1*** Variables *** 2${ACCEL} sysbus.i2c1.accel 3${UART} sysbus.usart2 4${ACCEL_POLLING_SAMPLE} @https://dl.antmicro.com/projects/renode/b_l072z_lrwan1--zephyr-accel_polling.elf-s_731368-a41b79116936bdadbee51e497847273f971ed409 5${ACCEL_POLLING_SAMPLE_14BIT} @https://dl.antmicro.com/projects/renode/b_l072z_lrwan1--zephyr-accel_polling-high_performance.elf-s_731368-049f6743622eb0b8068dbc2a24742561c8fa046a 6${CSV2RESD} ${RENODETOOLS}/csv2resd/csv2resd.py 7 8*** Keywords *** 9Execute Python Script 10 [Arguments] ${path} ${args} 11 12 Evaluate subprocess.run([sys.executable, "${path}", ${args}]) sys,subprocess 13 14Create Machine 15 Execute Command using sysbus 16 Execute Command mach create 17 Execute Command machine LoadPlatformDescription @platforms/cpus/stm32l072.repl 18 Execute Command machine LoadPlatformDescriptionFromString 'accel: Sensors.LIS2DW12 @ i2c1 0x2d' 19 Create Terminal Tester ${UART} 20 Create Log Tester 0 21 Execute Command logLevel -1 ${ACCEL} 22 23Format Fixed Point Integer As Decimal 24 [Arguments] ${value} ${places} 25 26 ${minus}= Set Variable ${EMPTY} 27 IF ${value} < 0 28 ${minus}= Set Variable - 29 ${value}= Evaluate abs(${value}) 30 END 31 32 ${divisor}= Evaluate 10**${places} 33 ${units}= Evaluate ${value} / ${divisor} 34 ${fraction}= Evaluate ${value} % ${divisor} 35 ${string}= Evaluate "${minus}%d.%0${places}d" % (${units}, ${fraction}) 36 37 RETURN ${string} 38 39Wait For Peripheral Reading 40 [Arguments] ${microg} ${resolution} 41 42 IF ${resolution} == 12 43 ${sensitivity}= Set Variable 976 44 ${shift}= Set Variable 4 45 ELSE IF ${resolution} == 14 46 ${sensitivity}= Set Variable 244 47 ${shift}= Set Variable 2 48 ELSE 49 Fail Invalid resolution ${resolution} bits 50 END 51 52 ${steps}= Evaluate int(${microg} / ${sensitivity}) 53 ${outValue}= Evaluate ${steps} * ${sensitivity} 54 ${outStr}= Format Fixed Point Integer As Decimal ${outValue} 6 55 56 ${lsbs}= Evaluate abs(${steps}) << ${shift} 57 # Use twos-complement representation if negative 58 IF ${steps} < 0 59 ${lsbs}= Evaluate (abs(${lsbs}) ^ 0xffff) + 1 60 END 61 ${lsbsStr}= Convert To Hex ${lsbs} prefix=0x length=4 62 63 Wait For Line On Uart lis2dw12@2d *\\[g]: *\\( *${outStr}, *${outStr}, *${outStr}\\) treatAsRegex=true pauseEmulation=true 64 Wait For Log Entry Conversion done with sensitivity: 0.${sensitivity}, result: ${lsbsStr} 65 66Wait For Peripheral Reading For Set Value And Known LSBs 67 [Arguments] ${microg} ${resolution} ${lsbs} 68 69 ${g}= Format Fixed Point Integer As Decimal ${microg} 6 70 # For LIS2DW12 operating in FIFO mode, setting `DefaultAcceleration` would be enough 71 # as it would start returning default samples after RESD stream is finished. 72 # For Bypass mode it needs to be set explicitly (through `Acceleration` properties), 73 # because the actual sample is kept until it is overwritten by a new sample. 74 Execute Command ${ACCEL} DefaultAccelerationX ${g} 75 Execute Command ${ACCEL} DefaultAccelerationY ${g} 76 Execute Command ${ACCEL} DefaultAccelerationZ ${g} 77 Execute Command ${ACCEL} AccelerationX ${g} 78 Execute Command ${ACCEL} AccelerationY ${g} 79 Execute Command ${ACCEL} AccelerationZ ${g} 80 # Wait for the expected LSBs value keeping the entry for use by the following keyword 81 Wait For Log Entry result: ${lsbs} timeout=2 pauseEmulation=true keep=true 82 Wait For Peripheral Reading ${microg} ${resolution} 83 84Create RESD File 85 [Arguments] ${resdArgs} 86 ${resdPath}= Evaluate tempfile.mktemp() tempfile 87 ${resdArgs}= Catenate SEPARATOR=, ${resdArgs} r"${resdPath}" 88 89 Execute Python Script ${CSV2RESD} ${resdArgs} 90 91 RETURN ${resdPath} 92 93Test Teardown And Cleanup RESD File 94 [Arguments] ${resdPath} 95 96 Test Teardown 97 Remove File ${resdPath} 98 99LIS2DW12 Should Return Data From RESD 100 [Arguments] ${firmware} ${resolution} 101 ${resdArgs}= Catenate SEPARATOR=, 102 ... "--input", r"${CURDIR}/LIS2DW12-samples.csv" 103 ... "--frequency", "1" 104 ... "--start-time", "0" 105 ... "--map", "acceleration:x,y,z:x,y,z" 106 107 ${resdPath}= Create RESD File ${resdArgs} 108 109 Create Machine 110 111 Execute Command sysbus LoadELF ${firmware} 112 Wait For Line On Uart Booting Zephyr OS pauseEmulation=true 113 114 Execute Command ${ACCEL} FeedAccelerationSamplesFromRESD @${resdPath} 115 116 Wait For Peripheral Reading 100000 ${resolution} 117 Wait For Peripheral Reading 200000 ${resolution} 118 Wait For Peripheral Reading 300000 ${resolution} 119 Wait For Peripheral Reading 400000 ${resolution} 120 Wait For Peripheral Reading 500000 ${resolution} 121 Wait For Peripheral Reading 600000 ${resolution} 122 Wait For Peripheral Reading 700000 ${resolution} 123 Wait For Peripheral Reading -100000 ${resolution} 124 Wait For Peripheral Reading -200000 ${resolution} 125 126 # Run for an additional second to allow RESD stream to finish before setting an actual sample to an arbitrary value. 127 # Otherwise set sample will be overridden by the one fed from RESD. 128 Execute Command emulation RunFor "1" 129 130 RETURN ${resdPath} 131 132Prepare Multi-Frequency Data Test 133 # 3 blocks starting one after the other: low-frequency, high-frequency, low-frequency 134 ${resdArgs}= Catenate SEPARATOR=, 135 ... "--input", r"${CURDIR}/LIS2DW12-samples_lowfreq1.csv" 136 ... "--frequency", "100" 137 ... "--start-time", "0" 138 ... "--map", "acceleration:x,y,z:x,y,z" 139 ... "--input", r"${CURDIR}/LIS2DW12-samples_highfreq.csv" 140 ... "--frequency", "1600" 141 ... "--start-time", "320000000" 142 ... "--map", "acceleration:x,y,z:x,y,z" 143 ... "--input", r"${CURDIR}/LIS2DW12-samples_lowfreq2.csv" 144 ... "--frequency", "100" 145 ... "--start-time", "340000000" 146 ... "--map", "acceleration:x,y,z:x,y,z" 147 148 ${resdPath}= Create RESD File ${resdArgs} 149 150 Execute Command allowPrivates true 151 Execute Command using sysbus 152 Execute Command mach create 153 Execute Command machine LoadPlatformDescriptionFromString "i2c1: I2C.STM32F7_I2C @ sysbus 0x10000000" 154 Execute Command machine LoadPlatformDescriptionFromString "accel: Sensors.LIS2DW12 @ i2c1 0" 155 Execute Command logLevel -1 ${ACCEL} 156 157 # The accelerometer starts at 100 Hz, which we'll call the "low frequency" 158 Execute Command ${ACCEL} SampleRate 100 159 Execute Command ${ACCEL} FeedAccelerationSamplesFromRESD @${resdPath} type=MultiFrequency 160 161 RETURN ${resdPath} 162 163Acceleration Should Be 164 [Arguments] ${major} ${minor} 165 166 ${actual}= Execute Command ${ACCEL} AccelerationX 167 ${minor}= Evaluate "{:03}".format(${minor}) 168 # Why 2 separate rstrips? To turn 0.010 into 0.01, but 0.000 into 0 and not "" 169 ${expected}= Evaluate "${major}.${minor}".rstrip("0").rstrip(".") 170 Should Be Equal ${actual.strip()} ${expected} 171 172*** Test Cases *** 173LIS2DW12 Should Return Data From RESD In 12-Bit Mode 174 ${resdPath}= LIS2DW12 Should Return Data From RESD ${ACCEL_POLLING_SAMPLE} 12 175 176 # Test Teardown must be called from a test teardown as it uses Run Keyword If Test Failed, so 177 # we have to repeat this here instead of in LIS2DW12 Should Return Data From RESD 178 [Teardown] Test Teardown And Cleanup RESD File ${resdPath} 179 180LIS2DW12 Should Return Data From RESD In 14-Bit Mode 181 ${resdPath}= LIS2DW12 Should Return Data From RESD ${ACCEL_POLLING_SAMPLE_14BIT} 14 182 183 # Additionally verify the examples from ST AN5038. In the app note the calculated 184 # mg values are rounded to integers, these are exact values. 185 Wait For Peripheral Reading For Set Value And Known LSBs -40992 14 0xFD60 186 Wait For Peripheral Reading For Set Value And Known LSBs 7320 14 0x0078 187 Wait For Peripheral Reading For Set Value And Known LSBs 1046028 14 0x42FC 188 189 [Teardown] Test Teardown And Cleanup RESD File ${resdPath} 190 191LIS2DW12 Should Return Multi-Frequency Data - Switch Late 192 ${resdPath}= Prepare Multi-Frequency Data Test 193 194 # the full low-frequency block #1 195 FOR ${i} IN RANGE 32 196 Acceleration Should Be 0 ${i} # the first low-frequency block has values 0, 0.001, ... 197 Execute Command emulation RunFor "0.01" # play one low-frequency point 198 END 199 # 3 more HF sample periods, staying at the low frequency 200 FOR ${i} IN RANGE 3 201 Acceleration Should Be 0 31 # the last low-frequency sample repeating 202 Execute Command emulation RunFor "0.000625" # play one high-frequency point 203 END 204 Execute Command ${ACCEL} SampleRate 1600 205 FOR ${i} IN RANGE 32 206 Acceleration Should Be 1 ${i} # the high-frequency block has values 1, 1.001, ... 207 Execute Command emulation RunFor "0.000625" # play one high-frequency point 208 END 209 # 3 more HF sample periods, staying at the high frequency 210 FOR ${i} IN RANGE 3 211 Acceleration Should Be 1 31 # the last high-frequency sample repeating 212 Execute Command emulation RunFor "0.000625" # play one high-frequency point 213 END 214 Execute Command ${ACCEL} SampleRate 100 215 FOR ${i} IN RANGE 32 216 Acceleration Should Be 2 ${i} # the second low-frequency block has values 2, 2.001, ... 217 Execute Command emulation RunFor "0.01" # play one low-frequency point 218 END 219 220 [Teardown] Test Teardown And Cleanup RESD File ${resdPath} 221 222LIS2DW12 Should Return Multi-Frequency Data - Switch Early 223 ${resdPath}= Prepare Multi-Frequency Data Test 224 225 # the first 16 samples of low-frequency block #1 226 FOR ${i} IN RANGE 16 227 Acceleration Should Be 0 ${i} # the first low-frequency block has values 0, 0.001, ... 228 Execute Command emulation RunFor "0.01" # play one low-frequency point 229 END 230 Execute Command ${ACCEL} SampleRate 1600 231 # the first 20 samples of the high-frequency block 232 FOR ${i} IN RANGE 20 233 Acceleration Should Be 1 ${i} # the high-frequency block has values 1, 1.001, ... 234 Execute Command emulation RunFor "0.000625" # play one high-frequency point 235 END 236 Execute Command ${ACCEL} SampleRate 100 237 FOR ${i} IN RANGE 32 238 Acceleration Should Be 2 ${i} # the second low-frequency block has values 2, 2.001, ... 239 Execute Command emulation RunFor "0.01" # play one low-frequency point 240 END 241 242 [Teardown] Test Teardown And Cleanup RESD File ${resdPath} 243
