amiro-os / modules / DiWheelDrive_1-1 / module.c @ 3106e8cc
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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 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_ACCEL_SS_N),
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115 | /* chip select line pad number */ PAL_PAD(LINE_ACCEL_SS_N),
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116 | e545e620 | Thomas Schöpping | /* 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 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_GYRO_SS_N),
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124 | /* chip select line pad number */ PAL_PAD(LINE_GYRO_SS_N),
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125 | e545e620 | Thomas Schöpping | /* 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 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
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143 | e545e620 | Thomas Schöpping | }; |
144 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLed = { |
145 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLed,
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146 | /* meta */ {
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147 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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148 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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149 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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150 | }, |
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151 | }; |
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152 | e545e620 | Thomas Schöpping | |
153 | 1e5f7648 | Thomas Schöpping | /**
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154 | * @brief POWER_EN output signal GPIO.
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155 | */
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156 | static apalGpio_t _gpioPowerEn = {
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157 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
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158 | e545e620 | Thomas Schöpping | }; |
159 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioPowerEn = { |
160 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioPowerEn,
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161 | /* meta */ {
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162 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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163 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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164 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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165 | }, |
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166 | }; |
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167 | e545e620 | Thomas Schöpping | |
168 | 1e5f7648 | Thomas Schöpping | /**
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169 | * @brief COMPASS_DRDY output signal GPIO.
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170 | */
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171 | static apalGpio_t _gpioCompassDrdy = {
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172 | 3106e8cc | Thomas Schöpping | /* line */ LINE_COMPASS_DRDY,
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173 | e545e620 | Thomas Schöpping | }; |
174 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioCompassDrdy = { |
175 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioCompassDrdy,
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176 | /* meta */ {
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177 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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178 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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179 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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180 | }, |
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181 | }; |
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182 | e545e620 | Thomas Schöpping | |
183 | 1e5f7648 | Thomas Schöpping | /**
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184 | * @brief IR_INT input signal GPIO.
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185 | */
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186 | static apalGpio_t _gpioIrInt = {
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187 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT,
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188 | e545e620 | Thomas Schöpping | }; |
189 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioIrInt = { |
190 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioIrInt,
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191 | /* meta */ {
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192 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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193 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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194 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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195 | }, |
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196 | }; |
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197 | e545e620 | Thomas Schöpping | |
198 | 1e5f7648 | Thomas Schöpping | /**
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199 | * @brief GYRO_DRDY input signal GPIO.
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200 | */
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201 | static apalGpio_t _gpioGyroDrdy = {
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202 | 3106e8cc | Thomas Schöpping | /* line */ LINE_GYRO_DRDY,
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203 | e545e620 | Thomas Schöpping | }; |
204 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioGyroDrdy = { |
205 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioGyroDrdy,
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206 | /* meta */ {
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207 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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208 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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209 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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210 | }, |
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211 | }; |
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212 | e545e620 | Thomas Schöpping | |
213 | 1e5f7648 | Thomas Schöpping | /**
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214 | * @brief SYS_UART_UP bidirectional signal GPIO.
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215 | */
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216 | static apalGpio_t _gpioSysUartUp = {
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217 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
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218 | e545e620 | Thomas Schöpping | }; |
219 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartUp = { |
220 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysUartUp,
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221 | /* meta */ {
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222 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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223 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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224 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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225 | }, |
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226 | }; |
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227 | e545e620 | Thomas Schöpping | |
228 | 1e5f7648 | Thomas Schöpping | /**
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229 | * @brief ACCEL_INT input signal GPIO.
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230 | */
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231 | static apalGpio_t _gpioAccelInt = {
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232 | 3106e8cc | Thomas Schöpping | /* line */ LINE_ACCEL_INT_N,
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233 | e545e620 | Thomas Schöpping | }; |
234 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioAccelInt = { |
235 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioAccelInt,
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236 | /* meta */ {
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237 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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238 | /* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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239 | /* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
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240 | }, |
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241 | }; |
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242 | e545e620 | Thomas Schöpping | |
243 | 1e5f7648 | Thomas Schöpping | /**
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244 | * @brief SYS_SNYC bidirectional signal GPIO.
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245 | */
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246 | static apalGpio_t _gpioSysSync = {
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247 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
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248 | e545e620 | Thomas Schöpping | }; |
249 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysSync = { |
250 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysSync,
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251 | /* meta */ {
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252 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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253 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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254 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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255 | }, |
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256 | }; |
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257 | e545e620 | Thomas Schöpping | |
258 | 1e5f7648 | Thomas Schöpping | /**
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259 | * @brief PATH_DCSTAT input signal GPIO.
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260 | */
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261 | static apalGpio_t _gpioPathDcStat = {
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262 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCSTAT,
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263 | e545e620 | Thomas Schöpping | }; |
264 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioPathDcStat = { |
265 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioPathDcStat,
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266 | /* meta */ {
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267 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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268 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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269 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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270 | }, |
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271 | }; |
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272 | e545e620 | Thomas Schöpping | |
273 | 1e5f7648 | Thomas Schöpping | /**
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274 | * @brief PATH_DCEN output signal GPIO.
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275 | */
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276 | static apalGpio_t _gpioPathDcEn = {
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277 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCEN,
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278 | e545e620 | Thomas Schöpping | }; |
279 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioPathDcEn = { |
280 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioPathDcEn,
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281 | /* meta */ {
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282 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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283 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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284 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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285 | }, |
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286 | }; |
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287 | e545e620 | Thomas Schöpping | |
288 | 1e5f7648 | Thomas Schöpping | /**
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289 | * @brief SYS_PD bidirectional signal GPIO.
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290 | */
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291 | static apalGpio_t _gpioSysPd = {
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292 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
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293 | e545e620 | Thomas Schöpping | }; |
294 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysPd = { |
295 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysPd,
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296 | /* meta */ {
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297 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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298 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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299 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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300 | }, |
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301 | }; |
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302 | e545e620 | Thomas Schöpping | |
303 | 1e5f7648 | Thomas Schöpping | /**
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304 | * @brief SYS_REG_EN input signal GPIO.
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305 | */
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306 | static apalGpio_t _gpioSysRegEn = {
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307 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_REG_EN,
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308 | e545e620 | Thomas Schöpping | }; |
309 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysRegEn = { |
310 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysRegEn,
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311 | /* meta */ {
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312 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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313 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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314 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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315 | }, |
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316 | }; |
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317 | e545e620 | Thomas Schöpping | |
318 | 1e5f7648 | Thomas Schöpping | /**
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319 | * @brief SYS_WARMRST bidirectional signal GPIO.
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320 | */
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321 | static apalGpio_t _gpioSysWarmrst = {
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322 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_WARMRST_N,
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323 | e545e620 | Thomas Schöpping | }; |
324 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = { |
325 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysWarmrst,
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326 | /* meta */ {
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327 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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328 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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329 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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330 | }, |
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331 | }; |
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332 | e545e620 | Thomas Schöpping | |
333 | /** @} */
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334 | |||
335 | /*===========================================================================*/
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336 | /**
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337 | * @name AMiRo-OS core configurations
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338 | * @{
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339 | */
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340 | /*===========================================================================*/
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341 | |||
342 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
343 | acc97cbf | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
344 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
345 | 6b53f6bf | Thomas Schöpping | |
346 | /** @} */
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347 | |||
348 | /*===========================================================================*/
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349 | /**
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350 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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351 | * @{
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352 | */
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353 | /*===========================================================================*/
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354 | |||
355 | e545e620 | Thomas Schöpping | /** @} */
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356 | |||
357 | /*===========================================================================*/
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358 | /**
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359 | * @name Low-level drivers
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360 | * @{
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361 | */
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362 | /*===========================================================================*/
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363 | |||
364 | A3906Driver moduleLldMotors = { |
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365 | 1e5f7648 | Thomas Schöpping | /* power enable GPIO */ &moduleGpioPowerEn,
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366 | e545e620 | Thomas Schöpping | }; |
367 | |||
368 | ddf34c3d | Thomas Schöpping | AT24C01BDriver moduleLldEeprom = { |
369 | e545e620 | Thomas Schöpping | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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370 | ddf34c3d | Thomas Schöpping | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
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371 | e545e620 | Thomas Schöpping | }; |
372 | |||
373 | HMC5883LDriver moduleLldCompass = { |
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374 | /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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375 | }; |
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376 | |||
377 | INA219Driver moduleLldPowerMonitorVdd = { |
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378 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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379 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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380 | /* current LSB (uA) */ 0x00u, |
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381 | /* configuration */ NULL, |
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382 | }; |
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383 | |||
384 | L3G4200DDriver moduleLldGyroscope = { |
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385 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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386 | }; |
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387 | |||
388 | LEDDriver moduleLldStatusLed = { |
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389 | 1e5f7648 | Thomas Schöpping | /* LED enable Gpio */ &moduleGpioLed,
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390 | e545e620 | Thomas Schöpping | }; |
391 | |||
392 | LIS331DLHDriver moduleLldAccelerometer = { |
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393 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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394 | }; |
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395 | |||
396 | LTC4412Driver moduleLldPowerPathController = { |
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397 | 1e5f7648 | Thomas Schöpping | /* Control GPIO */ &moduleGpioPathDcEn,
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398 | /* Status GPIO */ &moduleGpioPathDcStat,
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399 | e545e620 | Thomas Schöpping | }; |
400 | |||
401 | PCA9544ADriver moduleLldI2cMultiplexer = { |
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402 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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403 | /* 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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404 | }; |
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405 | |||
406 | ddf34c3d | Thomas Schöpping | TPS6211xDriver moduleLldStepDownConverterVdrive = { |
407 | 1e5f7648 | Thomas Schöpping | /* Power enable Gpio */ &moduleGpioPowerEn,
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408 | e545e620 | Thomas Schöpping | }; |
409 | |||
410 | VCNL4020Driver moduleLldProximity = { |
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411 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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412 | }; |
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413 | |||
414 | /** @} */
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415 | |||
416 | /*===========================================================================*/
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417 | /**
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418 | * @name Unit tests (UT)
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419 | * @{
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420 | */
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421 | /*===========================================================================*/
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422 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
423 | #include <string.h> |
||
424 | |||
425 | 8be006e0 | Thomas Schöpping | /*
|
426 | * A3906 (motor driver)
|
||
427 | */
|
||
428 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
429 | { |
||
430 | (void)argc;
|
||
431 | (void)argv;
|
||
432 | aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
||
433 | return AOS_OK;
|
||
434 | } |
||
435 | static ut_a3906data_t _utA3906Data = {
|
||
436 | /* driver */ &moduleLldMotors,
|
||
437 | /* PWM information */ {
|
||
438 | /* driver */ &MODULE_HAL_PWM_DRIVE,
|
||
439 | /* channels */ {
|
||
440 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
||
441 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
||
442 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
||
443 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
||
444 | }, |
||
445 | }, |
||
446 | /* QEI information */ {
|
||
447 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
||
448 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
||
449 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
||
450 | }, |
||
451 | acc97cbf | Thomas Schöpping | /* Wheel diameter */ {
|
452 | /* left wheel */ 0.05571f, |
||
453 | /* right wheel */ 0.05571f, |
||
454 | }, |
||
455 | 2e69d671 | Thomas Schöpping | /* timeout */ 10 * MICROSECONDS_PER_SECOND, |
456 | e545e620 | Thomas Schöpping | }; |
457 | aos_unittest_t moduleUtAlldA3906 = { |
||
458 | /* name */ "A3906", |
||
459 | /* info */ "motor driver", |
||
460 | /* test function */ utAlldA3906Func,
|
||
461 | /* shell command */ {
|
||
462 | /* name */ "unittest:MotorDriver", |
||
463 | /* callback */ _utShellCmdCb_AlldA3906,
|
||
464 | /* next */ NULL, |
||
465 | }, |
||
466 | /* data */ &_utA3906Data,
|
||
467 | }; |
||
468 | |||
469 | 8be006e0 | Thomas Schöpping | /*
|
470 | ddf34c3d | Thomas Schöpping | * AT24C01B (EEPROM)
|
471 | 8be006e0 | Thomas Schöpping | */
|
472 | ddf34c3d | Thomas Schöpping | static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
473 | e545e620 | Thomas Schöpping | { |
474 | (void)argc;
|
||
475 | (void)argv;
|
||
476 | ddf34c3d | Thomas Schöpping | aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
|
477 | e545e620 | Thomas Schöpping | return AOS_OK;
|
478 | } |
||
479 | ddf34c3d | Thomas Schöpping | static ut_at24c01bdata_t _utAlldAt24c01bData = {
|
480 | e545e620 | Thomas Schöpping | /* driver */ &moduleLldEeprom,
|
481 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
482 | }; |
||
483 | ddf34c3d | Thomas Schöpping | aos_unittest_t moduleUtAlldAt24c01b = { |
484 | /* name */ "AT24C01B", |
||
485 | e545e620 | Thomas Schöpping | /* info */ "1kbit EEPROM", |
486 | ddf34c3d | Thomas Schöpping | /* test function */ utAlldAt24c01bFunc,
|
487 | e545e620 | Thomas Schöpping | /* shell command */ {
|
488 | /* name */ "unittest:EEPROM", |
||
489 | ddf34c3d | Thomas Schöpping | /* callback */ _utShellCmdCb_AlldAt24c01b,
|
490 | e545e620 | Thomas Schöpping | /* next */ NULL, |
491 | }, |
||
492 | ddf34c3d | Thomas Schöpping | /* data */ &_utAlldAt24c01bData,
|
493 | e545e620 | Thomas Schöpping | }; |
494 | |||
495 | 8be006e0 | Thomas Schöpping | /*
|
496 | * HMC5883L (compass)
|
||
497 | */
|
||
498 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
499 | { |
||
500 | (void)argc;
|
||
501 | (void)argv;
|
||
502 | aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
||
503 | return AOS_OK;
|
||
504 | } |
||
505 | static ut_hmc5883ldata_t _utHmc5883lData = {
|
||
506 | /* HMC driver */ &moduleLldCompass,
|
||
507 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
508 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
509 | e545e620 | Thomas Schöpping | /* timeout */ MICROSECONDS_PER_SECOND,
|
510 | }; |
||
511 | aos_unittest_t moduleUtAlldHmc5883l = { |
||
512 | /* name */ "HMC5883L", |
||
513 | /* info */ "compass", |
||
514 | /* test function */ utAlldHmc5883lFunc,
|
||
515 | /* shell command */ {
|
||
516 | /* name */ "unittest:Compass", |
||
517 | /* callback */ _utShellCmdCb_AlldHmc5883l,
|
||
518 | /* next */ NULL, |
||
519 | }, |
||
520 | /* data */ &_utHmc5883lData,
|
||
521 | }; |
||
522 | |||
523 | 8be006e0 | Thomas Schöpping | /*
|
524 | * INA219 (power monitor)
|
||
525 | */
|
||
526 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
527 | { |
||
528 | (void)argc;
|
||
529 | (void)argv;
|
||
530 | aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
||
531 | return AOS_OK;
|
||
532 | } |
||
533 | static ut_ina219data_t _utIna219Data = {
|
||
534 | /* driver */ &moduleLldPowerMonitorVdd,
|
||
535 | /* expected voltage */ 3.3f, |
||
536 | /* tolerance */ 0.05f, |
||
537 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
538 | }; |
||
539 | aos_unittest_t moduleUtAlldIna219 = { |
||
540 | /* name */ "INA219", |
||
541 | /* info */ "power monitor", |
||
542 | /* test function */ utAlldIna219Func,
|
||
543 | /* shell command */ {
|
||
544 | /* name */ "unittest:PowerMonitor", |
||
545 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
546 | /* next */ NULL, |
||
547 | }, |
||
548 | /* data */ &_utIna219Data,
|
||
549 | }; |
||
550 | |||
551 | 8be006e0 | Thomas Schöpping | /*
|
552 | * L3G4200D (gyroscope)
|
||
553 | */
|
||
554 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
555 | { |
||
556 | (void)argc;
|
||
557 | (void)argv;
|
||
558 | spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
||
559 | aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
||
560 | spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
||
561 | return AOS_OK;
|
||
562 | } |
||
563 | static ut_l3g4200ddata_t _utL3g4200dData = {
|
||
564 | /* driver */ &moduleLldGyroscope,
|
||
565 | /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
||
566 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
567 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
568 | e545e620 | Thomas Schöpping | }; |
569 | aos_unittest_t moduleUtAlldL3g4200d = { |
||
570 | /* name */ "L3G4200D", |
||
571 | /* info */ "Gyroscope", |
||
572 | /* test function */ utAlldL3g4200dFunc,
|
||
573 | /* shell command */ {
|
||
574 | /* name */ "unittest:Gyroscope", |
||
575 | /* callback */ _utShellCmdCb_AlldL3g4200d,
|
||
576 | /* next */ NULL, |
||
577 | }, |
||
578 | /* data */ &_utL3g4200dData,
|
||
579 | }; |
||
580 | |||
581 | 8be006e0 | Thomas Schöpping | /*
|
582 | * Status LED
|
||
583 | */
|
||
584 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
585 | { |
||
586 | (void)argc;
|
||
587 | (void)argv;
|
||
588 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
589 | return AOS_OK;
|
||
590 | } |
||
591 | aos_unittest_t moduleUtAlldLed = { |
||
592 | /* name */ "LED", |
||
593 | /* info */ NULL, |
||
594 | /* test function */ utAlldLedFunc,
|
||
595 | /* shell command */ {
|
||
596 | /* name */ "unittest:StatusLED", |
||
597 | /* callback */ _utShellCmdCb_AlldLed,
|
||
598 | /* next */ NULL, |
||
599 | }, |
||
600 | /* data */ &moduleLldStatusLed,
|
||
601 | }; |
||
602 | |||
603 | 8be006e0 | Thomas Schöpping | /*
|
604 | * LIS331DLH (accelerometer)
|
||
605 | */
|
||
606 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
607 | { |
||
608 | (void)argc;
|
||
609 | (void)argv;
|
||
610 | spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
||
611 | aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
||
612 | spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
||
613 | return AOS_OK;
|
||
614 | } |
||
615 | static ut_lis331dlhdata_t _utLis331dlhData = {
|
||
616 | /* driver */ &moduleLldAccelerometer,
|
||
617 | /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
||
618 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
619 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
620 | e545e620 | Thomas Schöpping | }; |
621 | aos_unittest_t moduleUtAlldLis331dlh = { |
||
622 | /* name */ "LIS331DLH", |
||
623 | /* info */ "Accelerometer", |
||
624 | /* test function */ utAlldLis331dlhFunc,
|
||
625 | /* shell command */ {
|
||
626 | /* name */ "unittest:Accelerometer", |
||
627 | /* callback */ _utShellCmdCb_AlldLis331dlh,
|
||
628 | /* next */ NULL, |
||
629 | }, |
||
630 | /* data */ &_utLis331dlhData,
|
||
631 | }; |
||
632 | |||
633 | 8be006e0 | Thomas Schöpping | /*
|
634 | * LTC4412 (power path controller)
|
||
635 | */
|
||
636 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
637 | { |
||
638 | (void)argc;
|
||
639 | (void)argv;
|
||
640 | aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
||
641 | return AOS_OK;
|
||
642 | } |
||
643 | aos_unittest_t moduleUtAlldLtc4412 = { |
||
644 | /* name */ "LTC4412", |
||
645 | /* info */ "Power path controller", |
||
646 | /* test function */ utAlldLtc4412Func,
|
||
647 | /* shell command */ {
|
||
648 | /* name */ "unittest:PowerPathController", |
||
649 | /* callback */ _utShellCmdCb_AlldLtc4412,
|
||
650 | /* next */ NULL, |
||
651 | }, |
||
652 | /* data */ &moduleLldPowerPathController,
|
||
653 | }; |
||
654 | |||
655 | 8be006e0 | Thomas Schöpping | /*
|
656 | * PCA9544A (I2C multiplexer)
|
||
657 | */
|
||
658 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
659 | { |
||
660 | (void)argc;
|
||
661 | (void)argv;
|
||
662 | aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
||
663 | return AOS_OK;
|
||
664 | } |
||
665 | static ut_pca9544adata_t _utPca9544aData = {
|
||
666 | /* driver */ &moduleLldI2cMultiplexer,
|
||
667 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
668 | }; |
||
669 | aos_unittest_t moduleUtAlldPca9544a = { |
||
670 | /* name */ "PCA9544A", |
||
671 | /* info */ "I2C multiplexer", |
||
672 | /* test function */ utAlldPca9544aFunc,
|
||
673 | /* shell command */ {
|
||
674 | /* name */ "unittest:I2CMultiplexer", |
||
675 | /* callback */ _utShellCmdCb_AlldPca9544a,
|
||
676 | /* next */ NULL, |
||
677 | }, |
||
678 | /* data */ &_utPca9544aData,
|
||
679 | }; |
||
680 | |||
681 | 8be006e0 | Thomas Schöpping | /*
|
682 | * TPS62113 (step-down converter)
|
||
683 | */
|
||
684 | e545e620 | Thomas Schöpping | static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
685 | { |
||
686 | (void)argc;
|
||
687 | (void)argv;
|
||
688 | aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
||
689 | return AOS_OK;
|
||
690 | } |
||
691 | aos_unittest_t moduleUtAlldTps62113 = { |
||
692 | /* name */ "TPS62113", |
||
693 | /* info */ "Step down converter", |
||
694 | ddf34c3d | Thomas Schöpping | /* test function */ utAlldTps6211xFunc,
|
695 | e545e620 | Thomas Schöpping | /* shell command */ {
|
696 | /* name */ "unittest:StepDownConverter", |
||
697 | /* callback */ _utShellCmdCb_AlldTps62113,
|
||
698 | /* next */ NULL, |
||
699 | }, |
||
700 | /* data */ &moduleLldStepDownConverterVdrive,
|
||
701 | }; |
||
702 | |||
703 | 8be006e0 | Thomas Schöpping | /*
|
704 | * VCNL4020 (proximity sensor)
|
||
705 | */
|
||
706 | e545e620 | Thomas Schöpping | static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
707 | { |
||
708 | uint8_t intstatus; |
||
709 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
||
710 | vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
711 | if (intstatus) {
|
||
712 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
713 | } |
||
714 | return;
|
||
715 | } |
||
716 | static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
||
717 | { |
||
718 | enum {
|
||
719 | UNKNOWN, |
||
720 | FL, FR, WL, WR, |
||
721 | } sensor = UNKNOWN; |
||
722 | // evaluate arguments
|
||
723 | if (argc == 2) { |
||
724 | if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
||
725 | sensor = FL; |
||
726 | } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
||
727 | sensor = FR; |
||
728 | } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
||
729 | sensor = WL; |
||
730 | } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
||
731 | sensor = WR; |
||
732 | } |
||
733 | } |
||
734 | if (sensor != UNKNOWN) {
|
||
735 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
736 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
737 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
738 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
739 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
740 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
741 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
742 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
743 | switch (sensor) {
|
||
744 | case FL:
|
||
745 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
746 | 1e5f7648 | Thomas Schöpping | aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
747 | e545e620 | Thomas Schöpping | break;
|
748 | case FR:
|
||
749 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
750 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
||
751 | break;
|
||
752 | case WL:
|
||
753 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
754 | aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
||
755 | break;
|
||
756 | case WR:
|
||
757 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
758 | aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
||
759 | break;
|
||
760 | default:
|
||
761 | break;
|
||
762 | } |
||
763 | return AOS_OK;
|
||
764 | } |
||
765 | // print help
|
||
766 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
767 | chprintf(stream, "Options:\n");
|
||
768 | chprintf(stream, " --frontleft, -fl\n");
|
||
769 | chprintf(stream, " Test front left proximity sensor.\n");
|
||
770 | chprintf(stream, " --frontrigt, -fr\n");
|
||
771 | chprintf(stream, " Test front right proximity sensor.\n");
|
||
772 | chprintf(stream, " --wheelleft, -wl\n");
|
||
773 | chprintf(stream, " Test left wheel proximity sensor.\n");
|
||
774 | chprintf(stream, " --wheelright, -wr\n");
|
||
775 | chprintf(stream, " Test right wheel proximity sensor.\n");
|
||
776 | 916f8d28 | Thomas Schöpping | return AOS_INVALIDARGUMENTS;
|
777 | e545e620 | Thomas Schöpping | } |
778 | static ut_vcnl4020data_t _utVcnl4020Data = {
|
||
779 | /* driver */ &moduleLldProximity,
|
||
780 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
781 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
782 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
783 | e545e620 | Thomas Schöpping | }; |
784 | aos_unittest_t moduleUtAlldVcnl4020 = { |
||
785 | /* name */ "VCNL4020", |
||
786 | /* info */ "proximity sensor", |
||
787 | /* test function */ utAlldVcnl4020Func,
|
||
788 | /* shell command */ {
|
||
789 | /* name */ "unittest:Proximity", |
||
790 | /* callback */ _utShellCmdCb_AlldVcnl4020,
|
||
791 | /* next */ NULL, |
||
792 | }, |
||
793 | /* data */ &_utVcnl4020Data,
|
||
794 | }; |
||
795 | |||
796 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
797 | e545e620 | Thomas Schöpping | |
798 | /** @} */
|
||
799 | 53710ca3 | Marc Rothmann | /** @} */ |