amiro-os / modules / NUCLEO-L476RG / module.c @ 849b383a
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1 | 27d0378b | Simon Welzel | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
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4 | 27d0378b | Simon Welzel | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | /**
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20 | * @file
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21 | 126ace3c | Thomas Schöpping | * @brief Structures and constant for the NUCLEO-L476RG module.
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22 | 27d0378b | Simon Welzel | *
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23 | 126ace3c | Thomas Schöpping | * @addtogroup NUCLEO-L476RG_module
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24 | 27d0378b | Simon Welzel | * @{
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25 | */
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26 | |||
27 | 126ace3c | Thomas Schöpping | #include <amiroos.h> |
28 | 27d0378b | Simon Welzel | |
29 | /*===========================================================================*/
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30 | /**
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31 | * @name Module specific functions
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32 | * @{
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33 | */
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34 | /*===========================================================================*/
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35 | |||
36 | /** @} */
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37 | |||
38 | /*===========================================================================*/
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39 | /**
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40 | * @name ChibiOS/HAL configuration
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41 | * @{
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42 | */
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43 | /*===========================================================================*/
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44 | |||
45 | SerialConfig moduleHalProgIfConfig = { |
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46 | /* bit rate */ 115200, |
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47 | /* CR1 */ 0, |
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48 | /* CR1 */ 0, |
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49 | /* CR1 */ 0, |
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50 | }; |
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51 | |||
52 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) |
53 | 126ace3c | Thomas Schöpping | |
54 | I2CConfig moduleHalI2c3Config = { |
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55 | 4c72a54c | Thomas Schöpping | /* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook |
56 | 126ace3c | Thomas Schöpping | /* CR1 */ 0, |
57 | /* CR2 */ 0, |
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58 | }; |
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59 | |||
60 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
61 | 126ace3c | Thomas Schöpping | |
62 | 849b383a | galberding | #if (BOARD_VL53L1X_CONNECTED == true) |
63 | |||
64 | I2CConfig moduleHalI2c3Config = { |
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65 | /* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook |
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66 | /* CR1 */ 0, |
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67 | /* CR2 */ 0, |
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68 | }; |
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69 | |||
70 | #endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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71 | |||
72 | 27d0378b | Simon Welzel | /** @} */
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73 | |||
74 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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75 | /**
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76 | * @name GPIO definitions
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77 | * @{
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78 | */
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79 | /*===========================================================================*/
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80 | |||
81 | /**
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82 | a0301104 | Thomas Schöpping | * @brief LED output signal GPIO.
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83 | 8543d0d9 | Thomas Schöpping | */
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84 | static apalGpio_t _gpioLed = {
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85 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED_GREEN,
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86 | 8543d0d9 | Thomas Schöpping | }; |
87 | ROMCONST apalControlGpio_t moduleGpioLed = { |
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88 | /* GPIO */ &_gpioLed,
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89 | /* meta */ {
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90 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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91 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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92 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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93 | }, |
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94 | }; |
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95 | |||
96 | /**
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97 | * @brief User button input signal GPIO.
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98 | */
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99 | static apalGpio_t _gpioUserButton = {
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100 | 3106e8cc | Thomas Schöpping | /* line */ LINE_BUTTON,
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101 | 8543d0d9 | Thomas Schöpping | }; |
102 | ROMCONST apalControlGpio_t moduleGpioUserButton = { |
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103 | /* GPIO */ &_gpioUserButton,
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104 | /* meta */ {
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105 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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106 | 83e94d4b | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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107 | 8543d0d9 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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108 | }, |
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109 | }; |
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110 | |||
111 | 849b383a | galberding | |
112 | static apalGpio_t _gpioVl53l1xINT = {
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113 | /* line */ PAL_LINE(GPIOC, GPIOC_PIN2),
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114 | }; |
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115 | ROMCONST apalControlGpio_t moduleGpioVl53l1xINT = { |
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116 | /* GPIO */ &_gpioVl53l1xINT,
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117 | /* meta */ {
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118 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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119 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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120 | /* interrupt edge */ APAL_GPIO_EDGE_FALLING,
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121 | }, |
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122 | }; |
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123 | |||
124 | static apalGpio_t _gpioVl53l1xXSHUT = {
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125 | /* line */ PAL_LINE(GPIOC, GPIOC_PIN3),
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126 | }; |
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127 | ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT = { |
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128 | /* GPIO */ &_gpioVl53l1xXSHUT,
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129 | /* meta */ {
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130 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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131 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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132 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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133 | }, |
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134 | }; |
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135 | |||
136 | 8543d0d9 | Thomas Schöpping | /** @} */
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137 | 27d0378b | Simon Welzel | |
138 | /*===========================================================================*/
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139 | /**
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140 | * @name AMiRo-OS core configurations
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141 | * @{
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142 | */
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143 | /*===========================================================================*/
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144 | |||
145 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
146 | a0301104 | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG"; |
147 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
148 | 27d0378b | Simon Welzel | |
149 | 8543d0d9 | Thomas Schöpping | /** @} */
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150 | 27d0378b | Simon Welzel | |
151 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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152 | /**
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153 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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154 | * @{
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155 | */
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156 | /*===========================================================================*/
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157 | |||
158 | /** @} */
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159 | |||
160 | /*===========================================================================*/
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161 | /**
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162 | * @name Low-level drivers
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163 | * @{
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164 | */
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165 | /*===========================================================================*/
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166 | |||
167 | 4c72a54c | Thomas Schöpping | LEDDriver moduleLldLed = { |
168 | /* LED enable Gpio */ &moduleGpioLed,
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169 | }; |
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170 | |||
171 | ButtonDriver moduleLldUserButton = { |
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172 | /* Button Gpio */ &moduleGpioUserButton,
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173 | }; |
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174 | |||
175 | 849b383a | galberding | |
176 | #if (BOARD_VL53L1X_CONNECTED == true) |
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177 | VL53L1XDriver moduleLldVl53l1x = { |
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178 | /* I2C Driver */ &MODULE_HAL_I2C3,
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179 | /* I²C address */ VL53L1X_LLD_I2C_ADDR_DEFAULT,
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180 | /* GPIO 1:INT pin */ &moduleGpioVl53l1xINT,
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181 | /* Xshut */ &moduleGpioVl53l1xXSHUT,
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182 | }; |
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183 | |||
184 | #endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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185 | |||
186 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) |
187 | 126ace3c | Thomas Schöpping | |
188 | MPU6050Driver moduleLldMpu6050 = { |
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189 | /* I2C Driver */ &MODULE_HAL_I2C3,
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190 | /* I²C address */ MPU6050_LLD_I2C_ADDR_FIXED,
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191 | }; |
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192 | |||
193 | 849b383a | galberding | |
194 | |||
195 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
196 | 126ace3c | Thomas Schöpping | |
197 | 8543d0d9 | Thomas Schöpping | /** @} */
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198 | |||
199 | /*===========================================================================*/
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200 | /**
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201 | 4c72a54c | Thomas Schöpping | * @name Tests
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202 | 8543d0d9 | Thomas Schöpping | * @{
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203 | */
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204 | /*===========================================================================*/
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205 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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206 | 1678f270 | Simon Welzel | |
207 | 4c72a54c | Thomas Schöpping | /*
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208 | * LED
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209 | */
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210 | #include <module_test_LED.h> |
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211 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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212 | { |
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213 | return moduleTestLedShellCb(stream, argc, argv, NULL); |
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214 | } |
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215 | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
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216 | |||
217 | /*
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218 | 849b383a | galberding | * LED
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219 | */
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220 | #include <module_test_VL53L1X.h> |
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221 | static int _testShellVL53L1XCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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222 | { |
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223 | return moduleTestVL53L1XShellCb(stream, argc, argv, NULL); |
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224 | } |
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225 | AOS_SHELL_COMMAND(moduleTestVL53L1XShellCmd, "test:VL53L1X", _testShellVL53L1XCmdCb);
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226 | |||
227 | static int _testShellVL53L1XInitCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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228 | { |
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229 | return moduleTestVL53L1XInitShellCb(stream, argc, argv, NULL); |
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230 | } |
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231 | AOS_SHELL_COMMAND(moduleTestVL53L1XInitShellCmd, "test:VL53L1X:INIT", _testShellVL53L1XInitCmdCb);
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232 | |||
233 | /*
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234 | 4c72a54c | Thomas Schöpping | * User button
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235 | */
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236 | #include <module_test_button.h> |
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237 | static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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238 | { |
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239 | return moduleTestButtonShellCb(stream, argc, argv, NULL); |
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240 | } |
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241 | AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
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242 | |||
243 | #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
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244 | |||
245 | /*
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246 | * MPU6050 (accelerometer & gyroscope)
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247 | */
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248 | #include <module_test_MPU6050.h> |
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249 | static int _testMpu6050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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250 | { |
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251 | return moduleTestMpu6050ShellCb(stream, argc, argv, NULL); |
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252 | } |
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253 | AOS_SHELL_COMMAND(moduleTestMpu6050ShellCmd, "test:IMU", _testMpu6050ShellCmdCb);
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254 | |||
255 | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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256 | 126ace3c | Thomas Schöpping | |
257 | 4c72a54c | Thomas Schöpping | /*
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258 | * entire module
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259 | */
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260 | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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261 | 126ace3c | Thomas Schöpping | { |
262 | (void)argc;
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263 | (void)argv;
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264 | |||
265 | 4c72a54c | Thomas Schöpping | int status = AOS_OK;
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266 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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267 | aos_testresult_t result_test = {0, 0}; |
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268 | aos_testresult_t result_total = {0, 0}; |
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269 | |||
270 | /* LED */
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271 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
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272 | result_total = aosTestResultAdd(result_total, result_test); |
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273 | |||
274 | /* User button */
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275 | status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
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276 | result_total = aosTestResultAdd(result_total, result_test); |
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277 | |||
278 | /* MPU6050 (accelerometer & gyroscope) */
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279 | #if (BOARD_MPU6050_CONNECTED == true) |
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280 | status |= moduleTestMpu6050ShellCb(stream, 0, targv, &result_test);
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281 | result_total = aosTestResultAdd(result_total, result_test); |
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282 | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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283 | |||
284 | // print total result
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285 | chprintf(stream, "\n");
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286 | aosTestResultPrintSummary(stream, &result_total, "entire module");
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287 | |||
288 | return status;
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289 | } |
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290 | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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291 | 126ace3c | Thomas Schöpping | |
292 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
293 | 8543d0d9 | Thomas Schöpping | |
294 | /** @} */
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295 | 27d0378b | Simon Welzel | /** @} */ |