Add self test example

Author: sfe-SparkFro

examples/Example8_SelfTest/Example8_SelfTest.ino

@@ -0,0 +1,41 @@
+#include "SparkFun_Qwiic_OTOS_Arduino_Library.h"
+#include "Wire.h"
+
+// Create an OTOS object
+QwiicOTOS myOtos;
+
+void setup()
+{
+    // Start serial
+    Serial.begin(115200);
+    Serial.println("Qwiic OTOS Example 8 - Self Test");
+
+    Wire.begin();
+
+    // Attempt to begin the sensor
+    while (myOtos.begin() == false)
+    {
+        Serial.println("OTOS not connected, check your wiring and I2C address!");
+        delay(1000);
+    }
+
+    Serial.println("OTOS connected!");
+
+    // Perform the self test
+    sfeTkError_t result = myOtos.selfTest();
+    
+    // Check if the self test passed
+    if(result == kSTkErrOk)
+    {
+        Serial.println("Self test passed!");
+    }
+    else
+    {
+        Serial.println("Self test failed!");
+    }
+}
+
+void loop()
+{
+    // Nothing to do in this example
+}

src/sfeQwiicOtos.cpp

@@ -73,6 +73,37 @@ sfeTkError_t sfeQwiicOtos::getVersionInfo(otos_version_t &hwVersion, otos_versio
     return kSTkErrOk;
 }
 
+sfeTkError_t sfeQwiicOtos::selfTest()
+{
+    // Write the self-test register to start the test
+    sfe_otos_config_self_test_t selfTest;
+    selfTest.start = 1;
+    sfeTkError_t err = _commBus->writeRegisterByte(kOtosRegSelfTest, selfTest.value);
+    if(err != kSTkErrOk)
+        return err;
+
+    // Loop until self-test is done, should only take ~20ms as of firmware v1.0
+    for(int i = 0; i < 10; i++)
+    {
+        // Give a short delay between reads
+        delayMs(5);
+
+        // Read the self-test register
+        err = _commBus->readRegisterByte(kOtosRegSelfTest, selfTest.value);
+        if(err != kSTkErrOk)
+            return err;
+        
+        // Check if the self-test is done
+        if(selfTest.inProgress == 0)
+        {
+            break;
+        }
+    }
+
+    // Check if the self-test passed
+    return (selfTest.pass == 1) ? kSTkErrOk : kSTkErrFail;
+}
+
 sfeTkError_t sfeQwiicOtos::calibrateImu(uint8_t numSamples, bool waitUntilDone)
 {
     // Write the number of samples to the device

src/sfeQwiicOtos.h

@@ -15,7 +15,7 @@ const uint8_t kOtosRegScalarXY = 0x04;
 const uint8_t kOtosRegScalarH = 0x05;
 const uint8_t kOtosRegImuCalib = 0x06;
 const uint8_t kOtosRegReset = 0x07;
-const uint8_t kOtosRegSelfTest = 0x0E;
+const uint8_t kOtosRegSelfTest = 0x0F;
 
 const uint8_t kOtosRegOffXL = 0x10;
 const uint8_t kOtosRegOffXH = 0x11;
@@ -126,6 +126,19 @@ typedef union {
     uint8_t value;
 } otos_version_t;
 
+// Self test register bit fields
+typedef union {
+    struct
+    {
+        uint8_t start : 1;
+        uint8_t inProgress : 1;
+        uint8_t pass : 1;
+        uint8_t fail : 1;
+        uint8_t reserved : 4;
+    };
+    uint8_t value;
+} sfe_otos_config_self_test_t;
+
 class sfeQwiicOtos
 {
   public:
@@ -143,6 +156,8 @@ class sfeQwiicOtos
 
     sfeTkError_t getVersionInfo(otos_version_t &hwVersion, otos_version_t &fwVersion);
 
+    sfeTkError_t selfTest();
+
     sfeTkError_t calibrateImu(uint8_t numSamples = 255, bool waitUntilDone = true);
 
     otos_linear_unit_t getLinearUnit();