tests: add test for qmc5883l driver

tests/driver_qmc5883l/Makefile

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+include ../Makefile.tests_common
+
+USEMODULE += qmc5883l_int
+USEMODULE += core_thread_flags
+USEMODULE += xtimer
+
+include $(RIOTBASE)/Makefile.include

tests/driver_qmc5883l/README.md

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+# About
+This test application is created for testing/demonstrating the driver for
+QMC5883L magnetic sensors.
+
+# Configuration
+This test uses the driver's default configuration as provided in
+`drivers/qmc5883l/include/qmc5883l_params.h`. You can override
+selected values from the command line or your application like so:
+```
+$ CFLAGS="-DQMC5883L_PARAM_OSR=QMC5883L_OSR_128" make all
+```
+
+The data ready (DRDY) interrupt pin and handling is disabled per default. If
+you which to use it, you have to specify the MCU pin that is connected to the
+DRDY pin for your QMC5883L sensor using the `QMC5883L_PARAM_PIN_DRDY`
+configuration option.
+
+Independent of the ping configuration, the according submodule `qmc5883l_int` is
+always includes. This way, the test application will automatically use
+interrupts instead of polling to read the sensor data whenever a specific pin
+(anything other than `GPIO_UNDEF`) is configured.
+
+# Usage
+Flash this application to any board you have connected a QMC5883L sensor to.
+When starting, this application will continuously read sensor data and print
+them to STDIO.

tests/driver_qmc5883l/main.c

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+/*
+ * Copyright (C) 2019 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+
+ * @file
+ * @brief       Test application for the QMC5883L magnetic sensor
+
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "xtimer.h"
+#include "thread.h"
+#include "thread_flags.h"
+
+#include "qmc5883l.h"
+#include "qmc5883l_params.h"
+
+#define PWR_OFF_DELAY       (1u)
+#define FLAG_DRDY           (0x0400)
+
+/* allocate the device descriptor */
+static qmc5883l_t _dev;
+
+#ifdef MODULE_QMC5883L_INT
+static thread_t *_tmain;
+
+static void _on_drdy(void *arg)
+{
+    (void)arg;
+    thread_flags_set(_tmain, FLAG_DRDY);
+}
+#endif
+
+static void _read_and_dump(void)
+{
+    int16_t data[3];
+    int res = qmc5883l_read(&_dev, data);
+    if ((res == QMC5883L_OK) || (res == QMC5883L_OVERFLOW)) {
+        printf("Reading - X:%6i Y:%6i Z:%6i [mGauss]",
+               (int)data[0], (int)data[1], (int)data[2]);
+        if (res == QMC5883L_OVERFLOW) {
+            printf(" - OVERFLOWED");
+        }
+        puts("");
+    }
+    else if (res == QMC5883L_OVERFLOW) {
+        puts("Reading - overflow");
+    }
+    else if (res == QMC5883L_NODATA) {
+        puts("Reading - no new data available");
+    }
+}
+
+int main(void)
+{
+    uint32_t delay = US_PER_MS;
+
+    puts("QMC5883L test application");
+    puts("Please refer to the README.md for more information\n");
+
+    /* initialize the sensor with default configuration parameters */
+    if (qmc5883l_init(&_dev, &qmc5883l_params[0]) != QMC5883L_OK) {
+        puts("Error: unable to initialize device");
+        return 1;
+    }
+
+    printf("QMC5883L successfully initialized.\nData rate:        ");
+    switch (qmc5883l_params[0].odr) {
+        case QMC5883L_ODR_10HZ:     puts("10Hz");   delay *= 100;   break;
+        case QMC5883L_ODR_50HZ:     puts("50Hz");   delay *= 20;    break;
+        case QMC5883L_ODR_100HZ:    puts("100Hz");  delay *= 10;    break;
+        case QMC5883L_ODR_200HZ:    puts("200Hz");  delay *= 5;     break;
+    }
+    printf("Data range:       ");
+    switch (qmc5883l_params[0].rng) {
+        case QMC5883L_RNG_2G:       puts("2G");     break;
+        case QMC5883L_RNG_8G:       puts("8G");     break;
+    }
+    printf("Over sample rate: ");
+    switch (qmc5883l_params[0].osr) {
+        case QMC5883L_OSR_512:      puts("512");    break;
+        case QMC5883L_OSR_256:      puts("256");    break;
+        case QMC5883L_OSR_128:      puts("128");    break;
+        case QMC5883L_OSR_64:       puts("64");     break;
+    }
+#ifdef MODULE_QMC5883L_INT
+    printf("Mode:             ");
+    if (qmc5883l_params[0].pin_drdy != GPIO_UNDEF) {
+        puts("interrupt driven");
+    }
+    else {
+        puts("polling");
+    }
+#endif
+    puts("");
+
+    /* test the driver's power cycling */
+    puts("Power cycle test: powering device off now");
+    if (qmc5883l_poweroff(&_dev) != QMC5883L_OK) {
+        puts("Error: unable to power off device");
+        return 1;
+    }
+    xtimer_sleep(PWR_OFF_DELAY);
+    if (qmc5883l_poweron(&_dev) != QMC5883L_OK) {
+        puts("Error: unable to power on the device again");
+        return 1;
+    }
+    puts("Power cycle test: device is powered back on now");
+
+#ifdef MODULE_QMC5883L_INT
+    /* safe a reference to the main thread TCB so we can wait for flags */
+    if (qmc5883l_params[0].pin_drdy != GPIO_UNDEF) {
+        _tmain = (thread_t *)thread_get(thread_getpid());
+
+        if (qmc5883l_init_int(&_dev, _on_drdy, NULL) != QMC5883L_OK) {
+            puts("Error: unable to configure interrupt callback");
+            return 1;
+        }
+
+        while (1) {
+            thread_flags_wait_any(FLAG_DRDY);
+            _read_and_dump();
+        }
+    }
+#endif
+
+    while (1) {
+        int ready;
+        do {
+            xtimer_usleep(delay);
+            ready = qmc5883l_data_ready(&_dev);
+        } while (ready != QMC5883L_OK);
+        _read_and_dump();
+    }
+
+    /* should never be reached */
+    return 0;
+}