amiro-os / modules / NUCLEO-L476RG / module.c @ 77a3b16a
History | View | Annotate | Download (4.791 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief Structures and constant for the NUCLEO-L476RG module.
|
| 22 |
*
|
| 23 |
* @addtogroup NUCLEO-L476RG_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <amiroos.h> |
| 28 |
|
| 29 |
/*===========================================================================*/
|
| 30 |
/**
|
| 31 |
* @name Module specific functions
|
| 32 |
* @{
|
| 33 |
*/
|
| 34 |
/*===========================================================================*/
|
| 35 |
|
| 36 |
/** @} */
|
| 37 |
|
| 38 |
/*===========================================================================*/
|
| 39 |
/**
|
| 40 |
* @name ChibiOS/HAL configuration
|
| 41 |
* @{
|
| 42 |
*/
|
| 43 |
/*===========================================================================*/
|
| 44 |
|
| 45 |
SerialConfig moduleHalProgIfConfig = {
|
| 46 |
/* bit rate */ 115200, |
| 47 |
/* CR1 */ 0, |
| 48 |
/* CR1 */ 0, |
| 49 |
/* CR1 */ 0, |
| 50 |
}; |
| 51 |
|
| 52 |
#if defined(AMIROLLD_CFG_MPU6050)
|
| 53 |
|
| 54 |
I2CConfig moduleHalI2c3Config = {
|
| 55 |
/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_COMM_MPU6050() hook |
| 56 |
/* CR1 */ 0, |
| 57 |
/* CR2 */ 0, |
| 58 |
}; |
| 59 |
|
| 60 |
#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
| 61 |
|
| 62 |
/** @} */
|
| 63 |
|
| 64 |
/*===========================================================================*/
|
| 65 |
/**
|
| 66 |
* @name GPIO definitions
|
| 67 |
* @{
|
| 68 |
*/
|
| 69 |
/*===========================================================================*/
|
| 70 |
|
| 71 |
/**
|
| 72 |
* @brief LED output signal GPIO.
|
| 73 |
*/
|
| 74 |
static apalGpio_t _gpioLed = {
|
| 75 |
/* line */ LINE_LED_GREEN,
|
| 76 |
}; |
| 77 |
ROMCONST apalControlGpio_t moduleGpioLed = {
|
| 78 |
/* GPIO */ &_gpioLed,
|
| 79 |
/* meta */ {
|
| 80 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 81 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 82 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 83 |
}, |
| 84 |
}; |
| 85 |
|
| 86 |
/**
|
| 87 |
* @brief User button input signal GPIO.
|
| 88 |
*/
|
| 89 |
static apalGpio_t _gpioUserButton = {
|
| 90 |
/* line */ LINE_BUTTON,
|
| 91 |
}; |
| 92 |
ROMCONST apalControlGpio_t moduleGpioUserButton = {
|
| 93 |
/* GPIO */ &_gpioUserButton,
|
| 94 |
/* meta */ {
|
| 95 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 96 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 97 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 98 |
}, |
| 99 |
}; |
| 100 |
|
| 101 |
/** @} */
|
| 102 |
|
| 103 |
/*===========================================================================*/
|
| 104 |
/**
|
| 105 |
* @name AMiRo-OS core configurations
|
| 106 |
* @{
|
| 107 |
*/
|
| 108 |
/*===========================================================================*/
|
| 109 |
|
| 110 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 111 |
ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG"; |
| 112 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 113 |
|
| 114 |
/** @} */
|
| 115 |
|
| 116 |
/*===========================================================================*/
|
| 117 |
/**
|
| 118 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 119 |
* @{
|
| 120 |
*/
|
| 121 |
/*===========================================================================*/
|
| 122 |
|
| 123 |
/** @} */
|
| 124 |
|
| 125 |
/*===========================================================================*/
|
| 126 |
/**
|
| 127 |
* @name Low-level drivers
|
| 128 |
* @{
|
| 129 |
*/
|
| 130 |
/*===========================================================================*/
|
| 131 |
|
| 132 |
#if defined(AMIROLLD_CFG_MPU6050)
|
| 133 |
|
| 134 |
MPU6050Driver moduleLldMpu6050 = {
|
| 135 |
/* I2C Driver */ &MODULE_HAL_I2C3,
|
| 136 |
/* I²C address */ MPU6050_LLD_I2C_ADDR_FIXED,
|
| 137 |
}; |
| 138 |
|
| 139 |
#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
| 140 |
|
| 141 |
/** @} */
|
| 142 |
|
| 143 |
/*===========================================================================*/
|
| 144 |
/**
|
| 145 |
* @name Unit tests (UT)
|
| 146 |
* @{
|
| 147 |
*/
|
| 148 |
/*===========================================================================*/
|
| 149 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 150 |
|
| 151 |
#if defined(AMIROLLD_CFG_MPU6050)
|
| 152 |
|
| 153 |
/* MPU6050 */
|
| 154 |
static int _utShellCmdCb_AlldMpu6050(BaseSequentialStream* stream, int argc, char* argv[]) |
| 155 |
{
|
| 156 |
(void)argc;
|
| 157 |
(void)argv;
|
| 158 |
aosUtRun(stream, &moduleUtAlldMpu6050, NULL);
|
| 159 |
return AOS_OK;
|
| 160 |
} |
| 161 |
static ut_mpu6050data_t _utAlldMpu6050Data = {
|
| 162 |
/* driver */ &moduleLldMpu6050,
|
| 163 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 164 |
}; |
| 165 |
aos_unittest_t moduleUtAlldMpu6050 = {
|
| 166 |
/* name */ "MPU6050", |
| 167 |
/* info */ "accelerometer and gyroscope", |
| 168 |
/* test function */ utAlldMpu6050Func,
|
| 169 |
/* shell command */ {
|
| 170 |
/* name */ "unittest:Accelerometer&Gyroscope", |
| 171 |
/* callback */ _utShellCmdCb_AlldMpu6050,
|
| 172 |
/* next */ NULL, |
| 173 |
}, |
| 174 |
/* data */ &_utAlldMpu6050Data
|
| 175 |
}; |
| 176 |
|
| 177 |
#endif /* defined(AMIROLLD_CFG_MPU6050) */ |
| 178 |
|
| 179 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 180 |
|
| 181 |
/** @} */
|
| 182 |
/** @} */
|