amiro-os / modules / DiWheelDrive_1-2 / module.c @ 70dd091e
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the DiWheelDrive module.
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*
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* @addtogroup diwheeldrive_module
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* @{
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*/
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#include "module.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 moduleHalI2cImuConfig = {
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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 == TRUE)
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/* TIM BDTR register */ 0, |
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#endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
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/* TIM DIER register */ 0 |
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}; |
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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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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LED output signal GPIO.
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*/
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static apalGpio_t _gpioLed = {
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/* line */ LINE_LED,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLed = {
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/* GPIO */ &_gpioLed,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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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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/* line */ LINE_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 IR_INT input signal GPIO.
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*/
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static apalGpio_t _gpioIrInt = {
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/* line */ LINE_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 SYS_UART_UP bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysUartUp = {
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/* line */ LINE_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 IMU_INT input signal GPIO.
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*/
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static apalGpio_t _gpioImuInt = {
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/* line */ LINE_IMU_INT,
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}; |
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ROMCONST apalControlGpio_t moduleGpioImuInt = {
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/* GPIO */ &_gpioImuInt,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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/* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO |
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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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/* line */ LINE_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 IMU_RESET output signal GPIO.
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*/
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static apalGpio_t _gpioImuReset = {
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/* line */ LINE_IMU_RESET_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioImuReset = {
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/* GPIO */ &_gpioImuReset,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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/* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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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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/* line */ LINE_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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/* line */ LINE_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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/* line */ LINE_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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/* line */ LINE_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 IMU_BOOT_LOAD output signal GPIO.
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*/
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static apalGpio_t _gpioImuBootLoad = {
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/* line */ LINE_IMU_BOOT_LOAD_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioImuBootLoad = {
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/* GPIO */ &_gpioImuBootLoad,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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/* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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}, |
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}; |
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/**
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* @brief IMU_BL_IND input signal GPIO.
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*/
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static apalGpio_t _gpioImuBlInd = {
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/* line */ LINE_IMU_BL_IND,
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}; |
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ROMCONST apalControlGpio_t moduleGpioImuBlInd = {
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/* GPIO */ &_gpioImuBlInd,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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/* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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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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/* line */ LINE_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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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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A3906Driver moduleLldMotors = {
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/* power enable GPIO */ &moduleGpioPowerEn,
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}; |
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AT24C01BDriver moduleLldEeprom = {
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/* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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/* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
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}; |
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// TODO: BNO055
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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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}; |
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LEDDriver moduleLldStatusLed = {
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/* LED enable Gpio */ &moduleGpioLed,
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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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}; |
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TPS6211xDriver 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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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Tests
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/*
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* A3906 (motor driver)
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*/
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#include <module_test_A3906.h> |
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static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
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/*
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* AT24C01BN-SH-B (EEPROM)
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*/
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#include <module_test_AT24C01B.h> |
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static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
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// TODO: BNO055
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/*
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* INA219 (power monitor)
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*/
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#include <module_test_INA219.h> |
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static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
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/*
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* Status LED
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*/
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#include <module_test_LED.h> |
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static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestLedShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
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/*
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* LTC4412 (power path controller)
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*/
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#include <module_test_LTC4412.h> |
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static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
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|
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/*
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* PCA9544A (I2C multiplexer)
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*/
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#include <module_test_PCA9544A.h> |
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static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
| 470 |
} |
| 471 |
AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
|
| 472 |
|
| 473 |
/*
|
| 474 |
* TPS62113 (step-down converter)
|
| 475 |
*/
|
| 476 |
#include <module_test_TPS6211x.h> |
| 477 |
static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 478 |
{
|
| 479 |
return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
| 480 |
} |
| 481 |
AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
|
| 482 |
|
| 483 |
/*
|
| 484 |
* VCNL4020 (proximity sensor)
|
| 485 |
*/
|
| 486 |
#include <module_test_VCNL4020.h> |
| 487 |
static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 488 |
{
|
| 489 |
return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
| 490 |
} |
| 491 |
AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
|
| 492 |
|
| 493 |
/*
|
| 494 |
* entire module
|
| 495 |
*/
|
| 496 |
static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 497 |
{
|
| 498 |
(void)argc;
|
| 499 |
(void)argv;
|
| 500 |
|
| 501 |
int status = AOS_OK;
|
| 502 |
char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
| 503 |
aos_testresult_t result_test = {0, 0};
|
| 504 |
aos_testresult_t result_total = {0, 0};
|
| 505 |
|
| 506 |
/* A3906 (motor driver) */
|
| 507 |
status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
|
| 508 |
result_total = aosTestResultAdd(result_total, result_test); |
| 509 |
|
| 510 |
/* AT24C01B (EEPROM) */
|
| 511 |
status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
| 512 |
result_total = aosTestResultAdd(result_total, result_test); |
| 513 |
|
| 514 |
// TODO: BNO055
|
| 515 |
|
| 516 |
/* INA219 (power monitor) */
|
| 517 |
status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
|
| 518 |
result_total = aosTestResultAdd(result_total, result_test); |
| 519 |
|
| 520 |
/* Status LED */
|
| 521 |
status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
| 522 |
result_total = aosTestResultAdd(result_total, result_test); |
| 523 |
|
| 524 |
/* LTC4412 (power path controller) */
|
| 525 |
status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
|
| 526 |
result_total = aosTestResultAdd(result_total, result_test); |
| 527 |
|
| 528 |
/* PCA9544A (I2C multiplexer) */
|
| 529 |
status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
|
| 530 |
result_total = aosTestResultAdd(result_total, result_test); |
| 531 |
|
| 532 |
/* TPS62113 (step-down converter) */
|
| 533 |
status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
|
| 534 |
result_total = aosTestResultAdd(result_total, result_test); |
| 535 |
|
| 536 |
/* VCNL4020 (proximity sensor) */
|
| 537 |
// wheel left
|
| 538 |
targv[1] = "-wl"; |
| 539 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 540 |
result_total = aosTestResultAdd(result_total, result_test); |
| 541 |
// front left
|
| 542 |
targv[1] = "-fl"; |
| 543 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 544 |
result_total = aosTestResultAdd(result_total, result_test); |
| 545 |
// front right
|
| 546 |
targv[1] = "-fr"; |
| 547 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 548 |
result_total = aosTestResultAdd(result_total, result_test); |
| 549 |
// wheel right
|
| 550 |
targv[1] = "-wr"; |
| 551 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 552 |
result_total = aosTestResultAdd(result_total, result_test); |
| 553 |
targv[1] = ""; |
| 554 |
|
| 555 |
// print total result
|
| 556 |
chprintf(stream, "\n");
|
| 557 |
aosTestResultPrintSummary(stream, &result_total, "entire module");
|
| 558 |
|
| 559 |
return status;
|
| 560 |
} |
| 561 |
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
| 562 |
|
| 563 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 564 |
|
| 565 |
/** @} */
|
| 566 |
/** @} */
|