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
54extern "C" {
55#endif
56
57/*
58    Globals
59*/
60extern struct mldl_cfg *mputestCfgPtr;
61extern signed char g_z_sign;
62
63/*
64    Prototypes
65*/
66extern 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 */
96inv_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 */
135inv_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 */
151inv_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 */
167inv_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