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      1 /*
      2  $License:
      3    Copyright 2011 InvenSense, Inc.
      4 
      5  Licensed under the Apache License, Version 2.0 (the "License");
      6  you may not use this file except in compliance with the License.
      7  You may obtain a copy of the License at
      8 
      9  http://www.apache.org/licenses/LICENSE-2.0
     10 
     11  Unless required by applicable law or agreed to in writing, software
     12  distributed under the License is distributed on an "AS IS" BASIS,
     13  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     14  See the License for the specific language governing permissions and
     15  limitations under the License.
     16   $
     17  */
     18 
     19 /******************************************************************************
     20  *
     21  * $Id: ml_mputest.c 5641 2011-06-14 02:10:02Z mcaramello $
     22  *
     23  *****************************************************************************/
     24 
     25 /**
     26  *  @defgroup MPU_SELF_TEST
     27  *  @brief  C wrapper to integrate the MPU Self Test wrapper in MPL.
     28  *          Provides ML name compliant naming and an additional API that
     29  *          automates the suspension of normal MPL operations, runs the test,
     30  *          and resume.
     31  *
     32  *  @{
     33  *      @file   ml_mputest.c
     34  *      @brief  C wrapper to integrate the MPU Self Test wrapper in MPL.
     35  *              The main logic of the test and APIs can be found in mputest.c
     36  */
     37 
     38 #include <stdio.h>
     39 #include <time.h>
     40 #include <string.h>
     41 #include <math.h>
     42 #include <stdlib.h>
     43 
     44 #include "ml_mputest.h"
     45 
     46 #include "mlmath.h"
     47 #include "mlinclude.h"
     48 #include "ml.h"
     49 #include "mlstates.h"
     50 #include "mldl.h"
     51 #include "mldl_cfg.h"
     52 
     53 #ifdef __cplusplus
     54 extern "C" {
     55 #endif
     56 
     57 /*
     58     Globals
     59 */
     60 extern struct mldl_cfg *mputestCfgPtr;
     61 extern signed char g_z_sign;
     62 
     63 /*
     64     Prototypes
     65 */
     66 extern inv_error_t inv_factory_calibrate(void *mlsl_handle,
     67                                          uint_fast8_t provide_result);
     68 
     69 /**
     70  *  @brief  An MPL wrapper for the main MPU Self Test API inv_factory_calibrate().
     71  *          See inv_factory_calibrate() function for more details.
     72  *
     73  *  @pre    inv_dmp_open() <b>must</b> have been called to populate the mldl_cfg
     74  *          data structure.
     75  *          On Windows, SetupPlatform() is also a madatory pre condition to
     76  *          ensure the accelerometer is properly configured before running the
     77  *          test.
     78  *
     79  *  @param  mlsl_handle
     80  *              serial interface handle to allow serial communication with the
     81  *              device, both gyro and accelerometer.
     82  *  @param  provide_result
     83  *              If 1:
     84  *              perform and analyze the offset, drive frequency, and noise
     85  *              calculation and compare it against set thresholds. Report
     86  *              also the final result using a bit-mask like error code as
     87  *              described in the inv_test_gyro_xxxx() functions.
     88  *              When 0:
     89  *              skip the noise and drive frequency calculation  and pass/fail
     90  *              assessment. It simply calculates the gyro and accel biases.
     91  *              NOTE: for MPU6050 devices, this parameter is currently
     92  *              ignored.
     93  *
     94  *  @return INV_SUCCESS or first non-zero error code otherwise.
     95  */
     96 inv_error_t inv_self_test_factory_calibrate(void *mlsl_handle,
     97                                             unsigned char provide_result)
     98 {
     99     INVENSENSE_FUNC_START;
    100     inv_error_t firstError = INV_SUCCESS;
    101     inv_error_t result;
    102     unsigned char initState = inv_get_state();
    103 
    104     if (initState < INV_STATE_DMP_OPENED) {
    105         MPL_LOGE("Self Test cannot run before inv_dmp_open()\n");
    106         return INV_ERROR_SM_IMPROPER_STATE;
    107     }
    108 
    109     /* obtain a pointer to the 'struct mldl_cfg' data structure. */
    110     mputestCfgPtr = inv_get_dl_config();
    111 
    112     if(initState == INV_STATE_DMP_STARTED) {
    113         result = inv_dmp_stop();
    114         ERROR_CHECK_FIRST(firstError, result);
    115     }
    116 
    117     result = inv_factory_calibrate(mlsl_handle, provide_result);
    118     ERROR_CHECK_FIRST(firstError, result);
    119 
    120     if(initState == INV_STATE_DMP_STARTED) {
    121         result = inv_dmp_start();
    122         ERROR_CHECK_FIRST(firstError, result);
    123     }
    124 
    125     return firstError;
    126 }
    127 
    128 /**
    129  *  @brief  Runs the MPU test at MPL runtime.
    130  *          If the DMP is operating, stops the DMP temporarely,
    131  *          runs the MPU Self Test, and re-starts the DMP.
    132  *
    133  *  @return INV_SUCCESS or a non-zero error code otherwise.
    134  */
    135 inv_error_t inv_self_test_run(void)
    136 {
    137 #ifdef CONFIG_MPU_SENSORS_MPU3050
    138     return inv_self_test_factory_calibrate(inv_get_serial_handle(), TRUE);
    139 #else
    140     return inv_self_test_factory_calibrate(inv_get_serial_handle(), FALSE);
    141 #endif
    142 }
    143 
    144 /**
    145  *  @brief  Runs the MPU test for bias correction only at MPL runtime.
    146  *          If the DMP is operating, stops the DMP temporarely,
    147  *          runs the bias calculation routines, and re-starts the DMP.
    148  *
    149  *  @return INV_SUCCESS or a non-zero error code otherwise.
    150  */
    151 inv_error_t inv_self_test_bias_only(void)
    152 {
    153     return inv_self_test_factory_calibrate(inv_get_serial_handle(), FALSE);
    154 }
    155 
    156 /**
    157  *  @brief  Set the orientation of the acceleroemter Z axis as it will be
    158  *          expected when running the MPU Self Test.
    159  *          Specifies the orientation of the accelerometer Z axis : Z axis
    160  *          pointing upwards or downwards.
    161  *  @param  z_sign
    162  *              The sign of the accelerometer Z axis; valid values are +1 and
    163  *              -1 for +Z and -Z respectively.  Any other value will cause the
    164  *              setting to be ignored and an error code to be returned.
    165  *  @return INV_SUCCESS or a non-zero error code.
    166  */
    167 inv_error_t inv_self_test_set_accel_z_orient(signed char z_sign)
    168 {
    169     if (z_sign != +1 && z_sign != -1) {
    170         return INV_ERROR_INVALID_PARAMETER;
    171     }
    172     g_z_sign = z_sign;
    173     return INV_SUCCESS;
    174 }
    175 
    176 
    177 #ifdef __cplusplus
    178 }
    179 #endif
    180 
    181 /**
    182  *  @}
    183  */
    184 
    185