Revision 0128be0f modules/DiWheelDrive_1-1/module.c
| modules/DiWheelDrive_1-1/module.c | ||
|---|---|---|
| 29 | 29 |
/** |
| 30 | 30 |
* @brief Interrupt service routine callback for I/O interrupt signals. |
| 31 | 31 |
* |
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* @param extp EXT driver to handle the ISR. |
|
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* @param channel Channel on which the interrupt was encountered. |
|
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* @param args Channel on which the interrupt was encountered. |
|
| 34 | 33 |
*/ |
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static void _moduleIsrCallback(EXTDriver* extp, expchannel_t channel) {
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(void)extp; |
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static void _modulePalIsrCallback(void *args) {
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chSysLockFromISR(); |
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chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
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chEvtBroadcastFlagsI(&aos.events.io, (1 << (*(uint16_t*)args)));
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| 40 | 37 |
chSysUnlockFromISR(); |
| 41 | 38 |
|
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return; |
| ... | ... | |
| 56 | 53 |
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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}; |
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EXTConfig moduleHalExtConfig = {
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/* channel configrations */ {
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/* channel 0 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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}, |
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aos_interrupt_cfg_t moduleIntConfig[10] = {
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| 65 | 57 |
/* channel 1 */ { // SYS_INT_N/SYS_SYNC_N: automatic interrupt on event
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/* mode */ EXT_MODE_GPIOC | EXT_CH_MODE_BOTH_EDGES | EXT_CH_MODE_AUTOSTART, |
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/* callback */ _moduleIsrCallback, |
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_INT_N, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_BOTH_EDGES, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 1, |
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| 68 | 64 |
}, |
| 69 | 65 |
/* channel 2 */ { // SYS_WARMRST_N: automatic interrupt when activated
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/* mode */ EXT_MODE_GPIOD | EXT_CH_MODE_FALLING_EDGE | EXT_CH_MODE_AUTOSTART, |
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/* callback */ _moduleIsrCallback, |
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/* port */ GPIOD, |
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/* pad */ GPIOD_SYS_WARMRST_N, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 2, |
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}, |
| 73 | 73 |
/* channel 3 */ { // PATH_DCSTAT: must be enabled explicitely when charging is in progress to detect unexpected voltage drop
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/* mode */ EXT_MODE_GPIOC | EXT_CH_MODE_FALLING_EDGE,
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/* callback */ _moduleIsrCallback,
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},
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/* channel 4 */ {
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/* mode */ EXT_CH_MODE_DISABLED,
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/* callback */ NULL,
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/* port */ GPIOC,
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/* pad */ GPIOC_PATH_DCSTAT,
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/* flags */ 0,
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE,
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/* callback */ _modulePalIsrCallback,
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/* cb arg */ 3,
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}, |
| 81 | 81 |
/* channel 5 */ { // COMPASS_DRDY: must be enabled explicitely
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/* mode */ EXT_MODE_GPIOB | APAL2CH_EDGE(HMC5883L_LLD_INT_EDGE), |
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/* callback */ _moduleIsrCallback, |
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}, |
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/* channel 6 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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}, |
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/* channel 7 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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/* port */ GPIOB, |
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/* pad */ GPIOB_COMPASS_DRDY, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(HMC5883L_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 4, |
|
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}, |
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/* channel 8 */ { // SYS_PD_N: automatic interrupt when activated
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/* mode */ EXT_MODE_GPIOC | EXT_CH_MODE_FALLING_EDGE | EXT_CH_MODE_AUTOSTART, |
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/* callback */ _moduleIsrCallback, |
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_PD_N, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 5, |
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}, |
| 97 | 97 |
/* channel 9 */ { // SYS_REG_EN: automatic interrupt when activated
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/* mode */ EXT_MODE_GPIOC | EXT_CH_MODE_FALLING_EDGE | EXT_CH_MODE_AUTOSTART, |
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/* callback */ _moduleIsrCallback, |
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}, |
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/* channel 10 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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}, |
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/* channel 11 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_REG_EN, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 6, |
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}, |
| 109 | 105 |
/* channel 12 */ { // IR_INT: must be enabled explicitely
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/* mode */ EXT_MODE_GPIOB | APAL2CH_EDGE(VCNL4020_LLD_INT_EDGE), |
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/* callback */ _moduleIsrCallback, |
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/* port */ GPIOB, |
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/* pad */ GPIOB_IR_INT, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(VCNL4020_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 7, |
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}, |
| 113 | 113 |
/* channel 13 */ { // GYRO_DRDY: must be enabled explicitely
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/* mode */ EXT_MODE_GPIOB | APAL2CH_EDGE(L3G4200D_LLD_INT_EDGE), |
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/* callback */ _moduleIsrCallback, |
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/* port */ GPIOB, |
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/* pad */ GPIOB_GYRO_DRDY, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(L3G4200D_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 8, |
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}, |
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/* channel 14 */ { // SYS_UART_UP: automatic interrupt on event
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/* mode */ EXT_MODE_GPIOB | EXT_CH_MODE_BOTH_EDGES | EXT_CH_MODE_AUTOSTART, |
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/* callback */ _moduleIsrCallback, |
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/* port */ GPIOB, |
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/* pad */ GPIOB_SYS_UART_UP, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_BOTH_EDGES, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 9, |
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}, |
| 121 | 129 |
/* channel 15 */ { // ACCEL_INT_N: must be enabled explicitely
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/* mode */ EXT_MODE_GPIOB | APAL2CH_EDGE(LIS331DLH_LLD_INT_EDGE), |
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/* callback */ _moduleIsrCallback, |
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/* port */ GPIOB, |
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/* pad */ GPIOB_ACCEL_INT_N, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(LIS331DLH_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 10, |
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}, |
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/* channel 16 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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}, |
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/* channel 17 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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}, |
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/* channel 18 */ {
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/* mode */ EXT_CH_MODE_DISABLED, |
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/* callback */ NULL, |
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}, |
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}, |
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}; |
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aos_interrupt_driver_t moduleIntDriver = {
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/* config */ NULL, |
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/* interrupts */ 10, |
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}; |
| 139 | 143 |
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I2CConfig moduleHalI2cCompassConfig = {
|
| ... | ... | |
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}; |
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SPIConfig moduleHalSpiAccelerometerConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ GPIOC, |
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/* chip select line pad number */ GPIOC_ACCEL_SS_N, |
| ... | ... | |
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}; |
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|
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SPIConfig moduleHalSpiGyroscopeConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ GPIOC, |
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/* chip select line pad number */ GPIOC_GYRO_SS_N, |
| ... | ... | |
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{
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(void)argc; |
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(void)argv; |
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extChannelEnable(&MODULE_HAL_EXT, MODULE_GPIO_EXTCHANNEL_COMPASSDRDY);
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aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_COMPASSDRDY);
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aosUtRun(stream, &moduleUtAlldHmc5883l, NULL); |
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aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_COMPASSDRDY); |
|
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return AOS_OK; |
| 517 | 524 |
} |
| 518 | 525 |
static ut_hmc5883ldata_t _utHmc5883lData = {
|
| 519 | 526 |
/* HMC driver */ &moduleLldCompass, |
| 520 | 527 |
/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_COMPASSDRDY),
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/* event flags */ (1 << MODULE_GPIO_INT_COMPASSDRDY),
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/* timeout */ MICROSECONDS_PER_SECOND, |
| 523 | 530 |
}; |
| 524 | 531 |
aos_unittest_t moduleUtAlldHmc5883l = {
|
| ... | ... | |
| 564 | 571 |
{
|
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(void)argc; |
| 566 | 573 |
(void)argv; |
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extChannelEnable(&MODULE_HAL_EXT, MODULE_GPIO_EXTCHANNEL_GYRODRDY);
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aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_GYRODRDY);
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|
| 568 | 575 |
spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
| 569 | 576 |
aosUtRun(stream, &moduleUtAlldL3g4200d, NULL); |
| 570 | 577 |
spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
| 578 |
aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_GYRODRDY); |
|
| 571 | 579 |
return AOS_OK; |
| 572 | 580 |
} |
| 573 | 581 |
static ut_l3g4200ddata_t _utL3g4200dData = {
|
| 574 | 582 |
/* driver */ &moduleLldGyroscope, |
| 575 | 583 |
/* SPI configuration */ &moduleHalSpiGyroscopeConfig, |
| 576 | 584 |
/* event source */ &aos.events.io, |
| 577 |
/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_GYRODRDY),
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/* event flags */ (1 << MODULE_GPIO_INT_GYRODRDY),
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| 578 | 586 |
}; |
| 579 | 587 |
aos_unittest_t moduleUtAlldL3g4200d = {
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| 580 | 588 |
/* name */ "L3G4200D", |
| ... | ... | |
| 613 | 621 |
{
|
| 614 | 622 |
(void)argc; |
| 615 | 623 |
(void)argv; |
| 616 |
extChannelEnable(&MODULE_HAL_EXT, MODULE_GPIO_EXTCHANNEL_ACCELINT);
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| 624 |
aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_ACCELINT);
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|
| 617 | 625 |
spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
| 618 | 626 |
aosUtRun(stream, &moduleUtAlldLis331dlh, NULL); |
| 619 | 627 |
spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
| 628 |
aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_ACCELINT); |
|
| 620 | 629 |
return AOS_OK; |
| 621 | 630 |
} |
| 622 | 631 |
static ut_lis331dlhdata_t _utLis331dlhData = {
|
| 623 | 632 |
/* driver */ &moduleLldAccelerometer, |
| 624 | 633 |
/* SPI configuration */ &moduleHalSpiAccelerometerConfig, |
| 625 | 634 |
/* event source */ &aos.events.io, |
| 626 |
/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_ACCELINT),
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|
| 635 |
/* event flags */ (1 << MODULE_GPIO_INT_ACCELINT),
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|
| 627 | 636 |
}; |
| 628 | 637 |
aos_unittest_t moduleUtAlldLis331dlh = {
|
| 629 | 638 |
/* name */ "LIS331DLH", |
| ... | ... | |
| 739 | 748 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 740 | 749 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 741 | 750 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 742 |
extChannelEnable(&MODULE_HAL_EXT, MODULE_GPIO_EXTCHANNEL_IRINT);
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|
| 751 |
aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_IRINT);
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|
| 743 | 752 |
switch (sensor) {
|
| 744 | 753 |
case FL: |
| 745 | 754 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| ... | ... | |
| 760 | 769 |
default: |
| 761 | 770 |
break; |
| 762 | 771 |
} |
| 772 |
aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_IRINT); |
|
| 763 | 773 |
return AOS_OK; |
| 764 | 774 |
} |
| 765 | 775 |
// print help |
| ... | ... | |
| 779 | 789 |
/* driver */ &moduleLldProximity, |
| 780 | 790 |
/* timeout */ MICROSECONDS_PER_SECOND, |
| 781 | 791 |
/* event source */ &aos.events.io, |
| 782 |
/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_IRINT),
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| 792 |
/* event flags */ (1 << MODULE_GPIO_INT_IRINT),
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|
| 783 | 793 |
}; |
| 784 | 794 |
aos_unittest_t moduleUtAlldVcnl4020 = {
|
| 785 | 795 |
/* name */ "VCNL4020", |
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