@
+#ifndef __LIS302DL
+#define __LIS302DL
+
+void LIS302DL_run_test(void);
+void LIS302DL_run_test_dynamic(void);
+
+#endif

Core/Src/LIS302DL.c

@@ -0,0 +1,164 @@
+#include "main.h"
+#include "lcd.h"
+#include "LIS302DL.h"
+
+#define FAILSAFE_PRE_OP for (size_t t = 0; t < 5; t++) {
+#define FAILSAFE_POST_OP(prefix) if (op_result) print_error_message(op_result, err_count, t, prefix, postfix); else break; }
+
+extern I2C_HandleTypeDef hi2c1;
+
+static char convert_char_at(uint8_t value, size_t position)
+{
+	char d = (value >> (4 * position)) % 16;
+
+	if (d > 9)
+		d += 7;
+
+	return '0' + d;
+}
+
+static void print_at(uint8_t value, size_t offset)
+{
+	DISPLAY_SET_CURSOR(1, offset);
+
+	// most significant digit
+	display_write_data_byte(convert_char_at(value, 1));
+
+	// least significant digit
+	display_write_data_byte(convert_char_at(value, 0));
+}
+
+static void print_error_message(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix, char *postfix)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LIS302DL Accel ");
+	display_write_data_seq(postfix);
+	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(2000);
+}
+
+static void retrieve_data(size_t *err_count, uint8_t *data_xyz, char *postfix)
+{
+	HAL_StatusTypeDef op_result;
+	uint8_t data_buffer[2];
+
+	// enable device
+	data_buffer[0] = 0x20;
+	data_buffer[1] = 0x47;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6, data_buffer, 2, 2000);
+	FAILSAFE_POST_OP("E");
+
+	// select OutX register
+	data_buffer[0] = 0x29;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6 | 0x1, data_buffer, 1, 2000);
+	FAILSAFE_POST_OP("SX");
+
+	// receive data from it
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD6 | 0x1, data_xyz, 1, 2000);
+	FAILSAFE_POST_OP("RX");
+
+	// select OutY register
+	data_buffer[0] = 0x2B;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6 | 0x1, data_buffer, 1, 2000);
+	FAILSAFE_POST_OP("SY");
+
+	// receive data from it
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD6 | 0x1, &(data_xyz[1]), 1, 2000);
+	FAILSAFE_POST_OP("RY");
+
+	// select OutZ register
+	data_buffer[0] = 0x2D;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6 | 0x1, data_buffer, 1, 2000);
+	FAILSAFE_POST_OP("SZ");
+
+	// receive data from it
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD6 | 0x1, &(data_xyz[2]), 1, 2000);
+	FAILSAFE_POST_OP("RZ");
+}
+
+void LIS302DL_run_test(void)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LIS302DL Accel");
+
+	size_t err_count = 0;
+	uint8_t data_xyz[3];
+
+	retrieve_data(&err_count, data_xyz, "");
+
+	DISPLAY_CLEAR;
+	display_write_data_seq("LIS302DL Accel");
+
+	// output retrieved values
+	print_at(data_xyz[2], 14);
+	print_at(data_xyz[1], 11);
+	print_at(data_xyz[0], 8);
+
+	// print the execution stats
+	if (err_count) {
+		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(" errs");
+	} else {
+		DISPLAY_SET_CURSOR(1, 1);
+		display_write_data_seq("OK");
+	}
+}
+
+void LIS302DL_run_test_dynamic(void)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LIS302DL Accel D");
+
+	size_t err_count = 0;
+	uint8_t data_xyz[3];
+
+	retrieve_data(&err_count, data_xyz, "D");
+
+	DISPLAY_CLEAR;
+	display_write_data_seq("LIS302DL Accel D");
+
+	// output retrieved values
+	print_at(data_xyz[2], 14);
+	print_at(data_xyz[1], 11);
+	print_at(data_xyz[0], 8);
+
+	// print the execution stats
+	if (err_count) {
+		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(" errs");
+	} else {
+		DISPLAY_SET_CURSOR(1, 1);
+		display_write_data_seq("OK");
+	}
+}

Core/Src/main.c

@@ -29,6 +29,7 @@
 #include "24AA02E48.h"
 #include "CS43L22.h"
 #include "SST25VF016B.h"
+#include "LIS302DL.h"
 
 /* USER CODE END Includes */
 
@@ -65,7 +66,9 @@ void ((*executors[])(void)) = {
 		PCA9685_run_test,
 		EEPROM_24AA02E48_run_test,
 		CS43L22_run_test,
-		SST25VF016B_run_test
+		SST25VF016B_run_test,
+		LIS302DL_run_test,
+		LIS302DL_run_test_dynamic
 };
 
 void ((*cleanup_functions[])(void)) = {
@@ -74,10 +77,12 @@ void ((*cleanup_functions[])(void)) = {
 		PCA9685_cleanup,
 		NULL,
 		CS43L22_cleanup,
+		NULL,
+		NULL,
 		NULL
 };
 
-int delay_between_runs[] = {250, 250, -1, -1, -1, -1};
+int delay_between_runs[] = {250, 250, -1, -1, -1, -1, -1, 200};
 
 size_t current_executor_id = 0;
 
@@ -101,7 +106,7 @@ static void MX_SPI1_Init(void);
 void switch_to_next_test(void)
 {
 	current_executor_id += 1;
-	current_executor_id %= 6;
+	current_executor_id %= 8;
 }
 
 void buttons_switch_to_interrupt(void)
@@ -283,11 +288,11 @@ int main(void)
 	if (delay_between_runs[current_executor_id] == -1) {
 		WAIT_UNTIL_CB_PRESSED;
 		HAL_Delay(150);
-		GPIOD->ODR = 0x1000;
+		GPIOD->BSRR = 0x1000;
 
 		WAIT_UNTIL_CB_RELEASED;
 		HAL_Delay(150);
-		GPIOD->ODR = 0x0000;
+		GPIOD->BSRR = 0x1000 << 16;
 
 		if (cleanup_functions[current_executor_id])
 			cleanup_functions[current_executor_id]();