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amiro-os / modules / DiWheelDrive_1-1 / module.c @ 846b80db

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1 e545e620 Thomas Schöpping
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3 84f0ce9e Thomas Schöpping
Copyright (C) 2016..2019  Thomas Schöpping et al.
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5
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.
9

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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.
14

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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/*===========================================================================*/
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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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};
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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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/**
267
 * @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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/**
283
 * @brief   PATH_DCEN output signal GPIO.
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 */
285
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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 */
301
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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  },
312
};
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/**
315
 * @brief   SYS_REG_EN input signal GPIO.
316
 */
317
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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/**
331
 * @brief   SYS_WARMRST bidirectional signal GPIO.
332
 */
333
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,
343
  },
344
};
345 e545e620 Thomas Schöpping
346
/** @} */
347
348
/*===========================================================================*/
349
/**
350
 * @name AMiRo-OS core configurations
351
 * @{
352
 */
353
/*===========================================================================*/
354
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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
358
359
/** @} */
360
361
/*===========================================================================*/
362
/**
363
 * @name Startup Shutdown Synchronization Protocol (SSSP)
364
 * @{
365
 */
366
/*===========================================================================*/
367
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/** @} */
369
370
/*===========================================================================*/
371
/**
372
 * @name Low-level drivers
373
 * @{
374
 */
375
/*===========================================================================*/
376
377
A3906Driver moduleLldMotors = {
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  /* power enable GPIO  */ &moduleGpioPowerEn,
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};
380
381
AT24C01BNDriver moduleLldEeprom = {
382
  /* I2C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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  /* I²C address  */ AT24C01BN_LLD_I2C_ADDR_FIXED,
384
};
385
386
HMC5883LDriver moduleLldCompass = {
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  /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
388
};
389
390
INA219Driver moduleLldPowerMonitorVdd = {
391
  /* I2C Driver       */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
392
  /* 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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};
396
397
L3G4200DDriver moduleLldGyroscope = {
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  /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
399
};
400
401
LEDDriver moduleLldStatusLed = {
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  /* LED enable Gpio */ &moduleGpioLed,
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};
404
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LIS331DLHDriver moduleLldAccelerometer = {
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  /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
407
};
408
409
LTC4412Driver moduleLldPowerPathController = {
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  /* Control GPIO */ &moduleGpioPathDcEn,
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  /* Status GPIO  */ &moduleGpioPathDcStat,
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};
413
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PCA9544ADriver moduleLldI2cMultiplexer = {
415
  /* 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,
417
};
418
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TPS62113Driver moduleLldStepDownConverterVdrive = {
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  /* Power enable Gpio */ &moduleGpioPowerEn,
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};
422
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VCNL4020Driver moduleLldProximity = {
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  /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
425
};
426
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/** @} */
428
429
/*===========================================================================*/
430
/**
431
 * @name Unit tests (UT)
432
 * @{
433
 */
434
/*===========================================================================*/
435
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
436
#include <string.h>
437
#include <chprintf.h>
438
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/*
440
 * A3906 (motor driver)
441
 */
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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;
448
}
449
static ut_a3906data_t _utA3906Data = {
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  /* driver           */ &moduleLldMotors,
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  /* PWM information  */ {
452
    /* 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,
458
    },
459
  },
460
  /* QEI information  */ {
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    /* left wheel               */ &MODULE_HAL_QEI_LEFT_WHEEL,
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    /* right wheel              */ &MODULE_HAL_QEI_RIGHT_WHEEL,
463
    /* 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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};
471
aos_unittest_t moduleUtAlldA3906  = {
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  /* name           */ "A3906",
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  /* info           */ "motor driver",
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  /* test function  */ utAlldA3906Func,
475
  /* shell command  */ {
476
    /* name     */ "unittest:MotorDriver",
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    /* callback */ _utShellCmdCb_AlldA3906,
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    /* next     */ NULL,
479
  },
480
  /* data           */ &_utA3906Data,
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};
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/*
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 * AT24C01BN (EEPROM)
485
 */
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static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[])
487
{
488
  (void)argc;
489
  (void)argv;
490
  aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
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  return AOS_OK;
492
}
493
static ut_at24c01bndata_t _utAt24c01bnData = {
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  /* driver   */ &moduleLldEeprom,
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  /* timeout  */ MICROSECONDS_PER_SECOND,
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};
497
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,
501
  /* shell command  */ {
502
    /* name     */ "unittest:EEPROM",
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    /* callback */ _utShellCmdCb_AlldAt24c01bn,
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    /* next     */ NULL,
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  },
506
  /* data           */ &_utAt24c01bnData,
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};
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/*
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 * HMC5883L (compass)
511
 */
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static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[])
513
{
514
  (void)argc;
515
  (void)argv;
516
  aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
517
  return AOS_OK;
518
}
519
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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};
525
aos_unittest_t moduleUtAlldHmc5883l = {
526
  /* name           */ "HMC5883L",
527
  /* info           */ "compass",
528
  /* test function  */ utAlldHmc5883lFunc,
529
  /* shell command  */ {
530
    /* name     */ "unittest:Compass",
531
    /* callback */ _utShellCmdCb_AlldHmc5883l,
532
    /* next     */ NULL,
533
  },
534
  /* data           */ &_utHmc5883lData,
535
};
536
537 8be006e0 Thomas Schöpping
/*
538
 * INA219 (power monitor)
539
 */
540 e545e620 Thomas Schöpping
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[])
541
{
542
  (void)argc;
543
  (void)argv;
544
  aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
545
  return AOS_OK;
546
}
547
static ut_ina219data_t _utIna219Data = {
548
  /* driver           */ &moduleLldPowerMonitorVdd,
549
  /* expected voltage */ 3.3f,
550
  /* tolerance        */ 0.05f,
551
  /* timeout */ MICROSECONDS_PER_SECOND,
552
};
553
aos_unittest_t moduleUtAlldIna219 = {
554
  /* name           */ "INA219",
555
  /* info           */ "power monitor",
556
  /* test function  */ utAlldIna219Func,
557
  /* shell command  */ {
558
    /* name     */ "unittest:PowerMonitor",
559
    /* callback */ _utShellCmdCb_AlldIna219,
560
    /* next     */ NULL,
561
  },
562
  /* data           */ &_utIna219Data,
563
};
564
565 8be006e0 Thomas Schöpping
/*
566
 * L3G4200D (gyroscope)
567
 */
568 e545e620 Thomas Schöpping
static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[])
569
{
570
  (void)argc;
571
  (void)argv;
572
  spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf);
573
  aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
574
  spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid);
575
  return AOS_OK;
576
}
577
static ut_l3g4200ddata_t _utL3g4200dData = {
578
  /* driver            */ &moduleLldGyroscope,
579
  /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
580 6b53f6bf Thomas Schöpping
  /* event source */ &aos.events.io,
581 1e5f7648 Thomas Schöpping
  /* event flags  */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
582 e545e620 Thomas Schöpping
};
583
aos_unittest_t moduleUtAlldL3g4200d = {
584
  /* name           */ "L3G4200D",
585
  /* info           */ "Gyroscope",
586
  /* test function  */ utAlldL3g4200dFunc,
587
  /* shell command  */ {
588
    /* name     */ "unittest:Gyroscope",
589
    /* callback */ _utShellCmdCb_AlldL3g4200d,
590
    /* next     */ NULL,
591
  },
592
  /* data           */ &_utL3g4200dData,
593
};
594
595 8be006e0 Thomas Schöpping
/*
596
 * Status LED
597
 */
598 e545e620 Thomas Schöpping
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[])
599
{
600
  (void)argc;
601
  (void)argv;
602
  aosUtRun(stream, &moduleUtAlldLed, NULL);
603
  return AOS_OK;
604
}
605
aos_unittest_t moduleUtAlldLed = {
606
  /* name           */ "LED",
607
  /* info           */ NULL,
608
  /* test function  */ utAlldLedFunc,
609
  /* shell command  */ {
610
    /* name     */ "unittest:StatusLED",
611
    /* callback */ _utShellCmdCb_AlldLed,
612
    /* next     */ NULL,
613
  },
614
  /* data           */ &moduleLldStatusLed,
615
};
616
617 8be006e0 Thomas Schöpping
/*
618
 * LIS331DLH (accelerometer)
619
 */
620 e545e620 Thomas Schöpping
static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[])
621
{
622
  (void)argc;
623
  (void)argv;
624
  spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf);
625
  aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
626
  spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid);
627
  return AOS_OK;
628
}
629
static ut_lis331dlhdata_t _utLis331dlhData = {
630
  /* driver            */ &moduleLldAccelerometer,
631
  /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
632 6b53f6bf Thomas Schöpping
  /* event source */ &aos.events.io,
633 1e5f7648 Thomas Schöpping
  /* event flags  */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
634 e545e620 Thomas Schöpping
};
635
aos_unittest_t moduleUtAlldLis331dlh = {
636
  /* name           */ "LIS331DLH",
637
  /* info           */ "Accelerometer",
638
  /* test function  */ utAlldLis331dlhFunc,
639
  /* shell command  */ {
640
    /* name     */ "unittest:Accelerometer",
641
    /* callback */ _utShellCmdCb_AlldLis331dlh,
642
    /* next     */ NULL,
643
  },
644
  /* data           */ &_utLis331dlhData,
645
};
646
647 8be006e0 Thomas Schöpping
/*
648
 * LTC4412 (power path controller)
649
 */
650 e545e620 Thomas Schöpping
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[])
651
{
652
  (void)argc;
653
  (void)argv;
654
  aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
655
  return AOS_OK;
656
}
657
aos_unittest_t moduleUtAlldLtc4412 = {
658
  /* name           */ "LTC4412",
659
  /* info           */ "Power path controller",
660
  /* test function  */ utAlldLtc4412Func,
661
  /* shell command  */ {
662
    /* name     */ "unittest:PowerPathController",
663
    /* callback */ _utShellCmdCb_AlldLtc4412,
664
    /* next     */ NULL,
665
  },
666
  /* data           */ &moduleLldPowerPathController,
667
};
668
669 8be006e0 Thomas Schöpping
/*
670
 * PCA9544A (I2C multiplexer)
671
 */
672 e545e620 Thomas Schöpping
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[])
673
{
674
  (void)argc;
675
  (void)argv;
676
  aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
677
  return AOS_OK;
678
}
679
static ut_pca9544adata_t _utPca9544aData = {
680
  /* driver  */ &moduleLldI2cMultiplexer,
681
  /* timeout */ MICROSECONDS_PER_SECOND,
682
};
683
aos_unittest_t moduleUtAlldPca9544a = {
684
  /* name           */ "PCA9544A",
685
  /* info           */ "I2C multiplexer",
686
  /* test function  */ utAlldPca9544aFunc,
687
  /* shell command  */ {
688
    /* name     */ "unittest:I2CMultiplexer",
689
    /* callback */ _utShellCmdCb_AlldPca9544a,
690
    /* next     */ NULL,
691
  },
692
  /* data           */ &_utPca9544aData,
693
};
694
695 8be006e0 Thomas Schöpping
/*
696
 * TPS62113 (step-down converter)
697
 */
698 e545e620 Thomas Schöpping
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[])
699
{
700
  (void)argc;
701
  (void)argv;
702
  aosUtRun(stream, &moduleUtAlldTps62113, NULL);
703
  return AOS_OK;
704
}
705
aos_unittest_t moduleUtAlldTps62113 = {
706
  /* name           */ "TPS62113",
707
  /* info           */ "Step down converter",
708
  /* test function  */ utAlldTps62113Func,
709
  /* shell command  */ {
710
    /* name     */ "unittest:StepDownConverter",
711
    /* callback */ _utShellCmdCb_AlldTps62113,
712
    /* next     */ NULL,
713
  },
714
  /* data           */ &moduleLldStepDownConverterVdrive,
715
};
716
717 8be006e0 Thomas Schöpping
/*
718
 * VCNL4020 (proximity sensor)
719
 */
720 e545e620 Thomas Schöpping
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl)
721
{
722
  uint8_t intstatus;
723
  vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
724
  vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
725
  if (intstatus) {
726
    vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
727
  }
728
  return;
729
}
730
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[])
731
{
732
  enum {
733
    UNKNOWN,
734
    FL, FR, WL, WR,
735
  } sensor = UNKNOWN;
736
  // evaluate arguments
737
  if (argc == 2) {
738
    if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) {
739
      sensor = FL;
740
    } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) {
741
      sensor = FR;
742
    } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) {
743
      sensor = WL;
744
    } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) {
745
      sensor = WR;
746
    }
747
  }
748
  if (sensor != UNKNOWN) {
749
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
750
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
751
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
752
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
753
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
754
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
755
    pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
756
    _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
757
    switch (sensor) {
758
      case FL:
759
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
760 1e5f7648 Thomas Schöpping
        aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
761 e545e620 Thomas Schöpping
        break;
762
      case FR:
763
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
764
        aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
765
        break;
766
      case WL:
767
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
768
        aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
769
        break;
770
      case WR:
771
        pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
772
        aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
773
        break;
774
      default:
775
        break;
776
    }
777
    return AOS_OK;
778
  }
779
  // print help
780
  chprintf(stream, "Usage: %s OPTION\n", argv[0]);
781
  chprintf(stream, "Options:\n");
782
  chprintf(stream, "  --frontleft, -fl\n");
783
  chprintf(stream, "    Test front left proximity sensor.\n");
784
  chprintf(stream, "  --frontrigt, -fr\n");
785
  chprintf(stream, "    Test front right proximity sensor.\n");
786
  chprintf(stream, "  --wheelleft, -wl\n");
787
  chprintf(stream, "    Test left wheel proximity sensor.\n");
788
  chprintf(stream, "  --wheelright, -wr\n");
789
  chprintf(stream, "    Test right wheel proximity sensor.\n");
790
  return AOS_INVALID_ARGUMENTS;
791
}
792
static ut_vcnl4020data_t _utVcnl4020Data = {
793
  /* driver       */ &moduleLldProximity,
794
  /* timeout      */ MICROSECONDS_PER_SECOND,
795 6b53f6bf Thomas Schöpping
  /* event source */ &aos.events.io,
796 1e5f7648 Thomas Schöpping
  /* event flags  */ MODULE_OS_IOEVENTFLAGS_IRINT,
797 e545e620 Thomas Schöpping
};
798
aos_unittest_t moduleUtAlldVcnl4020 = {
799
  /* name           */ "VCNL4020",
800
  /* info           */ "proximity sensor",
801
  /* test function  */ utAlldVcnl4020Func,
802
  /* shell command  */ {
803
    /* name     */ "unittest:Proximity",
804
    /* callback */ _utShellCmdCb_AlldVcnl4020,
805
    /* next     */ NULL,
806
  },
807
  /* data           */ &_utVcnl4020Data,
808
};
809
810 846b80db Julian L
static ut_rtcandata_t _utLldRtCanData = {
811
    /*operation */ NULL
812
};
813
814 d2931db9 Julian L
static int _utShellCmdCb_LldRtCan(BaseSequentialStream* stream, int argc, char* argv[])
815
{
816 846b80db Julian L
    if(argc == 2 ){
817
        if (strcmp(argv[1], "send") == 0) {
818
            ((ut_rtcandata_t*)moduleUtLldRtCan.data)->operation = "send";
819
            aosUtRun(stream, &moduleUtLldRtCan,NULL);
820
            return AOS_OK;
821
        }else if(strcmp(argv[1], "receive") == 0){
822
            ((ut_rtcandata_t*)moduleUtLldRtCan.data)->operation = "receive";
823
            aosUtRun(stream, &moduleUtLldRtCan,NULL);
824
            return AOS_OK;
825
        }
826
    }
827
    return AOS_INVALID_ARGUMENTS;
828 d2931db9 Julian L
}
829
aos_unittest_t moduleUtLldRtCan = {
830
  /* name           */ "RTCAN",
831
  /* info           */ NULL,
832
  /* test function  */ utLldRtCanFunc,
833
  /* shell command  */ {
834
    /* name     */ "unittest:rtcan",
835
    /* callback */ _utShellCmdCb_LldRtCan,
836
    /* next     */ NULL,
837
  },
838 846b80db Julian L
  /* data           */ &_utLldRtCanData,
839 d2931db9 Julian L
};
840
841 e545e620 Thomas Schöpping
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
842
843
/** @} */
844 53710ca3 Marc Rothmann
/** @} */