amiro-os / modules / DiWheelDrive_1-1 / module.c @ 1dd7edc7
History | View | Annotate | Download (23.67 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2018 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief Structures and constant for the DiWheelDrive module.
|
| 22 |
*
|
| 23 |
* @addtogroup diwheeldrive_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include "module.h" |
| 28 |
|
| 29 |
#include <amiroos.h> |
| 30 |
|
| 31 |
/*===========================================================================*/
|
| 32 |
/**
|
| 33 |
* @name Module specific functions
|
| 34 |
* @{
|
| 35 |
*/
|
| 36 |
/*===========================================================================*/
|
| 37 |
|
| 38 |
/** @} */
|
| 39 |
|
| 40 |
/*===========================================================================*/
|
| 41 |
/**
|
| 42 |
* @name ChibiOS/HAL configuration
|
| 43 |
* @{
|
| 44 |
*/
|
| 45 |
/*===========================================================================*/
|
| 46 |
|
| 47 |
CANConfig moduleHalCanConfig = {
|
| 48 |
/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
| 49 |
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
| 50 |
}; |
| 51 |
|
| 52 |
I2CConfig moduleHalI2cCompassConfig = {
|
| 53 |
/* I²C mode */ OPMODE_I2C,
|
| 54 |
/* frequency */ 400000, |
| 55 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
| 56 |
}; |
| 57 |
|
| 58 |
I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
|
| 59 |
/* I²C mode */ OPMODE_I2C,
|
| 60 |
/* frequency */ 400000, |
| 61 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
| 62 |
}; |
| 63 |
|
| 64 |
PWMConfig moduleHalPwmDriveConfig = {
|
| 65 |
/* frequency */ 7200000, |
| 66 |
/* period */ 360, |
| 67 |
/* callback */ NULL, |
| 68 |
/* channel configurations */ {
|
| 69 |
/* channel 0 */ {
|
| 70 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 71 |
/* callback */ NULL |
| 72 |
}, |
| 73 |
/* channel 1 */ {
|
| 74 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 75 |
/* callback */ NULL |
| 76 |
}, |
| 77 |
/* channel 2 */ {
|
| 78 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 79 |
/* callback */ NULL |
| 80 |
}, |
| 81 |
/* channel 3 */ {
|
| 82 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 83 |
/* callback */ NULL |
| 84 |
}, |
| 85 |
}, |
| 86 |
/* TIM CR2 register */ 0, |
| 87 |
#if STM32_PWM_USE_ADVANCED
|
| 88 |
/* TIM BDTR register */ 0, |
| 89 |
#endif
|
| 90 |
/* TIM DIER register */ 0 |
| 91 |
}; |
| 92 |
|
| 93 |
QEIConfig moduleHalQeiConfig = {
|
| 94 |
/* mode */ QEI_COUNT_BOTH,
|
| 95 |
/* channel config */ {
|
| 96 |
/* channel 0 */ {
|
| 97 |
/* input mode */ QEI_INPUT_NONINVERTED,
|
| 98 |
}, |
| 99 |
/* channel 1 */ {
|
| 100 |
/* input mode */ QEI_INPUT_NONINVERTED,
|
| 101 |
}, |
| 102 |
}, |
| 103 |
/* encoder range */ 0x10000u, |
| 104 |
}; |
| 105 |
|
| 106 |
SerialConfig moduleHalProgIfConfig = {
|
| 107 |
/* bit rate */ 115200, |
| 108 |
/* CR1 */ 0, |
| 109 |
/* CR1 */ 0, |
| 110 |
/* CR1 */ 0, |
| 111 |
}; |
| 112 |
|
| 113 |
SPIConfig moduleHalSpiAccelerometerConfig = {
|
| 114 |
/* circular buffer mode */ false, |
| 115 |
/* callback function pointer */ NULL, |
| 116 |
/* chip select line port */ GPIOC,
|
| 117 |
/* chip select line pad number */ GPIOC_ACCEL_SS_N,
|
| 118 |
/* CR1 */ SPI_CR1_BR_0,
|
| 119 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 120 |
}; |
| 121 |
|
| 122 |
SPIConfig moduleHalSpiGyroscopeConfig = {
|
| 123 |
/* circular buffer mode */ false, |
| 124 |
/* callback function pointer */ NULL, |
| 125 |
/* chip select line port */ GPIOC,
|
| 126 |
/* chip select line pad number */ GPIOC_GYRO_SS_N,
|
| 127 |
/* CR1 */ SPI_CR1_BR_0,
|
| 128 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 129 |
}; |
| 130 |
|
| 131 |
/** @} */
|
| 132 |
|
| 133 |
/*===========================================================================*/
|
| 134 |
/**
|
| 135 |
* @name GPIO definitions
|
| 136 |
* @{
|
| 137 |
*/
|
| 138 |
/*===========================================================================*/
|
| 139 |
|
| 140 |
/**
|
| 141 |
* @brief LED output signal GPIO.
|
| 142 |
*/
|
| 143 |
static apalGpio_t _gpioLed = {
|
| 144 |
/* port */ GPIOA,
|
| 145 |
/* pad */ GPIOA_LED,
|
| 146 |
}; |
| 147 |
apalControlGpio_t moduleGpioLed = {
|
| 148 |
/* GPIO */ &_gpioLed,
|
| 149 |
/* meta */ {
|
| 150 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 151 |
/* active state */ LED_LLD_GPIO_ACTIVE_STATE,
|
| 152 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 153 |
}, |
| 154 |
}; |
| 155 |
|
| 156 |
/**
|
| 157 |
* @brief POWER_EN output signal GPIO.
|
| 158 |
*/
|
| 159 |
static apalGpio_t _gpioPowerEn = {
|
| 160 |
/* port */ GPIOB,
|
| 161 |
/* pad */ GPIOB_POWER_EN,
|
| 162 |
}; |
| 163 |
apalControlGpio_t moduleGpioPowerEn = {
|
| 164 |
/* GPIO */ &_gpioPowerEn,
|
| 165 |
/* meta */ {
|
| 166 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 167 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 168 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 169 |
}, |
| 170 |
}; |
| 171 |
|
| 172 |
/**
|
| 173 |
* @brief COMPASS_DRDY output signal GPIO.
|
| 174 |
*/
|
| 175 |
static apalGpio_t _gpioCompassDrdy = {
|
| 176 |
/* port */ GPIOB,
|
| 177 |
/* pad */ GPIOB_COMPASS_DRDY,
|
| 178 |
}; |
| 179 |
apalControlGpio_t moduleGpioCompassDrdy = {
|
| 180 |
/* GPIO */ &_gpioCompassDrdy,
|
| 181 |
/* meta */ {
|
| 182 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 183 |
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 184 |
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
|
| 185 |
}, |
| 186 |
}; |
| 187 |
|
| 188 |
/**
|
| 189 |
* @brief IR_INT input signal GPIO.
|
| 190 |
*/
|
| 191 |
static apalGpio_t _gpioIrInt = {
|
| 192 |
/* port */ GPIOB,
|
| 193 |
/* pad */ GPIOB_IR_INT,
|
| 194 |
}; |
| 195 |
apalControlGpio_t moduleGpioIrInt = {
|
| 196 |
/* GPIO */ &_gpioIrInt,
|
| 197 |
/* meta */ {
|
| 198 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 199 |
/* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 200 |
/* interrupt edge */ VCNL4020_LLD_INT_EDGE,
|
| 201 |
}, |
| 202 |
}; |
| 203 |
|
| 204 |
/**
|
| 205 |
* @brief GYRO_DRDY input signal GPIO.
|
| 206 |
*/
|
| 207 |
static apalGpio_t _gpioGyroDrdy = {
|
| 208 |
/* port */ GPIOB,
|
| 209 |
/* pad */ GPIOB_GYRO_DRDY,
|
| 210 |
}; |
| 211 |
apalControlGpio_t moduleGpioGyroDrdy = {
|
| 212 |
/* GPIO */ &_gpioGyroDrdy,
|
| 213 |
/* meta */ {
|
| 214 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 215 |
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 216 |
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
|
| 217 |
}, |
| 218 |
}; |
| 219 |
|
| 220 |
/**
|
| 221 |
* @brief SYS_UART_UP bidirectional signal GPIO.
|
| 222 |
*/
|
| 223 |
static apalGpio_t _gpioSysUartUp = {
|
| 224 |
/* port */ GPIOB,
|
| 225 |
/* pad */ GPIOB_SYS_UART_UP,
|
| 226 |
}; |
| 227 |
apalControlGpio_t moduleGpioSysUartUp = {
|
| 228 |
/* GPIO */ &_gpioSysUartUp,
|
| 229 |
/* meta */ {
|
| 230 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 231 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 232 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 233 |
}, |
| 234 |
}; |
| 235 |
|
| 236 |
/**
|
| 237 |
* @brief ACCEL_INT input signal GPIO.
|
| 238 |
*/
|
| 239 |
static apalGpio_t _gpioAccelInt = {
|
| 240 |
/* port */ GPIOB,
|
| 241 |
/* pad */ GPIOB_ACCEL_INT_N,
|
| 242 |
}; |
| 243 |
apalControlGpio_t moduleGpioAccelInt = {
|
| 244 |
/* GPIO */ &_gpioAccelInt,
|
| 245 |
/* meta */ {
|
| 246 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 247 |
/* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 248 |
/* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
|
| 249 |
}, |
| 250 |
}; |
| 251 |
|
| 252 |
/**
|
| 253 |
* @brief SYS_SNYC bidirectional signal GPIO.
|
| 254 |
*/
|
| 255 |
static apalGpio_t _gpioSysSync = {
|
| 256 |
/* port */ GPIOC,
|
| 257 |
/* pad */ GPIOC_SYS_INT_N,
|
| 258 |
}; |
| 259 |
apalControlGpio_t moduleGpioSysSync = {
|
| 260 |
/* GPIO */ &_gpioSysSync,
|
| 261 |
/* meta */ {
|
| 262 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 263 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 264 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 265 |
}, |
| 266 |
}; |
| 267 |
|
| 268 |
/**
|
| 269 |
* @brief PATH_DCSTAT input signal GPIO.
|
| 270 |
*/
|
| 271 |
static apalGpio_t _gpioPathDcStat = {
|
| 272 |
/* port */ GPIOC,
|
| 273 |
/* pad */ GPIOC_PATH_DCSTAT,
|
| 274 |
}; |
| 275 |
apalControlGpio_t moduleGpioPathDcStat = {
|
| 276 |
/* GPIO */ &_gpioPathDcStat,
|
| 277 |
/* meta */ {
|
| 278 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 279 |
/* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
|
| 280 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 281 |
}, |
| 282 |
}; |
| 283 |
|
| 284 |
/**
|
| 285 |
* @brief PATH_DCEN output signal GPIO.
|
| 286 |
*/
|
| 287 |
static apalGpio_t _gpioPathDcEn = {
|
| 288 |
/* port */ GPIOC,
|
| 289 |
/* pad */ GPIOC_PATH_DCEN,
|
| 290 |
}; |
| 291 |
apalControlGpio_t moduleGpioPathDcEn = {
|
| 292 |
/* GPIO */ &_gpioPathDcEn,
|
| 293 |
/* meta */ {
|
| 294 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 295 |
/* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
|
| 296 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 297 |
}, |
| 298 |
}; |
| 299 |
|
| 300 |
/**
|
| 301 |
* @brief SYS_PD bidirectional signal GPIO.
|
| 302 |
*/
|
| 303 |
static apalGpio_t _gpioSysPd = {
|
| 304 |
/* port */ GPIOC,
|
| 305 |
/* pad */ GPIOC_SYS_PD_N,
|
| 306 |
}; |
| 307 |
apalControlGpio_t moduleGpioSysPd = {
|
| 308 |
/* GPIO */ &_gpioSysPd,
|
| 309 |
/* meta */ {
|
| 310 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 311 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 312 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 313 |
}, |
| 314 |
}; |
| 315 |
|
| 316 |
/**
|
| 317 |
* @brief SYS_REG_EN input signal GPIO.
|
| 318 |
*/
|
| 319 |
static apalGpio_t _gpioSysRegEn = {
|
| 320 |
/* port */ GPIOC,
|
| 321 |
/* pad */ GPIOC_SYS_REG_EN,
|
| 322 |
}; |
| 323 |
apalControlGpio_t moduleGpioSysRegEn = {
|
| 324 |
/* GPIO */ &_gpioSysRegEn,
|
| 325 |
/* meta */ {
|
| 326 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 327 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 328 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 329 |
}, |
| 330 |
}; |
| 331 |
|
| 332 |
/**
|
| 333 |
* @brief SYS_WARMRST bidirectional signal GPIO.
|
| 334 |
*/
|
| 335 |
static apalGpio_t _gpioSysWarmrst = {
|
| 336 |
/* port */ GPIOD,
|
| 337 |
/* pad */ GPIOD_SYS_WARMRST_N,
|
| 338 |
}; |
| 339 |
apalControlGpio_t moduleGpioSysWarmrst = {
|
| 340 |
/* GPIO */ &_gpioSysWarmrst,
|
| 341 |
/* meta */ {
|
| 342 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 343 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 344 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 345 |
}, |
| 346 |
}; |
| 347 |
|
| 348 |
/** @} */
|
| 349 |
|
| 350 |
/*===========================================================================*/
|
| 351 |
/**
|
| 352 |
* @name AMiRo-OS core configurations
|
| 353 |
* @{
|
| 354 |
*/
|
| 355 |
/*===========================================================================*/
|
| 356 |
|
| 357 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 358 |
const char* moduleShellPrompt = "DiWheelDrive"; |
| 359 |
#endif
|
| 360 |
|
| 361 |
/** @} */
|
| 362 |
|
| 363 |
/*===========================================================================*/
|
| 364 |
/**
|
| 365 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 366 |
* @{
|
| 367 |
*/
|
| 368 |
/*===========================================================================*/
|
| 369 |
|
| 370 |
/** @} */
|
| 371 |
|
| 372 |
/*===========================================================================*/
|
| 373 |
/**
|
| 374 |
* @name Low-level drivers
|
| 375 |
* @{
|
| 376 |
*/
|
| 377 |
/*===========================================================================*/
|
| 378 |
|
| 379 |
A3906Driver moduleLldMotors = {
|
| 380 |
/* power enable GPIO */ &moduleGpioPowerEn,
|
| 381 |
}; |
| 382 |
|
| 383 |
AT24C01BNDriver moduleLldEeprom = {
|
| 384 |
/* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 385 |
/* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
|
| 386 |
}; |
| 387 |
|
| 388 |
HMC5883LDriver moduleLldCompass = {
|
| 389 |
/* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
|
| 390 |
}; |
| 391 |
|
| 392 |
INA219Driver moduleLldPowerMonitorVdd = {
|
| 393 |
/* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 394 |
/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
| 395 |
/* current LSB (uA) */ 0x00u, |
| 396 |
/* configuration */ NULL, |
| 397 |
}; |
| 398 |
|
| 399 |
L3G4200DDriver moduleLldGyroscope = {
|
| 400 |
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
|
| 401 |
}; |
| 402 |
|
| 403 |
LEDDriver moduleLldStatusLed = {
|
| 404 |
/* LED enable Gpio */ &moduleGpioLed,
|
| 405 |
}; |
| 406 |
|
| 407 |
LIS331DLHDriver moduleLldAccelerometer = {
|
| 408 |
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
|
| 409 |
}; |
| 410 |
|
| 411 |
LTC4412Driver moduleLldPowerPathController = {
|
| 412 |
/* Control GPIO */ &moduleGpioPathDcEn,
|
| 413 |
/* Status GPIO */ &moduleGpioPathDcStat,
|
| 414 |
}; |
| 415 |
|
| 416 |
PCA9544ADriver moduleLldI2cMultiplexer = {
|
| 417 |
/* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 418 |
/* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
|
| 419 |
}; |
| 420 |
|
| 421 |
TPS62113Driver moduleLldStepDownConverterVdrive = {
|
| 422 |
/* Power enable Gpio */ &moduleGpioPowerEn,
|
| 423 |
}; |
| 424 |
|
| 425 |
VCNL4020Driver moduleLldProximity = {
|
| 426 |
/* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 427 |
}; |
| 428 |
|
| 429 |
/** @} */
|
| 430 |
|
| 431 |
/*===========================================================================*/
|
| 432 |
/**
|
| 433 |
* @name Unit tests (UT)
|
| 434 |
* @{
|
| 435 |
*/
|
| 436 |
/*===========================================================================*/
|
| 437 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 438 |
#include <string.h> |
| 439 |
#include <chprintf.h> |
| 440 |
|
| 441 |
/* A3906 (motor driver) */
|
| 442 |
static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
| 443 |
{
|
| 444 |
(void)argc;
|
| 445 |
(void)argv;
|
| 446 |
aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
| 447 |
return AOS_OK;
|
| 448 |
} |
| 449 |
static ut_a3906data_t _utA3906Data = {
|
| 450 |
/* driver */ &moduleLldMotors,
|
| 451 |
/* PWM information */ {
|
| 452 |
/* driver */ &MODULE_HAL_PWM_DRIVE,
|
| 453 |
/* channels */ {
|
| 454 |
/* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
| 455 |
/* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
| 456 |
/* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
| 457 |
/* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
| 458 |
}, |
| 459 |
}, |
| 460 |
/* QEI information */ {
|
| 461 |
/* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
| 462 |
/* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
| 463 |
/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
| 464 |
}, |
| 465 |
/* Wheel diameter */ 0.05571f, |
| 466 |
/* timeout */ 10 * MICROSECONDS_PER_SECOND, |
| 467 |
}; |
| 468 |
aos_unittest_t moduleUtAlldA3906 = {
|
| 469 |
/* name */ "A3906", |
| 470 |
/* info */ "motor driver", |
| 471 |
/* test function */ utAlldA3906Func,
|
| 472 |
/* shell command */ {
|
| 473 |
/* name */ "unittest:MotorDriver", |
| 474 |
/* callback */ _utShellCmdCb_AlldA3906,
|
| 475 |
/* next */ NULL, |
| 476 |
}, |
| 477 |
/* data */ &_utA3906Data,
|
| 478 |
}; |
| 479 |
|
| 480 |
/* AT24C01BN (EEPROM) */
|
| 481 |
static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
| 482 |
{
|
| 483 |
(void)argc;
|
| 484 |
(void)argv;
|
| 485 |
aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
|
| 486 |
return AOS_OK;
|
| 487 |
} |
| 488 |
static ut_at24c01bndata_t _utAt24c01bnData = {
|
| 489 |
/* driver */ &moduleLldEeprom,
|
| 490 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 491 |
}; |
| 492 |
aos_unittest_t moduleUtAlldAt24c01bn = {
|
| 493 |
/* name */ "AT24C01BN-SH-B", |
| 494 |
/* info */ "1kbit EEPROM", |
| 495 |
/* test function */ utAlldAt24c01bnFunc,
|
| 496 |
/* shell command */ {
|
| 497 |
/* name */ "unittest:EEPROM", |
| 498 |
/* callback */ _utShellCmdCb_AlldAt24c01bn,
|
| 499 |
/* next */ NULL, |
| 500 |
}, |
| 501 |
/* data */ &_utAt24c01bnData,
|
| 502 |
}; |
| 503 |
|
| 504 |
/* HMC5883L (compass) */
|
| 505 |
static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
| 506 |
{
|
| 507 |
(void)argc;
|
| 508 |
(void)argv;
|
| 509 |
aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
| 510 |
return AOS_OK;
|
| 511 |
} |
| 512 |
static ut_hmc5883ldata_t _utHmc5883lData = {
|
| 513 |
/* HMC driver */ &moduleLldCompass,
|
| 514 |
/* event source */ &aos.events.io,
|
| 515 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
| 516 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 517 |
}; |
| 518 |
aos_unittest_t moduleUtAlldHmc5883l = {
|
| 519 |
/* name */ "HMC5883L", |
| 520 |
/* info */ "compass", |
| 521 |
/* test function */ utAlldHmc5883lFunc,
|
| 522 |
/* shell command */ {
|
| 523 |
/* name */ "unittest:Compass", |
| 524 |
/* callback */ _utShellCmdCb_AlldHmc5883l,
|
| 525 |
/* next */ NULL, |
| 526 |
}, |
| 527 |
/* data */ &_utHmc5883lData,
|
| 528 |
}; |
| 529 |
|
| 530 |
/* INA219 (power monitor) */
|
| 531 |
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
| 532 |
{
|
| 533 |
(void)argc;
|
| 534 |
(void)argv;
|
| 535 |
aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
| 536 |
return AOS_OK;
|
| 537 |
} |
| 538 |
static ut_ina219data_t _utIna219Data = {
|
| 539 |
/* driver */ &moduleLldPowerMonitorVdd,
|
| 540 |
/* expected voltage */ 3.3f, |
| 541 |
/* tolerance */ 0.05f, |
| 542 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 543 |
}; |
| 544 |
aos_unittest_t moduleUtAlldIna219 = {
|
| 545 |
/* name */ "INA219", |
| 546 |
/* info */ "power monitor", |
| 547 |
/* test function */ utAlldIna219Func,
|
| 548 |
/* shell command */ {
|
| 549 |
/* name */ "unittest:PowerMonitor", |
| 550 |
/* callback */ _utShellCmdCb_AlldIna219,
|
| 551 |
/* next */ NULL, |
| 552 |
}, |
| 553 |
/* data */ &_utIna219Data,
|
| 554 |
}; |
| 555 |
|
| 556 |
/* L3G4200D (gyroscope) */
|
| 557 |
static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
| 558 |
{
|
| 559 |
(void)argc;
|
| 560 |
(void)argv;
|
| 561 |
spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
| 562 |
aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
| 563 |
spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
| 564 |
return AOS_OK;
|
| 565 |
} |
| 566 |
static ut_l3g4200ddata_t _utL3g4200dData = {
|
| 567 |
/* driver */ &moduleLldGyroscope,
|
| 568 |
/* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
| 569 |
/* event source */ &aos.events.io,
|
| 570 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
| 571 |
}; |
| 572 |
aos_unittest_t moduleUtAlldL3g4200d = {
|
| 573 |
/* name */ "L3G4200D", |
| 574 |
/* info */ "Gyroscope", |
| 575 |
/* test function */ utAlldL3g4200dFunc,
|
| 576 |
/* shell command */ {
|
| 577 |
/* name */ "unittest:Gyroscope", |
| 578 |
/* callback */ _utShellCmdCb_AlldL3g4200d,
|
| 579 |
/* next */ NULL, |
| 580 |
}, |
| 581 |
/* data */ &_utL3g4200dData,
|
| 582 |
}; |
| 583 |
|
| 584 |
/* Status LED */
|
| 585 |
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
| 586 |
{
|
| 587 |
(void)argc;
|
| 588 |
(void)argv;
|
| 589 |
aosUtRun(stream, &moduleUtAlldLed, NULL);
|
| 590 |
return AOS_OK;
|
| 591 |
} |
| 592 |
aos_unittest_t moduleUtAlldLed = {
|
| 593 |
/* name */ "LED", |
| 594 |
/* info */ NULL, |
| 595 |
/* test function */ utAlldLedFunc,
|
| 596 |
/* shell command */ {
|
| 597 |
/* name */ "unittest:StatusLED", |
| 598 |
/* callback */ _utShellCmdCb_AlldLed,
|
| 599 |
/* next */ NULL, |
| 600 |
}, |
| 601 |
/* data */ &moduleLldStatusLed,
|
| 602 |
}; |
| 603 |
|
| 604 |
/* LIS331DLH (accelerometer) */
|
| 605 |
static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
| 606 |
{
|
| 607 |
(void)argc;
|
| 608 |
(void)argv;
|
| 609 |
spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
| 610 |
aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
| 611 |
spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
| 612 |
return AOS_OK;
|
| 613 |
} |
| 614 |
static ut_lis331dlhdata_t _utLis331dlhData = {
|
| 615 |
/* driver */ &moduleLldAccelerometer,
|
| 616 |
/* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
| 617 |
/* event source */ &aos.events.io,
|
| 618 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
| 619 |
}; |
| 620 |
aos_unittest_t moduleUtAlldLis331dlh = {
|
| 621 |
/* name */ "LIS331DLH", |
| 622 |
/* info */ "Accelerometer", |
| 623 |
/* test function */ utAlldLis331dlhFunc,
|
| 624 |
/* shell command */ {
|
| 625 |
/* name */ "unittest:Accelerometer", |
| 626 |
/* callback */ _utShellCmdCb_AlldLis331dlh,
|
| 627 |
/* next */ NULL, |
| 628 |
}, |
| 629 |
/* data */ &_utLis331dlhData,
|
| 630 |
}; |
| 631 |
|
| 632 |
/* LTC4412 (power path controller) */
|
| 633 |
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
| 634 |
{
|
| 635 |
(void)argc;
|
| 636 |
(void)argv;
|
| 637 |
aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
| 638 |
return AOS_OK;
|
| 639 |
} |
| 640 |
aos_unittest_t moduleUtAlldLtc4412 = {
|
| 641 |
/* name */ "LTC4412", |
| 642 |
/* info */ "Power path controller", |
| 643 |
/* test function */ utAlldLtc4412Func,
|
| 644 |
/* shell command */ {
|
| 645 |
/* name */ "unittest:PowerPathController", |
| 646 |
/* callback */ _utShellCmdCb_AlldLtc4412,
|
| 647 |
/* next */ NULL, |
| 648 |
}, |
| 649 |
/* data */ &moduleLldPowerPathController,
|
| 650 |
}; |
| 651 |
|
| 652 |
/* PCA9544A (I2C multiplexer) */
|
| 653 |
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
| 654 |
{
|
| 655 |
(void)argc;
|
| 656 |
(void)argv;
|
| 657 |
aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
| 658 |
return AOS_OK;
|
| 659 |
} |
| 660 |
static ut_pca9544adata_t _utPca9544aData = {
|
| 661 |
/* driver */ &moduleLldI2cMultiplexer,
|
| 662 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 663 |
}; |
| 664 |
aos_unittest_t moduleUtAlldPca9544a = {
|
| 665 |
/* name */ "PCA9544A", |
| 666 |
/* info */ "I2C multiplexer", |
| 667 |
/* test function */ utAlldPca9544aFunc,
|
| 668 |
/* shell command */ {
|
| 669 |
/* name */ "unittest:I2CMultiplexer", |
| 670 |
/* callback */ _utShellCmdCb_AlldPca9544a,
|
| 671 |
/* next */ NULL, |
| 672 |
}, |
| 673 |
/* data */ &_utPca9544aData,
|
| 674 |
}; |
| 675 |
|
| 676 |
/* TPS62113 (step-down converter) */
|
| 677 |
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
| 678 |
{
|
| 679 |
(void)argc;
|
| 680 |
(void)argv;
|
| 681 |
aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
| 682 |
return AOS_OK;
|
| 683 |
} |
| 684 |
aos_unittest_t moduleUtAlldTps62113 = {
|
| 685 |
/* name */ "TPS62113", |
| 686 |
/* info */ "Step down converter", |
| 687 |
/* test function */ utAlldTps62113Func,
|
| 688 |
/* shell command */ {
|
| 689 |
/* name */ "unittest:StepDownConverter", |
| 690 |
/* callback */ _utShellCmdCb_AlldTps62113,
|
| 691 |
/* next */ NULL, |
| 692 |
}, |
| 693 |
/* data */ &moduleLldStepDownConverterVdrive,
|
| 694 |
}; |
| 695 |
|
| 696 |
/* VCNL4020 (proximity sensor) */
|
| 697 |
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
| 698 |
{
|
| 699 |
uint8_t intstatus; |
| 700 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
| 701 |
vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 702 |
if (intstatus) {
|
| 703 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 704 |
} |
| 705 |
return;
|
| 706 |
} |
| 707 |
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
| 708 |
{
|
| 709 |
enum {
|
| 710 |
UNKNOWN, |
| 711 |
FL, FR, WL, WR, |
| 712 |
} sensor = UNKNOWN; |
| 713 |
// evaluate arguments
|
| 714 |
if (argc == 2) { |
| 715 |
if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
| 716 |
sensor = FL; |
| 717 |
} else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
| 718 |
sensor = FR; |
| 719 |
} else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
| 720 |
sensor = WL; |
| 721 |
} else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
| 722 |
sensor = WR; |
| 723 |
} |
| 724 |
} |
| 725 |
if (sensor != UNKNOWN) {
|
| 726 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 727 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 728 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 729 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 730 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 731 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 732 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 733 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 734 |
switch (sensor) {
|
| 735 |
case FL:
|
| 736 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 737 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
| 738 |
break;
|
| 739 |
case FR:
|
| 740 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 741 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
| 742 |
break;
|
| 743 |
case WL:
|
| 744 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 745 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
| 746 |
break;
|
| 747 |
case WR:
|
| 748 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 749 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
| 750 |
break;
|
| 751 |
default:
|
| 752 |
break;
|
| 753 |
} |
| 754 |
return AOS_OK;
|
| 755 |
} |
| 756 |
// print help
|
| 757 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
| 758 |
chprintf(stream, "Options:\n");
|
| 759 |
chprintf(stream, " --frontleft, -fl\n");
|
| 760 |
chprintf(stream, " Test front left proximity sensor.\n");
|
| 761 |
chprintf(stream, " --frontrigt, -fr\n");
|
| 762 |
chprintf(stream, " Test front right proximity sensor.\n");
|
| 763 |
chprintf(stream, " --wheelleft, -wl\n");
|
| 764 |
chprintf(stream, " Test left wheel proximity sensor.\n");
|
| 765 |
chprintf(stream, " --wheelright, -wr\n");
|
| 766 |
chprintf(stream, " Test right wheel proximity sensor.\n");
|
| 767 |
return AOS_INVALID_ARGUMENTS;
|
| 768 |
} |
| 769 |
static ut_vcnl4020data_t _utVcnl4020Data = {
|
| 770 |
/* driver */ &moduleLldProximity,
|
| 771 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 772 |
/* event source */ &aos.events.io,
|
| 773 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
| 774 |
}; |
| 775 |
aos_unittest_t moduleUtAlldVcnl4020 = {
|
| 776 |
/* name */ "VCNL4020", |
| 777 |
/* info */ "proximity sensor", |
| 778 |
/* test function */ utAlldVcnl4020Func,
|
| 779 |
/* shell command */ {
|
| 780 |
/* name */ "unittest:Proximity", |
| 781 |
/* callback */ _utShellCmdCb_AlldVcnl4020,
|
| 782 |
/* next */ NULL, |
| 783 |
}, |
| 784 |
/* data */ &_utVcnl4020Data,
|
| 785 |
}; |
| 786 |
|
| 787 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 788 |
|
| 789 |
/** @} */
|
| 790 |
/** @} */
|