amiro-os / modules / LightRing_1-2 / module.c @ 0b989911
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| 1 | 9ae7c4f3 | 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 | 034cb15a | Thomas Schöpping | * @brief Structures and constant for the LightRing v1.2 module.
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| 22 | 9ae7c4f3 | Thomas Schöpping | *
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| 23 | * @addtogroup lightring_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 | ee884101 | Thomas Schöpping | I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig = {
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| 51 | 9ae7c4f3 | Thomas Schöpping | /* I²C mode */ OPMODE_I2C,
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| 52 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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| 53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 54 | }; |
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| 55 | |||
| 56 | SerialConfig moduleHalProgIfConfig = {
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| 57 | /* bit rate */ 115200, |
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| 58 | /* CR1 */ 0, |
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| 59 | /* CR1 */ 0, |
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| 60 | /* CR1 */ 0, |
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| 61 | }; |
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| 62 | |||
| 63 | SPIConfig moduleHalSpiLightConfig = {
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| 64 | /* circular buffer mode */ false, |
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| 65 | /* callback function pointer */ NULL, |
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| 66 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
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| 67 | /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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| 68 | 9ae7c4f3 | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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| 69 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 70 | }; |
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| 71 | |||
| 72 | 0b989911 | Cung Sang | #if (BOARD_DW1000_CONNECTED == true) |
| 73 | |||
| 74 | /*! SPI (high speed) configuration for DW1000 */
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| 75 | SPIConfig moduleHalSpiUwbHsConfig = {
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| 76 | /* circular buffer mode */ false, |
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| 77 | /* callback function pointer */ NULL, |
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| 78 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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| 79 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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| 80 | /* CR1 */ 0, // 36/2 Mbps |
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| 81 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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| 82 | }; |
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| 83 | /*! SPI (low speed) configuration for DW1000 */
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| 84 | SPIConfig moduleHalSpiUwbLsConfig = {
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| 85 | /* circular buffer mode */ false, |
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| 86 | /* callback function pointer */ NULL, |
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| 87 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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| 88 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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| 89 | /* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, // 36/16 Mbps |
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| 90 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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| 91 | }; |
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| 92 | |||
| 93 | #endif /* BOARD_DW1000_CONNECTED == true */ |
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| 94 | |||
| 95 | 9ae7c4f3 | Thomas Schöpping | |
| 96 | /*===========================================================================*/
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| 97 | /**
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| 98 | * @name GPIO definitions
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| 99 | * @{
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| 100 | */
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| 101 | /*===========================================================================*/
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| 102 | |||
| 103 | /**
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| 104 | * @brief LIGHT_BANK output signal GPIO.
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| 105 | */
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| 106 | static apalGpio_t _gpioLightBlank = {
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| 107 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LIGHT_BLANK,
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| 108 | 9ae7c4f3 | Thomas Schöpping | }; |
| 109 | ROMCONST apalControlGpio_t moduleGpioLightBlank = {
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| 110 | /* GPIO */ &_gpioLightBlank,
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| 111 | /* meta */ {
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| 112 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 113 | /* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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| 114 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 115 | }, |
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| 116 | }; |
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| 117 | |||
| 118 | /**
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| 119 | * @brief RS232_R_EN_N output signal GPIO.
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| 120 | */
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| 121 | static apalGpio_t _gpioRs232En = {
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| 122 | 3106e8cc | Thomas Schöpping | /* line */ LINE_RS232_R_EN_N,
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| 123 | 9ae7c4f3 | Thomas Schöpping | }; |
| 124 | ROMCONST apalControlGpio_t moduleGpioRs232En = {
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| 125 | /* GPIO */ &_gpioRs232En,
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| 126 | /* meta */ {
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| 127 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 128 | /* active state */ APAL_GPIO_ACTIVE_LOW, //TODO |
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| 129 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 130 | }, |
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| 131 | }; |
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| 132 | |||
| 133 | /**
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| 134 | * @brief SW_V33_EN output signal GPIO.
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| 135 | */
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| 136 | static apalGpio_t _gpioSwV33En = {
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| 137 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V33_EN,
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| 138 | 9ae7c4f3 | Thomas Schöpping | }; |
| 139 | ROMCONST apalControlGpio_t moduleGpioSwV33En = {
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| 140 | /* GPIO */ &_gpioSwV33En,
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| 141 | /* meta */ {
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| 142 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 143 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 144 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 145 | }, |
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| 146 | }; |
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| 147 | |||
| 148 | 9acb8326 | Thomas Schöpping | // The 4.2V switch is disabled due to a hardware bug.
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| 149 | ///**
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| 150 | // * @brief SW_V42_EN output signal GPIO.
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| 151 | // */
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| 152 | //static apalGpio_t _gpioSwV42En = {
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| 153 | // /* line */ LINE_SW_V42_EN,
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| 154 | //};
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| 155 | //ROMCONST apalControlGpio_t moduleGpioSwV42En = {
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| 156 | // /* GPIO */ &_gpioSwV42En,
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| 157 | // /* meta */ {
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| 158 | // /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 159 | // /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 160 | // /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 161 | // },
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| 162 | //};
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| 163 | 9ae7c4f3 | Thomas Schöpping | |
| 164 | /**
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| 165 | * @brief SW_V50_EN output signal GPIO.
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| 166 | */
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| 167 | static apalGpio_t _gpioSwV50En = {
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| 168 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V50_EN,
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| 169 | 9ae7c4f3 | Thomas Schöpping | }; |
| 170 | ROMCONST apalControlGpio_t moduleGpioSwV50En = {
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| 171 | /* GPIO */ &_gpioSwV50En,
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| 172 | /* meta */ {
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| 173 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 174 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 175 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 176 | }, |
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| 177 | }; |
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| 178 | |||
| 179 | /**
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| 180 | * @brief IO_3 breakout signal GPIO.
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| 181 | */
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| 182 | static apalGpio_t _gpioBreakoutIo3 = {
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| 183 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_3,
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| 184 | 9ae7c4f3 | Thomas Schöpping | }; |
| 185 | apalControlGpio_t moduleGpioBreakoutIo3 = {
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| 186 | /* GPIO */ &_gpioBreakoutIo3,
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| 187 | /* meta */ {
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| 188 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 189 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 190 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 191 | }, |
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| 192 | }; |
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| 193 | |||
| 194 | /**
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| 195 | * @brief IO_5 breakout signal GPIO.
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| 196 | */
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| 197 | static apalGpio_t _gpioBreakoutIo5 = {
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| 198 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_5,
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| 199 | 9ae7c4f3 | Thomas Schöpping | }; |
| 200 | apalControlGpio_t moduleGpioBreakoutIo5 = {
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| 201 | /* GPIO */ &_gpioBreakoutIo5,
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| 202 | /* meta */ {
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| 203 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 204 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 205 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 206 | }, |
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| 207 | }; |
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| 208 | |||
| 209 | /**
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| 210 | * @brief IO_6 breakout signal GPIO.
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| 211 | */
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| 212 | static apalGpio_t _gpioBreakoutIo6 = {
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| 213 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_6,
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| 214 | 9ae7c4f3 | Thomas Schöpping | }; |
| 215 | apalControlGpio_t moduleGpioBreakoutIo6 = {
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| 216 | /* GPIO */ &_gpioBreakoutIo6,
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| 217 | /* meta */ {
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| 218 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 219 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 220 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 221 | }, |
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| 222 | }; |
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| 223 | |||
| 224 | /**
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| 225 | * @brief SYS_UART_DN bidirectional signal GPIO.
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| 226 | */
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| 227 | static apalGpio_t _gpioSysUartDn = {
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| 228 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_DN,
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| 229 | 9ae7c4f3 | Thomas Schöpping | }; |
| 230 | ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
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| 231 | /* GPIO */ &_gpioSysUartDn,
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| 232 | /* meta */ {
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| 233 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 234 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 235 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 236 | }, |
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| 237 | }; |
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| 238 | |||
| 239 | 0b989911 | Cung Sang | #if (BOARD_DW1000_CONNECTED == true) |
| 240 | 9ae7c4f3 | Thomas Schöpping | /**
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| 241 | 0b989911 | Cung Sang | * @brief DW1000 interrrupt input signal GPIO.
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| 242 | 9ae7c4f3 | Thomas Schöpping | */
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| 243 | 0b989911 | Cung Sang | static apalGpio_t _gpioDw1000Irqn = {
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| 244 | /* line */ LINE_IO_8, // (GPIOB, GPIOB_IO_8), |
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| 245 | }; |
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| 246 | ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
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| 247 | /* GPIO */ &_gpioDw1000Irqn,
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| 248 | /* meta */ {
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| 249 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 250 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 251 | /* interrupt edge */ APAL_GPIO_EDGE_RISING,
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| 252 | }, |
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| 253 | }; |
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| 254 | |||
| 255 | /**
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| 256 | * @brief DW1000 reset output signal GPIO.
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| 257 | */
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| 258 | static apalGpio_t _gpioDw1000Reset = {
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| 259 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_7,
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| 260 | 9ae7c4f3 | Thomas Schöpping | }; |
| 261 | 0b989911 | Cung Sang | ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
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| 262 | /* GPIO */ &_gpioDw1000Reset,
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| 263 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 264 | 0b989911 | Cung Sang | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 265 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 266 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 267 | }, |
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| 268 | }; |
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| 269 | |||
| 270 | /**
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| 271 | 0b989911 | Cung Sang | * @brief IO_2 breakout signal GPIO.
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| 272 | */
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| 273 | static apalGpio_t _gpioDw1000WakeUp = {
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| 274 | /* line */ LINE_IO_2,
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| 275 | }; |
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| 276 | ROMCONST apalControlGpio_t moduleGpioDw1000WakeUp = {
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| 277 | /* GPIO */ &_gpioDw1000WakeUp,
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| 278 | /* meta */ {
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| 279 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 280 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 281 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 282 | }, |
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| 283 | }; |
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| 284 | |||
| 285 | /**
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| 286 | * @brief DW1000 SPI chip select output signal GPIO.
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| 287 | */
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| 288 | static apalGpio_t _gpioSpiChipSelect = {
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| 289 | /* line */ LINE_SPI_SS_N,
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| 290 | }; |
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| 291 | ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
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| 292 | /* GPIO */ &_gpioSpiChipSelect,
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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,
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| 296 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 297 | }, |
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| 298 | }; |
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| 299 | #else
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| 300 | /**
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| 301 | 9ae7c4f3 | Thomas Schöpping | * @brief IO_8 breakout signal GPIO.
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| 302 | */
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| 303 | static apalGpio_t _gpioBreakoutIo8 = {
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| 304 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_8,
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| 305 | 9ae7c4f3 | Thomas Schöpping | }; |
| 306 | apalControlGpio_t moduleGpioBreakoutIo8 = {
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| 307 | /* GPIO */ &_gpioBreakoutIo8,
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| 308 | /* meta */ {
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| 309 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 310 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 311 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 312 | }, |
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| 313 | }; |
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| 314 | |||
| 315 | /**
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| 316 | 0b989911 | Cung Sang | * @brief IO_7 breakout signal GPIO.
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| 317 | */
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| 318 | static apalGpio_t _gpioBreakoutIo7 = {
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| 319 | /* line */ LINE_IO_7,
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| 320 | }; |
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| 321 | apalControlGpio_t moduleGpioBreakoutIo7 = {
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| 322 | /* GPIO */ &_gpioBreakoutIo7,
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| 323 | /* meta */ {
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| 324 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 325 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 326 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 327 | }, |
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| 328 | }; |
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| 329 | |||
| 330 | /**
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| 331 | * @brief IO_2 breakout signal GPIO.
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| 332 | */
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| 333 | static apalGpio_t _gpioBreakoutIo2 = {
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| 334 | /* line */ LINE_IO_2,
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| 335 | }; |
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| 336 | apalControlGpio_t moduleGpioBreakoutIo2 = {
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| 337 | /* GPIO */ &_gpioBreakoutIo2,
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| 338 | /* meta */ {
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| 339 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 340 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 341 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 342 | }, |
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| 343 | }; |
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| 344 | #endif /* BOARD_DW1000_CONNECTED == true */ |
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| 345 | |||
| 346 | |||
| 347 | /**
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| 348 | 9ae7c4f3 | Thomas Schöpping | * @brief IO_4 breakout signal GPIO.
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| 349 | */
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| 350 | static apalGpio_t _gpioBreakoutIo4 = {
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| 351 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_4,
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| 352 | 9ae7c4f3 | Thomas Schöpping | }; |
| 353 | apalControlGpio_t moduleGpioBreakoutIo4 = {
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| 354 | /* GPIO */ &_gpioBreakoutIo4,
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| 355 | /* meta */ {
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| 356 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 357 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 358 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 359 | }, |
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| 360 | }; |
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| 361 | |||
| 362 | /**
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| 363 | * @brief IO_1 breakout signal GPIO.
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| 364 | */
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| 365 | static apalGpio_t _gpioBreakoutIo1 = {
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| 366 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_1,
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| 367 | 9ae7c4f3 | Thomas Schöpping | }; |
| 368 | apalControlGpio_t moduleGpioBreakoutIo1 = {
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| 369 | /* GPIO */ &_gpioBreakoutIo1,
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| 370 | /* meta */ {
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| 371 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 372 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 373 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 374 | }, |
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| 375 | }; |
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| 376 | |||
| 377 | |||
| 378 | /**
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| 379 | * @brief LED output signal GPIO.
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| 380 | */
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| 381 | static apalGpio_t _gpioLed = {
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| 382 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
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| 383 | 9ae7c4f3 | Thomas Schöpping | }; |
| 384 | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 385 | /* GPIO */ &_gpioLed,
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| 386 | /* meta */ {
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| 387 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 388 | 4c72a54c | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 389 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 390 | }, |
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| 391 | }; |
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| 392 | |||
| 393 | /**
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| 394 | c930aa01 | Thomas Schöpping | * @brief LIGHT_XLAT output signal GPIO.
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| 395 | */
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| 396 | static apalGpio_t _gpioLightXlat = {
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| 397 | /* line */ LINE_LIGHT_XLAT,
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| 398 | }; |
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| 399 | ROMCONST apalControlGpio_t moduleGpioLightXlat = {
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| 400 | /* GPIO */ &_gpioLightXlat,
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| 401 | /* meta */ {
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| 402 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 403 | /* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 404 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 405 | }, |
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| 406 | }; |
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| 407 | |||
| 408 | /**
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| 409 | 9ae7c4f3 | Thomas Schöpping | * @brief SW_V18_EN output signal GPIO.
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| 410 | */
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| 411 | static apalGpio_t _gpioSwV18En = {
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| 412 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V18_EN,
|
| 413 | 9ae7c4f3 | Thomas Schöpping | }; |
| 414 | ROMCONST apalControlGpio_t moduleGpioSwV18En = {
|
||
| 415 | /* GPIO */ &_gpioSwV18En,
|
||
| 416 | /* meta */ {
|
||
| 417 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 418 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
|
| 419 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 420 | }, |
||
| 421 | }; |
||
| 422 | |||
| 423 | /**
|
||
| 424 | * @brief SW_VSYS_EN output signal GPIO.
|
||
| 425 | */
|
||
| 426 | static apalGpio_t _gpioSwVsysEn = {
|
||
| 427 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_VSYS_EN,
|
| 428 | 9ae7c4f3 | Thomas Schöpping | }; |
| 429 | ROMCONST apalControlGpio_t moduleGpioSwVsysEn = {
|
||
| 430 | /* GPIO */ &_gpioSwVsysEn,
|
||
| 431 | /* meta */ {
|
||
| 432 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 433 | ee884101 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 434 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 435 | }, |
||
| 436 | }; |
||
| 437 | |||
| 438 | /**
|
||
| 439 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
| 440 | */
|
||
| 441 | static apalGpio_t _gpioSysUartUp = {
|
||
| 442 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
|
| 443 | 9ae7c4f3 | Thomas Schöpping | }; |
| 444 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
|
||
| 445 | /* GPIO */ &_gpioSysUartUp,
|
||
| 446 | /* meta */ {
|
||
| 447 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 448 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 449 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 450 | }, |
||
| 451 | }; |
||
| 452 | |||
| 453 | /**
|
||
| 454 | * @brief SYS_PD bidirectional signal GPIO.
|
||
| 455 | */
|
||
| 456 | static apalGpio_t _gpioSysPd = {
|
||
| 457 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
|
| 458 | 9ae7c4f3 | Thomas Schöpping | }; |
| 459 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
||
| 460 | /* GPIO */ &_gpioSysPd,
|
||
| 461 | /* meta */ {
|
||
| 462 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 463 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 464 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 465 | }, |
||
| 466 | }; |
||
| 467 | |||
| 468 | /**
|
||
| 469 | * @brief SYS_SYNC bidirectional signal GPIO.
|
||
| 470 | */
|
||
| 471 | static apalGpio_t _gpioSysSync = {
|
||
| 472 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
|
| 473 | 9ae7c4f3 | Thomas Schöpping | }; |
| 474 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
||
| 475 | /* GPIO */ &_gpioSysSync,
|
||
| 476 | /* meta */ {
|
||
| 477 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 478 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 479 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 480 | }, |
||
| 481 | }; |
||
| 482 | |||
| 483 | /** @} */
|
||
| 484 | |||
| 485 | /*===========================================================================*/
|
||
| 486 | /**
|
||
| 487 | * @name AMiRo-OS core configurations
|
||
| 488 | * @{
|
||
| 489 | */
|
||
| 490 | /*===========================================================================*/
|
||
| 491 | |||
| 492 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 493 | ROMCONST char* moduleShellPrompt = "LightRing"; |
||
| 494 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 495 | |||
| 496 | /** @} */
|
||
| 497 | |||
| 498 | /*===========================================================================*/
|
||
| 499 | /**
|
||
| 500 | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
||
| 501 | * @{
|
||
| 502 | */
|
||
| 503 | /*===========================================================================*/
|
||
| 504 | |||
| 505 | /** @} */
|
||
| 506 | |||
| 507 | /*===========================================================================*/
|
||
| 508 | /**
|
||
| 509 | 0b989911 | Cung Sang | * @name Hardware specific wrappers Functions
|
| 510 | * @{
|
||
| 511 | */
|
||
| 512 | /*===========================================================================*/
|
||
| 513 | |||
| 514 | #if (BOARD_DW1000_CONNECTED == true) |
||
| 515 | /*! @brief Manually reset the DW1000 module */
|
||
| 516 | void reset_DW1000(void){ |
||
| 517 | |||
| 518 | // Set the pin as output
|
||
| 519 | palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT); |
||
| 520 | |||
| 521 | //drive the RSTn pin low
|
||
| 522 | apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW); |
||
| 523 | |||
| 524 | //put the pin back to tri-state ... as input
|
||
| 525 | // palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO:
|
||
| 526 | |||
| 527 | aosThdMSleep(2);
|
||
| 528 | } |
||
| 529 | |||
| 530 | /*! @brief entry point to the IRQn event in DW1000 module
|
||
| 531 | *
|
||
| 532 | * */
|
||
| 533 | void process_deca_irq(void){ |
||
| 534 | do{
|
||
| 535 | dwt_isr(); |
||
| 536 | //while IRS line active (ARM can only do edge sensitive interrupts)
|
||
| 537 | }while(port_CheckEXT_IRQ() == 1); |
||
| 538 | } |
||
| 539 | |||
| 540 | /*! @brief Check the current value of GPIO pin and return the value */
|
||
| 541 | apalGpioState_t port_CheckEXT_IRQ(void) {
|
||
| 542 | apalGpioState_t val; |
||
| 543 | apalGpioRead(moduleGpioDw1000Irqn.gpio, &val); |
||
| 544 | return val;
|
||
| 545 | } |
||
| 546 | |||
| 547 | /*! @brief Manually set the chip select pin of the SPI */
|
||
| 548 | void set_SPI_chip_select(void){ |
||
| 549 | apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH); |
||
| 550 | } |
||
| 551 | |||
| 552 | /*! @brief Manually reset the chip select pin of the SPI */
|
||
| 553 | void clear_SPI_chip_select(void){ |
||
| 554 | apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
||
| 555 | } |
||
| 556 | |||
| 557 | /*! @brief Change the SPI speed configuration on the fly */
|
||
| 558 | void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){ |
||
| 559 | |||
| 560 | spiStop(drv->spid); |
||
| 561 | |||
| 562 | if (speedValue == FALSE){
|
||
| 563 | spiStart(drv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration
|
||
| 564 | } |
||
| 565 | else{
|
||
| 566 | spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
|
||
| 567 | } |
||
| 568 | } |
||
| 569 | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
||
| 570 | /** @} */
|
||
| 571 | |||
| 572 | |||
| 573 | /*===========================================================================*/
|
||
| 574 | /**
|
||
| 575 | 9ae7c4f3 | Thomas Schöpping | * @name Low-level drivers
|
| 576 | * @{
|
||
| 577 | */
|
||
| 578 | /*===========================================================================*/
|
||
| 579 | |||
| 580 | AT24C01BDriver moduleLldEeprom = {
|
||
| 581 | ee884101 | Thomas Schöpping | /* I2C driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
| 582 | 9ae7c4f3 | Thomas Schöpping | /* I2C address */ 0x00u, |
| 583 | }; |
||
| 584 | |||
| 585 | ee884101 | Thomas Schöpping | INA219Driver moduleLldPowerMonitorVled = {
|
| 586 | /* I2C Driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
||
| 587 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
||
| 588 | /* current LSB (uA) */ 0x00u, |
||
| 589 | /* configuration */ NULL, |
||
| 590 | }; |
||
| 591 | |||
| 592 | LEDDriver moduleLldStatusLed = {
|
||
| 593 | /* LED enable Gpio */ &moduleGpioLed,
|
||
| 594 | }; |
||
| 595 | |||
| 596 | MIC9404xDriver moduleLldPowerSwitchV18 = {
|
||
| 597 | /* power enable GPIO */ &moduleGpioSwV18En,
|
||
| 598 | }; |
||
| 599 | |||
| 600 | MIC9404xDriver moduleLldPowerSwitchV33 = {
|
||
| 601 | /* power enable GPIO */ &moduleGpioSwV33En,
|
||
| 602 | }; |
||
| 603 | |||
| 604 | 9acb8326 | Thomas Schöpping | // The 4.2V switch is disabled due to a hardware bug.
|
| 605 | //MIC9404xDriver moduleLldPowerSwitchV42 = {
|
||
| 606 | // /* power enable GPIO */ &moduleGpioSwV42En,
|
||
| 607 | //};
|
||
| 608 | ee884101 | Thomas Schöpping | |
| 609 | MIC9404xDriver moduleLldPowerSwitchV50 = {
|
||
| 610 | /* power enable GPIO */ &moduleGpioSwV50En,
|
||
| 611 | }; |
||
| 612 | |||
| 613 | MIC9404xDriver moduleLldPowerSwitchVsys = {
|
||
| 614 | /* power enable GPIO */ &moduleGpioSwVsysEn,
|
||
| 615 | }; |
||
| 616 | |||
| 617 | 4c72a54c | Thomas Schöpping | // TODO: add SNx5C3221E
|
| 618 | |||
| 619 | 9ae7c4f3 | Thomas Schöpping | TLC5947Driver moduleLldLedPwm = {
|
| 620 | /* SPI driver */ &MODULE_HAL_SPI_LIGHT,
|
||
| 621 | /* BLANK signal GPIO */ &moduleGpioLightBlank,
|
||
| 622 | c930aa01 | Thomas Schöpping | /* XLAT signal GPIO */ &moduleGpioLightXlat,
|
| 623 | 9ae7c4f3 | Thomas Schöpping | }; |
| 624 | |||
| 625 | 0b989911 | Cung Sang | #if (BOARD_DW1000_CONNECTED == true) |
| 626 | DW1000Driver moduleLldDw1000 = {
|
||
| 627 | /* SPI driver */ &MODULE_HAL_SPI_UWB,
|
||
| 628 | /* ext interrupt */ &moduleGpioDw1000Irqn,
|
||
| 629 | /* RESET DW1000 */ &moduleGpioDw1000Reset,
|
||
| 630 | }; |
||
| 631 | |||
| 632 | MIC9404xDriver moduleLldPowerSwitchDw1000 = {
|
||
| 633 | /* power enable GPIO */ &moduleGpioSwVsysEn,
|
||
| 634 | }; |
||
| 635 | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
||
| 636 | |||
| 637 | 9ae7c4f3 | Thomas Schöpping | /** @} */
|
| 638 | |||
| 639 | /*===========================================================================*/
|
||
| 640 | /**
|
||
| 641 | 4c72a54c | Thomas Schöpping | * @name Tests
|
| 642 | 9ae7c4f3 | Thomas Schöpping | * @{
|
| 643 | */
|
||
| 644 | /*===========================================================================*/
|
||
| 645 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 646 | |||
| 647 | /*
|
||
| 648 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
|
| 649 | 9ae7c4f3 | Thomas Schöpping | */
|
| 650 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
| 651 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 652 | 9ae7c4f3 | Thomas Schöpping | {
|
| 653 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
| 654 | 9ae7c4f3 | Thomas Schöpping | } |
| 655 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
|
| 656 | 9ae7c4f3 | Thomas Schöpping | |
| 657 | /*
|
||
| 658 | ee884101 | Thomas Schöpping | * INA219 (power monitor)
|
| 659 | */
|
||
| 660 | 4c72a54c | Thomas Schöpping | #include <module_test_INA219.h> |
| 661 | static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 662 | ee884101 | Thomas Schöpping | {
|
| 663 | 4c72a54c | Thomas Schöpping | return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
| 664 | ee884101 | Thomas Schöpping | } |
| 665 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
|
| 666 | ee884101 | Thomas Schöpping | |
| 667 | /*
|
||
| 668 | * Status LED
|
||
| 669 | */
|
||
| 670 | 4c72a54c | Thomas Schöpping | #include <module_test_LED.h> |
| 671 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 672 | ee884101 | Thomas Schöpping | {
|
| 673 | 4c72a54c | Thomas Schöpping | return moduleTestLedShellCb(stream, argc, argv, NULL); |
| 674 | ee884101 | Thomas Schöpping | } |
| 675 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
|
| 676 | ee884101 | Thomas Schöpping | |
| 677 | /*
|
||
| 678 | 4c72a54c | Thomas Schöpping | * MIC9404x (power switch)
|
| 679 | ee884101 | Thomas Schöpping | */
|
| 680 | 4c72a54c | Thomas Schöpping | #include <module_test_MIC9404x.h> |
| 681 | static int _testMic9404xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 682 | ee884101 | Thomas Schöpping | {
|
| 683 | 4c72a54c | Thomas Schöpping | return moduleTestMic9404xShellCb(stream, argc, argv, NULL); |
| 684 | ee884101 | Thomas Schöpping | } |
| 685 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestMic9404xShellCmd, "test:PowerSwitch", _testMic9404xShellCmdCb);
|
| 686 | |||
| 687 | // TODO: add SNx5C3221E
|
||
| 688 | |||
| 689 | /*
|
||
| 690 | * TLC5947 (24 channel PWM LED driver)
|
||
| 691 | */
|
||
| 692 | #include <module_test_TLC5947.h> |
||
| 693 | static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 694 | {
|
||
| 695 | return moduleTestTlc5947ShellCb(stream, argc, argv, NULL); |
||
| 696 | } |
||
| 697 | AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
|
||
| 698 | ee884101 | Thomas Schöpping | |
| 699 | 0b989911 | Cung Sang | #if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
| 700 | /*
|
||
| 701 | * UwB Driver (DW1000)
|
||
| 702 | */
|
||
| 703 | #include <module_test_DW1000.h> |
||
| 704 | static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 705 | {
|
||
| 706 | return moduleTestDw1000ShellCb(stream, argc, argv, NULL); |
||
| 707 | } |
||
| 708 | AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb);
|
||
| 709 | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
||
| 710 | |||
| 711 | ee884101 | Thomas Schöpping | /*
|
| 712 | 4c72a54c | Thomas Schöpping | * entire module
|
| 713 | 9ae7c4f3 | Thomas Schöpping | */
|
| 714 | 4c72a54c | Thomas Schöpping | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 715 | 9ae7c4f3 | Thomas Schöpping | {
|
| 716 | (void)argc;
|
||
| 717 | (void)argv;
|
||
| 718 | 4c72a54c | Thomas Schöpping | |
| 719 | int status = AOS_OK;
|
||
| 720 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
||
| 721 | aos_testresult_t result_test = {0, 0};
|
||
| 722 | aos_testresult_t result_total = {0, 0};
|
||
| 723 | |||
| 724 | /* AT24C01B (EEPROM) */
|
||
| 725 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
||
| 726 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 727 | |||
| 728 | /* INA219 (power monitor) */
|
||
| 729 | status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
|
||
| 730 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 731 | |||
| 732 | /* Status LED */
|
||
| 733 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
||
| 734 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 735 | |||
| 736 | /* MIC9404x (power switch) */
|
||
| 737 | // 1.8V
|
||
| 738 | targv[1] = "1.8V"; |
||
| 739 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
| 740 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 741 | // 3.3V
|
||
| 742 | targv[1] = "3.3V"; |
||
| 743 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
| 744 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 745 | // The 4.2V switch is disabled due to a hardware bug.
|
||
| 746 | // // 4.2V
|
||
| 747 | // targv[1] = "4.2V";
|
||
| 748 | // status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
| 749 | // result_total = aosTestResultAdd(result_total, result_test);
|
||
| 750 | // 5.0V
|
||
| 751 | targv[1] = "5.0V"; |
||
| 752 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
| 753 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 754 | //VSYS
|
||
| 755 | targv[1] = "VSYS"; |
||
| 756 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
| 757 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 758 | targv[1] = ""; |
||
| 759 | |||
| 760 | // TODO: add SNx5C3221E
|
||
| 761 | |||
| 762 | /* TLC5947 (24 channel PWM LED driver) */
|
||
| 763 | status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
|
||
| 764 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 765 | |||
| 766 | // print total result
|
||
| 767 | chprintf(stream, "\n");
|
||
| 768 | aosTestResultPrintSummary(stream, &result_total, "entire module");
|
||
| 769 | |||
| 770 | return status;
|
||
| 771 | 9ae7c4f3 | Thomas Schöpping | } |
| 772 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
| 773 | |||
| 774 | 9ae7c4f3 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 775 | |||
| 776 | /** @} */
|
||
| 777 | /** @} */ |