/modules/NUCLEO-L476RG/module.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / NUCLEO-L476RG / module.c @ 849b383a

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       /*
       AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2020  Thomas Schöpping et al.
       This program is free software: you can redistribute it and/or modify
       it under the terms of the GNU General Public License as published by
       the Free Software Foundation, either version 3 of the License, or
       (at your option) any later version.
       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU General Public License for more details.
       You should have received a copy of the GNU General Public License
       along with this program.  If not, see <http://www.gnu.org/licenses/>.
       */
       /**
        * @file
        * @brief   Structures and constant for the NUCLEO-L476RG module.
+       *
        * @addtogroup NUCLEO-L476RG_module
        * @{
        */
       #include <amiroos.h>
       /*===========================================================================*/
       /**
        * @name Module specific functions
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name ChibiOS/HAL configuration
        * @{
        */
       /*===========================================================================*/
       SerialConfig moduleHalProgIfConfig = {
         /* bit rate */ 115200,
         /* CR1      */ 0,
         /* CR1      */ 0,
         /* CR1      */ 0,
       };
       #if (BOARD_MPU6050_CONNECTED == true)
       I2CConfig moduleHalI2c3Config = {
         /* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook
         /* CR1        */ 0,
         /* CR2        */ 0,
       };
       #endif /* (BOARD_MPU6050_CONNECTED == true) */
       #if (BOARD_VL53L1X_CONNECTED == true)
       I2CConfig moduleHalI2c3Config = {
         /* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook
         /* CR1        */ 0,
         /* CR2        */ 0,
       };
       #endif /* (BOARD_VL53L1X_CONNECTED == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name GPIO definitions
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   LED output signal GPIO.
        */
       static apalGpio_t _gpioLed = {
         /* line */ LINE_LED_GREEN,
       };
       ROMCONST apalControlGpio_t moduleGpioLed = {
         /* GPIO */ &_gpioLed,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   User button input signal GPIO.
        */
       static apalGpio_t _gpioUserButton = {
         /* line */ LINE_BUTTON,
       };
       ROMCONST apalControlGpio_t moduleGpioUserButton = {
         /* GPIO */ &_gpioUserButton,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       static apalGpio_t _gpioVl53l1xINT = {
         /* line */ PAL_LINE(GPIOC, GPIOC_PIN2),
       };
       ROMCONST apalControlGpio_t moduleGpioVl53l1xINT = {
         /* GPIO */ &_gpioVl53l1xINT,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_FALLING,
         },
       };
       static apalGpio_t _gpioVl53l1xXSHUT = {
         /* line */ PAL_LINE(GPIOC, GPIOC_PIN3),
       };
       ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT = {
         /* GPIO */ &_gpioVl53l1xXSHUT,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name AMiRo-OS core configurations
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
       ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG";
       #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Startup Shutdown Synchronization Protocol (SSSP)
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name Low-level drivers
        * @{
        */
       /*===========================================================================*/
       LEDDriver moduleLldLed = {
         /* LED enable Gpio */ &moduleGpioLed,
       };
       ButtonDriver moduleLldUserButton = {
         /* Button Gpio  */ &moduleGpioUserButton,
       };
       #if (BOARD_VL53L1X_CONNECTED == true)
       VL53L1XDriver moduleLldVl53l1x = {
          /* I2C Driver       */ &MODULE_HAL_I2C3,
         /* I²C address      */ VL53L1X_LLD_I2C_ADDR_DEFAULT,
         /* GPIO 1:INT pin */ &moduleGpioVl53l1xINT,
          /* Xshut  */        &moduleGpioVl53l1xXSHUT,
       };
       #endif /* (BOARD_VL53L1X_CONNECTED == true) */
       #if (BOARD_MPU6050_CONNECTED == true)
       MPU6050Driver moduleLldMpu6050 = {
         /* I2C Driver       */ &MODULE_HAL_I2C3,
         /* I²C address      */ MPU6050_LLD_I2C_ADDR_FIXED,
       };
       #endif /* (BOARD_MPU6050_CONNECTED == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Tests
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       /*
        * LED
        */
       #include <module_test_LED.h>
       static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestLedShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
       /*
        * LED
        */
       #include <module_test_VL53L1X.h>
       static int _testShellVL53L1XCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestVL53L1XShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestVL53L1XShellCmd, "test:VL53L1X", _testShellVL53L1XCmdCb);
       static int _testShellVL53L1XInitCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestVL53L1XInitShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestVL53L1XInitShellCmd, "test:VL53L1X:INIT", _testShellVL53L1XInitCmdCb);
       /*
        * User button
        */
       #include <module_test_button.h>
       static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestButtonShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
       #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__)
       /*
        * MPU6050 (accelerometer & gyroscope)
        */
       #include <module_test_MPU6050.h>
       static int _testMpu6050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestMpu6050ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestMpu6050ShellCmd, "test:IMU", _testMpu6050ShellCmdCb);
       #endif /* (BOARD_MPU6050_CONNECTED == true) */
       /*
        * entire module
        */
       static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         int status = AOS_OK;
         char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};
         aos_testresult_t result_test = {0, 0};
         aos_testresult_t result_total = {0, 0};
         /* LED */
         status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* User button */
         status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* MPU6050 (accelerometer & gyroscope) */
       #if (BOARD_MPU6050_CONNECTED == true)
         status |= moduleTestMpu6050ShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
       #endif /* (BOARD_MPU6050_CONNECTED == true) */
         // print total result
         chprintf(stream, "\n");
         aosTestResultPrintSummary(stream, &result_total, "entire module");
         return status;
+      }
       AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
       #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
       /** @} */
       /** @} */