amiro-os / modules / DiWheelDrive_1-1 / module.c @ 2a9f9ad7
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | acc97cbf | Thomas Schöpping | * @file
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21 | 53710ca3 | Marc Rothmann | * @brief Structures and constant for the DiWheelDrive module.
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22 | *
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23 | * @addtogroup diwheeldrive_module
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24 | * @{
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25 | */
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26 | |||
27 | e545e620 | Thomas Schöpping | #include "module.h" |
28 | |||
29 | /*===========================================================================*/
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30 | /**
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31 | * @name Module specific functions
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32 | * @{
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33 | */
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34 | /*===========================================================================*/
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35 | |||
36 | /** @} */
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37 | |||
38 | /*===========================================================================*/
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39 | /**
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40 | * @name ChibiOS/HAL configuration
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41 | * @{
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42 | */
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43 | /*===========================================================================*/
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44 | |||
45 | CANConfig moduleHalCanConfig = { |
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46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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48 | }; |
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49 | |||
50 | I2CConfig moduleHalI2cCompassConfig = { |
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51 | /* I²C mode */ OPMODE_I2C,
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52 | /* frequency */ 400000, |
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53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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54 | }; |
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55 | |||
56 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = { |
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57 | /* I²C mode */ OPMODE_I2C,
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58 | /* frequency */ 400000, |
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59 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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60 | }; |
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61 | |||
62 | PWMConfig moduleHalPwmDriveConfig = { |
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63 | /* frequency */ 7200000, |
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64 | /* period */ 360, |
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65 | /* callback */ NULL, |
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66 | /* channel configurations */ {
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67 | /* channel 0 */ {
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68 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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69 | /* callback */ NULL |
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70 | }, |
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71 | /* channel 1 */ {
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72 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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73 | /* callback */ NULL |
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74 | }, |
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75 | /* channel 2 */ {
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76 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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77 | /* callback */ NULL |
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78 | }, |
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79 | /* channel 3 */ {
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80 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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81 | /* callback */ NULL |
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82 | }, |
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83 | }, |
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84 | /* TIM CR2 register */ 0, |
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85 | 7de0cc90 | Thomas Schöpping | #if (STM32_PWM_USE_ADVANCED == TRUE)
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86 | e545e620 | Thomas Schöpping | /* TIM BDTR register */ 0, |
87 | 7de0cc90 | Thomas Schöpping | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
88 | e545e620 | Thomas Schöpping | /* TIM DIER register */ 0 |
89 | }; |
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90 | |||
91 | QEIConfig moduleHalQeiConfig = { |
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92 | /* mode */ QEI_COUNT_BOTH,
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93 | /* channel config */ {
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94 | /* channel 0 */ {
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95 | /* input mode */ QEI_INPUT_NONINVERTED,
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96 | }, |
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97 | /* channel 1 */ {
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98 | /* input mode */ QEI_INPUT_NONINVERTED,
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99 | }, |
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100 | }, |
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101 | /* encoder range */ 0x10000u, |
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102 | }; |
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103 | |||
104 | SerialConfig moduleHalProgIfConfig = { |
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105 | /* bit rate */ 115200, |
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106 | /* CR1 */ 0, |
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107 | /* CR1 */ 0, |
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108 | /* CR1 */ 0, |
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109 | }; |
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110 | |||
111 | SPIConfig moduleHalSpiAccelerometerConfig = { |
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112 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
113 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
114 | /* chip select line port */ GPIOC,
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115 | /* chip select line pad number */ GPIOC_ACCEL_SS_N,
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116 | /* CR1 */ SPI_CR1_BR_0,
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117 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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118 | }; |
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119 | |||
120 | SPIConfig moduleHalSpiGyroscopeConfig = { |
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121 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
122 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
123 | /* chip select line port */ GPIOC,
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124 | /* chip select line pad number */ GPIOC_GYRO_SS_N,
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125 | /* CR1 */ SPI_CR1_BR_0,
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126 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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127 | }; |
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128 | |||
129 | /** @} */
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130 | |||
131 | /*===========================================================================*/
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132 | /**
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133 | * @name GPIO definitions
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134 | * @{
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135 | */
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136 | /*===========================================================================*/
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137 | |||
138 | 1e5f7648 | Thomas Schöpping | /**
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139 | * @brief LED output signal GPIO.
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140 | */
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141 | static apalGpio_t _gpioLed = {
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142 | e545e620 | Thomas Schöpping | /* port */ GPIOA,
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143 | /* pad */ GPIOA_LED,
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144 | }; |
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145 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLed = { |
146 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLed,
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147 | /* meta */ {
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148 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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149 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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150 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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151 | }, |
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152 | }; |
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153 | e545e620 | Thomas Schöpping | |
154 | 1e5f7648 | Thomas Schöpping | /**
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155 | * @brief POWER_EN output signal GPIO.
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156 | */
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157 | static apalGpio_t _gpioPowerEn = {
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158 | /* port */ GPIOB,
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159 | e545e620 | Thomas Schöpping | /* pad */ GPIOB_POWER_EN,
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160 | }; |
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161 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioPowerEn = { |
162 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioPowerEn,
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163 | /* meta */ {
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164 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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165 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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166 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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167 | }, |
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168 | }; |
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169 | e545e620 | Thomas Schöpping | |
170 | 1e5f7648 | Thomas Schöpping | /**
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171 | * @brief COMPASS_DRDY output signal GPIO.
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172 | */
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173 | static apalGpio_t _gpioCompassDrdy = {
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174 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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175 | /* pad */ GPIOB_COMPASS_DRDY,
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176 | }; |
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177 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioCompassDrdy = { |
178 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioCompassDrdy,
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179 | /* meta */ {
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180 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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181 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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182 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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183 | }, |
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184 | }; |
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185 | e545e620 | Thomas Schöpping | |
186 | 1e5f7648 | Thomas Schöpping | /**
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187 | * @brief IR_INT input signal GPIO.
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188 | */
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189 | static apalGpio_t _gpioIrInt = {
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190 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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191 | /* pad */ GPIOB_IR_INT,
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192 | }; |
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193 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioIrInt = { |
194 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioIrInt,
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195 | /* meta */ {
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196 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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197 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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198 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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199 | }, |
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200 | }; |
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201 | e545e620 | Thomas Schöpping | |
202 | 1e5f7648 | Thomas Schöpping | /**
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203 | * @brief GYRO_DRDY input signal GPIO.
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204 | */
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205 | static apalGpio_t _gpioGyroDrdy = {
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206 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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207 | /* pad */ GPIOB_GYRO_DRDY,
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208 | }; |
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209 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioGyroDrdy = { |
210 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioGyroDrdy,
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211 | /* meta */ {
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212 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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213 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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214 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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215 | }, |
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216 | }; |
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217 | e545e620 | Thomas Schöpping | |
218 | 1e5f7648 | Thomas Schöpping | /**
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219 | * @brief SYS_UART_UP bidirectional signal GPIO.
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220 | */
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221 | static apalGpio_t _gpioSysUartUp = {
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222 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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223 | /* pad */ GPIOB_SYS_UART_UP,
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224 | }; |
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225 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartUp = { |
226 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysUartUp,
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227 | /* meta */ {
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228 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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229 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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230 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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231 | }, |
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232 | }; |
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233 | e545e620 | Thomas Schöpping | |
234 | 1e5f7648 | Thomas Schöpping | /**
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235 | * @brief ACCEL_INT input signal GPIO.
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236 | */
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237 | static apalGpio_t _gpioAccelInt = {
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238 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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239 | /* pad */ GPIOB_ACCEL_INT_N,
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240 | }; |
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241 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioAccelInt = { |
242 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioAccelInt,
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243 | /* meta */ {
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244 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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245 | /* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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246 | /* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
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247 | }, |
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248 | }; |
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249 | e545e620 | Thomas Schöpping | |
250 | 1e5f7648 | Thomas Schöpping | /**
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251 | * @brief SYS_SNYC bidirectional signal GPIO.
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252 | */
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253 | static apalGpio_t _gpioSysSync = {
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254 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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255 | /* pad */ GPIOC_SYS_INT_N,
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256 | }; |
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257 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysSync = { |
258 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysSync,
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259 | /* meta */ {
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260 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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261 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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262 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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263 | }, |
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264 | }; |
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265 | e545e620 | Thomas Schöpping | |
266 | 1e5f7648 | Thomas Schöpping | /**
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267 | * @brief PATH_DCSTAT input signal GPIO.
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268 | */
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269 | static apalGpio_t _gpioPathDcStat = {
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270 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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271 | /* pad */ GPIOC_PATH_DCSTAT,
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272 | }; |
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273 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioPathDcStat = { |
274 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioPathDcStat,
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275 | /* meta */ {
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276 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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277 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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278 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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279 | }, |
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280 | }; |
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281 | e545e620 | Thomas Schöpping | |
282 | 1e5f7648 | Thomas Schöpping | /**
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283 | * @brief PATH_DCEN output signal GPIO.
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284 | */
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285 | static apalGpio_t _gpioPathDcEn = {
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286 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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287 | /* pad */ GPIOC_PATH_DCEN,
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288 | }; |
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289 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioPathDcEn = { |
290 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioPathDcEn,
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291 | /* meta */ {
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292 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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293 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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294 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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295 | }, |
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296 | }; |
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297 | e545e620 | Thomas Schöpping | |
298 | 1e5f7648 | Thomas Schöpping | /**
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299 | * @brief SYS_PD bidirectional signal GPIO.
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300 | */
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301 | static apalGpio_t _gpioSysPd = {
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302 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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303 | /* pad */ GPIOC_SYS_PD_N,
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304 | }; |
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305 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysPd = { |
306 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysPd,
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307 | /* meta */ {
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308 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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309 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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310 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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311 | }, |
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312 | }; |
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313 | e545e620 | Thomas Schöpping | |
314 | 1e5f7648 | Thomas Schöpping | /**
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315 | * @brief SYS_REG_EN input signal GPIO.
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316 | */
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317 | static apalGpio_t _gpioSysRegEn = {
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318 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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319 | /* pad */ GPIOC_SYS_REG_EN,
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320 | }; |
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321 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysRegEn = { |
322 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysRegEn,
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323 | /* meta */ {
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324 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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325 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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326 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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327 | }, |
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328 | }; |
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329 | e545e620 | Thomas Schöpping | |
330 | 1e5f7648 | Thomas Schöpping | /**
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331 | * @brief SYS_WARMRST bidirectional signal GPIO.
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332 | */
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333 | static apalGpio_t _gpioSysWarmrst = {
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334 | e545e620 | Thomas Schöpping | /* port */ GPIOD,
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335 | /* pad */ GPIOD_SYS_WARMRST_N,
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336 | }; |
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337 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = { |
338 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysWarmrst,
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339 | /* meta */ {
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340 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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341 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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342 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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343 | }, |
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344 | }; |
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345 | e545e620 | Thomas Schöpping | |
346 | /** @} */
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347 | |||
348 | /*===========================================================================*/
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349 | /**
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350 | * @name AMiRo-OS core configurations
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351 | * @{
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352 | */
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353 | /*===========================================================================*/
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354 | |||
355 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
356 | acc97cbf | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
357 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
358 | 6b53f6bf | Thomas Schöpping | |
359 | /** @} */
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360 | |||
361 | /*===========================================================================*/
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362 | /**
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363 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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364 | * @{
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365 | */
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366 | /*===========================================================================*/
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367 | |||
368 | e545e620 | Thomas Schöpping | /** @} */
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369 | |||
370 | /*===========================================================================*/
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371 | /**
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372 | * @name Low-level drivers
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373 | * @{
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374 | */
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375 | /*===========================================================================*/
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376 | |||
377 | A3906Driver moduleLldMotors = { |
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378 | 1e5f7648 | Thomas Schöpping | /* power enable GPIO */ &moduleGpioPowerEn,
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379 | e545e620 | Thomas Schöpping | }; |
380 | |||
381 | ddf34c3d | Thomas Schöpping | AT24C01BDriver moduleLldEeprom = { |
382 | e545e620 | Thomas Schöpping | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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383 | ddf34c3d | Thomas Schöpping | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
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384 | e545e620 | Thomas Schöpping | }; |
385 | |||
386 | HMC5883LDriver moduleLldCompass = { |
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387 | /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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388 | }; |
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389 | |||
390 | INA219Driver moduleLldPowerMonitorVdd = { |
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391 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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392 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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393 | /* current LSB (uA) */ 0x00u, |
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394 | /* configuration */ NULL, |
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395 | }; |
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396 | |||
397 | L3G4200DDriver moduleLldGyroscope = { |
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398 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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399 | }; |
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400 | |||
401 | LEDDriver moduleLldStatusLed = { |
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402 | 1e5f7648 | Thomas Schöpping | /* LED enable Gpio */ &moduleGpioLed,
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403 | e545e620 | Thomas Schöpping | }; |
404 | |||
405 | LIS331DLHDriver moduleLldAccelerometer = { |
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406 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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407 | }; |
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408 | |||
409 | LTC4412Driver moduleLldPowerPathController = { |
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410 | 1e5f7648 | Thomas Schöpping | /* Control GPIO */ &moduleGpioPathDcEn,
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411 | /* Status GPIO */ &moduleGpioPathDcStat,
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412 | e545e620 | Thomas Schöpping | }; |
413 | |||
414 | PCA9544ADriver moduleLldI2cMultiplexer = { |
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415 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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416 | /* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
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417 | }; |
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418 | |||
419 | ddf34c3d | Thomas Schöpping | TPS6211xDriver moduleLldStepDownConverterVdrive = { |
420 | 1e5f7648 | Thomas Schöpping | /* Power enable Gpio */ &moduleGpioPowerEn,
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421 | e545e620 | Thomas Schöpping | }; |
422 | |||
423 | VCNL4020Driver moduleLldProximity = { |
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424 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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425 | }; |
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426 | |||
427 | /** @} */
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428 | |||
429 | /*===========================================================================*/
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430 | /**
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431 | * @name Unit tests (UT)
|
||
432 | * @{
|
||
433 | */
|
||
434 | /*===========================================================================*/
|
||
435 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
436 | #include <string.h> |
||
437 | |||
438 | 8be006e0 | Thomas Schöpping | /*
|
439 | * A3906 (motor driver)
|
||
440 | */
|
||
441 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
442 | { |
||
443 | (void)argc;
|
||
444 | (void)argv;
|
||
445 | aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
||
446 | return AOS_OK;
|
||
447 | } |
||
448 | static ut_a3906data_t _utA3906Data = {
|
||
449 | /* driver */ &moduleLldMotors,
|
||
450 | /* PWM information */ {
|
||
451 | /* driver */ &MODULE_HAL_PWM_DRIVE,
|
||
452 | /* channels */ {
|
||
453 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
||
454 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
||
455 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
||
456 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
||
457 | }, |
||
458 | }, |
||
459 | /* QEI information */ {
|
||
460 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
||
461 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
||
462 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
||
463 | }, |
||
464 | acc97cbf | Thomas Schöpping | /* Wheel diameter */ {
|
465 | /* left wheel */ 0.05571f, |
||
466 | /* right wheel */ 0.05571f, |
||
467 | }, |
||
468 | 2e69d671 | Thomas Schöpping | /* timeout */ 10 * MICROSECONDS_PER_SECOND, |
469 | e545e620 | Thomas Schöpping | }; |
470 | aos_unittest_t moduleUtAlldA3906 = { |
||
471 | /* name */ "A3906", |
||
472 | /* info */ "motor driver", |
||
473 | /* test function */ utAlldA3906Func,
|
||
474 | /* shell command */ {
|
||
475 | /* name */ "unittest:MotorDriver", |
||
476 | /* callback */ _utShellCmdCb_AlldA3906,
|
||
477 | /* next */ NULL, |
||
478 | }, |
||
479 | /* data */ &_utA3906Data,
|
||
480 | }; |
||
481 | |||
482 | 8be006e0 | Thomas Schöpping | /*
|
483 | ddf34c3d | Thomas Schöpping | * AT24C01B (EEPROM)
|
484 | 8be006e0 | Thomas Schöpping | */
|
485 | ddf34c3d | Thomas Schöpping | static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
486 | e545e620 | Thomas Schöpping | { |
487 | (void)argc;
|
||
488 | (void)argv;
|
||
489 | ddf34c3d | Thomas Schöpping | aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
|
490 | e545e620 | Thomas Schöpping | return AOS_OK;
|
491 | } |
||
492 | ddf34c3d | Thomas Schöpping | static ut_at24c01bdata_t _utAlldAt24c01bData = {
|
493 | e545e620 | Thomas Schöpping | /* driver */ &moduleLldEeprom,
|
494 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
495 | }; |
||
496 | ddf34c3d | Thomas Schöpping | aos_unittest_t moduleUtAlldAt24c01b = { |
497 | /* name */ "AT24C01B", |
||
498 | e545e620 | Thomas Schöpping | /* info */ "1kbit EEPROM", |
499 | ddf34c3d | Thomas Schöpping | /* test function */ utAlldAt24c01bFunc,
|
500 | e545e620 | Thomas Schöpping | /* shell command */ {
|
501 | /* name */ "unittest:EEPROM", |
||
502 | ddf34c3d | Thomas Schöpping | /* callback */ _utShellCmdCb_AlldAt24c01b,
|
503 | e545e620 | Thomas Schöpping | /* next */ NULL, |
504 | }, |
||
505 | ddf34c3d | Thomas Schöpping | /* data */ &_utAlldAt24c01bData,
|
506 | e545e620 | Thomas Schöpping | }; |
507 | |||
508 | 8be006e0 | Thomas Schöpping | /*
|
509 | * HMC5883L (compass)
|
||
510 | */
|
||
511 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
512 | { |
||
513 | (void)argc;
|
||
514 | (void)argv;
|
||
515 | aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
||
516 | return AOS_OK;
|
||
517 | } |
||
518 | static ut_hmc5883ldata_t _utHmc5883lData = {
|
||
519 | /* HMC driver */ &moduleLldCompass,
|
||
520 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
521 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
522 | e545e620 | Thomas Schöpping | /* timeout */ MICROSECONDS_PER_SECOND,
|
523 | }; |
||
524 | aos_unittest_t moduleUtAlldHmc5883l = { |
||
525 | /* name */ "HMC5883L", |
||
526 | /* info */ "compass", |
||
527 | /* test function */ utAlldHmc5883lFunc,
|
||
528 | /* shell command */ {
|
||
529 | /* name */ "unittest:Compass", |
||
530 | /* callback */ _utShellCmdCb_AlldHmc5883l,
|
||
531 | /* next */ NULL, |
||
532 | }, |
||
533 | /* data */ &_utHmc5883lData,
|
||
534 | }; |
||
535 | |||
536 | 8be006e0 | Thomas Schöpping | /*
|
537 | * INA219 (power monitor)
|
||
538 | */
|
||
539 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
540 | { |
||
541 | (void)argc;
|
||
542 | (void)argv;
|
||
543 | aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
||
544 | return AOS_OK;
|
||
545 | } |
||
546 | static ut_ina219data_t _utIna219Data = {
|
||
547 | /* driver */ &moduleLldPowerMonitorVdd,
|
||
548 | /* expected voltage */ 3.3f, |
||
549 | /* tolerance */ 0.05f, |
||
550 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
551 | }; |
||
552 | aos_unittest_t moduleUtAlldIna219 = { |
||
553 | /* name */ "INA219", |
||
554 | /* info */ "power monitor", |
||
555 | /* test function */ utAlldIna219Func,
|
||
556 | /* shell command */ {
|
||
557 | /* name */ "unittest:PowerMonitor", |
||
558 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
559 | /* next */ NULL, |
||
560 | }, |
||
561 | /* data */ &_utIna219Data,
|
||
562 | }; |
||
563 | |||
564 | 8be006e0 | Thomas Schöpping | /*
|
565 | * L3G4200D (gyroscope)
|
||
566 | */
|
||
567 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
568 | { |
||
569 | (void)argc;
|
||
570 | (void)argv;
|
||
571 | spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
||
572 | aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
||
573 | spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
||
574 | return AOS_OK;
|
||
575 | } |
||
576 | static ut_l3g4200ddata_t _utL3g4200dData = {
|
||
577 | /* driver */ &moduleLldGyroscope,
|
||
578 | /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
||
579 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
580 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
581 | e545e620 | Thomas Schöpping | }; |
582 | aos_unittest_t moduleUtAlldL3g4200d = { |
||
583 | /* name */ "L3G4200D", |
||
584 | /* info */ "Gyroscope", |
||
585 | /* test function */ utAlldL3g4200dFunc,
|
||
586 | /* shell command */ {
|
||
587 | /* name */ "unittest:Gyroscope", |
||
588 | /* callback */ _utShellCmdCb_AlldL3g4200d,
|
||
589 | /* next */ NULL, |
||
590 | }, |
||
591 | /* data */ &_utL3g4200dData,
|
||
592 | }; |
||
593 | |||
594 | 8be006e0 | Thomas Schöpping | /*
|
595 | * Status LED
|
||
596 | */
|
||
597 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
598 | { |
||
599 | (void)argc;
|
||
600 | (void)argv;
|
||
601 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
602 | return AOS_OK;
|
||
603 | } |
||
604 | aos_unittest_t moduleUtAlldLed = { |
||
605 | /* name */ "LED", |
||
606 | /* info */ NULL, |
||
607 | /* test function */ utAlldLedFunc,
|
||
608 | /* shell command */ {
|
||
609 | /* name */ "unittest:StatusLED", |
||
610 | /* callback */ _utShellCmdCb_AlldLed,
|
||
611 | /* next */ NULL, |
||
612 | }, |
||
613 | /* data */ &moduleLldStatusLed,
|
||
614 | }; |
||
615 | |||
616 | 8be006e0 | Thomas Schöpping | /*
|
617 | * LIS331DLH (accelerometer)
|
||
618 | */
|
||
619 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
620 | { |
||
621 | (void)argc;
|
||
622 | (void)argv;
|
||
623 | spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
||
624 | aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
||
625 | spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
||
626 | return AOS_OK;
|
||
627 | } |
||
628 | static ut_lis331dlhdata_t _utLis331dlhData = {
|
||
629 | /* driver */ &moduleLldAccelerometer,
|
||
630 | /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
||
631 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
632 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
633 | e545e620 | Thomas Schöpping | }; |
634 | aos_unittest_t moduleUtAlldLis331dlh = { |
||
635 | /* name */ "LIS331DLH", |
||
636 | /* info */ "Accelerometer", |
||
637 | /* test function */ utAlldLis331dlhFunc,
|
||
638 | /* shell command */ {
|
||
639 | /* name */ "unittest:Accelerometer", |
||
640 | /* callback */ _utShellCmdCb_AlldLis331dlh,
|
||
641 | /* next */ NULL, |
||
642 | }, |
||
643 | /* data */ &_utLis331dlhData,
|
||
644 | }; |
||
645 | |||
646 | 8be006e0 | Thomas Schöpping | /*
|
647 | * LTC4412 (power path controller)
|
||
648 | */
|
||
649 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
650 | { |
||
651 | (void)argc;
|
||
652 | (void)argv;
|
||
653 | aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
||
654 | return AOS_OK;
|
||
655 | } |
||
656 | aos_unittest_t moduleUtAlldLtc4412 = { |
||
657 | /* name */ "LTC4412", |
||
658 | /* info */ "Power path controller", |
||
659 | /* test function */ utAlldLtc4412Func,
|
||
660 | /* shell command */ {
|
||
661 | /* name */ "unittest:PowerPathController", |
||
662 | /* callback */ _utShellCmdCb_AlldLtc4412,
|
||
663 | /* next */ NULL, |
||
664 | }, |
||
665 | /* data */ &moduleLldPowerPathController,
|
||
666 | }; |
||
667 | |||
668 | 8be006e0 | Thomas Schöpping | /*
|
669 | * PCA9544A (I2C multiplexer)
|
||
670 | */
|
||
671 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
672 | { |
||
673 | (void)argc;
|
||
674 | (void)argv;
|
||
675 | aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
||
676 | return AOS_OK;
|
||
677 | } |
||
678 | static ut_pca9544adata_t _utPca9544aData = {
|
||
679 | /* driver */ &moduleLldI2cMultiplexer,
|
||
680 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
681 | }; |
||
682 | aos_unittest_t moduleUtAlldPca9544a = { |
||
683 | /* name */ "PCA9544A", |
||
684 | /* info */ "I2C multiplexer", |
||
685 | /* test function */ utAlldPca9544aFunc,
|
||
686 | /* shell command */ {
|
||
687 | /* name */ "unittest:I2CMultiplexer", |
||
688 | /* callback */ _utShellCmdCb_AlldPca9544a,
|
||
689 | /* next */ NULL, |
||
690 | }, |
||
691 | /* data */ &_utPca9544aData,
|
||
692 | }; |
||
693 | |||
694 | 8be006e0 | Thomas Schöpping | /*
|
695 | * TPS62113 (step-down converter)
|
||
696 | */
|
||
697 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
698 | { |
||
699 | (void)argc;
|
||
700 | (void)argv;
|
||
701 | aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
||
702 | return AOS_OK;
|
||
703 | } |
||
704 | aos_unittest_t moduleUtAlldTps62113 = { |
||
705 | /* name */ "TPS62113", |
||
706 | /* info */ "Step down converter", |
||
707 | ddf34c3d | Thomas Schöpping | /* test function */ utAlldTps6211xFunc,
|
708 | e545e620 | Thomas Schöpping | /* shell command */ {
|
709 | /* name */ "unittest:StepDownConverter", |
||
710 | /* callback */ _utShellCmdCb_AlldTps62113,
|
||
711 | /* next */ NULL, |
||
712 | }, |
||
713 | /* data */ &moduleLldStepDownConverterVdrive,
|
||
714 | }; |
||
715 | |||
716 | 8be006e0 | Thomas Schöpping | /*
|
717 | * VCNL4020 (proximity sensor)
|
||
718 | */
|
||
719 | e545e620 | Thomas Schöpping | static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
720 | { |
||
721 | uint8_t intstatus; |
||
722 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
||
723 | vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
724 | if (intstatus) {
|
||
725 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
726 | } |
||
727 | return;
|
||
728 | } |
||
729 | static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
||
730 | { |
||
731 | enum {
|
||
732 | UNKNOWN, |
||
733 | FL, FR, WL, WR, |
||
734 | } sensor = UNKNOWN; |
||
735 | // evaluate arguments
|
||
736 | if (argc == 2) { |
||
737 | if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
||
738 | sensor = FL; |
||
739 | } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
||
740 | sensor = FR; |
||
741 | } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
||
742 | sensor = WL; |
||
743 | } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
||
744 | sensor = WR; |
||
745 | } |
||
746 | } |
||
747 | if (sensor != UNKNOWN) {
|
||
748 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
749 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
750 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
751 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
752 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
753 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
754 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
755 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
756 | switch (sensor) {
|
||
757 | case FL:
|
||
758 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
759 | 1e5f7648 | Thomas Schöpping | aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
760 | e545e620 | Thomas Schöpping | break;
|
761 | case FR:
|
||
762 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
763 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
||
764 | break;
|
||
765 | case WL:
|
||
766 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
767 | aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
||
768 | break;
|
||
769 | case WR:
|
||
770 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
771 | aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
||
772 | break;
|
||
773 | default:
|
||
774 | break;
|
||
775 | } |
||
776 | return AOS_OK;
|
||
777 | } |
||
778 | // print help
|
||
779 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
780 | chprintf(stream, "Options:\n");
|
||
781 | chprintf(stream, " --frontleft, -fl\n");
|
||
782 | chprintf(stream, " Test front left proximity sensor.\n");
|
||
783 | chprintf(stream, " --frontrigt, -fr\n");
|
||
784 | chprintf(stream, " Test front right proximity sensor.\n");
|
||
785 | chprintf(stream, " --wheelleft, -wl\n");
|
||
786 | chprintf(stream, " Test left wheel proximity sensor.\n");
|
||
787 | chprintf(stream, " --wheelright, -wr\n");
|
||
788 | chprintf(stream, " Test right wheel proximity sensor.\n");
|
||
789 | return AOS_INVALID_ARGUMENTS;
|
||
790 | } |
||
791 | static ut_vcnl4020data_t _utVcnl4020Data = {
|
||
792 | /* driver */ &moduleLldProximity,
|
||
793 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
794 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
795 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
796 | e545e620 | Thomas Schöpping | }; |
797 | aos_unittest_t moduleUtAlldVcnl4020 = { |
||
798 | /* name */ "VCNL4020", |
||
799 | /* info */ "proximity sensor", |
||
800 | /* test function */ utAlldVcnl4020Func,
|
||
801 | /* shell command */ {
|
||
802 | /* name */ "unittest:Proximity", |
||
803 | /* callback */ _utShellCmdCb_AlldVcnl4020,
|
||
804 | /* next */ NULL, |
||
805 | }, |
||
806 | /* data */ &_utVcnl4020Data,
|
||
807 | }; |
||
808 | |||
809 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
810 | e545e620 | Thomas Schöpping | |
811 | /** @} */
|
||
812 | 53710ca3 | Marc Rothmann | /** @} */ |