bool imu6Test(void)
{
bool testStatus = true;
if (!isInit)
{
DEBUG_PRINT("Uninitialized");
testStatus = false;
}
#ifdef IMU_ENABLE_MAG_AK8963
testStatus &= isMagPresent;
if (testStatus)
{
isAK8963TestPassed = ak8963SelfTest();
testStatus = isAK8963TestPassed;
}
#endif
#ifdef IMU_ENABLE_PRESSURE_LPS25H
testStatus &= isBaroPresent;
if (testStatus)
{
isLPS25HTestPassed = lps25hSelfTest();
testStatus = isLPS25HTestPassed;
}
#endif
///testStatus &= imu6ManufacturingTest(); /* TODO Remove */
while (imu6ManufacturingTest() == false);
return testStatus;
}
bool expbrdTest()
{
bool status = true;
if(!isInit)
return false;
// For production test
if (expbrdIsPresent(EXPBRD_VID_BITCRAZE, EXPBRD_PID_ET))
{
status &= imu6ManufacturingTest();
status &= exptestRun();
if (status)
{
DEBUG_PRINT("Expansion port test [OK].\n");
}
else
{
DEBUG_PRINT("Expansion port test [FAIL].\n");
}
}
status &= owTest();
return status;
}
static bool exptestRun(void)
{
int i;
volatile int delay;
bool status = true;
GPIO_InitTypeDef GPIO_InitStructure;
GpioRegBuf gpioSaved;
isInit = true;
status &= imu6ManufacturingTest();
// Enable GPIOs
RCC_AHB1PeriphClockCmd(ET_GPIO_PERIF, ENABLE);
decktestSaveGPIOStatesABC(&gpioSaved);
for (i = 0; i < ET_NBR_PINS; i++)
{
//Initialize the pins as inputs
GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
}
for (i = 0; i < ET_NBR_PINS && status; i++)
{
// Configure pin as output to poke others
GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
// Test high
GPIO_SetBits(etGpioIn[i].port, etGpioIn[i].pin);
for (delay = 0; delay < 1000; delay++);
if (!exptestTestAllPins(1))
{
status = false;
}
// Test low
GPIO_ResetBits(etGpioIn[i].port, etGpioIn[i].pin);
for (delay = 0; delay < 1000; delay++);
if (!exptestTestAllPins(0))
{
status = false;
}
// Restore
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
}
decktestRestoreGPIOStatesABC(&gpioSaved);
if (status)
{
// Configure SDA & SCL to turn on OK leds
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
GPIO_InitStructure.GPIO_Pin = etGpioSDA.pin;
GPIO_Init(etGpioSDA.port, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = etGpioSCL.pin;
GPIO_Init(etGpioSCL.port, &GPIO_InitStructure);
// Turn on OK LEDs.
GPIO_ResetBits(etGpioSDA.port, etGpioSDA.pin);
GPIO_ResetBits(etGpioSCL.port, etGpioSCL.pin);
}
return status;
}