Revision 1e5f7648 modules/DiWheelDrive_1-1/module.c
| modules/DiWheelDrive_1-1/module.c | ||
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| 18 | 18 |
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#include "module.h" |
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#include <amiroos.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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#include <amiroos.h> |
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/** |
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* @brief Interrupt service routine callback for I/O interrupt signals. |
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* |
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* @param args Channel on which the interrupt was encountered. |
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*/ |
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static void _modulePalIsrCallback(void *args) {
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chSysLockFromISR(); |
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chEvtBroadcastFlagsI(&aos.events.io, (1 << (*(uint16_t*)args))); |
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chSysUnlockFromISR(); |
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return; |
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} |
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/** @} */ |
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|
| ... | ... | |
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/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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}; |
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aos_interrupt_cfg_t moduleIntConfig[10] = {
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/* channel 1 */ { // SYS_INT_N/SYS_SYNC_N: automatic interrupt on event
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_INT_N, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_BOTH_EDGES, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 1, |
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}, |
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/* channel 2 */ { // SYS_WARMRST_N: automatic interrupt when activated
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/* port */ GPIOD, |
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/* pad */ GPIOD_SYS_WARMRST_N, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 2, |
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}, |
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/* channel 3 */ { // PATH_DCSTAT: must be enabled explicitely when charging is in progress to detect unexpected voltage drop
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/* port */ GPIOC, |
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/* pad */ GPIOC_PATH_DCSTAT, |
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/* flags */ 0, |
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 3, |
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}, |
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/* channel 5 */ { // COMPASS_DRDY: must be enabled explicitely
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/* port */ GPIOB, |
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/* pad */ GPIOB_COMPASS_DRDY, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(HMC5883L_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 4, |
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}, |
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/* channel 8 */ { // SYS_PD_N: automatic interrupt when activated
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_PD_N, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 5, |
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}, |
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/* channel 9 */ { // SYS_REG_EN: automatic interrupt when activated
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_REG_EN, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_FALLING_EDGE, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 6, |
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}, |
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/* channel 12 */ { // IR_INT: must be enabled explicitely
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/* port */ GPIOB, |
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/* pad */ GPIOB_IR_INT, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(VCNL4020_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 7, |
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}, |
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/* channel 13 */ { // GYRO_DRDY: must be enabled explicitely
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/* port */ GPIOB, |
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/* pad */ GPIOB_GYRO_DRDY, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(L3G4200D_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 8, |
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}, |
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/* channel 14 */ { // SYS_UART_UP: automatic interrupt on event
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/* port */ GPIOB, |
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/* pad */ GPIOB_SYS_UART_UP, |
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/* flags */ AOS_INTERRUPT_AUTOSTART, |
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/* mode */ PAL_EVENT_MODE_BOTH_EDGES, |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 9, |
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}, |
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/* channel 15 */ { // ACCEL_INT_N: must be enabled explicitely
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/* port */ GPIOB, |
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/* pad */ GPIOB_ACCEL_INT_N, |
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/* flags */ 0, |
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/* mode */ APAL2CH_EDGE(LIS331DLH_LLD_INT_EDGE), |
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/* callback */ _modulePalIsrCallback, |
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/* cb arg */ 10, |
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}, |
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}; |
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aos_interrupt_driver_t moduleIntDriver = {
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/* config */ NULL, |
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/* interrupts */ 10, |
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}; |
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I2CConfig moduleHalI2cCompassConfig = {
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/* I²C mode */ OPMODE_I2C, |
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/* frequency */ 400000, |
| ... | ... | |
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*/ |
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/*===========================================================================*/ |
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apalGpio_t moduleGpioLed = {
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/** |
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* @brief LED output signal GPIO. |
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*/ |
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static apalGpio_t _gpioLed = {
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/* port */ GPIOA, |
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/* pad */ GPIOA_LED, |
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}; |
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apalControlGpio_t moduleGpioLed = {
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/* GPIO */ &_gpioLed, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
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/* active state */ LED_LLD_GPIO_ACTIVE_STATE, |
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/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
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}, |
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}; |
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apalGpio_t moduleGpioPowerEn = {
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/* port */GPIOB, |
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/** |
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* @brief POWER_EN output signal GPIO. |
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*/ |
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static apalGpio_t _gpioPowerEn = {
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/* port */ GPIOB, |
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/* pad */ GPIOB_POWER_EN, |
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}; |
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apalControlGpio_t moduleGpioPowerEn = {
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/* GPIO */ &_gpioPowerEn, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
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/* active state */ APAL_GPIO_ACTIVE_HIGH, |
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/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
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}, |
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}; |
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apalGpio_t moduleGpioCompassDrdy = {
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/** |
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* @brief COMPASS_DRDY output signal GPIO. |
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*/ |
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static apalGpio_t _gpioCompassDrdy = {
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/* port */ GPIOB, |
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/* pad */ GPIOB_COMPASS_DRDY, |
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}; |
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apalControlGpio_t moduleGpioCompassDrdy = {
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/* GPIO */ &_gpioCompassDrdy, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT, |
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/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ L3G4200D_LLD_INT_EDGE, |
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}, |
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}; |
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apalGpio_t moduleGpioIrInt = {
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/** |
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* @brief IR_INT input signal GPIO. |
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*/ |
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static apalGpio_t _gpioIrInt = {
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/* port */ GPIOB, |
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/* pad */ GPIOB_IR_INT, |
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}; |
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apalControlGpio_t moduleGpioIrInt = {
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/* GPIO */ &_gpioIrInt, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT, |
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/* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ VCNL4020_LLD_INT_EDGE, |
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}, |
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}; |
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apalGpio_t moduleGpioGyroDrdy = {
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/** |
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* @brief GYRO_DRDY input signal GPIO. |
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*/ |
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static apalGpio_t _gpioGyroDrdy = {
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/* port */ GPIOB, |
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/* pad */ GPIOB_GYRO_DRDY, |
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}; |
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apalControlGpio_t moduleGpioGyroDrdy = {
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/* GPIO */ &_gpioGyroDrdy, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT, |
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/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ L3G4200D_LLD_INT_EDGE, |
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}, |
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}; |
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apalGpio_t moduleGpioSysUartUp = {
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/** |
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* @brief SYS_UART_UP bidirectional signal GPIO. |
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*/ |
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static apalGpio_t _gpioSysUartUp = {
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/* port */ GPIOB, |
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/* pad */ GPIOB_SYS_UART_UP, |
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}; |
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apalControlGpio_t moduleGpioSysUartUp = {
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/* GPIO */ &_gpioSysUartUp, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL, |
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH, |
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}, |
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}; |
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apalGpio_t moduleGpioAccelInt = {
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/** |
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* @brief ACCEL_INT input signal GPIO. |
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*/ |
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static apalGpio_t _gpioAccelInt = {
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/* port */ GPIOB, |
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/* pad */ GPIOB_ACCEL_INT_N, |
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}; |
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apalControlGpio_t moduleGpioAccelInt = {
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/* GPIO */ &_gpioAccelInt, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT, |
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/* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ LIS331DLH_LLD_INT_EDGE, |
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}, |
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}; |
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apalGpio_t moduleGpioSysSync = {
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/** |
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* @brief SYS_SNYC bidirectional signal GPIO. |
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*/ |
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static apalGpio_t _gpioSysSync = {
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_INT_N, |
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}; |
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apalControlGpio_t moduleGpioSysSync = {
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/* GPIO */ &_gpioSysSync, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL, |
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH, |
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}, |
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}; |
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apalGpio_t moduleGpioPathDcStat = {
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/** |
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* @brief PATH_DCSTAT input signal GPIO. |
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*/ |
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static apalGpio_t _gpioPathDcStat = {
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/* port */ GPIOC, |
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/* pad */ GPIOC_PATH_DCSTAT, |
| 275 | 266 |
}; |
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apalControlGpio_t moduleGpioPathDcStat = {
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/* GPIO */ &_gpioPathDcStat, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT, |
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/* active state */ LTC4412_LLD_STAT_ACTIVE_STATE, |
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH, |
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}, |
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}; |
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apalGpio_t moduleGpioPathDcEn = {
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/** |
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* @brief PATH_DCEN output signal GPIO. |
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*/ |
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static apalGpio_t _gpioPathDcEn = {
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| 278 | 280 |
/* port */ GPIOC, |
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/* pad */ GPIOC_PATH_DCEN, |
| 280 | 282 |
}; |
| 283 |
apalControlGpio_t moduleGpioPathDcEn = {
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/* GPIO */ &_gpioPathDcEn, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
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/* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE, |
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/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
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}, |
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}; |
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apalGpio_t moduleGpioSysPd = {
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/** |
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* @brief SYS_PD bidirectional signal GPIO. |
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*/ |
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static apalGpio_t _gpioSysPd = {
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/* port */ GPIOC, |
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/* pad */ GPIOC_SYS_PD_N, |
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}; |
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apalControlGpio_t moduleGpioSysPd = {
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/* GPIO */ &_gpioSysPd, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL, |
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH, |
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}, |
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}; |
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| 286 | 307 |
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apalGpio_t moduleGpioSysRegEn = {
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/** |
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* @brief SYS_REG_EN input signal GPIO. |
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*/ |
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static apalGpio_t _gpioSysRegEn = {
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/* port */ GPIOC, |
| 289 | 313 |
/* pad */ GPIOC_SYS_REG_EN, |
| 290 | 314 |
}; |
| 315 |
apalControlGpio_t moduleGpioSysRegEn = {
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/* GPIO */ &_gpioSysRegEn, |
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT, |
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/* active state */ APAL_GPIO_ACTIVE_HIGH, |
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH, |
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}, |
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}; |
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| 291 | 323 |
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apalGpio_t moduleGpioSysWarmrst = {
|
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/** |
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* @brief SYS_WARMRST bidirectional signal GPIO. |
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*/ |
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static apalGpio_t _gpioSysWarmrst = {
|
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| 293 | 328 |
/* port */ GPIOD, |
| 294 | 329 |
/* pad */ GPIOD_SYS_WARMRST_N, |
| 295 | 330 |
}; |
| 331 |
apalControlGpio_t moduleGpioSysWarmrst = {
|
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/* GPIO */ &_gpioSysWarmrst, |
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| 333 |
/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL, |
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH, |
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}, |
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}; |
|
| 296 | 339 |
|
| 297 | 340 |
/** @} */ |
| 298 | 341 |
|
| ... | ... | |
| 316 | 359 |
*/ |
| 317 | 360 |
/*===========================================================================*/ |
| 318 | 361 |
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| 319 |
apalControlGpio_t moduleSsspGpioPd = {
|
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| 320 |
/* GPIO */ &moduleGpioSysPd, |
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| 321 |
/* meta */ {
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
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/* edge */ APAL_GPIO_EDGE_FALLING, |
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL, |
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}, |
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}; |
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| 327 |
|
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| 328 |
apalControlGpio_t moduleSsspGpioSync = {
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| 329 |
/* GPIO */ &moduleGpioSysSync, |
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| 330 |
/* meta */ {
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| 331 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
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| 332 |
/* edge */ APAL_GPIO_EDGE_FALLING, |
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| 333 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL, |
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}, |
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}; |
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| 336 |
|
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| 337 |
apalControlGpio_t moduleSsspGpioUp = {
|
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| 338 |
/* GPIO */ &moduleGpioSysUartUp, |
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| 339 |
/* meta */ {
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| 340 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
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| 341 |
/* edge */ APAL_GPIO_EDGE_FALLING, |
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL, |
|
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}, |
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}; |
|
| 345 |
|
|
| 346 | 362 |
/** @} */ |
| 347 | 363 |
|
| 348 | 364 |
/*===========================================================================*/ |
| ... | ... | |
| 353 | 369 |
/*===========================================================================*/ |
| 354 | 370 |
|
| 355 | 371 |
A3906Driver moduleLldMotors = {
|
| 356 |
/* power enable GPIO */ {
|
|
| 357 |
/* GPIO */& moduleGpioPowerEn, |
|
| 358 |
/* meta */ {
|
|
| 359 |
/* active state */ APAL_GPIO_ACTIVE_HIGH, |
|
| 360 |
/* edge */ APAL_GPIO_EDGE_NONE, |
|
| 361 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
|
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}, |
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| 363 |
}, |
|
| 372 |
/* power enable GPIO */ &moduleGpioPowerEn, |
|
| 364 | 373 |
}; |
| 365 | 374 |
|
| 366 | 375 |
AT24C01BNDriver moduleLldEeprom = {
|
| ... | ... | |
| 384 | 393 |
}; |
| 385 | 394 |
|
| 386 | 395 |
LEDDriver moduleLldStatusLed = {
|
| 387 |
/* LED enable Gpio */ {
|
|
| 388 |
/* GPIO */ &moduleGpioLed, |
|
| 389 |
/* GPIO meta */ {
|
|
| 390 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
|
| 391 |
/* edge */ APAL_GPIO_EDGE_NONE, |
|
| 392 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
|
| 393 |
}, |
|
| 394 |
}, |
|
| 396 |
/* LED enable Gpio */ &moduleGpioLed, |
|
| 395 | 397 |
}; |
| 396 | 398 |
|
| 397 | 399 |
LIS331DLHDriver moduleLldAccelerometer = {
|
| ... | ... | |
| 399 | 401 |
}; |
| 400 | 402 |
|
| 401 | 403 |
LTC4412Driver moduleLldPowerPathController = {
|
| 402 |
/* Control GPIO */ {
|
|
| 403 |
/* GPIO */ &moduleGpioPathDcEn, |
|
| 404 |
/* GPIO meta */ {
|
|
| 405 |
/* active state */ APAL_GPIO_ACTIVE_HIGH, |
|
| 406 |
/* edge */ APAL_GPIO_EDGE_NONE, |
|
| 407 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
|
| 408 |
}, |
|
| 409 |
}, |
|
| 410 |
/* Status GPIO */ {
|
|
| 411 |
/* GPIO */ &moduleGpioPathDcStat, |
|
| 412 |
/* GPIO meta */ {
|
|
| 413 |
/* active state */ APAL_GPIO_ACTIVE_HIGH, |
|
| 414 |
/* edge */ APAL_GPIO_EDGE_NONE, |
|
| 415 |
/* direction */ APAL_GPIO_DIRECTION_INPUT, |
|
| 416 |
}, |
|
| 417 |
}, |
|
| 404 |
/* Control GPIO */ &moduleGpioPathDcEn, |
|
| 405 |
/* Status GPIO */ &moduleGpioPathDcStat, |
|
| 418 | 406 |
}; |
| 419 | 407 |
|
| 420 | 408 |
PCA9544ADriver moduleLldI2cMultiplexer = {
|
| ... | ... | |
| 423 | 411 |
}; |
| 424 | 412 |
|
| 425 | 413 |
TPS62113Driver moduleLldStepDownConverterVdrive = {
|
| 426 |
/* Power enable Gpio */ {
|
|
| 427 |
/* GPIO */ &moduleGpioPowerEn, |
|
| 428 |
/* GPIO meta */ {
|
|
| 429 |
/* 'power on' state */ APAL_GPIO_ACTIVE_HIGH, |
|
| 430 |
/* edge */ APAL_GPIO_EDGE_NONE, |
|
| 431 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
|
| 432 |
}, |
|
| 433 |
}, |
|
| 414 |
/* Power enable Gpio */ &moduleGpioPowerEn, |
|
| 434 | 415 |
}; |
| 435 | 416 |
|
| 436 | 417 |
VCNL4020Driver moduleLldProximity = {
|
| ... | ... | |
| 474 | 455 |
/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION, |
| 475 | 456 |
}, |
| 476 | 457 |
/* Wheel diameter */ 0.05571f, |
| 477 |
/* timeout */ 10* MICROSECONDS_PER_SECOND, |
|
| 458 |
/* timeout */ 10 * MICROSECONDS_PER_SECOND,
|
|
| 478 | 459 |
}; |
| 479 | 460 |
aos_unittest_t moduleUtAlldA3906 = {
|
| 480 | 461 |
/* name */ "A3906", |
| ... | ... | |
| 517 | 498 |
{
|
| 518 | 499 |
(void)argc; |
| 519 | 500 |
(void)argv; |
| 520 |
aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_COMPASSDRDY); |
|
| 521 | 501 |
aosUtRun(stream, &moduleUtAlldHmc5883l, NULL); |
| 522 |
aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_COMPASSDRDY); |
|
| 523 | 502 |
return AOS_OK; |
| 524 | 503 |
} |
| 525 | 504 |
static ut_hmc5883ldata_t _utHmc5883lData = {
|
| 526 | 505 |
/* HMC driver */ &moduleLldCompass, |
| 527 | 506 |
/* event source */ &aos.events.io, |
| 528 |
/* event flags */ (1 << MODULE_GPIO_INT_COMPASSDRDY),
|
|
| 507 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
|
| 529 | 508 |
/* timeout */ MICROSECONDS_PER_SECOND, |
| 530 | 509 |
}; |
| 531 | 510 |
aos_unittest_t moduleUtAlldHmc5883l = {
|
| ... | ... | |
| 571 | 550 |
{
|
| 572 | 551 |
(void)argc; |
| 573 | 552 |
(void)argv; |
| 574 |
aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_GYRODRDY); |
|
| 575 | 553 |
spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
| 576 | 554 |
aosUtRun(stream, &moduleUtAlldL3g4200d, NULL); |
| 577 | 555 |
spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
| 578 |
aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_GYRODRDY); |
|
| 579 | 556 |
return AOS_OK; |
| 580 | 557 |
} |
| 581 | 558 |
static ut_l3g4200ddata_t _utL3g4200dData = {
|
| 582 | 559 |
/* driver */ &moduleLldGyroscope, |
| 583 | 560 |
/* SPI configuration */ &moduleHalSpiGyroscopeConfig, |
| 584 | 561 |
/* event source */ &aos.events.io, |
| 585 |
/* event flags */ (1 << MODULE_GPIO_INT_GYRODRDY),
|
|
| 562 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
|
| 586 | 563 |
}; |
| 587 | 564 |
aos_unittest_t moduleUtAlldL3g4200d = {
|
| 588 | 565 |
/* name */ "L3G4200D", |
| ... | ... | |
| 621 | 598 |
{
|
| 622 | 599 |
(void)argc; |
| 623 | 600 |
(void)argv; |
| 624 |
aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_ACCELINT); |
|
| 625 | 601 |
spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
| 626 | 602 |
aosUtRun(stream, &moduleUtAlldLis331dlh, NULL); |
| 627 | 603 |
spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
| 628 |
aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_ACCELINT); |
|
| 629 | 604 |
return AOS_OK; |
| 630 | 605 |
} |
| 631 | 606 |
static ut_lis331dlhdata_t _utLis331dlhData = {
|
| 632 | 607 |
/* driver */ &moduleLldAccelerometer, |
| 633 | 608 |
/* SPI configuration */ &moduleHalSpiAccelerometerConfig, |
| 634 | 609 |
/* event source */ &aos.events.io, |
| 635 |
/* event flags */ (1 << MODULE_GPIO_INT_ACCELINT),
|
|
| 610 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
|
| 636 | 611 |
}; |
| 637 | 612 |
aos_unittest_t moduleUtAlldLis331dlh = {
|
| 638 | 613 |
/* name */ "LIS331DLH", |
| ... | ... | |
| 748 | 723 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 749 | 724 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 750 | 725 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 751 |
aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_IRINT); |
|
| 752 | 726 |
switch (sensor) {
|
| 753 | 727 |
case FL: |
| 754 | 728 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 755 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left snesor");
|
|
| 729 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
|
| 756 | 730 |
break; |
| 757 | 731 |
case FR: |
| 758 | 732 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| ... | ... | |
| 769 | 743 |
default: |
| 770 | 744 |
break; |
| 771 | 745 |
} |
| 772 |
aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_IRINT); |
|
| 773 | 746 |
return AOS_OK; |
| 774 | 747 |
} |
| 775 | 748 |
// print help |
| ... | ... | |
| 789 | 762 |
/* driver */ &moduleLldProximity, |
| 790 | 763 |
/* timeout */ MICROSECONDS_PER_SECOND, |
| 791 | 764 |
/* event source */ &aos.events.io, |
| 792 |
/* event flags */ (1 << MODULE_GPIO_INT_IRINT),
|
|
| 765 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
|
| 793 | 766 |
}; |
| 794 | 767 |
aos_unittest_t moduleUtAlldVcnl4020 = {
|
| 795 | 768 |
/* name */ "VCNL4020", |
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