amiro-os / modules / NUCLEO-L476RG / module.c @ 849b383a
History | View | Annotate | Download (7.87 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
/**
|
20 |
* @file
|
21 |
* @brief Structures and constant for the NUCLEO-L476RG module.
|
22 |
*
|
23 |
* @addtogroup NUCLEO-L476RG_module
|
24 |
* @{
|
25 |
*/
|
26 |
|
27 |
#include <amiroos.h> |
28 |
|
29 |
/*===========================================================================*/
|
30 |
/**
|
31 |
* @name Module specific functions
|
32 |
* @{
|
33 |
*/
|
34 |
/*===========================================================================*/
|
35 |
|
36 |
/** @} */
|
37 |
|
38 |
/*===========================================================================*/
|
39 |
/**
|
40 |
* @name ChibiOS/HAL configuration
|
41 |
* @{
|
42 |
*/
|
43 |
/*===========================================================================*/
|
44 |
|
45 |
SerialConfig moduleHalProgIfConfig = { |
46 |
/* bit rate */ 115200, |
47 |
/* CR1 */ 0, |
48 |
/* CR1 */ 0, |
49 |
/* CR1 */ 0, |
50 |
}; |
51 |
|
52 |
#if (BOARD_MPU6050_CONNECTED == true) |
53 |
|
54 |
I2CConfig moduleHalI2c3Config = { |
55 |
/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook |
56 |
/* CR1 */ 0, |
57 |
/* CR2 */ 0, |
58 |
}; |
59 |
|
60 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
61 |
|
62 |
#if (BOARD_VL53L1X_CONNECTED == true) |
63 |
|
64 |
I2CConfig moduleHalI2c3Config = { |
65 |
/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook |
66 |
/* CR1 */ 0, |
67 |
/* CR2 */ 0, |
68 |
}; |
69 |
|
70 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
71 |
|
72 |
/** @} */
|
73 |
|
74 |
/*===========================================================================*/
|
75 |
/**
|
76 |
* @name GPIO definitions
|
77 |
* @{
|
78 |
*/
|
79 |
/*===========================================================================*/
|
80 |
|
81 |
/**
|
82 |
* @brief LED output signal GPIO.
|
83 |
*/
|
84 |
static apalGpio_t _gpioLed = {
|
85 |
/* line */ LINE_LED_GREEN,
|
86 |
}; |
87 |
ROMCONST apalControlGpio_t moduleGpioLed = { |
88 |
/* GPIO */ &_gpioLed,
|
89 |
/* meta */ {
|
90 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
91 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
92 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
93 |
}, |
94 |
}; |
95 |
|
96 |
/**
|
97 |
* @brief User button input signal GPIO.
|
98 |
*/
|
99 |
static apalGpio_t _gpioUserButton = {
|
100 |
/* line */ LINE_BUTTON,
|
101 |
}; |
102 |
ROMCONST apalControlGpio_t moduleGpioUserButton = { |
103 |
/* GPIO */ &_gpioUserButton,
|
104 |
/* meta */ {
|
105 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
106 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
107 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
108 |
}, |
109 |
}; |
110 |
|
111 |
|
112 |
static apalGpio_t _gpioVl53l1xINT = {
|
113 |
/* line */ PAL_LINE(GPIOC, GPIOC_PIN2),
|
114 |
}; |
115 |
ROMCONST apalControlGpio_t moduleGpioVl53l1xINT = { |
116 |
/* GPIO */ &_gpioVl53l1xINT,
|
117 |
/* meta */ {
|
118 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
119 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
120 |
/* interrupt edge */ APAL_GPIO_EDGE_FALLING,
|
121 |
}, |
122 |
}; |
123 |
|
124 |
static apalGpio_t _gpioVl53l1xXSHUT = {
|
125 |
/* line */ PAL_LINE(GPIOC, GPIOC_PIN3),
|
126 |
}; |
127 |
ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT = { |
128 |
/* GPIO */ &_gpioVl53l1xXSHUT,
|
129 |
/* meta */ {
|
130 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
131 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
132 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
133 |
}, |
134 |
}; |
135 |
|
136 |
/** @} */
|
137 |
|
138 |
/*===========================================================================*/
|
139 |
/**
|
140 |
* @name AMiRo-OS core configurations
|
141 |
* @{
|
142 |
*/
|
143 |
/*===========================================================================*/
|
144 |
|
145 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
146 |
ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG"; |
147 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
148 |
|
149 |
/** @} */
|
150 |
|
151 |
/*===========================================================================*/
|
152 |
/**
|
153 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
154 |
* @{
|
155 |
*/
|
156 |
/*===========================================================================*/
|
157 |
|
158 |
/** @} */
|
159 |
|
160 |
/*===========================================================================*/
|
161 |
/**
|
162 |
* @name Low-level drivers
|
163 |
* @{
|
164 |
*/
|
165 |
/*===========================================================================*/
|
166 |
|
167 |
LEDDriver moduleLldLed = { |
168 |
/* LED enable Gpio */ &moduleGpioLed,
|
169 |
}; |
170 |
|
171 |
ButtonDriver moduleLldUserButton = { |
172 |
/* Button Gpio */ &moduleGpioUserButton,
|
173 |
}; |
174 |
|
175 |
|
176 |
#if (BOARD_VL53L1X_CONNECTED == true) |
177 |
VL53L1XDriver moduleLldVl53l1x = { |
178 |
/* I2C Driver */ &MODULE_HAL_I2C3,
|
179 |
/* I²C address */ VL53L1X_LLD_I2C_ADDR_DEFAULT,
|
180 |
/* GPIO 1:INT pin */ &moduleGpioVl53l1xINT,
|
181 |
/* Xshut */ &moduleGpioVl53l1xXSHUT,
|
182 |
}; |
183 |
|
184 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
185 |
|
186 |
#if (BOARD_MPU6050_CONNECTED == true) |
187 |
|
188 |
MPU6050Driver moduleLldMpu6050 = { |
189 |
/* I2C Driver */ &MODULE_HAL_I2C3,
|
190 |
/* I²C address */ MPU6050_LLD_I2C_ADDR_FIXED,
|
191 |
}; |
192 |
|
193 |
|
194 |
|
195 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
196 |
|
197 |
/** @} */
|
198 |
|
199 |
/*===========================================================================*/
|
200 |
/**
|
201 |
* @name Tests
|
202 |
* @{
|
203 |
*/
|
204 |
/*===========================================================================*/
|
205 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
206 |
|
207 |
/*
|
208 |
* LED
|
209 |
*/
|
210 |
#include <module_test_LED.h> |
211 |
static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
212 |
{ |
213 |
return moduleTestLedShellCb(stream, argc, argv, NULL); |
214 |
} |
215 |
AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
|
216 |
|
217 |
/*
|
218 |
* LED
|
219 |
*/
|
220 |
#include <module_test_VL53L1X.h> |
221 |
static int _testShellVL53L1XCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
222 |
{ |
223 |
return moduleTestVL53L1XShellCb(stream, argc, argv, NULL); |
224 |
} |
225 |
AOS_SHELL_COMMAND(moduleTestVL53L1XShellCmd, "test:VL53L1X", _testShellVL53L1XCmdCb);
|
226 |
|
227 |
static int _testShellVL53L1XInitCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
228 |
{ |
229 |
return moduleTestVL53L1XInitShellCb(stream, argc, argv, NULL); |
230 |
} |
231 |
AOS_SHELL_COMMAND(moduleTestVL53L1XInitShellCmd, "test:VL53L1X:INIT", _testShellVL53L1XInitCmdCb);
|
232 |
|
233 |
/*
|
234 |
* User button
|
235 |
*/
|
236 |
#include <module_test_button.h> |
237 |
static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
238 |
{ |
239 |
return moduleTestButtonShellCb(stream, argc, argv, NULL); |
240 |
} |
241 |
AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
|
242 |
|
243 |
#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
244 |
|
245 |
/*
|
246 |
* MPU6050 (accelerometer & gyroscope)
|
247 |
*/
|
248 |
#include <module_test_MPU6050.h> |
249 |
static int _testMpu6050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
250 |
{ |
251 |
return moduleTestMpu6050ShellCb(stream, argc, argv, NULL); |
252 |
} |
253 |
AOS_SHELL_COMMAND(moduleTestMpu6050ShellCmd, "test:IMU", _testMpu6050ShellCmdCb);
|
254 |
|
255 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
256 |
|
257 |
/*
|
258 |
* entire module
|
259 |
*/
|
260 |
static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
261 |
{ |
262 |
(void)argc;
|
263 |
(void)argv;
|
264 |
|
265 |
int status = AOS_OK;
|
266 |
char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
267 |
aos_testresult_t result_test = {0, 0}; |
268 |
aos_testresult_t result_total = {0, 0}; |
269 |
|
270 |
/* LED */
|
271 |
status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
272 |
result_total = aosTestResultAdd(result_total, result_test); |
273 |
|
274 |
/* User button */
|
275 |
status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
|
276 |
result_total = aosTestResultAdd(result_total, result_test); |
277 |
|
278 |
/* MPU6050 (accelerometer & gyroscope) */
|
279 |
#if (BOARD_MPU6050_CONNECTED == true) |
280 |
status |= moduleTestMpu6050ShellCb(stream, 0, targv, &result_test);
|
281 |
result_total = aosTestResultAdd(result_total, result_test); |
282 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
283 |
|
284 |
// print total result
|
285 |
chprintf(stream, "\n");
|
286 |
aosTestResultPrintSummary(stream, &result_total, "entire module");
|
287 |
|
288 |
return status;
|
289 |
} |
290 |
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
291 |
|
292 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
293 |
|
294 |
/** @} */
|
295 |
/** @} */
|