amiro-os / modules / DiWheelDrive_1-1 / module.c @ 6df420be
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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 | 1e5f7648 | Thomas Schöpping | #include <amiroos.h> |
| 22 | |||
| 23 | e545e620 | Thomas Schöpping | /*===========================================================================*/
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| 24 | /**
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| 25 | * @name Module specific functions
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| 26 | * @{
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| 27 | */
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| 28 | /*===========================================================================*/
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| 29 | |||
| 30 | /** @} */
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| 31 | |||
| 32 | /*===========================================================================*/
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| 33 | /**
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| 34 | * @name ChibiOS/HAL configuration
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| 35 | * @{
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| 36 | */
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| 37 | /*===========================================================================*/
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| 38 | |||
| 39 | CANConfig moduleHalCanConfig = {
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| 40 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 41 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 42 | }; |
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| 43 | |||
| 44 | I2CConfig moduleHalI2cCompassConfig = {
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| 45 | /* I²C mode */ OPMODE_I2C,
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| 46 | /* frequency */ 400000, |
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| 47 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 48 | }; |
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| 49 | |||
| 50 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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| 51 | /* I²C mode */ OPMODE_I2C,
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| 52 | /* frequency */ 400000, |
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| 53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 54 | }; |
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| 55 | |||
| 56 | PWMConfig moduleHalPwmDriveConfig = {
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| 57 | /* frequency */ 7200000, |
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| 58 | /* period */ 360, |
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| 59 | /* callback */ NULL, |
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| 60 | /* channel configurations */ {
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| 61 | /* channel 0 */ {
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| 62 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 63 | /* callback */ NULL |
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| 64 | }, |
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| 65 | /* channel 1 */ {
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| 66 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 67 | /* callback */ NULL |
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| 68 | }, |
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| 69 | /* channel 2 */ {
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| 70 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 71 | /* callback */ NULL |
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| 72 | }, |
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| 73 | /* channel 3 */ {
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| 74 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 75 | /* callback */ NULL |
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| 76 | }, |
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| 77 | }, |
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| 78 | /* TIM CR2 register */ 0, |
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| 79 | #if STM32_PWM_USE_ADVANCED
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| 80 | /* TIM BDTR register */ 0, |
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| 81 | #endif
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| 82 | /* TIM DIER register */ 0 |
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| 83 | }; |
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| 84 | |||
| 85 | QEIConfig moduleHalQeiConfig = {
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| 86 | /* mode */ QEI_COUNT_BOTH,
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| 87 | /* channel config */ {
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| 88 | /* channel 0 */ {
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| 89 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 90 | }, |
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| 91 | /* channel 1 */ {
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| 92 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 93 | }, |
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| 94 | }, |
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| 95 | /* encoder range */ 0x10000u, |
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| 96 | }; |
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| 97 | |||
| 98 | SerialConfig moduleHalProgIfConfig = {
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| 99 | /* bit rate */ 115200, |
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| 100 | /* CR1 */ 0, |
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| 101 | /* CR1 */ 0, |
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| 102 | /* CR1 */ 0, |
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| 103 | }; |
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| 104 | |||
| 105 | SPIConfig moduleHalSpiAccelerometerConfig = {
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| 106 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 107 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 108 | /* chip select line port */ GPIOC,
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| 109 | /* chip select line pad number */ GPIOC_ACCEL_SS_N,
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| 110 | /* CR1 */ SPI_CR1_BR_0,
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| 111 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 112 | }; |
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| 113 | |||
| 114 | SPIConfig moduleHalSpiGyroscopeConfig = {
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| 115 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 116 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 117 | /* chip select line port */ GPIOC,
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| 118 | /* chip select line pad number */ GPIOC_GYRO_SS_N,
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| 119 | /* CR1 */ SPI_CR1_BR_0,
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| 120 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 121 | }; |
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| 122 | |||
| 123 | /** @} */
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| 124 | |||
| 125 | /*===========================================================================*/
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| 126 | /**
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| 127 | * @name GPIO definitions
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| 128 | * @{
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| 129 | */
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| 130 | /*===========================================================================*/
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| 131 | |||
| 132 | 1e5f7648 | Thomas Schöpping | /**
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| 133 | * @brief LED output signal GPIO.
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| 134 | */
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| 135 | static apalGpio_t _gpioLed = {
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| 136 | e545e620 | Thomas Schöpping | /* port */ GPIOA,
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| 137 | /* pad */ GPIOA_LED,
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| 138 | }; |
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| 139 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioLed = {
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| 140 | /* GPIO */ &_gpioLed,
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| 141 | /* meta */ {
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| 142 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 143 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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| 144 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 145 | }, |
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| 146 | }; |
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| 147 | e545e620 | Thomas Schöpping | |
| 148 | 1e5f7648 | Thomas Schöpping | /**
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| 149 | * @brief POWER_EN output signal GPIO.
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| 150 | */
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| 151 | static apalGpio_t _gpioPowerEn = {
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| 152 | /* port */ GPIOB,
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| 153 | e545e620 | Thomas Schöpping | /* pad */ GPIOB_POWER_EN,
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| 154 | }; |
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| 155 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioPowerEn = {
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| 156 | /* GPIO */ &_gpioPowerEn,
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| 157 | /* meta */ {
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| 158 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 159 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 160 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 161 | }, |
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| 162 | }; |
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| 163 | e545e620 | Thomas Schöpping | |
| 164 | 1e5f7648 | Thomas Schöpping | /**
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| 165 | * @brief COMPASS_DRDY output signal GPIO.
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| 166 | */
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| 167 | static apalGpio_t _gpioCompassDrdy = {
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| 168 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 169 | /* pad */ GPIOB_COMPASS_DRDY,
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| 170 | }; |
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| 171 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioCompassDrdy = {
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| 172 | /* GPIO */ &_gpioCompassDrdy,
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| 173 | /* meta */ {
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| 174 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 175 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 176 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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| 177 | }, |
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| 178 | }; |
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| 179 | e545e620 | Thomas Schöpping | |
| 180 | 1e5f7648 | Thomas Schöpping | /**
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| 181 | * @brief IR_INT input signal GPIO.
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| 182 | */
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| 183 | static apalGpio_t _gpioIrInt = {
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| 184 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 185 | /* pad */ GPIOB_IR_INT,
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| 186 | }; |
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| 187 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioIrInt = {
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| 188 | /* GPIO */ &_gpioIrInt,
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| 189 | /* meta */ {
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| 190 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 191 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 192 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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| 193 | }, |
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| 194 | }; |
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| 195 | e545e620 | Thomas Schöpping | |
| 196 | 1e5f7648 | Thomas Schöpping | /**
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| 197 | * @brief GYRO_DRDY input signal GPIO.
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| 198 | */
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| 199 | static apalGpio_t _gpioGyroDrdy = {
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| 200 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 201 | /* pad */ GPIOB_GYRO_DRDY,
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| 202 | }; |
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| 203 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioGyroDrdy = {
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| 204 | /* GPIO */ &_gpioGyroDrdy,
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| 205 | /* meta */ {
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| 206 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 207 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 208 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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| 209 | }, |
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| 210 | }; |
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| 211 | e545e620 | Thomas Schöpping | |
| 212 | 1e5f7648 | Thomas Schöpping | /**
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| 213 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 214 | */
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| 215 | static apalGpio_t _gpioSysUartUp = {
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| 216 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 217 | /* pad */ GPIOB_SYS_UART_UP,
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| 218 | }; |
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| 219 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysUartUp = {
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| 220 | /* GPIO */ &_gpioSysUartUp,
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| 221 | /* meta */ {
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| 222 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 223 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 224 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 225 | }, |
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| 226 | }; |
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| 227 | e545e620 | Thomas Schöpping | |
| 228 | 1e5f7648 | Thomas Schöpping | /**
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| 229 | * @brief ACCEL_INT input signal GPIO.
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| 230 | */
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| 231 | static apalGpio_t _gpioAccelInt = {
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| 232 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 233 | /* pad */ GPIOB_ACCEL_INT_N,
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| 234 | }; |
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| 235 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioAccelInt = {
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| 236 | /* GPIO */ &_gpioAccelInt,
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| 237 | /* meta */ {
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| 238 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 239 | /* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 240 | /* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
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| 241 | }, |
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| 242 | }; |
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| 243 | e545e620 | Thomas Schöpping | |
| 244 | 1e5f7648 | Thomas Schöpping | /**
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| 245 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 246 | */
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| 247 | static apalGpio_t _gpioSysSync = {
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| 248 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 249 | /* pad */ GPIOC_SYS_INT_N,
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| 250 | }; |
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| 251 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysSync = {
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| 252 | /* GPIO */ &_gpioSysSync,
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| 253 | /* meta */ {
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| 254 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 255 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 256 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 257 | }, |
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| 258 | }; |
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| 259 | e545e620 | Thomas Schöpping | |
| 260 | 1e5f7648 | Thomas Schöpping | /**
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| 261 | * @brief PATH_DCSTAT input signal GPIO.
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| 262 | */
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| 263 | static apalGpio_t _gpioPathDcStat = {
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| 264 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 265 | /* pad */ GPIOC_PATH_DCSTAT,
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| 266 | }; |
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| 267 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioPathDcStat = {
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| 268 | /* GPIO */ &_gpioPathDcStat,
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| 269 | /* meta */ {
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| 270 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 271 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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| 272 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 273 | }, |
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| 274 | }; |
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| 275 | e545e620 | Thomas Schöpping | |
| 276 | 1e5f7648 | Thomas Schöpping | /**
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| 277 | * @brief PATH_DCEN output signal GPIO.
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| 278 | */
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| 279 | static apalGpio_t _gpioPathDcEn = {
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| 280 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 281 | /* pad */ GPIOC_PATH_DCEN,
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| 282 | }; |
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| 283 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioPathDcEn = {
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| 284 | /* GPIO */ &_gpioPathDcEn,
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| 285 | /* meta */ {
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| 286 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 287 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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| 288 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 289 | }, |
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| 290 | }; |
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| 291 | e545e620 | Thomas Schöpping | |
| 292 | 1e5f7648 | Thomas Schöpping | /**
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| 293 | * @brief SYS_PD bidirectional signal GPIO.
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| 294 | */
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| 295 | static apalGpio_t _gpioSysPd = {
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| 296 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 297 | /* pad */ GPIOC_SYS_PD_N,
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| 298 | }; |
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| 299 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysPd = {
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| 300 | /* GPIO */ &_gpioSysPd,
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| 301 | /* meta */ {
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| 302 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 303 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 304 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 305 | }, |
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| 306 | }; |
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| 307 | e545e620 | Thomas Schöpping | |
| 308 | 1e5f7648 | Thomas Schöpping | /**
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| 309 | * @brief SYS_REG_EN input signal GPIO.
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| 310 | */
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| 311 | static apalGpio_t _gpioSysRegEn = {
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| 312 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 313 | /* pad */ GPIOC_SYS_REG_EN,
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| 314 | }; |
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| 315 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysRegEn = {
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| 316 | /* GPIO */ &_gpioSysRegEn,
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| 317 | /* meta */ {
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| 318 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 319 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 320 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 321 | }, |
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| 322 | }; |
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| 323 | e545e620 | Thomas Schöpping | |
| 324 | 1e5f7648 | Thomas Schöpping | /**
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| 325 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 326 | */
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| 327 | static apalGpio_t _gpioSysWarmrst = {
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| 328 | e545e620 | Thomas Schöpping | /* port */ GPIOD,
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| 329 | /* pad */ GPIOD_SYS_WARMRST_N,
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| 330 | }; |
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| 331 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysWarmrst = {
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| 332 | /* GPIO */ &_gpioSysWarmrst,
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| 333 | /* meta */ {
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| 334 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 335 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 336 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 337 | }, |
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| 338 | }; |
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| 339 | e545e620 | Thomas Schöpping | |
| 340 | /** @} */
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| 341 | |||
| 342 | /*===========================================================================*/
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| 343 | /**
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| 344 | * @name AMiRo-OS core configurations
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| 345 | * @{
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| 346 | */
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| 347 | /*===========================================================================*/
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| 348 | |||
| 349 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 350 | const char* moduleShellPrompt = "DiWheelDrive"; |
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| 351 | #endif
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| 352 | |||
| 353 | /** @} */
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| 354 | |||
| 355 | /*===========================================================================*/
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| 356 | /**
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| 357 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 358 | * @{
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| 359 | */
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| 360 | /*===========================================================================*/
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| 361 | |||
| 362 | e545e620 | Thomas Schöpping | /** @} */
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| 363 | |||
| 364 | /*===========================================================================*/
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| 365 | /**
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| 366 | * @name Low-level drivers
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| 367 | * @{
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| 368 | */
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| 369 | /*===========================================================================*/
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| 370 | |||
| 371 | A3906Driver moduleLldMotors = {
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| 372 | 1e5f7648 | Thomas Schöpping | /* power enable GPIO */ &moduleGpioPowerEn,
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| 373 | e545e620 | Thomas Schöpping | }; |
| 374 | |||
| 375 | AT24C01BNDriver moduleLldEeprom = {
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| 376 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 377 | /* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
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| 378 | }; |
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| 379 | |||
| 380 | HMC5883LDriver moduleLldCompass = {
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| 381 | /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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| 382 | }; |
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| 383 | |||
| 384 | INA219Driver moduleLldPowerMonitorVdd = {
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| 385 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 386 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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| 387 | /* current LSB (uA) */ 0x00u, |
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| 388 | /* configuration */ NULL, |
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| 389 | }; |
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| 390 | |||
| 391 | L3G4200DDriver moduleLldGyroscope = {
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| 392 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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| 393 | }; |
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| 394 | |||
| 395 | LEDDriver moduleLldStatusLed = {
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| 396 | 1e5f7648 | Thomas Schöpping | /* LED enable Gpio */ &moduleGpioLed,
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| 397 | e545e620 | Thomas Schöpping | }; |
| 398 | |||
| 399 | LIS331DLHDriver moduleLldAccelerometer = {
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| 400 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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| 401 | }; |
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| 402 | |||
| 403 | LTC4412Driver moduleLldPowerPathController = {
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| 404 | 1e5f7648 | Thomas Schöpping | /* Control GPIO */ &moduleGpioPathDcEn,
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| 405 | /* Status GPIO */ &moduleGpioPathDcStat,
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| 406 | e545e620 | Thomas Schöpping | }; |
| 407 | |||
| 408 | PCA9544ADriver moduleLldI2cMultiplexer = {
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| 409 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 410 | /* 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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| 411 | }; |
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| 412 | |||
| 413 | TPS62113Driver moduleLldStepDownConverterVdrive = {
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| 414 | 1e5f7648 | Thomas Schöpping | /* Power enable Gpio */ &moduleGpioPowerEn,
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| 415 | e545e620 | Thomas Schöpping | }; |
| 416 | |||
| 417 | VCNL4020Driver moduleLldProximity = {
|
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| 418 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 419 | }; |
||
| 420 | |||
| 421 | /** @} */
|
||
| 422 | |||
| 423 | /*===========================================================================*/
|
||
| 424 | /**
|
||
| 425 | * @name Unit tests (UT)
|
||
| 426 | * @{
|
||
| 427 | */
|
||
| 428 | /*===========================================================================*/
|
||
| 429 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 430 | #include <string.h> |
||
| 431 | #include <chprintf.h> |
||
| 432 | |||
| 433 | /* A3906 (motor driver) */
|
||
| 434 | static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 435 | {
|
||
| 436 | (void)argc;
|
||
| 437 | (void)argv;
|
||
| 438 | aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
||
| 439 | return AOS_OK;
|
||
| 440 | } |
||
| 441 | static ut_a3906data_t _utA3906Data = {
|
||
| 442 | /* driver */ &moduleLldMotors,
|
||
| 443 | /* PWM information */ {
|
||
| 444 | /* driver */ &MODULE_HAL_PWM_DRIVE,
|
||
| 445 | /* channels */ {
|
||
| 446 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
||
| 447 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
||
| 448 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
||
| 449 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
||
| 450 | }, |
||
| 451 | }, |
||
| 452 | /* QEI information */ {
|
||
| 453 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
||
| 454 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
||
| 455 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
||
| 456 | }, |
||
| 457 | /* Wheel diameter */ 0.05571f, |
||
| 458 | 1e5f7648 | Thomas Schöpping | /* timeout */ 10 * MICROSECONDS_PER_SECOND, |
| 459 | e545e620 | Thomas Schöpping | }; |
| 460 | aos_unittest_t moduleUtAlldA3906 = {
|
||
| 461 | /* name */ "A3906", |
||
| 462 | /* info */ "motor driver", |
||
| 463 | /* test function */ utAlldA3906Func,
|
||
| 464 | /* shell command */ {
|
||
| 465 | /* name */ "unittest:MotorDriver", |
||
| 466 | /* callback */ _utShellCmdCb_AlldA3906,
|
||
| 467 | /* next */ NULL, |
||
| 468 | }, |
||
| 469 | /* data */ &_utA3906Data,
|
||
| 470 | }; |
||
| 471 | |||
| 472 | /* AT24C01BN (EEPROM) */
|
||
| 473 | static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 474 | {
|
||
| 475 | (void)argc;
|
||
| 476 | (void)argv;
|
||
| 477 | aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
|
||
| 478 | return AOS_OK;
|
||
| 479 | } |
||
| 480 | static ut_at24c01bndata_t _utAt24c01bnData = {
|
||
| 481 | /* driver */ &moduleLldEeprom,
|
||
| 482 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 483 | }; |
||
| 484 | aos_unittest_t moduleUtAlldAt24c01bn = {
|
||
| 485 | /* name */ "AT24C01BN-SH-B", |
||
| 486 | /* info */ "1kbit EEPROM", |
||
| 487 | /* test function */ utAlldAt24c01bnFunc,
|
||
| 488 | /* shell command */ {
|
||
| 489 | /* name */ "unittest:EEPROM", |
||
| 490 | /* callback */ _utShellCmdCb_AlldAt24c01bn,
|
||
| 491 | /* next */ NULL, |
||
| 492 | }, |
||
| 493 | /* data */ &_utAt24c01bnData,
|
||
| 494 | }; |
||
| 495 | |||
| 496 | /* HMC5883L (compass) */
|
||
| 497 | static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 498 | {
|
||
| 499 | (void)argc;
|
||
| 500 | (void)argv;
|
||
| 501 | aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
||
| 502 | return AOS_OK;
|
||
| 503 | } |
||
| 504 | static ut_hmc5883ldata_t _utHmc5883lData = {
|
||
| 505 | /* HMC driver */ &moduleLldCompass,
|
||
| 506 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 507 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
| 508 | e545e620 | Thomas Schöpping | /* timeout */ MICROSECONDS_PER_SECOND,
|
| 509 | }; |
||
| 510 | aos_unittest_t moduleUtAlldHmc5883l = {
|
||
| 511 | /* name */ "HMC5883L", |
||
| 512 | /* info */ "compass", |
||
| 513 | /* test function */ utAlldHmc5883lFunc,
|
||
| 514 | /* shell command */ {
|
||
| 515 | /* name */ "unittest:Compass", |
||
| 516 | /* callback */ _utShellCmdCb_AlldHmc5883l,
|
||
| 517 | /* next */ NULL, |
||
| 518 | }, |
||
| 519 | /* data */ &_utHmc5883lData,
|
||
| 520 | }; |
||
| 521 | |||
| 522 | /* INA219 (power monitor) */
|
||
| 523 | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 524 | {
|
||
| 525 | (void)argc;
|
||
| 526 | (void)argv;
|
||
| 527 | aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
||
| 528 | return AOS_OK;
|
||
| 529 | } |
||
| 530 | static ut_ina219data_t _utIna219Data = {
|
||
| 531 | /* driver */ &moduleLldPowerMonitorVdd,
|
||
| 532 | /* expected voltage */ 3.3f, |
||
| 533 | /* tolerance */ 0.05f, |
||
| 534 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 535 | }; |
||
| 536 | aos_unittest_t moduleUtAlldIna219 = {
|
||
| 537 | /* name */ "INA219", |
||
| 538 | /* info */ "power monitor", |
||
| 539 | /* test function */ utAlldIna219Func,
|
||
| 540 | /* shell command */ {
|
||
| 541 | /* name */ "unittest:PowerMonitor", |
||
| 542 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
| 543 | /* next */ NULL, |
||
| 544 | }, |
||
| 545 | /* data */ &_utIna219Data,
|
||
| 546 | }; |
||
| 547 | |||
| 548 | /* L3G4200D (gyroscope) */
|
||
| 549 | static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 550 | {
|
||
| 551 | (void)argc;
|
||
| 552 | (void)argv;
|
||
| 553 | spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
||
| 554 | aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
||
| 555 | spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
||
| 556 | return AOS_OK;
|
||
| 557 | } |
||
| 558 | static ut_l3g4200ddata_t _utL3g4200dData = {
|
||
| 559 | /* driver */ &moduleLldGyroscope,
|
||
| 560 | /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
||
| 561 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 562 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
| 563 | e545e620 | Thomas Schöpping | }; |
| 564 | aos_unittest_t moduleUtAlldL3g4200d = {
|
||
| 565 | /* name */ "L3G4200D", |
||
| 566 | /* info */ "Gyroscope", |
||
| 567 | /* test function */ utAlldL3g4200dFunc,
|
||
| 568 | /* shell command */ {
|
||
| 569 | /* name */ "unittest:Gyroscope", |
||
| 570 | /* callback */ _utShellCmdCb_AlldL3g4200d,
|
||
| 571 | /* next */ NULL, |
||
| 572 | }, |
||
| 573 | /* data */ &_utL3g4200dData,
|
||
| 574 | }; |
||
| 575 | |||
| 576 | /* Status LED */
|
||
| 577 | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 578 | {
|
||
| 579 | (void)argc;
|
||
| 580 | (void)argv;
|
||
| 581 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
| 582 | return AOS_OK;
|
||
| 583 | } |
||
| 584 | aos_unittest_t moduleUtAlldLed = {
|
||
| 585 | /* name */ "LED", |
||
| 586 | /* info */ NULL, |
||
| 587 | /* test function */ utAlldLedFunc,
|
||
| 588 | /* shell command */ {
|
||
| 589 | /* name */ "unittest:StatusLED", |
||
| 590 | /* callback */ _utShellCmdCb_AlldLed,
|
||
| 591 | /* next */ NULL, |
||
| 592 | }, |
||
| 593 | /* data */ &moduleLldStatusLed,
|
||
| 594 | }; |
||
| 595 | |||
| 596 | /* LIS331DLH (accelerometer) */
|
||
| 597 | static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 598 | {
|
||
| 599 | (void)argc;
|
||
| 600 | (void)argv;
|
||
| 601 | spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
||
| 602 | aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
||
| 603 | spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
||
| 604 | return AOS_OK;
|
||
| 605 | } |
||
| 606 | static ut_lis331dlhdata_t _utLis331dlhData = {
|
||
| 607 | /* driver */ &moduleLldAccelerometer,
|
||
| 608 | /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
||
| 609 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 610 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
| 611 | e545e620 | Thomas Schöpping | }; |
| 612 | aos_unittest_t moduleUtAlldLis331dlh = {
|
||
| 613 | /* name */ "LIS331DLH", |
||
| 614 | /* info */ "Accelerometer", |
||
| 615 | /* test function */ utAlldLis331dlhFunc,
|
||
| 616 | /* shell command */ {
|
||
| 617 | /* name */ "unittest:Accelerometer", |
||
| 618 | /* callback */ _utShellCmdCb_AlldLis331dlh,
|
||
| 619 | /* next */ NULL, |
||
| 620 | }, |
||
| 621 | /* data */ &_utLis331dlhData,
|
||
| 622 | }; |
||
| 623 | |||
| 624 | /* LTC4412 (power path controller) */
|
||
| 625 | static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 626 | {
|
||
| 627 | (void)argc;
|
||
| 628 | (void)argv;
|
||
| 629 | aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
||
| 630 | return AOS_OK;
|
||
| 631 | } |
||
| 632 | aos_unittest_t moduleUtAlldLtc4412 = {
|
||
| 633 | /* name */ "LTC4412", |
||
| 634 | /* info */ "Power path controller", |
||
| 635 | /* test function */ utAlldLtc4412Func,
|
||
| 636 | /* shell command */ {
|
||
| 637 | /* name */ "unittest:PowerPathController", |
||
| 638 | /* callback */ _utShellCmdCb_AlldLtc4412,
|
||
| 639 | /* next */ NULL, |
||
| 640 | }, |
||
| 641 | /* data */ &moduleLldPowerPathController,
|
||
| 642 | }; |
||
| 643 | |||
| 644 | /* PCA9544A (I2C multiplexer) */
|
||
| 645 | static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 646 | {
|
||
| 647 | (void)argc;
|
||
| 648 | (void)argv;
|
||
| 649 | aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
||
| 650 | return AOS_OK;
|
||
| 651 | } |
||
| 652 | static ut_pca9544adata_t _utPca9544aData = {
|
||
| 653 | /* driver */ &moduleLldI2cMultiplexer,
|
||
| 654 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 655 | }; |
||
| 656 | aos_unittest_t moduleUtAlldPca9544a = {
|
||
| 657 | /* name */ "PCA9544A", |
||
| 658 | /* info */ "I2C multiplexer", |
||
| 659 | /* test function */ utAlldPca9544aFunc,
|
||
| 660 | /* shell command */ {
|
||
| 661 | /* name */ "unittest:I2CMultiplexer", |
||
| 662 | /* callback */ _utShellCmdCb_AlldPca9544a,
|
||
| 663 | /* next */ NULL, |
||
| 664 | }, |
||
| 665 | /* data */ &_utPca9544aData,
|
||
| 666 | }; |
||
| 667 | |||
| 668 | /* TPS62113 (step-down converter) */
|
||
| 669 | static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 670 | {
|
||
| 671 | (void)argc;
|
||
| 672 | (void)argv;
|
||
| 673 | aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
||
| 674 | return AOS_OK;
|
||
| 675 | } |
||
| 676 | aos_unittest_t moduleUtAlldTps62113 = {
|
||
| 677 | /* name */ "TPS62113", |
||
| 678 | /* info */ "Step down converter", |
||
| 679 | /* test function */ utAlldTps62113Func,
|
||
| 680 | /* shell command */ {
|
||
| 681 | /* name */ "unittest:StepDownConverter", |
||
| 682 | /* callback */ _utShellCmdCb_AlldTps62113,
|
||
| 683 | /* next */ NULL, |
||
| 684 | }, |
||
| 685 | /* data */ &moduleLldStepDownConverterVdrive,
|
||
| 686 | }; |
||
| 687 | |||
| 688 | /* VCNL4020 (proximity sensor) */
|
||
| 689 | static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
||
| 690 | {
|
||
| 691 | uint8_t intstatus; |
||
| 692 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
||
| 693 | vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 694 | if (intstatus) {
|
||
| 695 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 696 | } |
||
| 697 | return;
|
||
| 698 | } |
||
| 699 | static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 700 | {
|
||
| 701 | enum {
|
||
| 702 | UNKNOWN, |
||
| 703 | FL, FR, WL, WR, |
||
| 704 | } sensor = UNKNOWN; |
||
| 705 | // evaluate arguments
|
||
| 706 | if (argc == 2) { |
||
| 707 | if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
||
| 708 | sensor = FL; |
||
| 709 | } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
||
| 710 | sensor = FR; |
||
| 711 | } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
||
| 712 | sensor = WL; |
||
| 713 | } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
||
| 714 | sensor = WR; |
||
| 715 | } |
||
| 716 | } |
||
| 717 | if (sensor != UNKNOWN) {
|
||
| 718 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 719 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 720 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 721 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 722 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 723 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 724 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 725 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 726 | switch (sensor) {
|
||
| 727 | case FL:
|
||
| 728 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 729 | 1e5f7648 | Thomas Schöpping | aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
| 730 | e545e620 | Thomas Schöpping | break;
|
| 731 | case FR:
|
||
| 732 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 733 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
||
| 734 | break;
|
||
| 735 | case WL:
|
||
| 736 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 737 | aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
||
| 738 | break;
|
||
| 739 | case WR:
|
||
| 740 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 741 | aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
||
| 742 | break;
|
||
| 743 | default:
|
||
| 744 | break;
|
||
| 745 | } |
||
| 746 | return AOS_OK;
|
||
| 747 | } |
||
| 748 | // print help
|
||
| 749 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
| 750 | chprintf(stream, "Options:\n");
|
||
| 751 | chprintf(stream, " --frontleft, -fl\n");
|
||
| 752 | chprintf(stream, " Test front left proximity sensor.\n");
|
||
| 753 | chprintf(stream, " --frontrigt, -fr\n");
|
||
| 754 | chprintf(stream, " Test front right proximity sensor.\n");
|
||
| 755 | chprintf(stream, " --wheelleft, -wl\n");
|
||
| 756 | chprintf(stream, " Test left wheel proximity sensor.\n");
|
||
| 757 | chprintf(stream, " --wheelright, -wr\n");
|
||
| 758 | chprintf(stream, " Test right wheel proximity sensor.\n");
|
||
| 759 | return AOS_INVALID_ARGUMENTS;
|
||
| 760 | } |
||
| 761 | static ut_vcnl4020data_t _utVcnl4020Data = {
|
||
| 762 | /* driver */ &moduleLldProximity,
|
||
| 763 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 764 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
| 765 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
| 766 | e545e620 | Thomas Schöpping | }; |
| 767 | aos_unittest_t moduleUtAlldVcnl4020 = {
|
||
| 768 | /* name */ "VCNL4020", |
||
| 769 | /* info */ "proximity sensor", |
||
| 770 | /* test function */ utAlldVcnl4020Func,
|
||
| 771 | /* shell command */ {
|
||
| 772 | /* name */ "unittest:Proximity", |
||
| 773 | /* callback */ _utShellCmdCb_AlldVcnl4020,
|
||
| 774 | /* next */ NULL, |
||
| 775 | }, |
||
| 776 | /* data */ &_utVcnl4020Data,
|
||
| 777 | }; |
||
| 778 | |||
| 779 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
| 780 | |||
| 781 | /** @} */ |