amiro-os / modules / NUCLEO-L476RG / module.c @ 00843891
History | View | Annotate | Download (4.83 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
/**
|
20 |
* @file
|
21 |
* @brief Structures and constant for the NUCLEO-L476RG module.
|
22 |
*
|
23 |
* @addtogroup NUCLEO-L476RG_module
|
24 |
* @{
|
25 |
*/
|
26 |
|
27 |
#include <amiroos.h> |
28 |
|
29 |
/*===========================================================================*/
|
30 |
/**
|
31 |
* @name Module specific functions
|
32 |
* @{
|
33 |
*/
|
34 |
/*===========================================================================*/
|
35 |
|
36 |
/** @} */
|
37 |
|
38 |
/*===========================================================================*/
|
39 |
/**
|
40 |
* @name ChibiOS/HAL configuration
|
41 |
* @{
|
42 |
*/
|
43 |
/*===========================================================================*/
|
44 |
|
45 |
SerialConfig moduleHalProgIfConfig = { |
46 |
/* bit rate */ 115200, |
47 |
/* CR1 */ 0, |
48 |
/* CR1 */ 0, |
49 |
/* CR1 */ 0, |
50 |
}; |
51 |
|
52 |
#if defined(AMIROLLD_CFG_MPU6050)
|
53 |
|
54 |
I2CConfig moduleHalI2c3Config = { |
55 |
/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_COMM_MPU6050() hook |
56 |
/* CR1 */ 0, |
57 |
/* CR2 */ 0, |
58 |
}; |
59 |
|
60 |
#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
61 |
|
62 |
/** @} */
|
63 |
|
64 |
/*===========================================================================*/
|
65 |
/**
|
66 |
* @name GPIO definitions
|
67 |
* @{
|
68 |
*/
|
69 |
/*===========================================================================*/
|
70 |
|
71 |
/**
|
72 |
* @brief LED output signal GPIO.
|
73 |
*/
|
74 |
static apalGpio_t _gpioLed = {
|
75 |
/* port */ GPIOA,
|
76 |
/* pad */ GPIOA_LED_GREEN,
|
77 |
}; |
78 |
ROMCONST apalControlGpio_t moduleGpioLed = { |
79 |
/* GPIO */ &_gpioLed,
|
80 |
/* meta */ {
|
81 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
82 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
83 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
84 |
}, |
85 |
}; |
86 |
|
87 |
/**
|
88 |
* @brief User button input signal GPIO.
|
89 |
*/
|
90 |
static apalGpio_t _gpioUserButton = {
|
91 |
/* port */ GPIOC,
|
92 |
/* pad */ GPIOC_BUTTON,
|
93 |
}; |
94 |
ROMCONST apalControlGpio_t moduleGpioUserButton = { |
95 |
/* GPIO */ &_gpioUserButton,
|
96 |
/* meta */ {
|
97 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
98 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
99 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
100 |
}, |
101 |
}; |
102 |
|
103 |
/** @} */
|
104 |
|
105 |
/*===========================================================================*/
|
106 |
/**
|
107 |
* @name AMiRo-OS core configurations
|
108 |
* @{
|
109 |
*/
|
110 |
/*===========================================================================*/
|
111 |
|
112 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
113 |
ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG"; |
114 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
115 |
|
116 |
/** @} */
|
117 |
|
118 |
/*===========================================================================*/
|
119 |
/**
|
120 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
121 |
* @{
|
122 |
*/
|
123 |
/*===========================================================================*/
|
124 |
|
125 |
/** @} */
|
126 |
|
127 |
/*===========================================================================*/
|
128 |
/**
|
129 |
* @name Low-level drivers
|
130 |
* @{
|
131 |
*/
|
132 |
/*===========================================================================*/
|
133 |
|
134 |
#if defined(AMIROLLD_CFG_MPU6050)
|
135 |
|
136 |
MPU6050Driver moduleLldMpu6050 = { |
137 |
/* I2C Driver */ &MODULE_HAL_I2C3,
|
138 |
/* I²C address */ MPU6050_LLD_I2C_ADDR_FIXED,
|
139 |
}; |
140 |
|
141 |
#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
142 |
|
143 |
/** @} */
|
144 |
|
145 |
/*===========================================================================*/
|
146 |
/**
|
147 |
* @name Unit tests (UT)
|
148 |
* @{
|
149 |
*/
|
150 |
/*===========================================================================*/
|
151 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
152 |
|
153 |
#if defined(AMIROLLD_CFG_MPU6050)
|
154 |
|
155 |
/* MPU6050 */
|
156 |
static int _utShellCmdCb_AlldMpu6050(BaseSequentialStream* stream, int argc, char* argv[]) |
157 |
{ |
158 |
(void)argc;
|
159 |
(void)argv;
|
160 |
aosUtRun(stream, &moduleUtAlldMpu6050, NULL);
|
161 |
return AOS_OK;
|
162 |
} |
163 |
static ut_mpu6050data_t _utAlldMpu6050Data = {
|
164 |
/* driver */ &moduleLldMpu6050,
|
165 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
166 |
}; |
167 |
aos_unittest_t moduleUtAlldMpu6050 = { |
168 |
/* name */ "MPU6050", |
169 |
/* info */ "accelerometer and gyroscope", |
170 |
/* test function */ utAlldMpu6050Func,
|
171 |
/* shell command */ {
|
172 |
/* name */ "unittest:Accelerometer&Gyroscope", |
173 |
/* callback */ _utShellCmdCb_AlldMpu6050,
|
174 |
/* next */ NULL, |
175 |
}, |
176 |
/* data */ &_utAlldMpu6050Data
|
177 |
}; |
178 |
|
179 |
#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
180 |
|
181 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
182 |
|
183 |
/** @} */
|
184 |
/** @} */
|