/modules/DiWheelDrive_1-1/module.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / DiWheelDrive_1-1 / module.c @ 341cc329

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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+Copyright (C) 2016..2019  Thomas Schöpping et al.
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+            Thomas Schöpping
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
-ca3
+/**
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+ * @file
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+ * @brief   Structures and constant for the DiWheelDrive module.
+ *
  * @addtogroup diwheeldrive_module
  * @{
  */
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+#include "module.h"
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 CANConfig moduleHalCanConfig = {
   /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
   /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
 };
 I2CConfig moduleHalI2cCompassConfig = {
   /* I²C mode   */ OPMODE_I2C,
   /* frequency  */ 400000,
   /* duty cycle */ FAST_DUTY_CYCLE_2,
 };
 I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
   /* I²C mode   */ OPMODE_I2C,
   /* frequency  */ 400000,
   /* duty cycle */ FAST_DUTY_CYCLE_2,
 };
 PWMConfig moduleHalPwmDriveConfig = {
   /* frequency              */ 7200000,
   /* period                 */ 360,
   /* callback               */ NULL,
   /* channel configurations */ {
     /* channel 0              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
     /* channel 1              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
     /* channel 2              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
     /* channel 3              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
   },
   /* TIM CR2 register       */ 0,
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+#if (STM32_PWM_USE_ADVANCED == TRUE)
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+  /* TIM BDTR register      */ 0,
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+#endif /* (STM32_PWM_USE_ADVANCED == TRUE) */
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+  /* TIM DIER register      */ 0
 };
 QEIConfig moduleHalQeiConfig = {
   /* mode           */ QEI_COUNT_BOTH,
   /* channel config */ {
     /* channel 0 */ {
       /* input mode */ QEI_INPUT_NONINVERTED,
     },
     /* channel 1 */ {
       /* input mode */ QEI_INPUT_NONINVERTED,
     },
   },
   /* encoder range  */  0x10000u,
 };
 SerialConfig moduleHalProgIfConfig = {
   /* bit rate */ 115200,
   /* CR1      */ 0,
   /* CR1      */ 0,
   /* CR1      */ 0,
 };
 SPIConfig moduleHalSpiAccelerometerConfig = {
-be0f
+  /* circular buffer mode         */ false,
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+  /* callback function pointer    */ NULL,
   /* chip select line port        */ GPIOC,
   /* chip select line pad number  */ GPIOC_ACCEL_SS_N,
   /* CR1                          */ SPI_CR1_BR_0,
   /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
 };
 SPIConfig moduleHalSpiGyroscopeConfig = {
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+  /* circular buffer mode         */ false,
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+  /* callback function pointer    */ NULL,
   /* chip select line port        */ GPIOC,
   /* chip select line pad number  */ GPIOC_GYRO_SS_N,
   /* CR1                          */ SPI_CR1_BR_0,
   /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
 };
 /** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
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+/**
  * @brief   LED output signal GPIO.
  */
 static apalGpio_t _gpioLed = {
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+  /* port */ GPIOA,
   /* pad  */ GPIOA_LED,
 };
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+ROMCONST apalControlGpio_t moduleGpioLed = {
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+  /* GPIO */ &_gpioLed,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ LED_LLD_GPIO_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   POWER_EN output signal GPIO.
  */
 static apalGpio_t _gpioPowerEn = {
   /* port */ GPIOB,
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+  /* pad  */ GPIOB_POWER_EN,
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+};
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+ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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+  /* GPIO */ &_gpioPowerEn,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   COMPASS_DRDY output signal GPIO.
  */
 static apalGpio_t _gpioCompassDrdy = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_COMPASS_DRDY,
 };
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+ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {
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+  /* GPIO */ &_gpioCompassDrdy,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   IR_INT input signal GPIO.
  */
 static apalGpio_t _gpioIrInt = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_IR_INT,
 };
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+ROMCONST apalControlGpio_t moduleGpioIrInt = {
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+  /* GPIO */ &_gpioIrInt,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   GYRO_DRDY input signal GPIO.
  */
 static apalGpio_t _gpioGyroDrdy = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_GYRO_DRDY,
 };
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+ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {
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+  /* GPIO */ &_gpioGyroDrdy,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   SYS_UART_UP bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysUartUp = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_SYS_UART_UP,
 };
-            acc97cbf
+ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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+  /* GPIO */ &_gpioSysUartUp,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   ACCEL_INT input signal GPIO.
  */
 static apalGpio_t _gpioAccelInt = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_ACCEL_INT_N,
 };
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+ROMCONST apalControlGpio_t moduleGpioAccelInt = {
-e5f7648
+  /* GPIO */ &_gpioAccelInt,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   SYS_SNYC bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysSync = {
-            e545e620
+  /* port */ GPIOC,
   /* pad  */ GPIOC_SYS_INT_N,
 };
-            acc97cbf
+ROMCONST apalControlGpio_t  moduleGpioSysSync = {
-e5f7648
+  /* GPIO */ &_gpioSysSync,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   PATH_DCSTAT input signal GPIO.
  */
 static apalGpio_t _gpioPathDcStat = {
-            e545e620
+  /* port */ GPIOC,
   /* pad  */ GPIOC_PATH_DCSTAT,
 };
-            acc97cbf
+ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
-e5f7648
+  /* GPIO */ &_gpioPathDcStat,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ LTC4412_LLD_STAT_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   PATH_DCEN output signal GPIO.
  */
 static apalGpio_t _gpioPathDcEn = {
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+  /* port */ GPIOC,
   /* pad  */ GPIOC_PATH_DCEN,
 };
-            acc97cbf
+ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
-e5f7648
+  /* GPIO */ &_gpioPathDcEn,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ LTC4412_LLD_CTRL_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   SYS_PD bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysPd = {
-            e545e620
+  /* port */ GPIOC,
   /* pad  */ GPIOC_SYS_PD_N,
 };
-            acc97cbf
+ROMCONST apalControlGpio_t moduleGpioSysPd = {
-e5f7648
+  /* GPIO */ &_gpioSysPd,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   SYS_REG_EN input signal GPIO.
  */
 static apalGpio_t _gpioSysRegEn = {
-            e545e620
+  /* port */ GPIOC,
   /* pad  */ GPIOC_SYS_REG_EN,
 };
-            acc97cbf
+ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
-e5f7648
+  /* GPIO */ &_gpioSysRegEn,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
-            e545e620
+            Thomas Schöpping
-e5f7648
+/**
  * @brief   SYS_WARMRST bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysWarmrst = {
-            e545e620
+  /* port */ GPIOD,
   /* pad  */ GPIOD_SYS_WARMRST_N,
 };
-            acc97cbf
+ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
-e5f7648
+  /* GPIO */ &_gpioSysWarmrst,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
-            e545e620
+            Thomas Schöpping
 /** @} */
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
-dd2e257
+#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
-            acc97cbf
+ROMCONST char* moduleShellPrompt = "DiWheelDrive";
-de0cc90
+#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
-b53f6bf
+            Thomas Schöpping
 /** @} */
 /*===========================================================================*/
 /**
  * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
-            e545e620
+/** @} */
 /*===========================================================================*/
 /**
  * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
 A3906Driver moduleLldMotors = {
-e5f7648
+  /* power enable GPIO  */ &moduleGpioPowerEn,
-            e545e620
+};
-            ddf34c3d
+AT24C01BDriver moduleLldEeprom = {
-            e545e620
+  /* I2C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
-            ddf34c3d
+  /* I²C address  */ AT24C01B_LLD_I2C_ADDR_FIXED,
-            e545e620
+};
 HMC5883LDriver moduleLldCompass = {
   /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
 };
 INA219Driver moduleLldPowerMonitorVdd = {
   /* I2C Driver       */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
   /* I²C address      */ INA219_LLD_I2C_ADDR_FIXED,
   /* current LSB (uA) */ 0x00u,
   /* configuration    */ NULL,
 };
 L3G4200DDriver moduleLldGyroscope = {
   /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
 };
 LEDDriver moduleLldStatusLed = {
-e5f7648
+  /* LED enable Gpio */ &moduleGpioLed,
-            e545e620
+};
 LIS331DLHDriver moduleLldAccelerometer = {
   /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
 };
 LTC4412Driver moduleLldPowerPathController = {
-e5f7648
+  /* Control GPIO */ &moduleGpioPathDcEn,
   /* Status GPIO  */ &moduleGpioPathDcStat,
-            e545e620
+};
 PCA9544ADriver moduleLldI2cMultiplexer = {
   /* I²C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
   /* I²C address  */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
 };
-            ddf34c3d
+TPS6211xDriver moduleLldStepDownConverterVdrive = {
-e5f7648
+  /* Power enable Gpio */ &moduleGpioPowerEn,
-            e545e620
+};
 VCNL4020Driver moduleLldProximity = {
   /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
 };
 /** @} */
 /*===========================================================================*/
 /**
  * @name Unit tests (UT)
  * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 #include <string.h>
-be006e0
+/*
  * A3906 (motor driver)
  */
-            e545e620
+static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldA3906, NULL);
   return AOS_OK;
+}
 static ut_a3906data_t _utA3906Data = {
   /* driver           */ &moduleLldMotors,
   /* PWM information  */ {
     /* driver   */ &MODULE_HAL_PWM_DRIVE,
     /* channels */ {
       /* left wheel forward   */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
       /* left wheel backward  */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
       /* right wheel forward  */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
       /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
     },
   },
   /* QEI information  */ {
     /* left wheel               */ &MODULE_HAL_QEI_LEFT_WHEEL,
     /* right wheel              */ &MODULE_HAL_QEI_RIGHT_WHEEL,
     /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
   },
-            acc97cbf
+  /* Wheel diameter   */ {
     /* left wheel   */ 0.05571f,
     /* right wheel  */ 0.05571f,
   },
-e69d671
+  /* timeout          */ 10 * MICROSECONDS_PER_SECOND,
-            e545e620
+};
 aos_unittest_t moduleUtAlldA3906  = {
   /* name           */ "A3906",
   /* info           */ "motor driver",
   /* test function  */ utAlldA3906Func,
   /* shell command  */ {
     /* name     */ "unittest:MotorDriver",
     /* callback */ _utShellCmdCb_AlldA3906,
     /* next     */ NULL,
   },
   /* data           */ &_utA3906Data,
 };
-be006e0
+/*
-            ddf34c3d
+ * AT24C01B (EEPROM)
-be006e0
+ */
-            ddf34c3d
+static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[])
-            e545e620
+            Thomas Schöpping
   (void)argc;
   (void)argv;
-            ddf34c3d
+  aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
-            e545e620
+  return AOS_OK;
+}
-            ddf34c3d
+static ut_at24c01bdata_t _utAlldAt24c01bData = {
-            e545e620
+  /* driver   */ &moduleLldEeprom,
   /* timeout  */ MICROSECONDS_PER_SECOND,
 };
-            ddf34c3d
+aos_unittest_t moduleUtAlldAt24c01b = {
   /* name           */ "AT24C01B",
-            e545e620
+  /* info           */ "1kbit EEPROM",
-            ddf34c3d
+  /* test function  */ utAlldAt24c01bFunc,
-            e545e620
+  /* shell command  */ {
     /* name     */ "unittest:EEPROM",
-            ddf34c3d
+    /* callback */ _utShellCmdCb_AlldAt24c01b,
-            e545e620
+    /* next     */ NULL,
   },
-            ddf34c3d
+  /* data           */ &_utAlldAt24c01bData,
-            e545e620
+};
-be006e0
+/*
  * HMC5883L (compass)
  */
-            e545e620
+static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
   return AOS_OK;
+}
 static ut_hmc5883ldata_t _utHmc5883lData = {
   /* HMC driver   */ &moduleLldCompass,
-b53f6bf
+  /* event source */ &aos.events.io,
-e5f7648
+  /* event flags  */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
-            e545e620
+  /* timeout      */ MICROSECONDS_PER_SECOND,
 };
 aos_unittest_t moduleUtAlldHmc5883l = {
   /* name           */ "HMC5883L",
   /* info           */ "compass",
   /* test function  */ utAlldHmc5883lFunc,
   /* shell command  */ {
     /* name     */ "unittest:Compass",
     /* callback */ _utShellCmdCb_AlldHmc5883l,
     /* next     */ NULL,
   },
   /* data           */ &_utHmc5883lData,
 };
-be006e0
+/*
  * INA219 (power monitor)
  */
-            e545e620
+static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
   return AOS_OK;
+}
 static ut_ina219data_t _utIna219Data = {
   /* driver           */ &moduleLldPowerMonitorVdd,
   /* expected voltage */ 3.3f,
   /* tolerance        */ 0.05f,
   /* timeout */ MICROSECONDS_PER_SECOND,
 };
 aos_unittest_t moduleUtAlldIna219 = {
   /* name           */ "INA219",
   /* info           */ "power monitor",
   /* test function  */ utAlldIna219Func,
   /* shell command  */ {
     /* name     */ "unittest:PowerMonitor",
     /* callback */ _utShellCmdCb_AlldIna219,
     /* next     */ NULL,
   },
   /* data           */ &_utIna219Data,
 };
-be006e0
+/*
  * L3G4200D (gyroscope)
  */
-            e545e620
+static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf);
   aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
   spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid);
   return AOS_OK;
+}
 static ut_l3g4200ddata_t _utL3g4200dData = {
   /* driver            */ &moduleLldGyroscope,
   /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
-b53f6bf
+  /* event source */ &aos.events.io,
-e5f7648
+  /* event flags  */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
-            e545e620
+};
 aos_unittest_t moduleUtAlldL3g4200d = {
   /* name           */ "L3G4200D",
   /* info           */ "Gyroscope",
   /* test function  */ utAlldL3g4200dFunc,
   /* shell command  */ {
     /* name     */ "unittest:Gyroscope",
     /* callback */ _utShellCmdCb_AlldL3g4200d,
     /* next     */ NULL,
   },
   /* data           */ &_utL3g4200dData,
 };
-be006e0
+/*
  * Status LED
  */
-            e545e620
+static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldLed, NULL);
   return AOS_OK;
+}
 aos_unittest_t moduleUtAlldLed = {
   /* name           */ "LED",
   /* info           */ NULL,
   /* test function  */ utAlldLedFunc,
   /* shell command  */ {
     /* name     */ "unittest:StatusLED",
     /* callback */ _utShellCmdCb_AlldLed,
     /* next     */ NULL,
   },
   /* data           */ &moduleLldStatusLed,
 };
-be006e0
+/*
  * LIS331DLH (accelerometer)
  */
-            e545e620
+static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf);
   aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
   spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid);
   return AOS_OK;
+}
 static ut_lis331dlhdata_t _utLis331dlhData = {
   /* driver            */ &moduleLldAccelerometer,
   /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
-b53f6bf
+  /* event source */ &aos.events.io,
-e5f7648
+  /* event flags  */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
-            e545e620
+};
 aos_unittest_t moduleUtAlldLis331dlh = {
   /* name           */ "LIS331DLH",
   /* info           */ "Accelerometer",
   /* test function  */ utAlldLis331dlhFunc,
   /* shell command  */ {
     /* name     */ "unittest:Accelerometer",
     /* callback */ _utShellCmdCb_AlldLis331dlh,
     /* next     */ NULL,
   },
   /* data           */ &_utLis331dlhData,
 };
-be006e0
+/*
  * LTC4412 (power path controller)
  */
-            e545e620
+static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
   return AOS_OK;
+}
 aos_unittest_t moduleUtAlldLtc4412 = {
   /* name           */ "LTC4412",
   /* info           */ "Power path controller",
   /* test function  */ utAlldLtc4412Func,
   /* shell command  */ {
     /* name     */ "unittest:PowerPathController",
     /* callback */ _utShellCmdCb_AlldLtc4412,
     /* next     */ NULL,
   },
   /* data           */ &moduleLldPowerPathController,
 };
-be006e0
+/*
  * PCA9544A (I2C multiplexer)
  */
-            e545e620
+static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
   return AOS_OK;
+}
 static ut_pca9544adata_t _utPca9544aData = {
   /* driver  */ &moduleLldI2cMultiplexer,
   /* timeout */ MICROSECONDS_PER_SECOND,
 };
 aos_unittest_t moduleUtAlldPca9544a = {
   /* name           */ "PCA9544A",
   /* info           */ "I2C multiplexer",
   /* test function  */ utAlldPca9544aFunc,
   /* shell command  */ {
     /* name     */ "unittest:I2CMultiplexer",
     /* callback */ _utShellCmdCb_AlldPca9544a,
     /* next     */ NULL,
   },
   /* data           */ &_utPca9544aData,
 };
-be006e0
+/*
  * TPS62113 (step-down converter)
  */
-            e545e620
+static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldTps62113, NULL);
   return AOS_OK;
+}
 aos_unittest_t moduleUtAlldTps62113 = {
   /* name           */ "TPS62113",
   /* info           */ "Step down converter",
-            ddf34c3d
+  /* test function  */ utAlldTps6211xFunc,
-            e545e620
+  /* shell command  */ {
     /* name     */ "unittest:StepDownConverter",
     /* callback */ _utShellCmdCb_AlldTps62113,
     /* next     */ NULL,
   },
   /* data           */ &moduleLldStepDownConverterVdrive,
 };
-be006e0
+/*
  * VCNL4020 (proximity sensor)
  */
-            e545e620
+static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl)
+{
   uint8_t intstatus;
   vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
   vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
   if (intstatus) {
     vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
+  }
   return;
+}
 static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[])
+{
   enum {
     UNKNOWN,
     FL, FR, WL, WR,
   } sensor = UNKNOWN;
   // evaluate arguments
   if (argc == 2) {
     if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) {
       sensor = FL;
     } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) {
       sensor = FR;
     } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) {
       sensor = WL;
     } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) {
       sensor = WR;
+    }
+  }
   if (sensor != UNKNOWN) {
     pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
     _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
     pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
     _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
     pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
     _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
     pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
     _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
     switch (sensor) {
       case FL:
         pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
-e5f7648
+        aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
-            e545e620
+        break;
       case FR:
         pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
         aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
         break;
       case WL:
         pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
         aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
         break;
       case WR:
         pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
         aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
         break;
       default:
         break;
+    }
     return AOS_OK;
+  }
   // print help
   chprintf(stream, "Usage: %s OPTION\n", argv[0]);
   chprintf(stream, "Options:\n");
   chprintf(stream, "  --frontleft, -fl\n");
   chprintf(stream, "    Test front left proximity sensor.\n");
   chprintf(stream, "  --frontrigt, -fr\n");
   chprintf(stream, "    Test front right proximity sensor.\n");
   chprintf(stream, "  --wheelleft, -wl\n");
   chprintf(stream, "    Test left wheel proximity sensor.\n");
   chprintf(stream, "  --wheelright, -wr\n");
   chprintf(stream, "    Test right wheel proximity sensor.\n");
   return AOS_INVALID_ARGUMENTS;
+}
 static ut_vcnl4020data_t _utVcnl4020Data = {
   /* driver       */ &moduleLldProximity,
   /* timeout      */ MICROSECONDS_PER_SECOND,
-b53f6bf
+  /* event source */ &aos.events.io,
-e5f7648
+  /* event flags  */ MODULE_OS_IOEVENTFLAGS_IRINT,
-            e545e620
+};
 aos_unittest_t moduleUtAlldVcnl4020 = {
   /* name           */ "VCNL4020",
   /* info           */ "proximity sensor",
   /* test function  */ utAlldVcnl4020Func,
   /* shell command  */ {
     /* name     */ "unittest:Proximity",
     /* callback */ _utShellCmdCb_AlldVcnl4020,
     /* next     */ NULL,
   },
   /* data           */ &_utVcnl4020Data,
 };
-b80db
+static ut_rtcandata_t _utLldRtCanData = {
     /*operation */ NULL
 };
-            d2931db9
+static int _utShellCmdCb_LldRtCan(BaseSequentialStream* stream, int argc, char* argv[])
+{
-b80db
+    if(argc == 2 ){
         if (strcmp(argv[1], "send") == 0) {
             ((ut_rtcandata_t*)moduleUtLldRtCan.data)->operation = "send";
             aosUtRun(stream, &moduleUtLldRtCan,NULL);
             return AOS_OK;
         }else if(strcmp(argv[1], "receive") == 0){
             ((ut_rtcandata_t*)moduleUtLldRtCan.data)->operation = "receive";
             aosUtRun(stream, &moduleUtLldRtCan,NULL);
             return AOS_OK;
+        }
+    }
     return AOS_INVALID_ARGUMENTS;
-            d2931db9
+            Julian L
 aos_unittest_t moduleUtLldRtCan = {
   /* name           */ "RTCAN",
   /* info           */ NULL,
   /* test function  */ utLldRtCanFunc,
   /* shell command  */ {
     /* name     */ "unittest:rtcan",
     /* callback */ _utShellCmdCb_LldRtCan,
     /* next     */ NULL,
   },
-b80db
+  /* data           */ &_utLldRtCanData,
-            d2931db9
+};
-d54cd3
+#endif /* (AMIROOS_CFG_TESTS_ENABLE) == true */
-            e545e620
+            Thomas Schöpping
 /** @} */
-ca3
+/** @} */