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amiro-os / modules / DiWheelDrive_1-1 / module.c @ 6ec8d60d

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1 e545e620 Thomas Schöpping
/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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15
You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file
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 * @brief   Structures and constant for the DiWheelDrive module.
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 *
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 * @addtogroup diwheeldrive_module
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 * @{
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 */
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#include "module.h"
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#include <amiroos.h>
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/*===========================================================================*/
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/**
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 * @name Module specific functions
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 * @{
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 */
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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 * @name ChibiOS/HAL configuration
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 * @{
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 */
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/*===========================================================================*/
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CANConfig moduleHalCanConfig = {
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  /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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  /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
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};
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I2CConfig moduleHalI2cCompassConfig = {
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  /* I²C mode   */ OPMODE_I2C,
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  /* frequency  */ 400000,
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  /* duty cycle */ FAST_DUTY_CYCLE_2,
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};
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I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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  /* I²C mode   */ OPMODE_I2C,
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  /* frequency  */ 400000,
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  /* duty cycle */ FAST_DUTY_CYCLE_2,
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};
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PWMConfig moduleHalPwmDriveConfig = {
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  /* frequency              */ 7200000,
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  /* period                 */ 360,
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  /* callback               */ NULL,
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  /* channel configurations */ {
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    /* channel 0              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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    /* channel 1              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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    /* channel 2              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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    /* channel 3              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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  },
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  /* TIM CR2 register       */ 0,
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#if STM32_PWM_USE_ADVANCED
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  /* TIM BDTR register      */ 0,
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#endif
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  /* TIM DIER register      */ 0
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};
92
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QEIConfig moduleHalQeiConfig = {
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  /* mode           */ QEI_COUNT_BOTH,
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  /* channel config */ {
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    /* channel 0 */ {
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      /* input mode */ QEI_INPUT_NONINVERTED,
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    },
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    /* channel 1 */ {
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      /* input mode */ QEI_INPUT_NONINVERTED,
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    },
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  },
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  /* encoder range  */  0x10000u,
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};
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SerialConfig moduleHalProgIfConfig = {
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  /* bit rate */ 115200,
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  /* CR1      */ 0,
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  /* CR1      */ 0,
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  /* CR1      */ 0,
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};
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SPIConfig moduleHalSpiAccelerometerConfig = {
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  /* circular buffer mode         */ false,
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  /* callback function pointer    */ NULL,
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  /* chip select line port        */ GPIOC,
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  /* chip select line pad number  */ GPIOC_ACCEL_SS_N,
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  /* CR1                          */ SPI_CR1_BR_0,
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  /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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};
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SPIConfig moduleHalSpiGyroscopeConfig = {
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  /* circular buffer mode         */ false,
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  /* callback function pointer    */ NULL,
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  /* chip select line port        */ GPIOC,
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  /* chip select line pad number  */ GPIOC_GYRO_SS_N,
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  /* CR1                          */ SPI_CR1_BR_0,
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  /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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};
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/** @} */
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/*===========================================================================*/
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/**
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 * @name GPIO definitions
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   LED output signal GPIO.
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 */
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static apalGpio_t _gpioLed = {
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  /* port */ GPIOA,
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  /* pad  */ GPIOA_LED,
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};
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ROMCONST apalControlGpio_t moduleGpioLed = {
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  /* GPIO */ &_gpioLed,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ LED_LLD_GPIO_ACTIVE_STATE,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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/**
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 * @brief   POWER_EN output signal GPIO.
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 */
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static apalGpio_t _gpioPowerEn = {
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  /* port */ GPIOB,
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  /* pad  */  GPIOB_POWER_EN,
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};
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ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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  /* GPIO */ &_gpioPowerEn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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/**
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 * @brief   COMPASS_DRDY output signal GPIO.
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 */
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static apalGpio_t _gpioCompassDrdy = {
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  /* port */ GPIOB,
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  /* pad  */ GPIOB_COMPASS_DRDY,
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};
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ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {
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  /* GPIO */ &_gpioCompassDrdy,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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  },
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};
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/**
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 * @brief   IR_INT input signal GPIO.
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 */
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static apalGpio_t _gpioIrInt = {
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  /* port */ GPIOB,
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  /* pad  */ GPIOB_IR_INT,
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};
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ROMCONST apalControlGpio_t moduleGpioIrInt = {
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  /* GPIO */ &_gpioIrInt,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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  },
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};
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/**
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 * @brief   GYRO_DRDY input signal GPIO.
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 */
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static apalGpio_t _gpioGyroDrdy = {
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  /* port */ GPIOB,
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  /* pad  */ GPIOB_GYRO_DRDY,
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};
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ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {
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  /* GPIO */ &_gpioGyroDrdy,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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  },
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};
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/**
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 * @brief   SYS_UART_UP bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysUartUp = {
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  /* port */ GPIOB,
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  /* pad  */ GPIOB_SYS_UART_UP,
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};
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ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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  /* GPIO */ &_gpioSysUartUp,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   ACCEL_INT input signal GPIO.
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 */
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static apalGpio_t _gpioAccelInt = {
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  /* port */ GPIOB,
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  /* pad  */ GPIOB_ACCEL_INT_N,
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};
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ROMCONST apalControlGpio_t moduleGpioAccelInt = {
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  /* GPIO */ &_gpioAccelInt,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
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  },
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};
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/**
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 * @brief   SYS_SNYC bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysSync = {
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  /* port */ GPIOC,
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  /* pad  */ GPIOC_SYS_INT_N,
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};
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ROMCONST apalControlGpio_t  moduleGpioSysSync = {
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  /* GPIO */ &_gpioSysSync,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   PATH_DCSTAT input signal GPIO.
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 */
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static apalGpio_t _gpioPathDcStat = {
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  /* port */ GPIOC,
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  /* pad  */ GPIOC_PATH_DCSTAT,
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};
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ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
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  /* GPIO */ &_gpioPathDcStat,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ LTC4412_LLD_STAT_ACTIVE_STATE,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   PATH_DCEN output signal GPIO.
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 */
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static apalGpio_t _gpioPathDcEn = {
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  /* port */ GPIOC,
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  /* pad  */ GPIOC_PATH_DCEN,
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};
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ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
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  /* GPIO */ &_gpioPathDcEn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysPd = {
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  /* port */ GPIOC,
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  /* pad  */ GPIOC_SYS_PD_N,
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};
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ROMCONST apalControlGpio_t moduleGpioSysPd = {
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  /* GPIO */ &_gpioSysPd,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   SYS_REG_EN input signal GPIO.
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 */
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static apalGpio_t _gpioSysRegEn = {
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  /* port */ GPIOC,
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  /* pad  */ GPIOC_SYS_REG_EN,
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};
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ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
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  /* GPIO */ &_gpioSysRegEn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   SYS_WARMRST bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysWarmrst = {
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  /* port */ GPIOD,
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  /* pad  */ GPIOD_SYS_WARMRST_N,
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};
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ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
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  /* GPIO */ &_gpioSysWarmrst,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/** @} */
349
350
/*===========================================================================*/
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/**
352
 * @name AMiRo-OS core configurations
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 * @{
354
 */
355
/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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ROMCONST char* moduleShellPrompt = "DiWheelDrive";
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#endif
360
361
/** @} */
362
363
/*===========================================================================*/
364
/**
365
 * @name Startup Shutdown Synchronization Protocol (SSSP)
366
 * @{
367
 */
368
/*===========================================================================*/
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/** @} */
371
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/*===========================================================================*/
373
/**
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 * @name Low-level drivers
375
 * @{
376
 */
377
/*===========================================================================*/
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A3906Driver moduleLldMotors = {
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  /* power enable GPIO  */ &moduleGpioPowerEn,
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};
382
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AT24C01BNDriver moduleLldEeprom = {
384
  /* I2C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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  /* I²C address  */ AT24C01BN_LLD_I2C_ADDR_FIXED,
386
};
387
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HMC5883LDriver moduleLldCompass = {
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  /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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};
391
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INA219Driver moduleLldPowerMonitorVdd = {
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  /* I2C Driver       */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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  /* I²C address      */ INA219_LLD_I2C_ADDR_FIXED,
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  /* current LSB (uA) */ 0x00u,
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  /* configuration    */ NULL,
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};
398
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L3G4200DDriver moduleLldGyroscope = {
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  /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
401
};
402
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LEDDriver moduleLldStatusLed = {
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  /* LED enable Gpio */ &moduleGpioLed,
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};
406
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LIS331DLHDriver moduleLldAccelerometer = {
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  /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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};
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LTC4412Driver moduleLldPowerPathController = {
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  /* Control GPIO */ &moduleGpioPathDcEn,
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  /* Status GPIO  */ &moduleGpioPathDcStat,
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};
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PCA9544ADriver moduleLldI2cMultiplexer = {
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  /* I²C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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  /* 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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};
420
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TPS62113Driver moduleLldStepDownConverterVdrive = {
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  /* Power enable Gpio */ &moduleGpioPowerEn,
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};
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VCNL4020Driver moduleLldProximity = {
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  /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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};
428
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/** @} */
430
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/*===========================================================================*/
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/**
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 * @name Unit tests (UT)
434
 * @{
435
 */
436
/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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#include <string.h>
439
#include <chprintf.h>
440
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/* A3906 (motor driver) */
442
static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[])
443
{
444
  (void)argc;
445
  (void)argv;
446
  aosUtRun(stream, &moduleUtAlldA3906, NULL);
447
  return AOS_OK;
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}
449
static ut_a3906data_t _utA3906Data = {
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  /* driver           */ &moduleLldMotors,
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  /* PWM information  */ {
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    /* driver   */ &MODULE_HAL_PWM_DRIVE,
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    /* channels */ {
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      /* left wheel forward   */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
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      /* left wheel backward  */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
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      /* right wheel forward  */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
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      /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
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    },
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  },
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  /* QEI information  */ {
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    /* left wheel               */ &MODULE_HAL_QEI_LEFT_WHEEL,
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    /* right wheel              */ &MODULE_HAL_QEI_RIGHT_WHEEL,
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    /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
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  },
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  /* Wheel diameter   */ {
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    /* left wheel   */ 0.05571f,
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    /* right wheel  */ 0.05571f,
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  },
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  /* timeout          */ 10 * MICROSECONDS_PER_SECOND,
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};
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aos_unittest_t moduleUtAlldA3906  = {
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  /* name           */ "A3906",
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  /* info           */ "motor driver",
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  /* test function  */ utAlldA3906Func,
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  /* shell command  */ {
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    /* name     */ "unittest:MotorDriver",
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    /* callback */ _utShellCmdCb_AlldA3906,
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    /* next     */ NULL,
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  },
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  /* data           */ &_utA3906Data,
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};
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/* AT24C01BN (EEPROM) */
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static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[])
485
{
486
  (void)argc;
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  (void)argv;
488
  aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
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  return AOS_OK;
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}
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static ut_at24c01bndata_t _utAt24c01bnData = {
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  /* driver   */ &moduleLldEeprom,
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  /* timeout  */ MICROSECONDS_PER_SECOND,
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};
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aos_unittest_t moduleUtAlldAt24c01bn = {
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  /* name           */ "AT24C01BN-SH-B",
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  /* info           */ "1kbit EEPROM",
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  /* test function  */ utAlldAt24c01bnFunc,
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  /* shell command  */ {
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    /* name     */ "unittest:EEPROM",
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    /* callback */ _utShellCmdCb_AlldAt24c01bn,
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    /* next     */ NULL,
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  },
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  /* data           */ &_utAt24c01bnData,
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};
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/* HMC5883L (compass) */
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static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[])
509
{
510
  (void)argc;
511
  (void)argv;
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  aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
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  return AOS_OK;
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}
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static ut_hmc5883ldata_t _utHmc5883lData = {
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  /* HMC driver   */ &moduleLldCompass,
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  /* event source */ &aos.events.io,
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  /* event flags  */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
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  /* timeout      */ MICROSECONDS_PER_SECOND,
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};
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aos_unittest_t moduleUtAlldHmc5883l = {
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  /* name           */ "HMC5883L",
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  /* info           */ "compass",
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  /* test function  */ utAlldHmc5883lFunc,
525
  /* shell command  */ {
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    /* name     */ "unittest:Compass",
527
    /* callback */ _utShellCmdCb_AlldHmc5883l,
528
    /* next     */ NULL,
529
  },
530
  /* data           */ &_utHmc5883lData,
531
};
532
533
/* INA219 (power monitor) */
534
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[])
535
{
536
  (void)argc;
537
  (void)argv;
538
  aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
539
  return AOS_OK;
540
}
541
static ut_ina219data_t _utIna219Data = {
542
  /* driver           */ &moduleLldPowerMonitorVdd,
543
  /* expected voltage */ 3.3f,
544
  /* tolerance        */ 0.05f,
545
  /* timeout */ MICROSECONDS_PER_SECOND,
546
};
547
aos_unittest_t moduleUtAlldIna219 = {
548
  /* name           */ "INA219",
549
  /* info           */ "power monitor",
550
  /* test function  */ utAlldIna219Func,
551
  /* shell command  */ {
552
    /* name     */ "unittest:PowerMonitor",
553
    /* callback */ _utShellCmdCb_AlldIna219,
554
    /* next     */ NULL,
555
  },
556
  /* data           */ &_utIna219Data,
557
};
558
559
/* L3G4200D (gyroscope) */
560
static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[])
561
{
562
  (void)argc;
563
  (void)argv;
564
  spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf);
565
  aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
566
  spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid);
567
  return AOS_OK;
568
}
569
static ut_l3g4200ddata_t _utL3g4200dData = {
570
  /* driver            */ &moduleLldGyroscope,
571
  /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
572 6b53f6bf Thomas Schöpping
  /* event source */ &aos.events.io,
573 1e5f7648 Thomas Schöpping
  /* event flags  */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
574 e545e620 Thomas Schöpping
};
575
aos_unittest_t moduleUtAlldL3g4200d = {
576
  /* name           */ "L3G4200D",
577
  /* info           */ "Gyroscope",
578
  /* test function  */ utAlldL3g4200dFunc,
579
  /* shell command  */ {
580
    /* name     */ "unittest:Gyroscope",
581
    /* callback */ _utShellCmdCb_AlldL3g4200d,
582
    /* next     */ NULL,
583
  },
584
  /* data           */ &_utL3g4200dData,
585
};
586
587
/* Status LED */
588
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[])
589
{
590
  (void)argc;
591
  (void)argv;
592
  aosUtRun(stream, &moduleUtAlldLed, NULL);
593
  return AOS_OK;
594
}
595
aos_unittest_t moduleUtAlldLed = {
596
  /* name           */ "LED",
597
  /* info           */ NULL,
598
  /* test function  */ utAlldLedFunc,
599
  /* shell command  */ {
600
    /* name     */ "unittest:StatusLED",
601
    /* callback */ _utShellCmdCb_AlldLed,
602
    /* next     */ NULL,
603
  },
604
  /* data           */ &moduleLldStatusLed,
605
};
606
607
/* LIS331DLH (accelerometer) */
608
static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[])
609
{
610
  (void)argc;
611
  (void)argv;
612
  spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf);
613
  aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
614
  spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid);
615
  return AOS_OK;
616
}
617
static ut_lis331dlhdata_t _utLis331dlhData = {
618
  /* driver            */ &moduleLldAccelerometer,
619
  /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
620 6b53f6bf Thomas Schöpping
  /* event source */ &aos.events.io,
621 1e5f7648 Thomas Schöpping
  /* event flags  */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
622 e545e620 Thomas Schöpping
};
623
aos_unittest_t moduleUtAlldLis331dlh = {
624
  /* name           */ "LIS331DLH",
625
  /* info           */ "Accelerometer",
626
  /* test function  */ utAlldLis331dlhFunc,
627
  /* shell command  */ {
628
    /* name     */ "unittest:Accelerometer",
629
    /* callback */ _utShellCmdCb_AlldLis331dlh,
630
    /* next     */ NULL,
631
  },
632
  /* data           */ &_utLis331dlhData,
633
};
634
635
/* LTC4412 (power path controller) */
636
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[])
637
{
638
  (void)argc;
639
  (void)argv;
640
  aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
641
  return AOS_OK;
642
}
643
aos_unittest_t moduleUtAlldLtc4412 = {
644
  /* name           */ "LTC4412",
645
  /* info           */ "Power path controller",
646
  /* test function  */ utAlldLtc4412Func,
647
  /* shell command  */ {
648
    /* name     */ "unittest:PowerPathController",
649
    /* callback */ _utShellCmdCb_AlldLtc4412,
650
    /* next     */ NULL,
651
  },
652
  /* data           */ &moduleLldPowerPathController,
653
};
654
655
/* PCA9544A (I2C multiplexer) */
656
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[])
657
{
658
  (void)argc;
659
  (void)argv;
660
  aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
661
  return AOS_OK;
662
}
663
static ut_pca9544adata_t _utPca9544aData = {
664
  /* driver  */ &moduleLldI2cMultiplexer,
665
  /* timeout */ MICROSECONDS_PER_SECOND,
666
};
667
aos_unittest_t moduleUtAlldPca9544a = {
668
  /* name           */ "PCA9544A",
669
  /* info           */ "I2C multiplexer",
670
  /* test function  */ utAlldPca9544aFunc,
671
  /* shell command  */ {
672
    /* name     */ "unittest:I2CMultiplexer",
673
    /* callback */ _utShellCmdCb_AlldPca9544a,
674
    /* next     */ NULL,
675
  },
676
  /* data           */ &_utPca9544aData,
677
};
678
679
/* TPS62113 (step-down converter) */
680
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[])
681
{
682
  (void)argc;
683
  (void)argv;
684
  aosUtRun(stream, &moduleUtAlldTps62113, NULL);
685
  return AOS_OK;
686
}
687
aos_unittest_t moduleUtAlldTps62113 = {
688
  /* name           */ "TPS62113",
689
  /* info           */ "Step down converter",
690
  /* test function  */ utAlldTps62113Func,
691
  /* shell command  */ {
692
    /* name     */ "unittest:StepDownConverter",
693
    /* callback */ _utShellCmdCb_AlldTps62113,
694
    /* next     */ NULL,
695
  },
696
  /* data           */ &moduleLldStepDownConverterVdrive,
697
};
698
699
/* VCNL4020 (proximity sensor) */
700
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl)
701
{
702
  uint8_t intstatus;
703
  vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
704
  vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
705
  if (intstatus) {
706
    vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
707
  }
708
  return;
709
}
710
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[])
711
{
712
  enum {
713
    UNKNOWN,
714
    FL, FR, WL, WR,
715
  } sensor = UNKNOWN;
716
  // evaluate arguments
717
  if (argc == 2) {
718
    if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) {
719
      sensor = FL;
720
    } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) {
721
      sensor = FR;
722
    } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) {
723
      sensor = WL;
724
    } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) {
725
      sensor = WR;
726
    }
727
  }
728
  if (sensor != UNKNOWN) {
729
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
730
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
731
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
732
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
733
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
734
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
735
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
736
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
737
    switch (sensor) {
738
      case FL:
739
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
740 1e5f7648 Thomas Schöpping
        aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
741 e545e620 Thomas Schöpping
        break;
742
      case FR:
743
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
744
        aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
745
        break;
746
      case WL:
747
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
748
        aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
749
        break;
750
      case WR:
751
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
752
        aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
753
        break;
754
      default:
755
        break;
756
    }
757
    return AOS_OK;
758
  }
759
  // print help
760
  chprintf(stream, "Usage: %s OPTION\n", argv[0]);
761
  chprintf(stream, "Options:\n");
762
  chprintf(stream, "  --frontleft, -fl\n");
763
  chprintf(stream, "    Test front left proximity sensor.\n");
764
  chprintf(stream, "  --frontrigt, -fr\n");
765
  chprintf(stream, "    Test front right proximity sensor.\n");
766
  chprintf(stream, "  --wheelleft, -wl\n");
767
  chprintf(stream, "    Test left wheel proximity sensor.\n");
768
  chprintf(stream, "  --wheelright, -wr\n");
769
  chprintf(stream, "    Test right wheel proximity sensor.\n");
770
  return AOS_INVALID_ARGUMENTS;
771
}
772
static ut_vcnl4020data_t _utVcnl4020Data = {
773
  /* driver       */ &moduleLldProximity,
774
  /* timeout      */ MICROSECONDS_PER_SECOND,
775 6b53f6bf Thomas Schöpping
  /* event source */ &aos.events.io,
776 1e5f7648 Thomas Schöpping
  /* event flags  */ MODULE_OS_IOEVENTFLAGS_IRINT,
777 e545e620 Thomas Schöpping
};
778
aos_unittest_t moduleUtAlldVcnl4020 = {
779
  /* name           */ "VCNL4020",
780
  /* info           */ "proximity sensor",
781
  /* test function  */ utAlldVcnl4020Func,
782
  /* shell command  */ {
783
    /* name     */ "unittest:Proximity",
784
    /* callback */ _utShellCmdCb_AlldVcnl4020,
785
    /* next     */ NULL,
786
  },
787
  /* data           */ &_utVcnl4020Data,
788
};
789
790
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
791
792
/** @} */
793 53710ca3 Marc Rothmann
/** @} */