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amiro-os / modules / DiWheelDrive_1-1 / module.h @ 1678f270

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file
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 * @brief   Structures and constant for the DiWheelDrive module.
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 *
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 * @addtogroup diwheeldrive_module
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 * @{
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 */
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#ifndef _AMIROOS_MODULE_H_
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#define _AMIROOS_MODULE_H_
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/*===========================================================================*/
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/**
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 * @name Module specific functions
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 * @{
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 */
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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 * @name ChibiOS/HAL configuration
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 * @{
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 */
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/*===========================================================================*/
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#include <hal.h>
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#include <hal_qei.h>
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/**
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 * @brief   CAN driver to use.
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 */
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#define MODULE_HAL_CAN                          CAND1
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/**
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 * @brief   Configuration for the CAN driver.
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 */
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extern CANConfig moduleHalCanConfig;
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/**
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 * @brief   I2C driver to access the compass.
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 */
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#define MODULE_HAL_I2C_COMPASS                  I2CD1
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/**
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 * @brief   Configuration for the compass I2C driver.
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 */
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extern I2CConfig moduleHalI2cCompassConfig;
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/**
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 * @brief   I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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 */
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#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR       I2CD2
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/**
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 * @brief   Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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 */
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extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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/**
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 * @brief   PWM driver to use.
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 */
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#define MODULE_HAL_PWM_DRIVE                    PWMD2
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/**
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 * @brief   Configuration for the PWM driver.
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 */
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extern PWMConfig moduleHalPwmDriveConfig;
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/**
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 * @brief   Drive PWM channel for the left wheel forward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD     ((apalPWMchannel_t)0)
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/**
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 * @brief   Drive PWM channel for the left wheel backward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD    ((apalPWMchannel_t)1)
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/**
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 * @brief   Drive PWM channel for the right wheel forward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD    ((apalPWMchannel_t)2)
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/**
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 * @brief   Drive PWM channel for the right wheel backward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD   ((apalPWMchannel_t)3)
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/**
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 * @brief   Quadrature encooder for the left wheel.
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 */
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#define MODULE_HAL_QEI_LEFT_WHEEL               QEID3
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/**
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 * @brief   Quadrature encooder for the right wheel.
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 */
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#define MODULE_HAL_QEI_RIGHT_WHEEL              QEID4
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/**
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 * @brief   Configuration for both quadrature encoders.
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 */
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extern QEIConfig moduleHalQeiConfig;
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/**
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 * @brief   QEI increments per wheel revolution.
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 * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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 */
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#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION  (apalQEICount_t)(2 * 2 * 16 * 22)
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/**
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 * @brief   Serial driver of the programmer interface.
131
 */
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#define MODULE_HAL_PROGIF                       SD1
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/**
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 * @brief   Configuration for the programmer serial interface driver.
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 */
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extern SerialConfig moduleHalProgIfConfig;
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/**
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 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
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 */
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#define MODULE_HAL_SPI_MOTION                   SPID1
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/**
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 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the accelerometer.
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 */
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extern SPIConfig moduleHalSpiAccelerometerConfig;
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/**
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 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the gyroscope.
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 */
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extern SPIConfig moduleHalSpiGyroscopeConfig;
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/**
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 * @brief   Real-Time Clock driver.
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 */
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#define MODULE_HAL_RTC                          RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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 * @name GPIO definitions
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 * @{
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 */
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/*===========================================================================*/
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#include <amiro-lld.h>
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/**
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 * @brief   LED output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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/**
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 * @brief   POWER_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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/**
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 * @brief   COMPASS_DRDY input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;
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/**
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 * @brief   IR_INT input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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/**
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 * @brief   GYRO_DRDY input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;
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/**
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 * @brief   SYS_UART_UP bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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/**
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 * @brief   ACCEL_INT input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioAccelInt;
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/**
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 * @brief   SYS_SNYC bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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/**
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 * @brief   PATH_DCSTAT input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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/**
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 * @brief   PATH_DCEN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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/**
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 * @brief   SYS_REG_EN input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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/**
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 * @brief   SYS_WARMRST bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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/** @} */
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/*===========================================================================*/
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/**
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 * @name AMiRo-OS core configurations
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Event flag to be set on a SYS_SYNC interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(GPIOC_SYS_INT_N)
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/**
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 * @brief   Event flag to be set on a SYS_WARMRST interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST       AOS_IOEVENT_FLAG(GPIOD_SYS_WARMRST_N)
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/**
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 * @brief   Event flag to be set on a PATH_DCSTAT interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT       AOS_IOEVENT_FLAG(GPIOC_PATH_DCEN)
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/**
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 * @brief   Event flag to be set on a COMPASS_DRDY interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY      AOS_IOEVENT_FLAG(GPIOB_COMPASS_DRDY)
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/**
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 * @brief   Event flag to be set on a SYS_PD interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
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/**
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 * @brief   Event flag to be set on a SYS_REG_EN interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSREGEN         AOS_IOEVENT_FLAG(GPIOC_SYS_REG_EN)
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/**
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 * @brief   Event flag to be set on a IR_INT interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_IRINT            AOS_IOEVENT_FLAG(GPIOB_IR_INT)
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/**
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 * @brief   Event flag to be set on a GYRO_DRDY interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_GYRODRDY         AOS_IOEVENT_FLAG(GPIOB_GYRO_DRDY)
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/**
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 * @brief   Event flag to be set on a SYS_UART_UP interrupt.
285
 */
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        AOS_IOEVENT_FLAG(GPIOB_SYS_UART_UP)
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/**
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 * @brief   Event flag to be set on a ACCEL_INT interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_ACCELINT         AOS_IOEVENT_FLAG(GPIOB_ACCEL_INT_N)
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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/**
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 * @brief   Shell prompt text.
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 */
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extern ROMCONST char* moduleShellPrompt;
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#endif
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/**
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 * @brief   Additional HAL initialization hook.
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 */
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#define MODULE_INIT_HAL_EXTRA() {                                             \
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  qeiInit();                                                                  \
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}
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/**
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 * @brief   Interrupt initialization macro.
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 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
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 */
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#define MODULE_INIT_INTERRUPTS() {                                            \
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  /* COMPASS_DRDY */                                                          \
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  palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \
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  palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge));  \
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  /* IR_INT */                                                                \
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  palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \
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  palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge));  \
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  /* GYRO_DRDY */                                                             \
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  palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad);  \
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  palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge));   \
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  /* ACCEL_INT */                                                             \
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  palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad);  \
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  palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge));   \
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  /* PATH_DCSTAT */                                                           \
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  palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad);  \
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  palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge));   \
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  /* SYS_REG_EN */                                                            \
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  palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad);  \
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  palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge));   \
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  /* SYS_WARMRST */                                                           \
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  palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad);  \
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  palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge));   \
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}
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/**
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 * @brief   Unit test initialization hook.
337
 */
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#define MODULE_INIT_TESTS() {                                                 \
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  /* add unit-test shell commands */                                          \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd);                \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd);            \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd);               \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd);                  \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd);            \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd);              \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd);             \
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}
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/**
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 * @brief   Periphery communication interfaces initialization hook.
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 */
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#define MODULE_INIT_PERIPHERY_COMM() {                                        \
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  /* serial driver */                                                         \
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  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
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  /* I2C */                                                                   \
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  moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed;  \
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  moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig);              \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
368
  i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig);  \
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  /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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  /* PWM */                                                                   \
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  pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig);                  \
372
  /* QEI */                                                                   \
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  qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig);                  \
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  qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig);                 \
375
  qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL);                                      \
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  qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                     \
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}
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379
/**
380
 * @brief   Periphery communication interface deinitialization hook.
381
 */
382
#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
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  /* PWM */                                                                   \
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  pwmStop(&MODULE_HAL_PWM_DRIVE);                                             \
385
  /* QEI */                                                                   \
386
  qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL);                                     \
387
  qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                    \
388
  qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL);                                        \
389
  qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL);                                       \
390
  /* I2C */                                                                   \
391
  i2cStop(&MODULE_HAL_I2C_COMPASS);                                           \
392
  i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR);                                \
393
  /* don't stop the serial driver so messages can still be printed */         \
394
}
395

    
396
/** @} */
397

    
398
/*===========================================================================*/
399
/**
400
 * @name Startup Shutdown Synchronization Protocol (SSSP)
401
 * @{
402
 */
403
/*===========================================================================*/
404

    
405
/**
406
 * @brief   PD signal GPIO.
407
 */
408
#define moduleSsspGpioPd                        moduleGpioSysPd
409

    
410
/**
411
 * @brief   SYNC signal GPIO.
412
 */
413
#define moduleSsspGpioSync                      moduleGpioSysSync
414

    
415
/**
416
 * @brief   UP signal GPIO.
417
 */
418
#define moduleSsspGpioUp                        moduleGpioSysUartUp
419

    
420
/**
421
 * @brief   Event flags for PD signal events.
422
 */
423
#define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
424

    
425
/**
426
 * @brief   Event flags for SYNC signal events.
427
 */
428
#define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
429

    
430
/**
431
 * @brief   Event flags for UP signal events.
432
 */
433
#define MODULE_SSSP_EVENTFLAGS_UP               MODULE_OS_IOEVENTFLAGS_SYSUARTUP
434

    
435
/** @} */
436

    
437
/*===========================================================================*/
438
/**
439
 * @name Low-level drivers
440
 * @{
441
 */
442
/*===========================================================================*/
443
#include <alld_a3906.h>
444
#include <alld_at24c01bn-sh-b.h>
445
#include <alld_hmc5883l.h>
446
#include <alld_ina219.h>
447
#include <alld_l3g4200d.h>
448
#include <alld_led.h>
449
#include <alld_lis331dlh.h>
450
#include <alld_ltc4412.h>
451
#include <alld_pca9544a.h>
452
#include <alld_tps62113.h>
453
#include <alld_vcnl4020.h>
454

    
455
/**
456
 * @brief   Motor driver.
457
 */
458
extern A3906Driver moduleLldMotors;
459

    
460
/**
461
 * @brief   EEPROM driver.
462
 */
463
extern AT24C01BNDriver moduleLldEeprom;
464

    
465
/**
466
 * @brief   Compass driver.
467
 */
468
extern HMC5883LDriver moduleLldCompass;
469

    
470
/**
471
 * @brief   Power monitor (VDD) driver.
472
 */
473
extern INA219Driver moduleLldPowerMonitorVdd;
474

    
475
/**
476
 * @brief   Gyroscope driver.
477
 */
478
extern L3G4200DDriver moduleLldGyroscope;
479

    
480
/**
481
 * @brief   Status LED driver.
482
 */
483
extern LEDDriver moduleLldStatusLed;
484

    
485
/**
486
 * @brief   Accelerometer driver.
487
 */
488
extern LIS331DLHDriver moduleLldAccelerometer;
489

    
490
/**
491
 * @brief   Power path controler (charging pins) driver.
492
 */
493
extern LTC4412Driver moduleLldPowerPathController;
494

    
495
/**
496
 * @brief   I2C multiplexer driver.
497
 */
498
extern PCA9544ADriver moduleLldI2cMultiplexer;
499

    
500
/**
501
 * @brief   Step down converter (VDRIVE) driver.
502
 */
503
extern TPS62113Driver moduleLldStepDownConverterVdrive;
504

    
505
/**
506
 * @brief   Proximity sensor driver.
507
 */
508
extern VCNL4020Driver moduleLldProximity;
509

    
510
/** @} */
511

    
512
/*===========================================================================*/
513
/**
514
 * @name Unit tests (UT)
515
 * @{
516
 */
517
/*===========================================================================*/
518
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
519
#include <ut_alld_a3906.h>
520
#include <ut_alld_at24c01bn-sh-b.h>
521
#include <ut_alld_hmc5883l.h>
522
#include <ut_alld_ina219.h>
523
#include <ut_alld_l3g4200d.h>
524
#include <ut_alld_led.h>
525
#include <ut_alld_lis331dlh.h>
526
#include <ut_alld_ltc4412.h>
527
#include <ut_alld_pca9544a.h>
528
#include <ut_alld_tps62113.h>
529
#include <ut_alld_vcnl4020.h>
530

    
531
/**
532
 * @brief   A3906 (motor driver) unit test object.
533
 */
534
extern aos_unittest_t moduleUtAlldA3906;
535

    
536
/**
537
 * @brief   AT24C01BN-SH-B (EEPROM) unit test object.
538
 */
539
extern aos_unittest_t moduleUtAlldAt24c01bn;
540

    
541
/**
542
 * @brief   HMC5883L (compass) unit test object.
543
 */
544
extern aos_unittest_t moduleUtAlldHmc5883l;
545

    
546
/**
547
 * @brief   INA219 (power monitor) unit test object.
548
 */
549
extern aos_unittest_t moduleUtAlldIna219;
550

    
551
/**
552
 * @brief   L3G4200D (gyroscope) unit test object.
553
 */
554
extern aos_unittest_t moduleUtAlldL3g4200d;
555

    
556
/**
557
 * @brief   Status LED unit test object.
558
 */
559
extern aos_unittest_t moduleUtAlldLed;
560

    
561
/**
562
 * @brief   LIS331DLH (accelerometer) unit test object.
563
 */
564
extern aos_unittest_t moduleUtAlldLis331dlh;
565

    
566
/**
567
 * @brief   LTC4412 (power path controller) unit test object.
568
 */
569
extern aos_unittest_t moduleUtAlldLtc4412;
570

    
571
/**
572
 * @brief   PCA9544A (I2C multiplexer) unit test object.
573
 */
574
extern aos_unittest_t moduleUtAlldPca9544a;
575

    
576
/**
577
 * @brief   TPS62113 (step-down converter) unit test object.
578
 */
579
extern aos_unittest_t moduleUtAlldTps62113;
580

    
581
/**
582
 * @brief   VCNL4020 (proximity sensor) unit test object.
583
 */
584
extern aos_unittest_t moduleUtAlldVcnl4020;
585

    
586
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
587

    
588
/** @} */
589

    
590
#endif /* _AMIROOS_MODULE_H_ */
591

    
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/** @} */