amiro-os / modules / DiWheelDrive_1-2 / module.h @ 5668089d
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/*
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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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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the DiWheelDrive module.
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*
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* @addtogroup diwheeldrive_module
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* @{
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*/
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.h> |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief CAN driver to use.
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*/
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#define MODULE_HAL_CAN CAND1
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/**
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* @brief Configuration for the CAN driver.
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*/
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extern CANConfig moduleHalCanConfig;
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/**
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* @brief I2C driver to access the compass.
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*/
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#define MODULE_HAL_I2C_IMU I2CD1
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/**
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* @brief Configuration for the compass I2C driver.
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*/
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extern I2CConfig moduleHalI2cImuConfig;
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/**
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* @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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*/
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#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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/**
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* @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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*/
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extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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/**
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* @brief PWM driver to use.
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*/
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#define MODULE_HAL_PWM_DRIVE PWMD2
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/**
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* @brief Configuration for the PWM driver.
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*/
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extern PWMConfig moduleHalPwmDriveConfig;
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/**
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* @brief Drive PWM channel for the left wheel forward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
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/**
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* @brief Drive PWM channel for the left wheel backward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
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/**
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* @brief Drive PWM channel for the right wheel forward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
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/**
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* @brief Drive PWM channel for the right wheel backward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
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/**
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* @brief Quadrature encooder for the left wheel.
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*/
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#define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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/**
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* @brief Quadrature encooder for the right wheel.
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*/
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#define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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/**
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* @brief Configuration for both quadrature encoders.
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*/
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extern QEIConfig moduleHalQeiConfig;
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/**
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* @brief QEI increments per wheel revolution.
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* @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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*/
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#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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/**
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* @brief Serial driver of the programmer interface.
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*/
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#define MODULE_HAL_PROGIF SD1
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/**
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* @brief Configuration for the programmer serial interface driver.
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*/
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extern SerialConfig moduleHalProgIfConfig;
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/**
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* @brief Real-Time Clock driver.
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*/
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#define MODULE_HAL_RTC RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LED output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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/**
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* @brief POWER_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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/**
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* @brief IR_INT input signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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/**
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* @brief IMU_INT input signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioImuInt;
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/**
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* @brief SYS_SNYC bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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/**
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* @brief IMU_RESET output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioImuReset;
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/**
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* @brief PATH_DCSTAT input signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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/**
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* @brief PATH_DCEN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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/**
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* @brief SYS_REG_EN input signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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/**
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* @brief IMU_BOOT_LOAD output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioImuBootLoad;
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/**
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* @brief IMU_BL_IND input signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioImuBlInd;
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/**
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* @brief SYS_WARMRST bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Event flag to be set on a SYS_SYNC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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/**
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* @brief Event flag to be set on a SYS_WARMRST interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_WARMRST_N))
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/**
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* @brief Event flag to be set on a PATH_DCSTAT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT AOS_IOEVENT_FLAG(PAL_PAD(LINE_PATH_DCEN))
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/**
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* @brief Event flag to be set on a SYS_PD interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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/**
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* @brief Event flag to be set on a SYS_REG_EN interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSREGEN AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_REG_EN))
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/**
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* @brief Event flag to be set on a IR_INT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_IRINT AOS_IOEVENT_FLAG(PAL_PAD(LINE_IR_INT))
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/**
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* @brief Event flag to be set on a SYS_UART_UP interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
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/**
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* @brief Event flag to be set on a IMU_INT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_IMUINT AOS_IOEVENT_FLAG(PAL_PAD(LINE_IMU_INT))
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell prompt text.
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*/
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extern ROMCONST char* moduleShellPrompt; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/**
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* @brief Additional HAL initialization hook.
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*/
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#define MODULE_INIT_HAL_EXTRA() { \
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qeiInit(); \ |
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} |
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/**
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* @brief Interrupt initialization macro.
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* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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*/
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#define MODULE_INIT_INTERRUPTS() { \
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/* IR_INT */ \
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palSetLineCallback(moduleGpioIrInt.gpio->line, aosSysGetStdIntCallback(), &moduleGpioIrInt.gpio->line); \ |
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palEnableLineEvent(moduleGpioIrInt.gpio->line, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
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/* IMU_INT */ \
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palSetLineCallback(moduleGpioImuInt.gpio->line, aosSysGetStdIntCallback(), &moduleGpioImuInt.gpio->line); \ |
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palEnableLineEvent(moduleGpioImuInt.gpio->line, APAL2CH_EDGE(moduleGpioImuInt.meta.edge)); \ |
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/* PATH_DCSTAT */ \
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palSetLineCallback(moduleGpioPathDcStat.gpio->line, aosSysGetStdIntCallback(), &moduleGpioPathDcStat.gpio->line); \ |
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palEnableLineEvent(moduleGpioPathDcStat.gpio->line, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
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/* SYS_REG_EN */ \
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palSetLineCallback(moduleGpioSysRegEn.gpio->line, aosSysGetStdIntCallback(), &moduleGpioSysRegEn.gpio->line); \ |
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palEnableLineEvent(moduleGpioSysRegEn.gpio->line, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
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/* SYS_WARMRST */ \
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palSetLineCallback(moduleGpioSysWarmrst.gpio->line, aosSysGetStdIntCallback(), &moduleGpioSysWarmrst.gpio->line); \ |
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palEnableLineEvent(moduleGpioSysWarmrst.gpio->line, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
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} |
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/**
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* @brief Unit test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \
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aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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} |
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/**
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* @brief Periphery communication interfaces initialization hook.
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*/
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#define MODULE_INIT_PERIPHERY_COMM() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* I2C */ \
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/* TODO: calculcate config depending on BNO055 */ \
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i2cStart(&MODULE_HAL_I2C_IMU, &moduleHalI2cImuConfig); \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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/* PWM */ \
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pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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/* QEI */ \
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qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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} |
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/**
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* @brief Periphery communication interface deinitialization hook.
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*/
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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/* PWM */ \
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pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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/* QEI */ \
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qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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/* I2C */ \
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i2cStop(&MODULE_HAL_I2C_IMU); \ |
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i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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/* don't stop the serial driver so messages can still be printed */ \
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} |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief PD signal GPIO.
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*/
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#define moduleSsspGpioPd moduleGpioSysPd
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/**
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* @brief SYNC signal GPIO.
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*/
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#define moduleSsspGpioSync moduleGpioSysSync
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/**
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* @brief UP signal GPIO.
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*/
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#define moduleSsspGpioUp moduleGpioSysUartUp
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/**
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* @brief Event flags for PD signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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/**
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* @brief Event flags for SYNC signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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/**
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* @brief Event flags for UP signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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#include <alld_A3906.h> |
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#include <alld_AT24C01B.h> |
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#include <alld_INA219.h> |
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#include <alld_LED.h> |
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#include <alld_LTC4412.h> |
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#include <alld_PCA9544A.h> |
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#include <alld_TPS6211x.h> |
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#include <alld_VCNL4020.h> |
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// TODO: add BNO055 IMU
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/**
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* @brief Motor driver.
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*/
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extern A3906Driver moduleLldMotors;
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/**
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* @brief EEPROM driver.
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*/
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extern AT24C01BDriver moduleLldEeprom;
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/**
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* @brief Power monitor (VDD) driver.
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*/
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extern INA219Driver moduleLldPowerMonitorVdd;
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| 436 |
|
| 437 |
/**
|
| 438 |
* @brief Status LED driver.
|
| 439 |
*/
|
| 440 |
extern LEDDriver moduleLldStatusLed;
|
| 441 |
|
| 442 |
/**
|
| 443 |
* @brief Power path controler (charging pins) driver.
|
| 444 |
*/
|
| 445 |
extern LTC4412Driver moduleLldPowerPathController;
|
| 446 |
|
| 447 |
/**
|
| 448 |
* @brief I2C multiplexer driver.
|
| 449 |
*/
|
| 450 |
extern PCA9544ADriver moduleLldI2cMultiplexer;
|
| 451 |
|
| 452 |
/**
|
| 453 |
* @brief Step down converter (VDRIVE) driver.
|
| 454 |
*/
|
| 455 |
extern TPS6211xDriver moduleLldStepDownConverterVdrive;
|
| 456 |
|
| 457 |
/**
|
| 458 |
* @brief Proximity sensor driver.
|
| 459 |
*/
|
| 460 |
extern VCNL4020Driver moduleLldProximity;
|
| 461 |
|
| 462 |
/** @} */
|
| 463 |
|
| 464 |
/*===========================================================================*/
|
| 465 |
/**
|
| 466 |
* @name Unit tests (UT)
|
| 467 |
* @{
|
| 468 |
*/
|
| 469 |
/*===========================================================================*/
|
| 470 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 471 |
#include <ut_alld_A3906_v1.h> |
| 472 |
#include <ut_alld_AT24C01B_v1.h> |
| 473 |
#include <ut_alld_INA219_v1.h> |
| 474 |
#include <ut_alld_LED_v1.h> |
| 475 |
#include <ut_alld_LTC4412_v1.h> |
| 476 |
#include <ut_alld_PCA9544A_v1.h> |
| 477 |
#include <ut_alld_TPS6211x_v1.h> |
| 478 |
#include <ut_alld_VCNL4020_v1.h> |
| 479 |
|
| 480 |
// TODO: add BNO055 IMU
|
| 481 |
|
| 482 |
/**
|
| 483 |
* @brief A3906 (motor driver) unit test object.
|
| 484 |
*/
|
| 485 |
extern aos_unittest_t moduleUtAlldA3906;
|
| 486 |
|
| 487 |
/**
|
| 488 |
* @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
| 489 |
*/
|
| 490 |
extern aos_unittest_t moduleUtAlldAt24c01b;
|
| 491 |
|
| 492 |
/**
|
| 493 |
* @brief INA219 (power monitor) unit test object.
|
| 494 |
*/
|
| 495 |
extern aos_unittest_t moduleUtAlldIna219;
|
| 496 |
|
| 497 |
/**
|
| 498 |
* @brief Status LED unit test object.
|
| 499 |
*/
|
| 500 |
extern aos_unittest_t moduleUtAlldLed;
|
| 501 |
|
| 502 |
/**
|
| 503 |
* @brief LTC4412 (power path controller) unit test object.
|
| 504 |
*/
|
| 505 |
extern aos_unittest_t moduleUtAlldLtc4412;
|
| 506 |
|
| 507 |
/**
|
| 508 |
* @brief PCA9544A (I2C multiplexer) unit test object.
|
| 509 |
*/
|
| 510 |
extern aos_unittest_t moduleUtAlldPca9544a;
|
| 511 |
|
| 512 |
/**
|
| 513 |
* @brief TPS62113 (step-down converter) unit test object.
|
| 514 |
*/
|
| 515 |
extern aos_unittest_t moduleUtAlldTps62113;
|
| 516 |
|
| 517 |
/**
|
| 518 |
* @brief VCNL4020 (proximity sensor) unit test object.
|
| 519 |
*/
|
| 520 |
extern aos_unittest_t moduleUtAlldVcnl4020;
|
| 521 |
|
| 522 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 523 |
|
| 524 |
/** @} */
|
| 525 |
|
| 526 |
#endif /* AMIROOS_MODULE_H */ |
| 527 |
|
| 528 |
/** @} */
|