AMiRo-OS

 * @brief   Structures and constant for the NUCLEO-L476RG module.

 * @addtogroup NUCLEO-L476RG_module

#include <math.h>

#if defined(AMIROLLD_CFG_MPU6050)

/**

 * @brief   I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery).

 */

#define MODULE_HAL_I2C3                         I2CD3

/**

 * @brief   Configuration for the I2C driver #3.

 */

extern I2CConfig moduleHalI2c3Config;

#endif /* defined(AMIROLLD_CFG_MPU6050) */

  MODULE_INIT_TEST_MPU6050();                                                 \

#if defined(AMIROLLD_CFG_MPU6050)

  #define MODULE_INIT_TEST_MPU6050() {                                        \

    /* add unit-test shell commands */                                        \

    aosShellAddCommand(&aos.shell, &moduleUtAlldMpu6050.shellcmd);            \

  }

#else

  #define MODULE_INIT_TEST_MPU6050() {}

#endif

  /* MPU6050 demo */                                                          \

  MODULE_INIT_PERIPHERY_COMM_MPU6050();                                       \

#if defined(AMIROLLD_CFG_MPU6050)

  #define MODULE_INIT_PERIPHERY_COMM_MPU6050() {                              \

    /* maximum I2C frequency is 1MHz for this MCU */                          \

    uint32_t i2c3_freq = 1000000;                                             \

    /* find minimum amon all devices connected to this bus */                 \

    i2c3_freq = (MPU6050_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : i2c3_freq;  \

    /* calculate PRESC (prescaler):                                           \

     *   target is 1/(I2CXCLK * (PRESC + 1)) = 125ns                          \

     */                                                                       \

    moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \

    /* SCL shall be low half of the time. */                                  \

    moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \

    /* SCL shall be high half the time of low or slightly longer. */          \

    moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos;  \

    /* SDA shall be delayed 1/10 of SCL low, or shorter */                    \

    moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos;  \

    /* SCL shall be delyed twice as long as SDA, but longer than 0. */        \

    moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos;  \

    /* now we can start the I2C driver */                                     \

    i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config);                         \

  }

#else

  #define MODULE_INIT_PERIPHERY_COMM_MPU6050() {}

#endif

#if defined(AMIROLLD_CFG_MPU6050)

#include <alld_MPU6050.h>

/**

 * @brief   Accelerometer (MPU6050) driver.

 */

extern MPU6050Driver moduleLldMpu6050;

#endif /* defined(AMIROLLD_CFG_MPU6050) */

#if defined(AMIROLLD_CFG_MPU6050)

#include <ut_alld_MPU6050_v1.h>

/**

 * @brief   MPU6050 unit test object.

 */

extern aos_unittest_t moduleUtAlldMpu6050;

#endif /* defined(AMIROLLD_CFG_MPU6050) */