Revision 849b383a modules/NUCLEO-L476RG/module.h
| modules/NUCLEO-L476RG/module.h | ||
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*/ |
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#define MODULE_HAL_RTC RTCD1 |
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#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
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#if (BOARD_MPU6050_CONNECTED == true || BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__)
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/** |
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* @brief I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery). |
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*/ |
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extern I2CConfig moduleHalI2c3Config; |
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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#endif /* (BOARD_MPU6050_CONNECTED == true || BOARD_VL53L1X_CONNECTED == true) */
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/** @} */ |
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* @brief User button input signal. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioUserButton; |
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extern ROMCONST apalControlGpio_t moduleGpioVl53l1xINT; |
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extern ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT; |
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/** @} */ |
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*/ |
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/*===========================================================================*/ |
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#include <math.h> |
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/** |
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* @brief Event flag to be set on a USER_BUTTON interrupt. |
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*/ |
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/* user button */ \ |
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palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioUserButton.gpio->line); \ |
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palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
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MODULE_INIT_INTERRUPTS_VL53L1X(); \ |
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} |
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#if (BOARD_VL53L1X_CONNECTED == true) |
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#define MODULE_INIT_INTERRUPTS_VL53L1X() { \
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palSetLineCallback(moduleGpioVl53l1xINT.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioVl53l1xINT.gpio->line); \ |
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palEnableLineEvent(moduleGpioVl53l1xINT.gpio->line, APAL2CH_EDGE(moduleGpioVl53l1xINT.meta.edge)); \ |
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} |
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#else /* (BOARD_VL53L1X_CONNECTED == true) */ |
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#define MODULE_INIT_INTERRUPTS_VL53L1X() {}
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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/** |
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* @brief Test initialization hook. |
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*/ |
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aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd); \ |
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MODULE_INIT_TEST_MPU6050(); \ |
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MODULE_INIT_TEST_VL53L1X(); \ |
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aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
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} |
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#if (BOARD_MPU6050_CONNECTED == true) |
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#define MODULE_INIT_TEST_MPU6050() {}
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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#if (BOARD_VL53L1X_CONNECTED == true) |
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#define MODULE_INIT_TEST_VL53L1X() { \
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aosShellAddCommand(&aos.shell, &moduleTestVL53L1XShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestVL53L1XInitShellCmd); \ |
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} |
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#else /* (BOARD_VL53L1X_CONNECTED == true) */ |
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#define MODULE_INIT_TEST_VL53L1X() {}
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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/** |
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* @brief Periphery communication interfaces initialization hook. |
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*/ |
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* MPU6050 demo */ \ |
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MODULE_INIT_PERIPHERY_IF_MPU6050(); \ |
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MODULE_INIT_PERIPHERY_IF_VL53L1X(); \ |
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} |
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#if (BOARD_MPU6050_CONNECTED == true) |
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#define MODULE_INIT_PERIPHERY_IF_MPU6050() { \
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#define MODULE_INIT_PERIPHERY_IF_MPU6050() {}
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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#if (BOARD_VL53L1X_CONNECTED == true) |
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#define MODULE_INIT_PERIPHERY_IF_VL53L1X() { \
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/* maximum I2C frequency is 1MHz for this MCU */ \ |
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uint32_t i2c3_freq = 1000000; \ |
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/* find minimum amon all devices connected to this bus */ \ |
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i2c3_freq = (VL53L1X_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? VL53L1X_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
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/* calculate PRESC (prescaler): \ |
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* target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \ |
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*/ \ |
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moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
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/* SCL shall be low half of the time. */ \ |
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moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
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/* SCL shall be high half the time of low or slightly longer. */ \ |
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moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \ |
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/* SDA shall be delayed 1/10 of SCL low, or shorter */ \ |
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moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
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/* SCL shall be delyed twice as long as SDA, but longer than 0. */ \ |
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moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
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/* setup the GPIO signals */ \ |
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moduleHalI2c3Config.timingr = 0x00702991; \ |
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chSysLock(); \ |
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PAL_PORT(moduleLldVl53l1x.xshut->gpio->line)->PUPDR &= ~(3U << (PAL_PAD(moduleLldVl53l1x.xshut->gpio->line) * 2U)); \ |
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PAL_PORT(moduleLldVl53l1x.xshut->gpio->line)->PUPDR |= PIN_PUPDR_PULLUP(PAL_PAD(moduleLldVl53l1x.xshut->gpio->line)); \ |
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/* palSetLineMode(moduleLldVl53l1x.xshut->gpio->line, PAL_MODE_OUTPUT_OPENDRAIN); \*/ \ |
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palSetLineMode(moduleLldVl53l1x.xshut->gpio->line, PAL_MODE_OUTPUT_PUSHPULL); \ |
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palSetLineMode(moduleLldVl53l1x.gpio1->gpio->line, PAL_MODE_INPUT_PULLUP); \ |
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palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \ |
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palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \ |
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chSysUnlock(); \ |
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apalControlGpioSet(moduleLldVl53l1x.xshut, APAL_GPIO_OFF); \ |
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/* now we can start the I2C driver */ \ |
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i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
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} |
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#else /* (BOARD_VL53L1X_CONNECTED == true) */ |
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#define MODULE_INIT_PERIPHERY_IF_VL53L1X() {}
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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/** |
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* @brief Periphery communication interface deinitialization hook. |
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*/ |
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*/ |
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extern LEDDriver moduleLldLed; |
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#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
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#include <alld_VL53L1X.h> |
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extern VL53L1XDriver moduleLldVl53l1x; |
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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/** |
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* @brief Button driver. |
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*/ |
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extern aos_shellcommand_t moduleTestLedShellCmd; |
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/** |
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* @brief VL53L1X test command. |
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*/ |
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extern aos_shellcommand_t moduleTestVL53L1XShellCmd; |
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extern aos_shellcommand_t moduleTestVL53L1XInitShellCmd; |
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/** |
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* @brief User button test command. |
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*/ |
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extern aos_shellcommand_t moduleTestButtonShellCmd; |
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