amiro-os / modules / DiWheelDrive_1-2 / module.c @ 0aed1f1b
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1 | abb8b3f4 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | /**
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20 | * @file
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21 | * @brief Structures and constant for the DiWheelDrive module.
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22 | *
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23 | * @addtogroup diwheeldrive_module
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24 | * @{
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25 | */
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26 | |||
27 | #include "module.h" |
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28 | |||
29 | /*===========================================================================*/
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30 | /**
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31 | * @name Module specific functions
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32 | * @{
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33 | */
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34 | /*===========================================================================*/
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35 | |||
36 | /** @} */
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37 | |||
38 | /*===========================================================================*/
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39 | /**
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40 | * @name ChibiOS/HAL configuration
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41 | * @{
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42 | */
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43 | /*===========================================================================*/
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44 | |||
45 | CANConfig moduleHalCanConfig = { |
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46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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48 | }; |
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49 | |||
50 | I2CConfig moduleHalI2cImuConfig = { |
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51 | /* I²C mode */ OPMODE_I2C,
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52 | /* frequency */ 400000, |
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53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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54 | }; |
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55 | |||
56 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = { |
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57 | /* I²C mode */ OPMODE_I2C,
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58 | /* frequency */ 400000, |
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59 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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60 | }; |
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61 | |||
62 | PWMConfig moduleHalPwmDriveConfig = { |
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63 | /* frequency */ 7200000, |
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64 | /* period */ 360, |
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65 | /* callback */ NULL, |
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66 | /* channel configurations */ {
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67 | /* channel 0 */ {
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68 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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69 | /* callback */ NULL |
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70 | }, |
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71 | /* channel 1 */ {
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72 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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73 | /* callback */ NULL |
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74 | }, |
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75 | /* channel 2 */ {
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76 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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77 | /* callback */ NULL |
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78 | }, |
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79 | /* channel 3 */ {
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80 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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81 | /* callback */ NULL |
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82 | }, |
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83 | }, |
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84 | /* TIM CR2 register */ 0, |
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85 | #if (STM32_PWM_USE_ADVANCED == TRUE)
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86 | /* TIM BDTR register */ 0, |
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87 | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
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88 | /* TIM DIER register */ 0 |
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89 | }; |
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90 | |||
91 | QEIConfig moduleHalQeiConfig = { |
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92 | /* mode */ QEI_COUNT_BOTH,
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93 | /* channel config */ {
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94 | /* channel 0 */ {
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95 | /* input mode */ QEI_INPUT_NONINVERTED,
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96 | }, |
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97 | /* channel 1 */ {
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98 | /* input mode */ QEI_INPUT_NONINVERTED,
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99 | }, |
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100 | }, |
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101 | /* encoder range */ 0x10000u, |
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102 | }; |
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103 | |||
104 | SerialConfig moduleHalProgIfConfig = { |
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105 | /* bit rate */ 115200, |
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106 | /* CR1 */ 0, |
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107 | /* CR1 */ 0, |
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108 | /* CR1 */ 0, |
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109 | }; |
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110 | |||
111 | /** @} */
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112 | |||
113 | /*===========================================================================*/
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114 | /**
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115 | * @name GPIO definitions
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116 | * @{
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117 | */
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118 | /*===========================================================================*/
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119 | |||
120 | /**
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121 | * @brief LED output signal GPIO.
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122 | */
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123 | static apalGpio_t _gpioLed = {
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124 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
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125 | abb8b3f4 | Thomas Schöpping | }; |
126 | ROMCONST apalControlGpio_t moduleGpioLed = { |
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127 | /* GPIO */ &_gpioLed,
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128 | /* meta */ {
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129 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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130 | 4c72a54c | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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131 | abb8b3f4 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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132 | }, |
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133 | }; |
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134 | |||
135 | /**
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136 | * @brief POWER_EN output signal GPIO.
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137 | */
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138 | static apalGpio_t _gpioPowerEn = {
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139 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
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140 | abb8b3f4 | Thomas Schöpping | }; |
141 | ROMCONST apalControlGpio_t moduleGpioPowerEn = { |
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142 | /* GPIO */ &_gpioPowerEn,
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143 | /* meta */ {
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144 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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145 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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146 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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147 | }, |
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148 | }; |
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149 | |||
150 | /**
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151 | * @brief IR_INT input signal GPIO.
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152 | */
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153 | static apalGpio_t _gpioIrInt = {
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154 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT,
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155 | abb8b3f4 | Thomas Schöpping | }; |
156 | ROMCONST apalControlGpio_t moduleGpioIrInt = { |
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157 | /* GPIO */ &_gpioIrInt,
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158 | /* meta */ {
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159 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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160 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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161 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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162 | }, |
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163 | }; |
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164 | |||
165 | /**
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166 | * @brief SYS_UART_UP bidirectional signal GPIO.
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167 | */
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168 | static apalGpio_t _gpioSysUartUp = {
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169 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
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170 | abb8b3f4 | Thomas Schöpping | }; |
171 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = { |
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172 | /* GPIO */ &_gpioSysUartUp,
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173 | /* meta */ {
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174 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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175 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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176 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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177 | }, |
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178 | }; |
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179 | |||
180 | /**
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181 | * @brief IMU_INT input signal GPIO.
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182 | */
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183 | static apalGpio_t _gpioImuInt = {
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184 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_INT,
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185 | abb8b3f4 | Thomas Schöpping | }; |
186 | ROMCONST apalControlGpio_t moduleGpioImuInt = { |
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187 | /* GPIO */ &_gpioImuInt,
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188 | /* meta */ {
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189 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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190 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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191 | /* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO |
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192 | }, |
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193 | }; |
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194 | |||
195 | /**
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196 | * @brief SYS_SNYC bidirectional signal GPIO.
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197 | */
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198 | static apalGpio_t _gpioSysSync = {
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199 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
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200 | abb8b3f4 | Thomas Schöpping | }; |
201 | ROMCONST apalControlGpio_t moduleGpioSysSync = { |
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202 | /* GPIO */ &_gpioSysSync,
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203 | /* meta */ {
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204 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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205 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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206 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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207 | }, |
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208 | }; |
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209 | |||
210 | /**
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211 | * @brief IMU_RESET output signal GPIO.
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212 | */
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213 | static apalGpio_t _gpioImuReset = {
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214 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_RESET_N,
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215 | abb8b3f4 | Thomas Schöpping | }; |
216 | ROMCONST apalControlGpio_t moduleGpioImuReset = { |
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217 | /* GPIO */ &_gpioImuReset,
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218 | /* meta */ {
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219 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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220 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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221 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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222 | }, |
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223 | }; |
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224 | |||
225 | /**
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226 | * @brief PATH_DCSTAT input signal GPIO.
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227 | */
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228 | static apalGpio_t _gpioPathDcStat = {
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229 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCSTAT,
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230 | abb8b3f4 | Thomas Schöpping | }; |
231 | ROMCONST apalControlGpio_t moduleGpioPathDcStat = { |
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232 | /* GPIO */ &_gpioPathDcStat,
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233 | /* meta */ {
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234 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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235 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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236 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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237 | }, |
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238 | }; |
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239 | |||
240 | /**
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241 | * @brief PATH_DCEN output signal GPIO.
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242 | */
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243 | static apalGpio_t _gpioPathDcEn = {
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244 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCEN,
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245 | abb8b3f4 | Thomas Schöpping | }; |
246 | ROMCONST apalControlGpio_t moduleGpioPathDcEn = { |
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247 | /* GPIO */ &_gpioPathDcEn,
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248 | /* meta */ {
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249 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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250 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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251 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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252 | }, |
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253 | }; |
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254 | |||
255 | /**
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256 | * @brief SYS_PD bidirectional signal GPIO.
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257 | */
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258 | static apalGpio_t _gpioSysPd = {
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259 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
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260 | abb8b3f4 | Thomas Schöpping | }; |
261 | ROMCONST apalControlGpio_t moduleGpioSysPd = { |
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262 | /* GPIO */ &_gpioSysPd,
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263 | /* meta */ {
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264 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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265 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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266 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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267 | }, |
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268 | }; |
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269 | |||
270 | /**
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271 | * @brief SYS_REG_EN input signal GPIO.
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272 | */
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273 | static apalGpio_t _gpioSysRegEn = {
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274 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_REG_EN,
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275 | abb8b3f4 | Thomas Schöpping | }; |
276 | ROMCONST apalControlGpio_t moduleGpioSysRegEn = { |
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277 | /* GPIO */ &_gpioSysRegEn,
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278 | /* meta */ {
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279 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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280 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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281 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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282 | }, |
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283 | }; |
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284 | |||
285 | /**
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286 | * @brief IMU_BOOT_LOAD output signal GPIO.
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287 | */
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288 | static apalGpio_t _gpioImuBootLoad = {
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289 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BOOT_LOAD_N,
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290 | abb8b3f4 | Thomas Schöpping | }; |
291 | ROMCONST apalControlGpio_t moduleGpioImuBootLoad = { |
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292 | /* GPIO */ &_gpioImuBootLoad,
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293 | /* meta */ {
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294 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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295 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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296 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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297 | }, |
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298 | }; |
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299 | |||
300 | /**
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301 | * @brief IMU_BL_IND input signal GPIO.
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302 | */
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303 | static apalGpio_t _gpioImuBlInd = {
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304 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BL_IND,
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305 | abb8b3f4 | Thomas Schöpping | }; |
306 | ROMCONST apalControlGpio_t moduleGpioImuBlInd = { |
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307 | /* GPIO */ &_gpioImuBlInd,
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308 | /* meta */ {
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309 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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310 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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311 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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312 | }, |
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313 | }; |
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314 | |||
315 | /**
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316 | * @brief SYS_WARMRST bidirectional signal GPIO.
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317 | */
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318 | static apalGpio_t _gpioSysWarmrst = {
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319 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_WARMRST_N,
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320 | abb8b3f4 | Thomas Schöpping | }; |
321 | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = { |
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322 | /* GPIO */ &_gpioSysWarmrst,
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323 | /* meta */ {
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324 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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325 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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326 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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327 | }, |
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328 | }; |
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329 | |||
330 | /** @} */
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331 | |||
332 | /*===========================================================================*/
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333 | /**
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334 | * @name AMiRo-OS core configurations
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335 | * @{
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336 | */
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337 | /*===========================================================================*/
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338 | |||
339 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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340 | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
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341 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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342 | |||
343 | /** @} */
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344 | |||
345 | /*===========================================================================*/
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346 | /**
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347 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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348 | * @{
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349 | */
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350 | /*===========================================================================*/
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351 | |||
352 | /** @} */
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353 | |||
354 | /*===========================================================================*/
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355 | /**
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356 | * @name Low-level drivers
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357 | * @{
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358 | */
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359 | /*===========================================================================*/
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360 | |||
361 | A3906Driver moduleLldMotors = { |
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362 | /* power enable GPIO */ &moduleGpioPowerEn,
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363 | }; |
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364 | |||
365 | AT24C01BDriver moduleLldEeprom = { |
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366 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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367 | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
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368 | }; |
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369 | |||
370 | 4c72a54c | Thomas Schöpping | // TODO: BNO055
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371 | |||
372 | abb8b3f4 | Thomas Schöpping | INA219Driver moduleLldPowerMonitorVdd = { |
373 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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374 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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375 | /* current LSB (uA) */ 0x00u, |
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376 | /* configuration */ NULL, |
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377 | }; |
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378 | |||
379 | LEDDriver moduleLldStatusLed = { |
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380 | /* LED enable Gpio */ &moduleGpioLed,
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381 | }; |
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382 | |||
383 | LTC4412Driver moduleLldPowerPathController = { |
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384 | /* Control GPIO */ &moduleGpioPathDcEn,
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385 | /* Status GPIO */ &moduleGpioPathDcStat,
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386 | }; |
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387 | |||
388 | PCA9544ADriver moduleLldI2cMultiplexer = { |
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389 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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390 | /* 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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391 | }; |
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392 | |||
393 | TPS6211xDriver moduleLldStepDownConverterVdrive = { |
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394 | /* Power enable Gpio */ &moduleGpioPowerEn,
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395 | }; |
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396 | |||
397 | VCNL4020Driver moduleLldProximity = { |
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398 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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399 | }; |
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400 | |||
401 | /** @} */
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402 | |||
403 | /*===========================================================================*/
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404 | /**
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405 | 4c72a54c | Thomas Schöpping | * @name Tests
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406 | abb8b3f4 | Thomas Schöpping | * @{
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407 | */
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408 | /*===========================================================================*/
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409 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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410 | |||
411 | /*
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412 | * A3906 (motor driver)
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413 | */
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414 | 4c72a54c | Thomas Schöpping | #include <module_test_A3906.h> |
415 | static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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416 | abb8b3f4 | Thomas Schöpping | { |
417 | 4c72a54c | Thomas Schöpping | return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
418 | abb8b3f4 | Thomas Schöpping | } |
419 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
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420 | abb8b3f4 | Thomas Schöpping | |
421 | /*
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422 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
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423 | abb8b3f4 | Thomas Schöpping | */
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424 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
425 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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426 | abb8b3f4 | Thomas Schöpping | { |
427 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
428 | abb8b3f4 | Thomas Schöpping | } |
429 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
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430 | |||
431 | // TODO: BNO055
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432 | abb8b3f4 | Thomas Schöpping | |
433 | /*
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434 | * INA219 (power monitor)
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435 | */
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436 | 4c72a54c | Thomas Schöpping | #include <module_test_INA219.h> |
437 | static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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438 | abb8b3f4 | Thomas Schöpping | { |
439 | 4c72a54c | Thomas Schöpping | return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
440 | abb8b3f4 | Thomas Schöpping | } |
441 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
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442 | abb8b3f4 | Thomas Schöpping | |
443 | /*
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444 | * Status LED
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445 | */
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446 | 4c72a54c | Thomas Schöpping | #include <module_test_LED.h> |
447 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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448 | abb8b3f4 | Thomas Schöpping | { |
449 | 4c72a54c | Thomas Schöpping | return moduleTestLedShellCb(stream, argc, argv, NULL); |
450 | abb8b3f4 | Thomas Schöpping | } |
451 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
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452 | abb8b3f4 | Thomas Schöpping | |
453 | /*
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454 | * LTC4412 (power path controller)
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455 | */
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456 | 4c72a54c | Thomas Schöpping | #include <module_test_LTC4412.h> |
457 | static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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458 | abb8b3f4 | Thomas Schöpping | { |
459 | 4c72a54c | Thomas Schöpping | return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
460 | abb8b3f4 | Thomas Schöpping | } |
461 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
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462 | abb8b3f4 | Thomas Schöpping | |
463 | /*
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464 | * PCA9544A (I2C multiplexer)
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465 | */
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466 | 4c72a54c | Thomas Schöpping | #include <module_test_PCA9544A.h> |
467 | static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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468 | abb8b3f4 | Thomas Schöpping | { |
469 | 4c72a54c | Thomas Schöpping | return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
470 | abb8b3f4 | Thomas Schöpping | } |
471 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
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472 | abb8b3f4 | Thomas Schöpping | |
473 | /*
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474 | * TPS62113 (step-down converter)
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475 | */
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476 | 4c72a54c | Thomas Schöpping | #include <module_test_TPS6211x.h> |
477 | static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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478 | abb8b3f4 | Thomas Schöpping | { |
479 | 4c72a54c | Thomas Schöpping | return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
480 | abb8b3f4 | Thomas Schöpping | } |
481 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
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482 | abb8b3f4 | Thomas Schöpping | |
483 | /*
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484 | * VCNL4020 (proximity sensor)
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485 | */
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486 | 4c72a54c | Thomas Schöpping | #include <module_test_VCNL4020.h> |
487 | static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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488 | abb8b3f4 | Thomas Schöpping | { |
489 | 4c72a54c | Thomas Schöpping | return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
490 | abb8b3f4 | Thomas Schöpping | } |
491 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
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492 | |||
493 | /*
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494 | * entire module
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495 | */
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496 | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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497 | abb8b3f4 | Thomas Schöpping | { |
498 | 4c72a54c | Thomas Schöpping | (void)argc;
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499 | (void)argv;
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500 | |||
501 | int status = AOS_OK;
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502 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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503 | aos_testresult_t result_test = {0, 0}; |
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504 | aos_testresult_t result_total = {0, 0}; |
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505 | |||
506 | /* A3906 (motor driver) */
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507 | status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
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508 | result_total = aosTestResultAdd(result_total, result_test); |
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509 | |||
510 | /* AT24C01B (EEPROM) */
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511 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
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512 | result_total = aosTestResultAdd(result_total, result_test); |
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513 | |||
514 | // TODO: BNO055
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515 | |||
516 | /* INA219 (power monitor) */
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517 | status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
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518 | result_total = aosTestResultAdd(result_total, result_test); |
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519 | |||
520 | /* Status LED */
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521 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
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522 | result_total = aosTestResultAdd(result_total, result_test); |
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523 | |||
524 | /* LTC4412 (power path controller) */
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525 | status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
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526 | result_total = aosTestResultAdd(result_total, result_test); |
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527 | |||
528 | /* PCA9544A (I2C multiplexer) */
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529 | status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
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530 | result_total = aosTestResultAdd(result_total, result_test); |
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531 | |||
532 | /* TPS62113 (step-down converter) */
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533 | status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
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534 | result_total = aosTestResultAdd(result_total, result_test); |
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535 | |||
536 | /* VCNL4020 (proximity sensor) */
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537 | // wheel left
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538 | targv[1] = "-wl"; |
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539 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
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540 | result_total = aosTestResultAdd(result_total, result_test); |
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541 | // front left
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542 | targv[1] = "-fl"; |
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543 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
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544 | result_total = aosTestResultAdd(result_total, result_test); |
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545 | // front right
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546 | targv[1] = "-fr"; |
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547 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
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548 | result_total = aosTestResultAdd(result_total, result_test); |
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549 | // wheel right
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550 | targv[1] = "-wr"; |
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551 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
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552 | result_total = aosTestResultAdd(result_total, result_test); |
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553 | targv[1] = ""; |
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554 | |||
555 | // print total result
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556 | chprintf(stream, "\n");
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557 | aosTestResultPrintSummary(stream, &result_total, "entire module");
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558 | |||
559 | return status;
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560 | abb8b3f4 | Thomas Schöpping | } |
561 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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562 | abb8b3f4 | Thomas Schöpping | |
563 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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564 | |||
565 | /** @} */
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566 | /** @} */ |