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amiro-os / modules / NUCLEO-L476RG / module.c @ 7de0cc90

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1 27d0378b Simon Welzel
/*
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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 NUCLEO-L476RG module.
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 *
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 * @addtogroup NUCLEO-L476RG_module
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 * @{
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 */
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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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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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#if defined(AMIROLLD_CFG_MPU6050)
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I2CConfig moduleHalI2c3Config = {
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  /* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_COMM_MPU6050() hook
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  /* CR1        */ 0,
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  /* CR2        */ 0,
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};
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#endif /* defined(AMIROLLD_CFG_MPU6050) */
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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_GREEN,
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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_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   User button input signal GPIO.
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 */
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static apalGpio_t _gpioUserButton = {
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  /* port */ GPIOC,
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  /* pad  */ GPIOC_BUTTON,
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};
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ROMCONST apalControlGpio_t moduleGpioUserButton = {
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  /* GPIO */ &_gpioUserButton,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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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 = "NUCLEO-L476RG";
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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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#if defined(AMIROLLD_CFG_MPU6050)
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MPU6050Driver moduleLldMpu6050 = {
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  /* I2C Driver       */ &MODULE_HAL_I2C3,
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  /* I²C address      */ MPU6050_LLD_I2C_ADDR_FIXED,
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};
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#endif /* defined(AMIROLLD_CFG_MPU6050) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Unit tests (UT)
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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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#if defined(AMIROLLD_CFG_MPU6050)
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/* MPU6050 */
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static int _utShellCmdCb_AlldMpu6050(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  (void)argc;
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  (void)argv;
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  aosUtRun(stream, &moduleUtAlldMpu6050, NULL);
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  return AOS_OK;
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}
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static ut_mpu6050data_t _utAlldMpu6050Data = {
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   /* driver */ &moduleLldMpu6050,
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  /* timeout  */ MICROSECONDS_PER_SECOND,
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};
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aos_unittest_t moduleUtAlldMpu6050 = {
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  /* name           */ "MPU6050",
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  /* info           */ "accelerometer and gyroscope",
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  /* test function  */ utAlldMpu6050Func,
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  /* shell command  */ {
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    /* name     */ "unittest:Accelerometer&Gyroscope",
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    /* callback */ _utShellCmdCb_AlldMpu6050,
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    /* next     */ NULL,
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  },
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  /* data           */ &_utAlldMpu6050Data
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};
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#endif /* defined(AMIROLLD_CFG_MPU6050) */
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
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/** @} */