fix(test): modify vl53l0x and reduce pwm for NSUMO

Surprisingly, most tests work on NSUMO without any require any changes, but test_vl53l0x_multiple doesn't, because left and right are not ignored properly in vl53l0x driver, so fix that. Also reduce the PWM in test_motors to avoid running the motors at full speed. video: 24
artfulbytes · Jun 16, 2023 · d697060 · d697060
1 parent da4bdfc
commit d697060
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/src/drivers/vl53l0x.c b/src/drivers/vl53l0x.c
@@ -685,6 +685,11 @@ static bool vl53l0x_is_sysrange_done(vl53l0x_idx_e idx)
     if (idx != VL53L0X_IDX_FRONT) {
         return true;
     }
+#elif defined(NSUMO)
+    if (idx != VL53L0X_IDX_FRONT_LEFT && idx != VL53L0X_IDX_FRONT
+        && idx != VL53L0X_IDX_FRONT_RIGHT) {
+        return true;
+    }
 #endif
     i2c_set_slave_address(vl53l0x_cfgs[idx].addr);
     uint8_t interrupt_status = 0;

diff --git a/src/test/test.c b/src/test/test.c
@@ -47,6 +47,7 @@ static void test_blink_led(void)
 SUPPRESS_UNUSED
 static void test_launchpad_io_pins_output(void)
 {
+#if defined(LAUNCHPAD)
     test_setup();
     const struct io_config output_config = { .select = IO_SELECT_GPIO,
                                             .resistor = IO_RESISTOR_DISABLED,
@@ -65,6 +66,7 @@ static void test_launchpad_io_pins_output(void)
             io_set_out(io, IO_OUT_LOW);
         }
     }
+#endif
 }
 
 /* Configure all pins except one (pin 1.0) as input with internal pull-up resistors. Configure
@@ -77,6 +79,7 @@ static void test_launchpad_io_pins_output(void)
 SUPPRESS_UNUSED
 static void test_launchpad_io_pins_input(void)
 {
+#if defined(LAUNCHPAD)
     test_setup();
     led_init();
     const struct io_config input_config = {
@@ -114,6 +117,7 @@ static void test_launchpad_io_pins_input(void)
         led_set(LED_TEST, LED_STATE_OFF);
         BUSY_WAIT_ms(2000);
     }
+#endif
 }
 
 SUPPRESS_UNUSED
@@ -131,6 +135,7 @@ static void io_20_isr(void)
 SUPPRESS_UNUSED
 static void test_io_interrupt(void)
 {
+#if defined(LAUNCHPAD)
     test_setup();
     const struct io_config input_config = {
         .select = IO_SELECT_GPIO,
@@ -146,6 +151,7 @@ static void test_io_interrupt(void)
     io_enable_interrupt(IO_11);
     io_enable_interrupt(IO_20);
     while(1);
+#endif
 }
 
 SUPPRESS_UNUSED
@@ -219,7 +225,7 @@ static void test_tb6612fng(void)
         TB6612FNG_MODE_FORWARD,
         TB6612FNG_MODE_REVERSE,
     };
-    const uint8_t duty_cycles[] = { 100, 50, 25, 0 };
+    const uint8_t duty_cycles[] = { 45, 35, 25, 0 };
     while (1) {
         for (uint8_t i = 0; i < ARRAY_SIZE(duty_cycles); i++)
         {
@@ -430,7 +436,8 @@ void test_vl53l0x_multiple(void)
         if (result) {
             TRACE("Range measure failed (result %u)", result);
         }
-        TRACE("Range measure f %u fl %u fr %u l %u r %u", ranges[VL53L0X_IDX_FRONT],
+        TRACE("Range measure (fresh %d) f %u fl %u fr %u l %u r %u", fresh_values,
+                                                          ranges[VL53L0X_IDX_FRONT],
                                                           ranges[VL53L0X_IDX_FRONT_LEFT],
                                                           ranges[VL53L0X_IDX_FRONT_RIGHT],
                                                           ranges[VL53L0X_IDX_LEFT],