amiro-os / modules / DiWheelDrive_1-1 / module.c @ 4c72a54c
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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 | 4c72a54c | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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149 | 1e5f7648 | Thomas Schöpping | /* 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 | 4c72a54c | Thomas Schöpping | * @name Tests
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419 | e545e620 | Thomas Schöpping | * @{
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420 | */
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421 | /*===========================================================================*/
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422 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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423 | |||
424 | 8be006e0 | Thomas Schöpping | /*
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425 | * A3906 (motor driver)
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426 | */
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427 | 4c72a54c | Thomas Schöpping | #include <module_test_A3906.h> |
428 | static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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429 | e545e620 | Thomas Schöpping | { |
430 | 4c72a54c | Thomas Schöpping | return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
431 | e545e620 | Thomas Schöpping | } |
432 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
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433 | e545e620 | Thomas Schöpping | |
434 | 8be006e0 | Thomas Schöpping | /*
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435 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
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436 | 8be006e0 | Thomas Schöpping | */
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437 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
438 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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439 | e545e620 | Thomas Schöpping | { |
440 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
441 | e545e620 | Thomas Schöpping | } |
442 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
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443 | e545e620 | Thomas Schöpping | |
444 | 8be006e0 | Thomas Schöpping | /*
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445 | * HMC5883L (compass)
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446 | */
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447 | 4c72a54c | Thomas Schöpping | #include <module_test_HMC5883L.h> |
448 | static int _testHmc5883lShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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449 | e545e620 | Thomas Schöpping | { |
450 | 4c72a54c | Thomas Schöpping | return moduleTestHmc5883lShellCb(stream, argc, argv, NULL); |
451 | e545e620 | Thomas Schöpping | } |
452 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestHmc5883lShellCmd, "test:Compass", _testHmc5883lShellCmdCb);
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453 | e545e620 | Thomas Schöpping | |
454 | 8be006e0 | Thomas Schöpping | /*
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455 | * INA219 (power monitor)
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456 | */
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457 | 4c72a54c | Thomas Schöpping | #include <module_test_INA219.h> |
458 | static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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459 | e545e620 | Thomas Schöpping | { |
460 | 4c72a54c | Thomas Schöpping | return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
461 | e545e620 | Thomas Schöpping | } |
462 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
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463 | e545e620 | Thomas Schöpping | |
464 | 8be006e0 | Thomas Schöpping | /*
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465 | * L3G4200D (gyroscope)
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466 | */
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467 | 4c72a54c | Thomas Schöpping | #include <module_test_L3G4200D.h> |
468 | static int _testL3g4200dShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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469 | e545e620 | Thomas Schöpping | { |
470 | 4c72a54c | Thomas Schöpping | return moduleTestL3g4200dShellCb(stream, argc, argv, NULL); |
471 | e545e620 | Thomas Schöpping | } |
472 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestL3g4200dShellCmd, "test:Gyroscope", _testL3g4200dShellCmdCb);
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473 | e545e620 | Thomas Schöpping | |
474 | 8be006e0 | Thomas Schöpping | /*
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475 | * Status LED
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476 | */
|
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477 | 4c72a54c | Thomas Schöpping | #include <module_test_LED.h> |
478 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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479 | e545e620 | Thomas Schöpping | { |
480 | 4c72a54c | Thomas Schöpping | return moduleTestLedShellCb(stream, argc, argv, NULL); |
481 | e545e620 | Thomas Schöpping | } |
482 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
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483 | e545e620 | Thomas Schöpping | |
484 | 8be006e0 | Thomas Schöpping | /*
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485 | * LIS331DLH (accelerometer)
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486 | */
|
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487 | 4c72a54c | Thomas Schöpping | #include <module_test_LIS331DLH.h> |
488 | static int _testLis331dlhShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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489 | e545e620 | Thomas Schöpping | { |
490 | 4c72a54c | Thomas Schöpping | return moduleTestLis331dlhShellCb(stream, argc, argv, NULL); |
491 | e545e620 | Thomas Schöpping | } |
492 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLis331dlhShellCmd, "test:Accelerometer", _testLis331dlhShellCmdCb);
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493 | e545e620 | Thomas Schöpping | |
494 | 8be006e0 | Thomas Schöpping | /*
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495 | * LTC4412 (power path controller)
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496 | */
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497 | 4c72a54c | Thomas Schöpping | #include <module_test_LTC4412.h> |
498 | static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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499 | e545e620 | Thomas Schöpping | { |
500 | 4c72a54c | Thomas Schöpping | return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
501 | e545e620 | Thomas Schöpping | } |
502 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
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503 | e545e620 | Thomas Schöpping | |
504 | 8be006e0 | Thomas Schöpping | /*
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505 | * PCA9544A (I2C multiplexer)
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506 | */
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507 | 4c72a54c | Thomas Schöpping | #include <module_test_PCA9544A.h> |
508 | static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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509 | e545e620 | Thomas Schöpping | { |
510 | 4c72a54c | Thomas Schöpping | return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
511 | e545e620 | Thomas Schöpping | } |
512 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
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513 | e545e620 | Thomas Schöpping | |
514 | 8be006e0 | Thomas Schöpping | /*
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515 | * TPS62113 (step-down converter)
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516 | */
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517 | 4c72a54c | Thomas Schöpping | #include <module_test_TPS6211x.h> |
518 | static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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519 | e545e620 | Thomas Schöpping | { |
520 | 4c72a54c | Thomas Schöpping | return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
521 | e545e620 | Thomas Schöpping | } |
522 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
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523 | e545e620 | Thomas Schöpping | |
524 | 8be006e0 | Thomas Schöpping | /*
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525 | * VCNL4020 (proximity sensor)
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526 | */
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527 | 4c72a54c | Thomas Schöpping | #include <module_test_VCNL4020.h> |
528 | static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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529 | e545e620 | Thomas Schöpping | { |
530 | 4c72a54c | Thomas Schöpping | return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
531 | e545e620 | Thomas Schöpping | } |
532 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
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533 | |||
534 | /*
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535 | * entire module
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536 | */
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537 | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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538 | e545e620 | Thomas Schöpping | { |
539 | 4c72a54c | Thomas Schöpping | (void)argc;
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540 | (void)argv;
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541 | |||
542 | int status = AOS_OK;
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543 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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544 | aos_testresult_t result_test = {0, 0}; |
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545 | aos_testresult_t result_total = {0, 0}; |
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546 | |||
547 | /* A3906 (motor driver) */
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548 | status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
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549 | result_total = aosTestResultAdd(result_total, result_test); |
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550 | |||
551 | /* AT24C01B (EEPROM) */
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552 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
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553 | result_total = aosTestResultAdd(result_total, result_test); |
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554 | |||
555 | /* HMC5883L (compass) */
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556 | status |= moduleTestHmc5883lShellCb(stream, 0, targv, &result_test);
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557 | result_total = aosTestResultAdd(result_total, result_test); |
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558 | |||
559 | /* INA219 (power monitor) */
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560 | status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
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561 | result_total = aosTestResultAdd(result_total, result_test); |
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562 | |||
563 | /* L3G4200D (gyroscope) */
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564 | status |= moduleTestL3g4200dShellCb(stream, 0, targv, &result_test);
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565 | result_total = aosTestResultAdd(result_total, result_test); |
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566 | |||
567 | /* Status LED */
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568 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
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569 | result_total = aosTestResultAdd(result_total, result_test); |
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570 | |||
571 | /* LIS331DLH (accelerometer) */
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572 | status |= moduleTestLis331dlhShellCb(stream, 0, targv, &result_test);
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573 | result_total = aosTestResultAdd(result_total, result_test); |
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574 | |||
575 | /* LTC4412 (power path controller) */
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576 | status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
|
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577 | result_total = aosTestResultAdd(result_total, result_test); |
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578 | |||
579 | /* PCA9544A (I2C multiplexer) */
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580 | status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
|
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581 | result_total = aosTestResultAdd(result_total, result_test); |
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582 | |||
583 | /* TPS62113 (step-down converter) */
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584 | status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
|
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585 | result_total = aosTestResultAdd(result_total, result_test); |
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586 | |||
587 | /* VCNL4020 (proximity sensor) */
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588 | // wheel left
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589 | targv[1] = "-wl"; |
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590 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
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591 | result_total = aosTestResultAdd(result_total, result_test); |
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592 | // front left
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593 | targv[1] = "-fl"; |
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594 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
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595 | result_total = aosTestResultAdd(result_total, result_test); |
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596 | // front right
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597 | targv[1] = "-fr"; |
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598 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
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599 | result_total = aosTestResultAdd(result_total, result_test); |
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600 | // wheel right
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601 | targv[1] = "-wr"; |
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602 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
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603 | result_total = aosTestResultAdd(result_total, result_test); |
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604 | targv[1] = ""; |
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605 | |||
606 | // print total result
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607 | chprintf(stream, "\n");
|
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608 | aosTestResultPrintSummary(stream, &result_total, "entire module");
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609 | |||
610 | return status;
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611 | e545e620 | Thomas Schöpping | } |
612 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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613 | e545e620 | Thomas Schöpping | |
614 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
615 | e545e620 | Thomas Schöpping | |
616 | /** @} */
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617 | 53710ca3 | Marc Rothmann | /** @} */ |