amiro-os / modules / DiWheelDrive_1-1 / module.c @ 07ff44a7
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the DiWheelDrive module.
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*
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* @addtogroup diwheeldrive_module
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* @{
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*/
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#include "module.h" |
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#include <amiroos.h> |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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CANConfig moduleHalCanConfig = { |
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/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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/* 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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I2CConfig moduleHalI2cCompassConfig = { |
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/* I²C mode */ OPMODE_I2C,
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/* frequency */ 400000, |
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/* duty cycle */ FAST_DUTY_CYCLE_2,
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}; |
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I2CConfig moduleHalI2cProxEepromPwrmtrConfig = { |
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/* I²C mode */ OPMODE_I2C,
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/* frequency */ 400000, |
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/* duty cycle */ FAST_DUTY_CYCLE_2,
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}; |
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PWMConfig moduleHalPwmDriveConfig = { |
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/* frequency */ 7200000, |
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/* period */ 360, |
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/* callback */ NULL, |
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/* channel configurations */ {
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/* channel 0 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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/* channel 1 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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/* channel 2 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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/* channel 3 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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}, |
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/* TIM CR2 register */ 0, |
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#if STM32_PWM_USE_ADVANCED
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/* TIM BDTR register */ 0, |
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#endif
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/* TIM DIER register */ 0 |
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}; |
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QEIConfig moduleHalQeiConfig = { |
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/* mode */ QEI_COUNT_BOTH,
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/* channel config */ {
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/* channel 0 */ {
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/* input mode */ QEI_INPUT_NONINVERTED,
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}, |
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/* channel 1 */ {
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/* input mode */ QEI_INPUT_NONINVERTED,
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}, |
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}, |
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/* encoder range */ 0x10000u, |
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}; |
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SerialConfig moduleHalProgIfConfig = { |
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/* bit rate */ 115200, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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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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/* CR1 */ SPI_CR1_BR_0,
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/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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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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/* CR1 */ SPI_CR1_BR_0,
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/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LED output signal GPIO.
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*/
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static apalGpio_t _gpioLed = {
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/* port */ GPIOA,
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/* pad */ GPIOA_LED,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLed = { |
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/* GPIO */ &_gpioLed,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief POWER_EN output signal GPIO.
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*/
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static apalGpio_t _gpioPowerEn = {
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/* port */ GPIOB,
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/* pad */ GPIOB_POWER_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioPowerEn = { |
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/* GPIO */ &_gpioPowerEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief COMPASS_DRDY output signal GPIO.
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*/
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static apalGpio_t _gpioCompassDrdy = {
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/* port */ GPIOB,
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/* pad */ GPIOB_COMPASS_DRDY,
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}; |
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ROMCONST apalControlGpio_t moduleGpioCompassDrdy = { |
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/* GPIO */ &_gpioCompassDrdy,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief IR_INT input signal GPIO.
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*/
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static apalGpio_t _gpioIrInt = {
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/* port */ GPIOB,
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/* pad */ GPIOB_IR_INT,
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}; |
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ROMCONST apalControlGpio_t moduleGpioIrInt = { |
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/* GPIO */ &_gpioIrInt,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief GYRO_DRDY input signal GPIO.
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*/
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static apalGpio_t _gpioGyroDrdy = {
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/* port */ GPIOB,
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/* pad */ GPIOB_GYRO_DRDY,
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}; |
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ROMCONST apalControlGpio_t moduleGpioGyroDrdy = { |
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/* GPIO */ &_gpioGyroDrdy,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysUartUp = {
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/* port */ GPIOB,
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/* pad */ GPIOB_SYS_UART_UP,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysUartUp = { |
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/* GPIO */ &_gpioSysUartUp,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief ACCEL_INT input signal GPIO.
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*/
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static apalGpio_t _gpioAccelInt = {
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/* port */ GPIOB,
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/* pad */ GPIOB_ACCEL_INT_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioAccelInt = { |
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/* GPIO */ &_gpioAccelInt,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief SYS_SNYC bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysSync = {
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/* port */ GPIOC,
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/* pad */ GPIOC_SYS_INT_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysSync = { |
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/* GPIO */ &_gpioSysSync,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief PATH_DCSTAT input signal GPIO.
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*/
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static apalGpio_t _gpioPathDcStat = {
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/* port */ GPIOC,
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/* pad */ GPIOC_PATH_DCSTAT,
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}; |
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ROMCONST apalControlGpio_t moduleGpioPathDcStat = { |
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/* GPIO */ &_gpioPathDcStat,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief PATH_DCEN output signal GPIO.
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*/
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static apalGpio_t _gpioPathDcEn = {
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/* port */ GPIOC,
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/* pad */ GPIOC_PATH_DCEN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioPathDcEn = { |
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/* GPIO */ &_gpioPathDcEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysPd = {
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/* port */ GPIOC,
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/* pad */ GPIOC_SYS_PD_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysPd = { |
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/* GPIO */ &_gpioSysPd,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_REG_EN input signal GPIO.
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*/
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static apalGpio_t _gpioSysRegEn = {
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/* port */ GPIOC,
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/* pad */ GPIOC_SYS_REG_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysRegEn = { |
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/* GPIO */ &_gpioSysRegEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_WARMRST bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysWarmrst = {
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/* port */ GPIOD,
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/* pad */ GPIOD_SYS_WARMRST_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysWarmrst = { |
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/* GPIO */ &_gpioSysWarmrst,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
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#endif
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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A3906Driver moduleLldMotors = { |
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/* power enable GPIO */ &moduleGpioPowerEn,
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}; |
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AT24C01BNDriver moduleLldEeprom = { |
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/* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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/* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
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}; |
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HMC5883LDriver moduleLldCompass = { |
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/* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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}; |
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INA219Driver moduleLldPowerMonitorVdd = { |
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/* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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/* current LSB (uA) */ 0x00u, |
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/* configuration */ NULL, |
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}; |
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L3G4200DDriver moduleLldGyroscope = { |
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/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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}; |
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LEDDriver moduleLldStatusLed = { |
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/* LED enable Gpio */ &moduleGpioLed,
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}; |
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LIS331DLHDriver moduleLldAccelerometer = { |
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/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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}; |
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LTC4412Driver moduleLldPowerPathController = { |
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/* Control GPIO */ &moduleGpioPathDcEn,
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/* Status GPIO */ &moduleGpioPathDcStat,
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}; |
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PCA9544ADriver moduleLldI2cMultiplexer = { |
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/* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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/* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
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}; |
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TPS62113Driver moduleLldStepDownConverterVdrive = { |
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/* Power enable Gpio */ &moduleGpioPowerEn,
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}; |
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VCNL4020Driver moduleLldProximity = { |
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/* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <string.h> |
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#include <chprintf.h> |
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/* A3906 (motor driver) */
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static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldA3906, NULL);
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return AOS_OK;
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} |
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static ut_a3906data_t _utA3906Data = {
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/* driver */ &moduleLldMotors,
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/* PWM information */ {
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/* driver */ &MODULE_HAL_PWM_DRIVE,
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/* channels */ {
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/* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
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/* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
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/* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
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/* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
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}, |
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}, |
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/* QEI information */ {
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/* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
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/* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
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/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
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}, |
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/* Wheel diameter */ {
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/* left wheel */ 0.05571f, |
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/* right wheel */ 0.05571f, |
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}, |
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/* timeout */ 10 * MICROSECONDS_PER_SECOND, |
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}; |
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aos_unittest_t moduleUtAlldA3906 = { |
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/* name */ "A3906", |
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/* info */ "motor driver", |
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/* test function */ utAlldA3906Func,
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/* shell command */ {
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/* name */ "unittest:MotorDriver", |
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/* callback */ _utShellCmdCb_AlldA3906,
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/* next */ NULL, |
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}, |
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/* data */ &_utA3906Data,
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}; |
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/* AT24C01BN (EEPROM) */
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static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
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return AOS_OK;
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} |
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static ut_at24c01bndata_t _utAt24c01bnData = {
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/* driver */ &moduleLldEeprom,
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/* timeout */ MICROSECONDS_PER_SECOND,
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}; |
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aos_unittest_t moduleUtAlldAt24c01bn = { |
496 |
/* name */ "AT24C01BN-SH-B", |
497 |
/* info */ "1kbit EEPROM", |
498 |
/* test function */ utAlldAt24c01bnFunc,
|
499 |
/* shell command */ {
|
500 |
/* name */ "unittest:EEPROM", |
501 |
/* callback */ _utShellCmdCb_AlldAt24c01bn,
|
502 |
/* next */ NULL, |
503 |
}, |
504 |
/* data */ &_utAt24c01bnData,
|
505 |
}; |
506 |
|
507 |
/* HMC5883L (compass) */
|
508 |
static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
509 |
{ |
510 |
(void)argc;
|
511 |
(void)argv;
|
512 |
aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
513 |
return AOS_OK;
|
514 |
} |
515 |
static ut_hmc5883ldata_t _utHmc5883lData = {
|
516 |
/* HMC driver */ &moduleLldCompass,
|
517 |
/* event source */ &aos.events.io,
|
518 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
519 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
520 |
}; |
521 |
aos_unittest_t moduleUtAlldHmc5883l = { |
522 |
/* name */ "HMC5883L", |
523 |
/* info */ "compass", |
524 |
/* test function */ utAlldHmc5883lFunc,
|
525 |
/* shell command */ {
|
526 |
/* name */ "unittest:Compass", |
527 |
/* callback */ _utShellCmdCb_AlldHmc5883l,
|
528 |
/* next */ NULL, |
529 |
}, |
530 |
/* data */ &_utHmc5883lData,
|
531 |
}; |
532 |
|
533 |
/* INA219 (power monitor) */
|
534 |
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
535 |
{ |
536 |
(void)argc;
|
537 |
(void)argv;
|
538 |
aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
539 |
return AOS_OK;
|
540 |
} |
541 |
static ut_ina219data_t _utIna219Data = {
|
542 |
/* driver */ &moduleLldPowerMonitorVdd,
|
543 |
/* expected voltage */ 3.3f, |
544 |
/* tolerance */ 0.05f, |
545 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
546 |
}; |
547 |
aos_unittest_t moduleUtAlldIna219 = { |
548 |
/* name */ "INA219", |
549 |
/* info */ "power monitor", |
550 |
/* test function */ utAlldIna219Func,
|
551 |
/* shell command */ {
|
552 |
/* name */ "unittest:PowerMonitor", |
553 |
/* callback */ _utShellCmdCb_AlldIna219,
|
554 |
/* next */ NULL, |
555 |
}, |
556 |
/* data */ &_utIna219Data,
|
557 |
}; |
558 |
|
559 |
/* L3G4200D (gyroscope) */
|
560 |
static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
561 |
{ |
562 |
(void)argc;
|
563 |
(void)argv;
|
564 |
spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
565 |
aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
566 |
spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
567 |
return AOS_OK;
|
568 |
} |
569 |
static ut_l3g4200ddata_t _utL3g4200dData = {
|
570 |
/* driver */ &moduleLldGyroscope,
|
571 |
/* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
572 |
/* event source */ &aos.events.io,
|
573 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
574 |
}; |
575 |
aos_unittest_t moduleUtAlldL3g4200d = { |
576 |
/* name */ "L3G4200D", |
577 |
/* info */ "Gyroscope", |
578 |
/* test function */ utAlldL3g4200dFunc,
|
579 |
/* shell command */ {
|
580 |
/* name */ "unittest:Gyroscope", |
581 |
/* callback */ _utShellCmdCb_AlldL3g4200d,
|
582 |
/* next */ NULL, |
583 |
}, |
584 |
/* data */ &_utL3g4200dData,
|
585 |
}; |
586 |
|
587 |
/* Status LED */
|
588 |
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
589 |
{ |
590 |
(void)argc;
|
591 |
(void)argv;
|
592 |
aosUtRun(stream, &moduleUtAlldLed, NULL);
|
593 |
return AOS_OK;
|
594 |
} |
595 |
aos_unittest_t moduleUtAlldLed = { |
596 |
/* name */ "LED", |
597 |
/* info */ NULL, |
598 |
/* test function */ utAlldLedFunc,
|
599 |
/* shell command */ {
|
600 |
/* name */ "unittest:StatusLED", |
601 |
/* callback */ _utShellCmdCb_AlldLed,
|
602 |
/* next */ NULL, |
603 |
}, |
604 |
/* data */ &moduleLldStatusLed,
|
605 |
}; |
606 |
|
607 |
/* LIS331DLH (accelerometer) */
|
608 |
static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
609 |
{ |
610 |
(void)argc;
|
611 |
(void)argv;
|
612 |
spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
613 |
aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
614 |
spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
615 |
return AOS_OK;
|
616 |
} |
617 |
static ut_lis331dlhdata_t _utLis331dlhData = {
|
618 |
/* driver */ &moduleLldAccelerometer,
|
619 |
/* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
620 |
/* event source */ &aos.events.io,
|
621 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
622 |
}; |
623 |
aos_unittest_t moduleUtAlldLis331dlh = { |
624 |
/* name */ "LIS331DLH", |
625 |
/* info */ "Accelerometer", |
626 |
/* test function */ utAlldLis331dlhFunc,
|
627 |
/* shell command */ {
|
628 |
/* name */ "unittest:Accelerometer", |
629 |
/* callback */ _utShellCmdCb_AlldLis331dlh,
|
630 |
/* next */ NULL, |
631 |
}, |
632 |
/* data */ &_utLis331dlhData,
|
633 |
}; |
634 |
|
635 |
/* LTC4412 (power path controller) */
|
636 |
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
637 |
{ |
638 |
(void)argc;
|
639 |
(void)argv;
|
640 |
aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
641 |
return AOS_OK;
|
642 |
} |
643 |
aos_unittest_t moduleUtAlldLtc4412 = { |
644 |
/* name */ "LTC4412", |
645 |
/* info */ "Power path controller", |
646 |
/* test function */ utAlldLtc4412Func,
|
647 |
/* shell command */ {
|
648 |
/* name */ "unittest:PowerPathController", |
649 |
/* callback */ _utShellCmdCb_AlldLtc4412,
|
650 |
/* next */ NULL, |
651 |
}, |
652 |
/* data */ &moduleLldPowerPathController,
|
653 |
}; |
654 |
|
655 |
/* PCA9544A (I2C multiplexer) */
|
656 |
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
657 |
{ |
658 |
(void)argc;
|
659 |
(void)argv;
|
660 |
aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
661 |
return AOS_OK;
|
662 |
} |
663 |
static ut_pca9544adata_t _utPca9544aData = {
|
664 |
/* driver */ &moduleLldI2cMultiplexer,
|
665 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
666 |
}; |
667 |
aos_unittest_t moduleUtAlldPca9544a = { |
668 |
/* name */ "PCA9544A", |
669 |
/* info */ "I2C multiplexer", |
670 |
/* test function */ utAlldPca9544aFunc,
|
671 |
/* shell command */ {
|
672 |
/* name */ "unittest:I2CMultiplexer", |
673 |
/* callback */ _utShellCmdCb_AlldPca9544a,
|
674 |
/* next */ NULL, |
675 |
}, |
676 |
/* data */ &_utPca9544aData,
|
677 |
}; |
678 |
|
679 |
/* TPS62113 (step-down converter) */
|
680 |
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
681 |
{ |
682 |
(void)argc;
|
683 |
(void)argv;
|
684 |
aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
685 |
return AOS_OK;
|
686 |
} |
687 |
aos_unittest_t moduleUtAlldTps62113 = { |
688 |
/* name */ "TPS62113", |
689 |
/* info */ "Step down converter", |
690 |
/* test function */ utAlldTps62113Func,
|
691 |
/* shell command */ {
|
692 |
/* name */ "unittest:StepDownConverter", |
693 |
/* callback */ _utShellCmdCb_AlldTps62113,
|
694 |
/* next */ NULL, |
695 |
}, |
696 |
/* data */ &moduleLldStepDownConverterVdrive,
|
697 |
}; |
698 |
|
699 |
/* VCNL4020 (proximity sensor) */
|
700 |
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
701 |
{ |
702 |
uint8_t intstatus; |
703 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
704 |
vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
705 |
if (intstatus) {
|
706 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
707 |
} |
708 |
return;
|
709 |
} |
710 |
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
711 |
{ |
712 |
enum {
|
713 |
UNKNOWN, |
714 |
FL, FR, WL, WR, |
715 |
} sensor = UNKNOWN; |
716 |
// evaluate arguments
|
717 |
if (argc == 2) { |
718 |
if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
719 |
sensor = FL; |
720 |
} else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
721 |
sensor = FR; |
722 |
} else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
723 |
sensor = WL; |
724 |
} else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
725 |
sensor = WR; |
726 |
} |
727 |
} |
728 |
if (sensor != UNKNOWN) {
|
729 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
730 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
731 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
732 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
733 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
734 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
735 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
736 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
737 |
switch (sensor) {
|
738 |
case FL:
|
739 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
740 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
741 |
break;
|
742 |
case FR:
|
743 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
744 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
745 |
break;
|
746 |
case WL:
|
747 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
748 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
749 |
break;
|
750 |
case WR:
|
751 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
752 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
753 |
break;
|
754 |
default:
|
755 |
break;
|
756 |
} |
757 |
return AOS_OK;
|
758 |
} |
759 |
// print help
|
760 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
761 |
chprintf(stream, "Options:\n");
|
762 |
chprintf(stream, " --frontleft, -fl\n");
|
763 |
chprintf(stream, " Test front left proximity sensor.\n");
|
764 |
chprintf(stream, " --frontrigt, -fr\n");
|
765 |
chprintf(stream, " Test front right proximity sensor.\n");
|
766 |
chprintf(stream, " --wheelleft, -wl\n");
|
767 |
chprintf(stream, " Test left wheel proximity sensor.\n");
|
768 |
chprintf(stream, " --wheelright, -wr\n");
|
769 |
chprintf(stream, " Test right wheel proximity sensor.\n");
|
770 |
return AOS_INVALID_ARGUMENTS;
|
771 |
} |
772 |
static ut_vcnl4020data_t _utVcnl4020Data = {
|
773 |
/* driver */ &moduleLldProximity,
|
774 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
775 |
/* event source */ &aos.events.io,
|
776 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
777 |
}; |
778 |
aos_unittest_t moduleUtAlldVcnl4020 = { |
779 |
/* name */ "VCNL4020", |
780 |
/* info */ "proximity sensor", |
781 |
/* test function */ utAlldVcnl4020Func,
|
782 |
/* shell command */ {
|
783 |
/* name */ "unittest:Proximity", |
784 |
/* callback */ _utShellCmdCb_AlldVcnl4020,
|
785 |
/* next */ NULL, |
786 |
}, |
787 |
/* data */ &_utVcnl4020Data,
|
788 |
}; |
789 |
|
790 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
791 |
|
792 |
/** @} */
|
793 |
/** @} */
|