text: /*
   ******************************************************************************
   * @file    lsm6dso32_self_test.c
   * @author  Sensors Software Solution Team
   * @brief   This file implements the self test procedure.
   *
   ******************************************************************************
   * @attention
   *
   * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under BSD 3-Clause license,
   * the "License"; You may not use this file except in compliance with the
   * License. You may obtain a copy of the License at:
   *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */
  
  /*
   * This example was developed using the following STMicroelectronics
   * evaluation boards:
   *
   * - STEVAL_MKI109V3 + STEVAL-MKI215V1
   * - NUCLEO_F411RE + STEVAL-MKI215V1
   * - DISCOVERY_SPC584B + STEVAL-MKI215V1
   *
   * Used interfaces:
   *
   * STEVAL_MKI109V3    - Host side:   USB (Virtual COM)
   *                    - Sensor side: SPI(Default) / I2C(supported)
   *
   * NUCLEO_STM32F411RE - Host side: UART(COM) to USB bridge
   *                    - I2C(Default) / SPI(supported)
   *
   * DISCOVERY_SPC584B  - Host side: UART(COM) to USB bridge
   *                    - Sensor side: I2C(Default) / SPI(supported)
   *
   * If you need to run this example on a different hardware platform a
   * modification of the functions: `platform_write`, `platform_read`,
   * `tx_com` and 'platform_init' is required.
   *
   */
  
  //#define STEVAL_MKI109V3  /* little endian */
  //#define NUCLEO_F411RE    /* little endian */
  //#define SPC584B_DIS      /* big endian */
  
  /* ATTENTION: By default the driver is little endian. If you need switch
   *            to big endian please see "Endianness definitions" in the
   *            header file of the driver (_reg.h).
   */
  
  #if defined(STEVAL_MKI109V3)
  /* MKI109V3: Define communication interface */
  #define SENSOR_BUS hspi2
  /* MKI109V3: Vdd and Vddio power supply values */
  #define PWM_3V3 915
  
  #elif defined(NUCLEO_F411RE)
  /* NUCLEO_F411RE: Define communication interface */
  #define SENSOR_BUS hi2c1
  
  #elif defined(SPC584B_DIS)
  /* DISCOVERY_SPC584B: Define communication interface */
  #define SENSOR_BUS I2CD1
  
  #endif
  
  /* Includes ------------------------------------------------------------------*/
  #include <string.h>
  #include <stdio.h>
  #include "lsm6dso32_reg.h"
  
  #if defined(NUCLEO_F411RE)
  #include "stm32f4xx_hal.h"
  #include "usart.h"
  #include "gpio.h"
  #include "i2c.h"
  
  #elif defined(STEVAL_MKI109V3)
  #include "stm32f4xx_hal.h"
  #include "usbd_cdc_if.h"
  #include "gpio.h"
  #include "spi.h"
  #include "tim.h"
  
  #elif defined(SPC584B_DIS)
  #include "components.h"
  #endif
  
  /* Private macro -------------------------------------------------------------*/
  #define    BOOT_TIME              10
  
  /* Self test limits. */
  #define    MIN_ST_LIMIT_mg        50.0f
  #define    MAX_ST_LIMIT_mg      1700.0f
  #define    MIN_ST_LIMIT_mdps   150000.0f
  #define    MAX_ST_LIMIT_mdps   700000.0f
  
  /* Self test results. */
  #define    ST_PASS     1U
  #define    ST_FAIL     0U
  
  /* Private variables ---------------------------------------------------------*/
  
  /* Extern variables ----------------------------------------------------------*/
  
  /* Private functions ---------------------------------------------------------*/
  
  /* WARNING:
   * Functions declare in this section are defined at the end of this file
   * and are strictly related to the hardware platform used.
   */
  static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
                                uint16_t len);
  static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
                               uint16_t len);
  static void tx_com( uint8_t *tx_buffer, uint16_t len );
  static void platform_delay(uint32_t ms);
  static void platform_init(void);
  
  /* Main Example --------------------------------------------------------------*/
  void lsm6dso32_self_test(void)
  {
    uint8_t tx_buffer[1000];
    int16_t data_raw[3];
    stmdev_ctx_t dev_ctx;
    float val_st_off[3];
    float val_st_on[3];
    float test_val[3];
    uint8_t st_result;
    uint8_t whoamI;
    uint8_t drdy;
    uint8_t rst;
    uint8_t i;
    uint8_t j;
    /* Initialize mems driver interface */
    dev_ctx.write_reg = platform_write;
    dev_ctx.read_reg = platform_read;
    dev_ctx.handle = &SENSOR_BUS;
    /* Init test platform */
    platform_init();
    /* Wait sensor boot time */
    platform_delay(BOOT_TIME);
    /* Check device ID */
    lsm6dso32_device_id_get(&dev_ctx, &whoamI);
  
    if (whoamI != LSM6DSO32_ID)
      while (1);
  
    /* Restore default configuration */
    lsm6dso32_reset_set(&dev_ctx, PROPERTY_ENABLE);
  
    do {
      lsm6dso32_reset_get(&dev_ctx, &rst);
    } while (rst);
  
    /* Disable I3C interface */
    lsm6dso32_i3c_disable_set(&dev_ctx, LSM6DSO32_I3C_DISABLE);
    /* Enable Block Data Update */
    lsm6dso32_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
    /*
     * Accelerometer Self Test
     */
    /* Set Output Data Rate */
    lsm6dso32_xl_data_rate_set(&dev_ctx, LSM6DSO32_XL_ODR_52Hz_HIGH_PERF);
    /* Set full scale */
    lsm6dso32_xl_full_scale_set(&dev_ctx, LSM6DSO32_4g);
    /* Wait stable output */
    platform_delay(100);
  
    /* Check if new value available */
    do {
      lsm6dso32_xl_flag_data_ready_get(&dev_ctx, &drdy);
    } while (!drdy);
  
    /* Read dummy data and discard it */
    lsm6dso32_acceleration_raw_get(&dev_ctx, data_raw);
    /* Read 5 sample and get the average vale for each axis */
    memset(val_st_off, 0x00, 3 * sizeof(float));
  
    for (i = 0; i < 5; i++) {
      /* Check if new value available */
      do {
        lsm6dso32_xl_flag_data_ready_get(&dev_ctx, &drdy);
      } while (!drdy);
  
      /* Read data and accumulate the mg value */
      lsm6dso32_acceleration_raw_get(&dev_ctx, data_raw);
  
      for (j = 0; j < 3; j++) {
        val_st_off[j] += lsm6dso32_from_fs4_to_mg(data_raw[j]);
      }
    }
  
    /* Calculate the mg average values */
    for (i = 0; i < 3; i++) {
      val_st_off[i] /= 5.0f;
    }
  
    /* Enable Self Test positive (or negative) */
    lsm6dso32_xl_self_test_set(&dev_ctx, LSM6DSO32_XL_ST_NEGATIVE);
    //lsm6dso32_xl_self_test_set(&dev_ctx, LSM6DSO32_XL_ST_POSITIVE);
    /* Wait stable output */
    platform_delay(100);
  
    /* Check if new value available */
    do {
      lsm6dso32_xl_flag_data_ready_get(&dev_ctx, &drdy);
    } while (!drdy);
  
    /* Read dummy data and discard it */
    lsm6dso32_acceleration_raw_get(&dev_ctx, data_raw);
    /* Read 5 sample and get the average vale for each axis */
    memset(val_st_on, 0x00, 3 * sizeof(float));
  
    for (i = 0; i < 5; i++) {
      /* Check if new value available */
      do {
        lsm6dso32_xl_flag_data_ready_get(&dev_ctx, &drdy);
      } while (!drdy);
  
      /* Read data and accumulate the mg value */
      lsm6dso32_acceleration_raw_get(&dev_ctx, data_raw);
  
      for (j = 0; j < 3; j++) {
        val_st_on[j] += lsm6dso32_from_fs4_to_mg(data_raw[j]);
      }
    }
  
    /* Calculate the mg average values */
    for (i = 0; i < 3; i++) {
      val_st_on[i] /= 5.0f;
    }
  
    /* Calculate the mg values for self test */
    for (i = 0; i < 3; i++) {
      test_val[i] = fabs((val_st_on[i] - val_st_off[i]));
    }
  
    /* Check self test limit */
    st_result = ST_PASS;
  
    for (i = 0; i < 3; i++) {
      if (( MIN_ST_LIMIT_mg > test_val[i] ) ||
          ( test_val[i] > MAX_ST_LIMIT_mg)) {
        st_result = ST_FAIL;
      }
    }
  
    /* Disable Self Test */
    lsm6dso32_xl_self_test_set(&dev_ctx, LSM6DSO32_XL_ST_DISABLE);
    /* Disable sensor. */
    lsm6dso32_xl_data_rate_set(&dev_ctx, LSM6DSO32_XL_ODR_OFF);
    /*
     * Gyroscope Self Test
     */
    /* Set Output Data Rate */
    lsm6dso32_gy_data_rate_set(&dev_ctx,
                               LSM6DSO32_GY_ODR_208Hz_HIGH_PERF);
    /* Set full scale */
    lsm6dso32_gy_full_scale_set(&dev_ctx, LSM6DSO32_2000dps);
    /* Wait stable output */
    platform_delay(100);
  
    /* Check if new value available */
    do {
      lsm6dso32_gy_flag_data_ready_get(&dev_ctx, &drdy);
    } while (!drdy);
  
    /* Read dummy data and discard it */
    lsm6dso32_angular_rate_raw_get(&dev_ctx, data_raw);
    /* Read 5 sample and get the average vale for each axis */
    memset(val_st_off, 0x00, 3 * sizeof(float));
  
    for (i = 0; i < 5; i++) {
      /* Check if new value available */
      do {
        lsm6dso32_xl_flag_data_ready_get(&dev_ctx, &drdy);
      } while (!drdy);
  
      /* Read data and accumulate the mg value */
      lsm6dso32_angular_rate_raw_get(&dev_ctx, data_raw);
  
      for (j = 0; j < 3; j++) {
        val_st_off[j] += lsm6dso32_from_fs2000_to_mdps(data_raw[j]);
      }
    }
  
    /* Calculate the mg average values */
    for (i = 0; i < 3; i++) {
      val_st_off[i] /= 5.0f;
    }
  
    /* Enable Self Test positive (or negative) */
    lsm6dso32_gy_self_test_set(&dev_ctx, LSM6DSO32_GY_ST_POSITIVE);
    //lsm6dso32_gy_self_test_set(&dev_ctx, LIS2DH12_GY_ST_NEGATIVE);
    /* Wait stable output */
    platform_delay(100);
    /* Read 5 sample and get the average vale for each axis */
    memset(val_st_on, 0x00, 3 * sizeof(float));
  
    for (i = 0; i < 5; i++) {
      /* Check if new value available */
      do {
        lsm6dso32_xl_flag_data_ready_get(&dev_ctx, &drdy);
      } while (!drdy);
  
      /* Read data and accumulate the mg value */
      lsm6dso32_angular_rate_raw_get(&dev_ctx, data_raw);
  
      for (j = 0; j < 3; j++) {
        val_st_on[j] += lsm6dso32_from_fs2000_to_mdps(data_raw[j]);
      }
    }
  
    /* Calculate the mg average values */
    for (i = 0; i < 3; i++) {
      val_st_on[i] /= 5.0f;
    }
  
    /* Calculate the mg values for self test */
    for (i = 0; i < 3; i++) {
      test_val[i] = fabs((val_st_on[i] - val_st_off[i]));
    }
  
    /* Check self test limit */
    for (i = 0; i < 3; i++) {
      if (( MIN_ST_LIMIT_mdps > test_val[i] ) ||
          ( test_val[i] > MAX_ST_LIMIT_mdps)) {
        st_result = ST_FAIL;
      }
    }
  
    /* Disable Self Test */
    lsm6dso32_gy_self_test_set(&dev_ctx, LSM6DSO32_GY_ST_DISABLE);
    /* Disable sensor. */
    lsm6dso32_xl_data_rate_set(&dev_ctx, LSM6DSO32_GY_ODR_OFF);
  
    if (st_result == ST_PASS) {
      sprintf((char *)tx_buffer, "Self Test - PASS\r\n" );
    }
  
    else {
      sprintf((char *)tx_buffer, "Self Test - FAIL\r\n" );
    }
  
    tx_com(tx_buffer, strlen((char const *)tx_buffer));
  }
  
  /*
   * @brief  Write generic device register (platform dependent)
   *
   * @param  handle    customizable argument. In this examples is used in
   *                   order to select the correct sensor bus handler.
   * @param  reg       register to write
   * @param  bufp      pointer to data to write in register reg
   * @param  len       number of consecutive register to write
   *
   */
  static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
                                uint16_t len)
  {
  #if defined(NUCLEO_F411RE)
    HAL_I2C_Mem_Write(handle, LSM6DSO32_I2C_ADD_H, reg,
                      I2C_MEMADD_SIZE_8BIT, (uint8_t*) bufp, len, 1000);
  #elif defined(STEVAL_MKI109V3)
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_RESET);
    HAL_SPI_Transmit(handle, &reg, 1, 1000);
    HAL_SPI_Transmit(handle, (uint8_t*) bufp, len, 1000);
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_SET);
  #elif defined(SPC584B_DIS)
    i2c_lld_write(handle,  LSM6DSO32_I2C_ADD_H & 0xFE, reg, (uint8_t*) bufp, len);
  #endif
    return 0;
  }
  
  /*
   * @brief  Read generic device register (platform dependent)
   *
   * @param  handle    customizable argument. In this examples is used in
   *                   order to select the correct sensor bus handler.
   * @param  reg       register to read
   * @param  bufp      pointer to buffer that store the data read
   * @param  len       number of consecutive register to read
   *
   */
  static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
                               uint16_t len)
  {
  #if defined(NUCLEO_F411RE)
    HAL_I2C_Mem_Read(handle, LSM6DSO32_I2C_ADD_H, reg,
                     I2C_MEMADD_SIZE_8BIT, bufp, len, 1000);
  #elif defined(STEVAL_MKI109V3)
    reg |= 0x80;
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_RESET);
    HAL_SPI_Transmit(handle, &reg, 1, 1000);
    HAL_SPI_Receive(handle, bufp, len, 1000);
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_SET);
  #elif defined(SPC584B_DIS)
    i2c_lld_read(handle, LSM6DSO32_I2C_ADD_H & 0xFE, reg, bufp, len);
  #endif
    return 0;
  }
  
  /*
   * @brief  Send buffer to console (platform dependent)
   *
   * @param  tx_buffer     buffer to transmit
   * @param  len           number of byte to send
   *
   */
  static void tx_com(uint8_t *tx_buffer, uint16_t len)
  {
  #if defined(NUCLEO_F411RE)
    HAL_UART_Transmit(&huart2, tx_buffer, len, 1000);
  #elif defined(STEVAL_MKI109V3)
    CDC_Transmit_FS(tx_buffer, len);
  #elif defined(SPC584B_DIS)
    sd_lld_write(&SD2, tx_buffer, len);
  #endif
  }
  
  /*
   * @brief  platform specific delay (platform dependent)
   *
   * @param  ms        delay in ms
   *
   */
  static void platform_delay(uint32_t ms)
  {
  #if defined(NUCLEO_F411RE) | defined(STEVAL_MKI109V3)
    HAL_Delay(ms);
  #elif defined(SPC584B_DIS)
    osalThreadDelayMilliseconds(ms);
  #endif
  }
  
  /*
   * @brief  platform specific initialization (platform dependent)
   */
  static void platform_init(void)
  {
  #if defined(STEVAL_MKI109V3)
    TIM3->CCR1 = PWM_3V3;
    TIM3->CCR2 = PWM_3V3;
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
    HAL_Delay(1000);
  #endif
  }
  