amiro-os / modules / NUCLEO-L476RG / module.c @ 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 NUCLEO-L476RG module.
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*
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* @addtogroup NUCLEO-L476RG_module
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* @{
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*/
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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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SerialConfig moduleHalProgIfConfig = {
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/* bit rate */ 115200, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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}; |
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#if defined(AMIROLLD_CFG_MPU6050)
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I2CConfig moduleHalI2c3Config = {
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/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_COMM_MPU6050() hook |
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/* CR1 */ 0, |
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/* CR2 */ 0, |
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}; |
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#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
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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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static apalGpio_t _gpioLed = {
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/* line */ LINE_LED_GREEN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLed = {
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/* GPIO */ &_gpioLed,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief User button input signal GPIO.
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*/
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static apalGpio_t _gpioUserButton = {
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/* line */ LINE_BUTTON,
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}; |
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ROMCONST apalControlGpio_t moduleGpioUserButton = {
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/* GPIO */ &_gpioUserButton,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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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 AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG"; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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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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/*===========================================================================*/
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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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#if defined(AMIROLLD_CFG_MPU6050)
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MPU6050Driver moduleLldMpu6050 = {
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/* I2C Driver */ &MODULE_HAL_I2C3,
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/* I²C address */ MPU6050_LLD_I2C_ADDR_FIXED,
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}; |
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#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#if defined(AMIROLLD_CFG_MPU6050)
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/* MPU6050 */
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static int _utShellCmdCb_AlldMpu6050(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldMpu6050, NULL);
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return AOS_OK;
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} |
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static ut_mpu6050data_t _utAlldMpu6050Data = {
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/* driver */ &moduleLldMpu6050,
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/* timeout */ MICROSECONDS_PER_SECOND,
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}; |
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aos_unittest_t moduleUtAlldMpu6050 = {
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/* name */ "MPU6050", |
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/* info */ "accelerometer and gyroscope", |
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/* test function */ utAlldMpu6050Func,
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/* shell command */ {
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/* name */ "unittest:Accelerometer&Gyroscope", |
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/* callback */ _utShellCmdCb_AlldMpu6050,
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/* next */ NULL, |
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}, |
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/* data */ &_utAlldMpu6050Data
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}; |
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#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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/** @} */
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