84 lines
2.8 KiB
C
84 lines
2.8 KiB
C
/*
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*
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* Copyright (c) [2018] by InvenSense, Inc.
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*
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* Permission to use, copy, modify, and/or distribute this software for any
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* purpose with or without fee is hereby granted.
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*
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* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
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* SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
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* OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
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* CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*
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*/
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/** @defgroup selftest Self-Test
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* @brief High-level functions for Self-Test procedures
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* @{
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*/
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/** @file inv_imu_selftest.h */
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#ifndef _INV_IMU_SELFTEST_H_
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#define _INV_IMU_SELFTEST_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "imu/inv_imu_driver.h"
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/** Self-test input parameters */
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typedef struct {
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ST_CONFIG_NUM_SAMPLES_t st_num_samples; /**< Number of samples used to perform self-test */
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SELFTEST_ACCEL_GYRO_ST_EN_t st_control; /**< Define which sensor is under self-test */
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} inv_imu_selftest_parameters_t;
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/** Self-test routine outputs */
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typedef struct {
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int8_t accel_status; /**< global accel self-test passed */
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int8_t ax_status; /**< AX self-test status */
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int8_t ay_status; /**< AY self-test status */
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int8_t az_status; /**< AZ self-test status */
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#if INV_IMU_IS_GYRO_SUPPORTED
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int8_t gyro_status; /**< global gyro self-test status: st_pass (bit0), st_incomplete (bit1) */
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int8_t gx_status; /**< GX self-test status */
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int8_t gy_status; /**< GY self-test status */
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int8_t gz_status; /**< GZ self-test status */
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#endif
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} inv_imu_selftest_output_t;
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/** @brief Execute self-test.
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* @param[in] s Pointer to device.
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* @param[in] st_params Self-test parameters.
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* @param[out] st_output Self-test results.
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* @return 0 on success, negative value on error.
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*/
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int inv_imu_run_selftest(inv_imu_device_t *s, const inv_imu_selftest_parameters_t st_params,
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inv_imu_selftest_output_t *st_output);
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/** @brief Fill the self-test configuration structure with default configuration.
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* @param[in] s Pointer to device.
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* @param[in] selftest_params Self-test parameters to be initialized.
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* @return 0 on success, negative value on error.
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*/
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int inv_imu_init_selftest_parameters_struct(inv_imu_device_t * s,
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inv_imu_selftest_parameters_t *selftest_params);
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/** @brief Load self-test data.
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* @param[in] s Pointer to device.
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* @return 0 on success, negative value on error.
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*/
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int inv_imu_load_selftest_data(inv_imu_device_t *s);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _INV_IMU_SELFTEST_H_ */
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/** @} */
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