amiro-os / modules / DiWheelDrive_1-1 / module.c @ 57d411d6
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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 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 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 | #include "module.h" |
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| 20 | |||
| 21 | /*===========================================================================*/
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| 22 | /**
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| 23 | * @name Module specific functions
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| 24 | * @{
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| 25 | */
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| 26 | /*===========================================================================*/
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| 27 | #include <amiroos.h> |
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| 28 | |||
| 29 | /**
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| 30 | * @brief Interrupt service routine callback for I/O interrupt signals.
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| 31 | *
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| 32 | 0128be0f | Marc Rothmann | * @param args Channel on which the interrupt was encountered.
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| 33 | e545e620 | Thomas Schöpping | */
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| 34 | 0128be0f | Marc Rothmann | static void _modulePalIsrCallback(void *args) { |
| 35 | e545e620 | Thomas Schöpping | chSysLockFromISR(); |
| 36 | 0128be0f | Marc Rothmann | chEvtBroadcastFlagsI(&aos.events.io, (1 << (*(uint16_t*)args)));
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| 37 | e545e620 | Thomas Schöpping | chSysUnlockFromISR(); |
| 38 | |||
| 39 | return;
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| 40 | } |
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| 41 | |||
| 42 | /** @} */
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| 43 | |||
| 44 | /*===========================================================================*/
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| 45 | /**
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| 46 | * @name ChibiOS/HAL configuration
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| 47 | * @{
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| 48 | */
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| 49 | /*===========================================================================*/
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| 50 | |||
| 51 | CANConfig moduleHalCanConfig = {
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| 52 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 53 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 54 | }; |
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| 55 | |||
| 56 | 0128be0f | Marc Rothmann | aos_interrupt_cfg_t moduleIntConfig[10] = {
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| 57 | e545e620 | Thomas Schöpping | /* channel 1 */ { // SYS_INT_N/SYS_SYNC_N: automatic interrupt on event |
| 58 | 0128be0f | Marc Rothmann | /* port */ GPIOC,
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| 59 | /* pad */ GPIOC_SYS_INT_N,
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| 60 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 61 | /* mode */ PAL_EVENT_MODE_BOTH_EDGES,
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| 62 | /* callback */ _modulePalIsrCallback,
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| 63 | /* cb arg */ 1, |
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| 64 | e545e620 | Thomas Schöpping | }, |
| 65 | /* channel 2 */ { // SYS_WARMRST_N: automatic interrupt when activated |
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| 66 | 0128be0f | Marc Rothmann | /* port */ GPIOD,
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| 67 | /* pad */ GPIOD_SYS_WARMRST_N,
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| 68 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 69 | /* mode */ PAL_EVENT_MODE_FALLING_EDGE,
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| 70 | /* callback */ _modulePalIsrCallback,
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| 71 | /* cb arg */ 2, |
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| 72 | e545e620 | Thomas Schöpping | }, |
| 73 | /* channel 3 */ { // PATH_DCSTAT: must be enabled explicitely when charging is in progress to detect unexpected voltage drop |
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| 74 | 0128be0f | Marc Rothmann | /* port */ GPIOC,
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| 75 | /* pad */ GPIOC_PATH_DCSTAT,
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| 76 | /* flags */ 0, |
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| 77 | /* mode */ PAL_EVENT_MODE_FALLING_EDGE,
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| 78 | /* callback */ _modulePalIsrCallback,
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| 79 | /* cb arg */ 3, |
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| 80 | e545e620 | Thomas Schöpping | }, |
| 81 | /* channel 5 */ { // COMPASS_DRDY: must be enabled explicitely |
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| 82 | 0128be0f | Marc Rothmann | /* port */ GPIOB,
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| 83 | /* pad */ GPIOB_COMPASS_DRDY,
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| 84 | /* flags */ 0, |
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| 85 | /* mode */ APAL2CH_EDGE(HMC5883L_LLD_INT_EDGE),
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| 86 | /* callback */ _modulePalIsrCallback,
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| 87 | /* cb arg */ 4, |
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| 88 | e545e620 | Thomas Schöpping | }, |
| 89 | /* channel 8 */ { // SYS_PD_N: automatic interrupt when activated |
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| 90 | 0128be0f | Marc Rothmann | /* port */ GPIOC,
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| 91 | /* pad */ GPIOC_SYS_PD_N,
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| 92 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 93 | /* mode */ PAL_EVENT_MODE_FALLING_EDGE,
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| 94 | /* callback */ _modulePalIsrCallback,
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| 95 | /* cb arg */ 5, |
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| 96 | e545e620 | Thomas Schöpping | }, |
| 97 | /* channel 9 */ { // SYS_REG_EN: automatic interrupt when activated |
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| 98 | 0128be0f | Marc Rothmann | /* port */ GPIOC,
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| 99 | /* pad */ GPIOC_SYS_REG_EN,
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| 100 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 101 | /* mode */ PAL_EVENT_MODE_FALLING_EDGE,
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| 102 | /* callback */ _modulePalIsrCallback,
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| 103 | /* cb arg */ 6, |
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| 104 | e545e620 | Thomas Schöpping | }, |
| 105 | /* channel 12 */ { // IR_INT: must be enabled explicitely |
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| 106 | 0128be0f | Marc Rothmann | /* port */ GPIOB,
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| 107 | /* pad */ GPIOB_IR_INT,
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| 108 | /* flags */ 0, |
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| 109 | /* mode */ APAL2CH_EDGE(VCNL4020_LLD_INT_EDGE),
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| 110 | /* callback */ _modulePalIsrCallback,
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| 111 | /* cb arg */ 7, |
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| 112 | e545e620 | Thomas Schöpping | }, |
| 113 | /* channel 13 */ { // GYRO_DRDY: must be enabled explicitely |
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| 114 | 0128be0f | Marc Rothmann | /* port */ GPIOB,
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| 115 | /* pad */ GPIOB_GYRO_DRDY,
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| 116 | /* flags */ 0, |
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| 117 | /* mode */ APAL2CH_EDGE(L3G4200D_LLD_INT_EDGE),
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| 118 | /* callback */ _modulePalIsrCallback,
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| 119 | /* cb arg */ 8, |
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| 120 | e545e620 | Thomas Schöpping | }, |
| 121 | /* channel 14 */ { // SYS_UART_UP: automatic interrupt on event |
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| 122 | 0128be0f | Marc Rothmann | /* port */ GPIOB,
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| 123 | /* pad */ GPIOB_SYS_UART_UP,
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| 124 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 125 | /* mode */ PAL_EVENT_MODE_BOTH_EDGES,
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| 126 | /* callback */ _modulePalIsrCallback,
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| 127 | /* cb arg */ 9, |
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| 128 | e545e620 | Thomas Schöpping | }, |
| 129 | /* channel 15 */ { // ACCEL_INT_N: must be enabled explicitely |
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| 130 | 0128be0f | Marc Rothmann | /* port */ GPIOB,
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| 131 | /* pad */ GPIOB_ACCEL_INT_N,
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| 132 | /* flags */ 0, |
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| 133 | /* mode */ APAL2CH_EDGE(LIS331DLH_LLD_INT_EDGE),
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| 134 | /* callback */ _modulePalIsrCallback,
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| 135 | /* cb arg */ 10, |
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| 136 | e545e620 | Thomas Schöpping | }, |
| 137 | 0128be0f | Marc Rothmann | }; |
| 138 | |||
| 139 | aos_interrupt_driver_t moduleIntDriver = {
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| 140 | /* config */ NULL, |
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| 141 | /* interrupts */ 10, |
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| 142 | e545e620 | Thomas Schöpping | }; |
| 143 | |||
| 144 | I2CConfig moduleHalI2cCompassConfig = {
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| 145 | /* I²C mode */ OPMODE_I2C,
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| 146 | /* frequency */ 400000, |
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| 147 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 148 | }; |
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| 149 | |||
| 150 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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| 151 | /* I²C mode */ OPMODE_I2C,
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| 152 | /* frequency */ 400000, |
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| 153 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 154 | }; |
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| 155 | |||
| 156 | PWMConfig moduleHalPwmDriveConfig = {
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| 157 | /* frequency */ 7200000, |
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| 158 | /* period */ 360, |
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| 159 | /* callback */ NULL, |
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| 160 | /* channel configurations */ {
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| 161 | /* channel 0 */ {
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| 162 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 163 | /* callback */ NULL |
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| 164 | }, |
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| 165 | /* channel 1 */ {
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| 166 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 167 | /* callback */ NULL |
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| 168 | }, |
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| 169 | /* channel 2 */ {
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| 170 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 171 | /* callback */ NULL |
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| 172 | }, |
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| 173 | /* channel 3 */ {
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| 174 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 175 | /* callback */ NULL |
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| 176 | }, |
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| 177 | }, |
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| 178 | /* TIM CR2 register */ 0, |
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| 179 | #if STM32_PWM_USE_ADVANCED
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| 180 | /* TIM BDTR register */ 0, |
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| 181 | #endif
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| 182 | /* TIM DIER register */ 0 |
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| 183 | }; |
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| 184 | |||
| 185 | QEIConfig moduleHalQeiConfig = {
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| 186 | /* mode */ QEI_COUNT_BOTH,
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| 187 | /* channel config */ {
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| 188 | /* channel 0 */ {
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| 189 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 190 | }, |
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| 191 | /* channel 1 */ {
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| 192 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 193 | }, |
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| 194 | }, |
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| 195 | /* encoder range */ 0x10000u, |
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| 196 | }; |
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| 197 | |||
| 198 | SerialConfig moduleHalProgIfConfig = {
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| 199 | /* bit rate */ 115200, |
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| 200 | /* CR1 */ 0, |
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| 201 | /* CR1 */ 0, |
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| 202 | /* CR1 */ 0, |
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| 203 | }; |
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| 204 | |||
| 205 | SPIConfig moduleHalSpiAccelerometerConfig = {
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| 206 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 207 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 208 | /* chip select line port */ GPIOC,
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| 209 | /* chip select line pad number */ GPIOC_ACCEL_SS_N,
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| 210 | /* CR1 */ SPI_CR1_BR_0,
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| 211 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 212 | }; |
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| 213 | |||
| 214 | SPIConfig moduleHalSpiGyroscopeConfig = {
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| 215 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 216 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 217 | /* chip select line port */ GPIOC,
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| 218 | /* chip select line pad number */ GPIOC_GYRO_SS_N,
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| 219 | /* CR1 */ SPI_CR1_BR_0,
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| 220 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 221 | }; |
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| 222 | |||
| 223 | /** @} */
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| 224 | |||
| 225 | /*===========================================================================*/
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| 226 | /**
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| 227 | * @name GPIO definitions
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| 228 | * @{
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| 229 | */
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| 230 | /*===========================================================================*/
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| 231 | |||
| 232 | apalGpio_t moduleGpioLed = {
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| 233 | /* port */ GPIOA,
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| 234 | /* pad */ GPIOA_LED,
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| 235 | }; |
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| 236 | |||
| 237 | apalGpio_t moduleGpioPowerEn = {
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| 238 | /* port */GPIOB,
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| 239 | /* pad */ GPIOB_POWER_EN,
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| 240 | }; |
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| 241 | |||
| 242 | apalGpio_t moduleGpioCompassDrdy = {
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| 243 | /* port */ GPIOB,
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| 244 | /* pad */ GPIOB_COMPASS_DRDY,
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| 245 | }; |
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| 246 | |||
| 247 | apalGpio_t moduleGpioIrInt = {
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| 248 | /* port */ GPIOB,
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| 249 | /* pad */ GPIOB_IR_INT,
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| 250 | }; |
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| 251 | |||
| 252 | apalGpio_t moduleGpioGyroDrdy = {
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| 253 | /* port */ GPIOB,
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| 254 | /* pad */ GPIOB_GYRO_DRDY,
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| 255 | }; |
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| 256 | |||
| 257 | apalGpio_t moduleGpioSysUartUp = {
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| 258 | /* port */ GPIOB,
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| 259 | /* pad */ GPIOB_SYS_UART_UP,
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| 260 | }; |
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| 261 | |||
| 262 | apalGpio_t moduleGpioAccelInt = {
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| 263 | /* port */ GPIOB,
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| 264 | /* pad */ GPIOB_ACCEL_INT_N,
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| 265 | }; |
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| 266 | |||
| 267 | apalGpio_t moduleGpioSysSync = {
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| 268 | /* port */ GPIOC,
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| 269 | /* pad */ GPIOC_SYS_INT_N,
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| 270 | }; |
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| 271 | |||
| 272 | apalGpio_t moduleGpioPathDcStat = {
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| 273 | /* port */ GPIOC,
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| 274 | /* pad */ GPIOC_PATH_DCSTAT,
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| 275 | }; |
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| 276 | |||
| 277 | apalGpio_t moduleGpioPathDcEn = {
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| 278 | /* port */ GPIOC,
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| 279 | /* pad */ GPIOC_PATH_DCEN,
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| 280 | }; |
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| 281 | |||
| 282 | apalGpio_t moduleGpioSysPd = {
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| 283 | /* port */ GPIOC,
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| 284 | /* pad */ GPIOC_SYS_PD_N,
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| 285 | }; |
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| 286 | |||
| 287 | apalGpio_t moduleGpioSysRegEn = {
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| 288 | /* port */ GPIOC,
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| 289 | /* pad */ GPIOC_SYS_REG_EN,
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| 290 | }; |
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| 291 | |||
| 292 | apalGpio_t moduleGpioSysWarmrst = {
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| 293 | /* port */ GPIOD,
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| 294 | /* pad */ GPIOD_SYS_WARMRST_N,
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| 295 | }; |
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| 296 | |||
| 297 | /** @} */
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| 298 | |||
| 299 | /*===========================================================================*/
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| 300 | /**
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| 301 | * @name AMiRo-OS core configurations
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| 302 | * @{
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| 303 | */
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| 304 | /*===========================================================================*/
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| 305 | |||
| 306 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 307 | const char* moduleShellPrompt = "DiWheelDrive"; |
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| 308 | #endif
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| 309 | |||
| 310 | /** @} */
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| 311 | |||
| 312 | /*===========================================================================*/
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| 313 | /**
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| 314 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 315 | * @{
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| 316 | */
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| 317 | /*===========================================================================*/
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| 318 | |||
| 319 | apalControlGpio_t moduleSsspGpioPd = {
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| 320 | e545e620 | Thomas Schöpping | /* GPIO */ &moduleGpioSysPd,
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| 321 | /* meta */ {
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| 322 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 323 | /* edge */ APAL_GPIO_EDGE_FALLING,
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| 324 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 325 | }, |
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| 326 | }; |
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| 327 | |||
| 328 | 6b53f6bf | Thomas Schöpping | apalControlGpio_t moduleSsspGpioSync = {
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| 329 | e545e620 | Thomas Schöpping | /* GPIO */ &moduleGpioSysSync,
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| 330 | /* meta */ {
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| 331 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 332 | /* edge */ APAL_GPIO_EDGE_FALLING,
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| 333 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 334 | }, |
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| 335 | }; |
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| 336 | |||
| 337 | 933df08e | Thomas Schöpping | apalControlGpio_t moduleSsspGpioUp = {
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| 338 | /* GPIO */ &moduleGpioSysUartUp,
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| 339 | /* meta */ {
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| 340 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 341 | /* edge */ APAL_GPIO_EDGE_FALLING,
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| 342 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 343 | }, |
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| 344 | }; |
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| 345 | |||
| 346 | e545e620 | Thomas Schöpping | /** @} */
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| 347 | |||
| 348 | /*===========================================================================*/
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| 349 | /**
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| 350 | * @name Low-level drivers
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| 351 | * @{
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| 352 | */
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| 353 | /*===========================================================================*/
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| 354 | |||
| 355 | A3906Driver moduleLldMotors = {
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| 356 | /* power enable GPIO */ {
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| 357 | /* GPIO */& moduleGpioPowerEn,
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| 358 | /* meta */ {
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| 359 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 360 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 361 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 362 | }, |
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| 363 | }, |
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| 364 | }; |
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| 365 | |||
| 366 | AT24C01BNDriver moduleLldEeprom = {
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| 367 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 368 | /* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
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| 369 | }; |
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| 370 | |||
| 371 | HMC5883LDriver moduleLldCompass = {
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| 372 | /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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| 373 | }; |
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| 374 | |||
| 375 | INA219Driver moduleLldPowerMonitorVdd = {
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| 376 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 377 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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| 378 | /* current LSB (uA) */ 0x00u, |
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| 379 | /* configuration */ NULL, |
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| 380 | }; |
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| 381 | |||
| 382 | L3G4200DDriver moduleLldGyroscope = {
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| 383 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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| 384 | }; |
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| 385 | |||
| 386 | LEDDriver moduleLldStatusLed = {
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| 387 | /* LED enable Gpio */ {
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| 388 | /* GPIO */ &moduleGpioLed,
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| 389 | /* GPIO meta */ {
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| 390 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 391 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 392 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 393 | }, |
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| 394 | }, |
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| 395 | }; |
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| 396 | |||
| 397 | LIS331DLHDriver moduleLldAccelerometer = {
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| 398 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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| 399 | }; |
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| 400 | |||
| 401 | LTC4412Driver moduleLldPowerPathController = {
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| 402 | /* Control GPIO */ {
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| 403 | /* GPIO */ &moduleGpioPathDcEn,
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| 404 | /* GPIO meta */ {
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| 405 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 406 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 407 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 408 | }, |
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| 409 | }, |
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| 410 | /* Status GPIO */ {
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| 411 | /* GPIO */ &moduleGpioPathDcStat,
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| 412 | /* GPIO meta */ {
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| 413 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 414 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 415 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 416 | }, |
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| 417 | }, |
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| 418 | }; |
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| 419 | |||
| 420 | PCA9544ADriver moduleLldI2cMultiplexer = {
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| 421 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 422 | /* 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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| 423 | }; |
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| 424 | |||
| 425 | TPS62113Driver moduleLldStepDownConverterVdrive = {
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| 426 | /* Power enable Gpio */ {
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| 427 | /* GPIO */ &moduleGpioPowerEn,
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| 428 | /* GPIO meta */ {
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| 429 | /* 'power on' state */ APAL_GPIO_ACTIVE_HIGH,
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| 430 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 431 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 432 | }, |
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| 433 | }, |
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| 434 | }; |
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| 435 | |||
| 436 | VCNL4020Driver moduleLldProximity = {
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| 437 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 438 | }; |
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| 439 | |||
| 440 | /** @} */
|
||
| 441 | |||
| 442 | /*===========================================================================*/
|
||
| 443 | /**
|
||
| 444 | * @name Unit tests (UT)
|
||
| 445 | * @{
|
||
| 446 | */
|
||
| 447 | /*===========================================================================*/
|
||
| 448 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 449 | #include <string.h> |
||
| 450 | #include <chprintf.h> |
||
| 451 | |||
| 452 | /* A3906 (motor driver) */
|
||
| 453 | static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 454 | {
|
||
| 455 | (void)argc;
|
||
| 456 | (void)argv;
|
||
| 457 | aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
||
| 458 | return AOS_OK;
|
||
| 459 | } |
||
| 460 | static ut_a3906data_t _utA3906Data = {
|
||
| 461 | /* driver */ &moduleLldMotors,
|
||
| 462 | /* PWM information */ {
|
||
| 463 | /* driver */ &MODULE_HAL_PWM_DRIVE,
|
||
| 464 | /* channels */ {
|
||
| 465 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
||
| 466 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
||
| 467 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
||
| 468 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
||
| 469 | }, |
||
| 470 | }, |
||
| 471 | /* QEI information */ {
|
||
| 472 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
||
| 473 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
||
| 474 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
||
| 475 | }, |
||
| 476 | /* Wheel diameter */ 0.05571f, |
||
| 477 | /* timeout */ 10* MICROSECONDS_PER_SECOND, |
||
| 478 | }; |
||
| 479 | aos_unittest_t moduleUtAlldA3906 = {
|
||
| 480 | /* name */ "A3906", |
||
| 481 | /* info */ "motor driver", |
||
| 482 | /* test function */ utAlldA3906Func,
|
||
| 483 | /* shell command */ {
|
||
| 484 | /* name */ "unittest:MotorDriver", |
||
| 485 | /* callback */ _utShellCmdCb_AlldA3906,
|
||
| 486 | /* next */ NULL, |
||
| 487 | }, |
||
| 488 | /* data */ &_utA3906Data,
|
||
| 489 | }; |
||
| 490 | |||
| 491 | /* AT24C01BN (EEPROM) */
|
||
| 492 | static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 493 | {
|
||
| 494 | (void)argc;
|
||
| 495 | (void)argv;
|
||
| 496 | aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
|
||
| 497 | return AOS_OK;
|
||
| 498 | } |
||
| 499 | static ut_at24c01bndata_t _utAt24c01bnData = {
|
||
| 500 | /* driver */ &moduleLldEeprom,
|
||
| 501 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 502 | }; |
||
| 503 | aos_unittest_t moduleUtAlldAt24c01bn = {
|
||
| 504 | /* name */ "AT24C01BN-SH-B", |
||
| 505 | /* info */ "1kbit EEPROM", |
||
| 506 | /* test function */ utAlldAt24c01bnFunc,
|
||
| 507 | /* shell command */ {
|
||
| 508 | /* name */ "unittest:EEPROM", |
||
| 509 | /* callback */ _utShellCmdCb_AlldAt24c01bn,
|
||
| 510 | /* next */ NULL, |
||
| 511 | }, |
||
| 512 | /* data */ &_utAt24c01bnData,
|
||
| 513 | }; |
||
| 514 | |||
| 515 | /* HMC5883L (compass) */
|
||
| 516 | static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 517 | {
|
||
| 518 | (void)argc;
|
||
| 519 | (void)argv;
|
||
| 520 | 0128be0f | Marc Rothmann | aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_COMPASSDRDY); |
| 521 | e545e620 | Thomas Schöpping | aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
| 522 | 0128be0f | Marc Rothmann | aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_COMPASSDRDY); |
| 523 | e545e620 | Thomas Schöpping | return AOS_OK;
|
| 524 | } |
||
| 525 | static ut_hmc5883ldata_t _utHmc5883lData = {
|
||
| 526 | /* HMC driver */ &moduleLldCompass,
|
||
| 527 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 528 | 0128be0f | Marc Rothmann | /* event flags */ (1 << MODULE_GPIO_INT_COMPASSDRDY), |
| 529 | e545e620 | Thomas Schöpping | /* timeout */ MICROSECONDS_PER_SECOND,
|
| 530 | }; |
||
| 531 | aos_unittest_t moduleUtAlldHmc5883l = {
|
||
| 532 | /* name */ "HMC5883L", |
||
| 533 | /* info */ "compass", |
||
| 534 | /* test function */ utAlldHmc5883lFunc,
|
||
| 535 | /* shell command */ {
|
||
| 536 | /* name */ "unittest:Compass", |
||
| 537 | /* callback */ _utShellCmdCb_AlldHmc5883l,
|
||
| 538 | /* next */ NULL, |
||
| 539 | }, |
||
| 540 | /* data */ &_utHmc5883lData,
|
||
| 541 | }; |
||
| 542 | |||
| 543 | /* INA219 (power monitor) */
|
||
| 544 | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 545 | {
|
||
| 546 | (void)argc;
|
||
| 547 | (void)argv;
|
||
| 548 | aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
||
| 549 | return AOS_OK;
|
||
| 550 | } |
||
| 551 | static ut_ina219data_t _utIna219Data = {
|
||
| 552 | /* driver */ &moduleLldPowerMonitorVdd,
|
||
| 553 | /* expected voltage */ 3.3f, |
||
| 554 | /* tolerance */ 0.05f, |
||
| 555 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 556 | }; |
||
| 557 | aos_unittest_t moduleUtAlldIna219 = {
|
||
| 558 | /* name */ "INA219", |
||
| 559 | /* info */ "power monitor", |
||
| 560 | /* test function */ utAlldIna219Func,
|
||
| 561 | /* shell command */ {
|
||
| 562 | /* name */ "unittest:PowerMonitor", |
||
| 563 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
| 564 | /* next */ NULL, |
||
| 565 | }, |
||
| 566 | /* data */ &_utIna219Data,
|
||
| 567 | }; |
||
| 568 | |||
| 569 | /* L3G4200D (gyroscope) */
|
||
| 570 | static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 571 | {
|
||
| 572 | (void)argc;
|
||
| 573 | (void)argv;
|
||
| 574 | 0128be0f | Marc Rothmann | aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_GYRODRDY); |
| 575 | e545e620 | Thomas Schöpping | spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
| 576 | aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
||
| 577 | spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
||
| 578 | 0128be0f | Marc Rothmann | aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_GYRODRDY); |
| 579 | e545e620 | Thomas Schöpping | return AOS_OK;
|
| 580 | } |
||
| 581 | static ut_l3g4200ddata_t _utL3g4200dData = {
|
||
| 582 | /* driver */ &moduleLldGyroscope,
|
||
| 583 | /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
||
| 584 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 585 | 0128be0f | Marc Rothmann | /* event flags */ (1 << MODULE_GPIO_INT_GYRODRDY), |
| 586 | e545e620 | Thomas Schöpping | }; |
| 587 | aos_unittest_t moduleUtAlldL3g4200d = {
|
||
| 588 | /* name */ "L3G4200D", |
||
| 589 | /* info */ "Gyroscope", |
||
| 590 | /* test function */ utAlldL3g4200dFunc,
|
||
| 591 | /* shell command */ {
|
||
| 592 | /* name */ "unittest:Gyroscope", |
||
| 593 | /* callback */ _utShellCmdCb_AlldL3g4200d,
|
||
| 594 | /* next */ NULL, |
||
| 595 | }, |
||
| 596 | /* data */ &_utL3g4200dData,
|
||
| 597 | }; |
||
| 598 | |||
| 599 | /* Status LED */
|
||
| 600 | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 601 | {
|
||
| 602 | (void)argc;
|
||
| 603 | (void)argv;
|
||
| 604 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
| 605 | return AOS_OK;
|
||
| 606 | } |
||
| 607 | aos_unittest_t moduleUtAlldLed = {
|
||
| 608 | /* name */ "LED", |
||
| 609 | /* info */ NULL, |
||
| 610 | /* test function */ utAlldLedFunc,
|
||
| 611 | /* shell command */ {
|
||
| 612 | /* name */ "unittest:StatusLED", |
||
| 613 | /* callback */ _utShellCmdCb_AlldLed,
|
||
| 614 | /* next */ NULL, |
||
| 615 | }, |
||
| 616 | /* data */ &moduleLldStatusLed,
|
||
| 617 | }; |
||
| 618 | |||
| 619 | /* LIS331DLH (accelerometer) */
|
||
| 620 | static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 621 | {
|
||
| 622 | (void)argc;
|
||
| 623 | (void)argv;
|
||
| 624 | 0128be0f | Marc Rothmann | aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_ACCELINT); |
| 625 | e545e620 | Thomas Schöpping | spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
| 626 | aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
||
| 627 | spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
||
| 628 | 0128be0f | Marc Rothmann | aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_ACCELINT); |
| 629 | e545e620 | Thomas Schöpping | return AOS_OK;
|
| 630 | } |
||
| 631 | static ut_lis331dlhdata_t _utLis331dlhData = {
|
||
| 632 | /* driver */ &moduleLldAccelerometer,
|
||
| 633 | /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
||
| 634 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 635 | 0128be0f | Marc Rothmann | /* event flags */ (1 << MODULE_GPIO_INT_ACCELINT), |
| 636 | e545e620 | Thomas Schöpping | }; |
| 637 | aos_unittest_t moduleUtAlldLis331dlh = {
|
||
| 638 | /* name */ "LIS331DLH", |
||
| 639 | /* info */ "Accelerometer", |
||
| 640 | /* test function */ utAlldLis331dlhFunc,
|
||
| 641 | /* shell command */ {
|
||
| 642 | /* name */ "unittest:Accelerometer", |
||
| 643 | /* callback */ _utShellCmdCb_AlldLis331dlh,
|
||
| 644 | /* next */ NULL, |
||
| 645 | }, |
||
| 646 | /* data */ &_utLis331dlhData,
|
||
| 647 | }; |
||
| 648 | |||
| 649 | /* LTC4412 (power path controller) */
|
||
| 650 | static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 651 | {
|
||
| 652 | (void)argc;
|
||
| 653 | (void)argv;
|
||
| 654 | aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
||
| 655 | return AOS_OK;
|
||
| 656 | } |
||
| 657 | aos_unittest_t moduleUtAlldLtc4412 = {
|
||
| 658 | /* name */ "LTC4412", |
||
| 659 | /* info */ "Power path controller", |
||
| 660 | /* test function */ utAlldLtc4412Func,
|
||
| 661 | /* shell command */ {
|
||
| 662 | /* name */ "unittest:PowerPathController", |
||
| 663 | /* callback */ _utShellCmdCb_AlldLtc4412,
|
||
| 664 | /* next */ NULL, |
||
| 665 | }, |
||
| 666 | /* data */ &moduleLldPowerPathController,
|
||
| 667 | }; |
||
| 668 | |||
| 669 | /* PCA9544A (I2C multiplexer) */
|
||
| 670 | static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 671 | {
|
||
| 672 | (void)argc;
|
||
| 673 | (void)argv;
|
||
| 674 | aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
||
| 675 | return AOS_OK;
|
||
| 676 | } |
||
| 677 | static ut_pca9544adata_t _utPca9544aData = {
|
||
| 678 | /* driver */ &moduleLldI2cMultiplexer,
|
||
| 679 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 680 | }; |
||
| 681 | aos_unittest_t moduleUtAlldPca9544a = {
|
||
| 682 | /* name */ "PCA9544A", |
||
| 683 | /* info */ "I2C multiplexer", |
||
| 684 | /* test function */ utAlldPca9544aFunc,
|
||
| 685 | /* shell command */ {
|
||
| 686 | /* name */ "unittest:I2CMultiplexer", |
||
| 687 | /* callback */ _utShellCmdCb_AlldPca9544a,
|
||
| 688 | /* next */ NULL, |
||
| 689 | }, |
||
| 690 | /* data */ &_utPca9544aData,
|
||
| 691 | }; |
||
| 692 | |||
| 693 | /* TPS62113 (step-down converter) */
|
||
| 694 | static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 695 | {
|
||
| 696 | (void)argc;
|
||
| 697 | (void)argv;
|
||
| 698 | aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
||
| 699 | return AOS_OK;
|
||
| 700 | } |
||
| 701 | aos_unittest_t moduleUtAlldTps62113 = {
|
||
| 702 | /* name */ "TPS62113", |
||
| 703 | /* info */ "Step down converter", |
||
| 704 | /* test function */ utAlldTps62113Func,
|
||
| 705 | /* shell command */ {
|
||
| 706 | /* name */ "unittest:StepDownConverter", |
||
| 707 | /* callback */ _utShellCmdCb_AlldTps62113,
|
||
| 708 | /* next */ NULL, |
||
| 709 | }, |
||
| 710 | /* data */ &moduleLldStepDownConverterVdrive,
|
||
| 711 | }; |
||
| 712 | |||
| 713 | /* VCNL4020 (proximity sensor) */
|
||
| 714 | static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
||
| 715 | {
|
||
| 716 | uint8_t intstatus; |
||
| 717 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
||
| 718 | vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 719 | if (intstatus) {
|
||
| 720 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 721 | } |
||
| 722 | return;
|
||
| 723 | } |
||
| 724 | static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 725 | {
|
||
| 726 | enum {
|
||
| 727 | UNKNOWN, |
||
| 728 | FL, FR, WL, WR, |
||
| 729 | } sensor = UNKNOWN; |
||
| 730 | // evaluate arguments
|
||
| 731 | if (argc == 2) { |
||
| 732 | if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
||
| 733 | sensor = FL; |
||
| 734 | } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
||
| 735 | sensor = FR; |
||
| 736 | } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
||
| 737 | sensor = WL; |
||
| 738 | } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
||
| 739 | sensor = WR; |
||
| 740 | } |
||
| 741 | } |
||
| 742 | if (sensor != UNKNOWN) {
|
||
| 743 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 744 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 745 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 746 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 747 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 748 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 749 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 750 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 751 | 0128be0f | Marc Rothmann | aosIntEnable(&moduleIntDriver, MODULE_GPIO_INT_IRINT); |
| 752 | e545e620 | Thomas Schöpping | switch (sensor) {
|
| 753 | case FL:
|
||
| 754 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 755 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front left snesor");
|
||
| 756 | break;
|
||
| 757 | case FR:
|
||
| 758 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 759 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
||
| 760 | break;
|
||
| 761 | case WL:
|
||
| 762 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 763 | aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
||
| 764 | break;
|
||
| 765 | case WR:
|
||
| 766 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 767 | aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
||
| 768 | break;
|
||
| 769 | default:
|
||
| 770 | break;
|
||
| 771 | } |
||
| 772 | 0128be0f | Marc Rothmann | aosIntDisable(&moduleIntDriver, MODULE_GPIO_INT_IRINT); |
| 773 | e545e620 | Thomas Schöpping | return AOS_OK;
|
| 774 | } |
||
| 775 | // print help
|
||
| 776 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
| 777 | chprintf(stream, "Options:\n");
|
||
| 778 | chprintf(stream, " --frontleft, -fl\n");
|
||
| 779 | chprintf(stream, " Test front left proximity sensor.\n");
|
||
| 780 | chprintf(stream, " --frontrigt, -fr\n");
|
||
| 781 | chprintf(stream, " Test front right proximity sensor.\n");
|
||
| 782 | chprintf(stream, " --wheelleft, -wl\n");
|
||
| 783 | chprintf(stream, " Test left wheel proximity sensor.\n");
|
||
| 784 | chprintf(stream, " --wheelright, -wr\n");
|
||
| 785 | chprintf(stream, " Test right wheel proximity sensor.\n");
|
||
| 786 | return AOS_INVALID_ARGUMENTS;
|
||
| 787 | } |
||
| 788 | static ut_vcnl4020data_t _utVcnl4020Data = {
|
||
| 789 | /* driver */ &moduleLldProximity,
|
||
| 790 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 791 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 792 | 0128be0f | Marc Rothmann | /* event flags */ (1 << MODULE_GPIO_INT_IRINT), |
| 793 | e545e620 | Thomas Schöpping | }; |
| 794 | aos_unittest_t moduleUtAlldVcnl4020 = {
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| 795 | /* name */ "VCNL4020", |
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| 796 | /* info */ "proximity sensor", |
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| 797 | /* test function */ utAlldVcnl4020Func,
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| 798 | /* shell command */ {
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| 799 | /* name */ "unittest:Proximity", |
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| 800 | /* callback */ _utShellCmdCb_AlldVcnl4020,
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| 801 | /* next */ NULL, |
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| 802 | }, |
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| 803 | /* data */ &_utVcnl4020Data,
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| 804 | }; |
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| 805 | |||
| 806 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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| 807 | |||
| 808 | /** @} */ |