amiro-os / modules / DiWheelDrive_1-2 / module.c @ 88c47fd9
History | View | Annotate | Download (17.4 KB)
| 1 | abb8b3f4 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 | abb8b3f4 | Thomas Schöpping | |
| 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 DiWheelDrive module.
|
||
| 22 | *
|
||
| 23 | * @addtogroup diwheeldrive_module
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | c53ef0b1 | Thomas Schöpping | #include <amiroos.h> |
| 28 | |||
| 29 | #include <string.h> |
||
| 30 | abb8b3f4 | Thomas Schöpping | |
| 31 | /*===========================================================================*/
|
||
| 32 | /**
|
||
| 33 | * @name Module specific functions
|
||
| 34 | * @{
|
||
| 35 | */
|
||
| 36 | /*===========================================================================*/
|
||
| 37 | |||
| 38 | /** @} */
|
||
| 39 | |||
| 40 | /*===========================================================================*/
|
||
| 41 | /**
|
||
| 42 | * @name ChibiOS/HAL configuration
|
||
| 43 | * @{
|
||
| 44 | */
|
||
| 45 | /*===========================================================================*/
|
||
| 46 | |||
| 47 | CANConfig moduleHalCanConfig = {
|
||
| 48 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||
| 49 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
||
| 50 | }; |
||
| 51 | |||
| 52 | I2CConfig moduleHalI2cImuConfig = {
|
||
| 53 | /* I²C mode */ OPMODE_I2C,
|
||
| 54 | /* frequency */ 400000, |
||
| 55 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 56 | }; |
||
| 57 | |||
| 58 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
|
||
| 59 | /* I²C mode */ OPMODE_I2C,
|
||
| 60 | /* frequency */ 400000, |
||
| 61 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 62 | }; |
||
| 63 | |||
| 64 | PWMConfig moduleHalPwmDriveConfig = {
|
||
| 65 | /* frequency */ 7200000, |
||
| 66 | /* period */ 360, |
||
| 67 | /* callback */ NULL, |
||
| 68 | /* channel configurations */ {
|
||
| 69 | /* channel 0 */ {
|
||
| 70 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 71 | /* callback */ NULL |
||
| 72 | }, |
||
| 73 | /* channel 1 */ {
|
||
| 74 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 75 | /* callback */ NULL |
||
| 76 | }, |
||
| 77 | /* channel 2 */ {
|
||
| 78 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 79 | /* callback */ NULL |
||
| 80 | }, |
||
| 81 | /* channel 3 */ {
|
||
| 82 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 83 | /* callback */ NULL |
||
| 84 | }, |
||
| 85 | }, |
||
| 86 | /* TIM CR2 register */ 0, |
||
| 87 | #if (STM32_PWM_USE_ADVANCED == TRUE)
|
||
| 88 | /* TIM BDTR register */ 0, |
||
| 89 | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
||
| 90 | /* TIM DIER register */ 0 |
||
| 91 | }; |
||
| 92 | |||
| 93 | QEIConfig moduleHalQeiConfig = {
|
||
| 94 | /* mode */ QEI_COUNT_BOTH,
|
||
| 95 | /* channel config */ {
|
||
| 96 | /* channel 0 */ {
|
||
| 97 | /* input mode */ QEI_INPUT_NONINVERTED,
|
||
| 98 | }, |
||
| 99 | /* channel 1 */ {
|
||
| 100 | /* input mode */ QEI_INPUT_NONINVERTED,
|
||
| 101 | }, |
||
| 102 | }, |
||
| 103 | /* encoder range */ 0x10000u, |
||
| 104 | }; |
||
| 105 | |||
| 106 | SerialConfig moduleHalProgIfConfig = {
|
||
| 107 | /* bit rate */ 115200, |
||
| 108 | /* CR1 */ 0, |
||
| 109 | /* CR1 */ 0, |
||
| 110 | /* CR1 */ 0, |
||
| 111 | }; |
||
| 112 | |||
| 113 | /** @} */
|
||
| 114 | |||
| 115 | /*===========================================================================*/
|
||
| 116 | /**
|
||
| 117 | * @name GPIO definitions
|
||
| 118 | * @{
|
||
| 119 | */
|
||
| 120 | /*===========================================================================*/
|
||
| 121 | |||
| 122 | /**
|
||
| 123 | * @brief LED output signal GPIO.
|
||
| 124 | */
|
||
| 125 | static apalGpio_t _gpioLed = {
|
||
| 126 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
|
| 127 | abb8b3f4 | Thomas Schöpping | }; |
| 128 | ROMCONST apalControlGpio_t moduleGpioLed = {
|
||
| 129 | /* GPIO */ &_gpioLed,
|
||
| 130 | /* meta */ {
|
||
| 131 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 132 | 4c72a54c | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 133 | abb8b3f4 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 134 | }, |
||
| 135 | }; |
||
| 136 | |||
| 137 | /**
|
||
| 138 | * @brief POWER_EN output signal GPIO.
|
||
| 139 | */
|
||
| 140 | static apalGpio_t _gpioPowerEn = {
|
||
| 141 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
|
| 142 | abb8b3f4 | Thomas Schöpping | }; |
| 143 | ROMCONST apalControlGpio_t moduleGpioPowerEn = {
|
||
| 144 | /* GPIO */ &_gpioPowerEn,
|
||
| 145 | /* meta */ {
|
||
| 146 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 147 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 148 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 149 | }, |
||
| 150 | }; |
||
| 151 | |||
| 152 | /**
|
||
| 153 | * @brief IR_INT input signal GPIO.
|
||
| 154 | */
|
||
| 155 | static apalGpio_t _gpioIrInt = {
|
||
| 156 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT,
|
| 157 | abb8b3f4 | Thomas Schöpping | }; |
| 158 | ROMCONST apalControlGpio_t moduleGpioIrInt = {
|
||
| 159 | /* GPIO */ &_gpioIrInt,
|
||
| 160 | /* meta */ {
|
||
| 161 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 162 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
||
| 163 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
|
||
| 164 | }, |
||
| 165 | }; |
||
| 166 | |||
| 167 | /**
|
||
| 168 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
| 169 | */
|
||
| 170 | static apalGpio_t _gpioSysUartUp = {
|
||
| 171 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
|
| 172 | abb8b3f4 | Thomas Schöpping | }; |
| 173 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
|
||
| 174 | /* GPIO */ &_gpioSysUartUp,
|
||
| 175 | /* meta */ {
|
||
| 176 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 177 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 178 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 179 | }, |
||
| 180 | }; |
||
| 181 | |||
| 182 | /**
|
||
| 183 | * @brief IMU_INT input signal GPIO.
|
||
| 184 | */
|
||
| 185 | static apalGpio_t _gpioImuInt = {
|
||
| 186 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_INT,
|
| 187 | abb8b3f4 | Thomas Schöpping | }; |
| 188 | ROMCONST apalControlGpio_t moduleGpioImuInt = {
|
||
| 189 | /* GPIO */ &_gpioImuInt,
|
||
| 190 | /* meta */ {
|
||
| 191 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 192 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
||
| 193 | /* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO |
||
| 194 | }, |
||
| 195 | }; |
||
| 196 | |||
| 197 | /**
|
||
| 198 | * @brief SYS_SNYC bidirectional signal GPIO.
|
||
| 199 | */
|
||
| 200 | static apalGpio_t _gpioSysSync = {
|
||
| 201 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
|
| 202 | abb8b3f4 | Thomas Schöpping | }; |
| 203 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
||
| 204 | /* GPIO */ &_gpioSysSync,
|
||
| 205 | /* meta */ {
|
||
| 206 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 207 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 208 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 209 | }, |
||
| 210 | }; |
||
| 211 | |||
| 212 | /**
|
||
| 213 | * @brief IMU_RESET output signal GPIO.
|
||
| 214 | */
|
||
| 215 | static apalGpio_t _gpioImuReset = {
|
||
| 216 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_RESET_N,
|
| 217 | abb8b3f4 | Thomas Schöpping | }; |
| 218 | ROMCONST apalControlGpio_t moduleGpioImuReset = {
|
||
| 219 | /* GPIO */ &_gpioImuReset,
|
||
| 220 | /* meta */ {
|
||
| 221 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 222 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
||
| 223 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 224 | }, |
||
| 225 | }; |
||
| 226 | |||
| 227 | /**
|
||
| 228 | * @brief PATH_DCSTAT input signal GPIO.
|
||
| 229 | */
|
||
| 230 | static apalGpio_t _gpioPathDcStat = {
|
||
| 231 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCSTAT,
|
| 232 | abb8b3f4 | Thomas Schöpping | }; |
| 233 | ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
|
||
| 234 | /* GPIO */ &_gpioPathDcStat,
|
||
| 235 | /* meta */ {
|
||
| 236 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 237 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
|
||
| 238 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 239 | }, |
||
| 240 | }; |
||
| 241 | |||
| 242 | /**
|
||
| 243 | * @brief PATH_DCEN output signal GPIO.
|
||
| 244 | */
|
||
| 245 | static apalGpio_t _gpioPathDcEn = {
|
||
| 246 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCEN,
|
| 247 | abb8b3f4 | Thomas Schöpping | }; |
| 248 | ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
|
||
| 249 | /* GPIO */ &_gpioPathDcEn,
|
||
| 250 | /* meta */ {
|
||
| 251 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 252 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
|
||
| 253 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 254 | }, |
||
| 255 | }; |
||
| 256 | |||
| 257 | /**
|
||
| 258 | * @brief SYS_PD bidirectional signal GPIO.
|
||
| 259 | */
|
||
| 260 | static apalGpio_t _gpioSysPd = {
|
||
| 261 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
|
| 262 | abb8b3f4 | Thomas Schöpping | }; |
| 263 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
||
| 264 | /* GPIO */ &_gpioSysPd,
|
||
| 265 | /* meta */ {
|
||
| 266 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 267 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 268 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 269 | }, |
||
| 270 | }; |
||
| 271 | |||
| 272 | /**
|
||
| 273 | * @brief SYS_REG_EN input signal GPIO.
|
||
| 274 | */
|
||
| 275 | static apalGpio_t _gpioSysRegEn = {
|
||
| 276 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_REG_EN,
|
| 277 | abb8b3f4 | Thomas Schöpping | }; |
| 278 | ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
|
||
| 279 | /* GPIO */ &_gpioSysRegEn,
|
||
| 280 | /* meta */ {
|
||
| 281 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 282 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 283 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 284 | }, |
||
| 285 | }; |
||
| 286 | |||
| 287 | /**
|
||
| 288 | * @brief IMU_BOOT_LOAD output signal GPIO.
|
||
| 289 | */
|
||
| 290 | static apalGpio_t _gpioImuBootLoad = {
|
||
| 291 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BOOT_LOAD_N,
|
| 292 | abb8b3f4 | Thomas Schöpping | }; |
| 293 | ROMCONST apalControlGpio_t moduleGpioImuBootLoad = {
|
||
| 294 | /* GPIO */ &_gpioImuBootLoad,
|
||
| 295 | /* meta */ {
|
||
| 296 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 297 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
||
| 298 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 299 | }, |
||
| 300 | }; |
||
| 301 | |||
| 302 | /**
|
||
| 303 | * @brief IMU_BL_IND input signal GPIO.
|
||
| 304 | */
|
||
| 305 | static apalGpio_t _gpioImuBlInd = {
|
||
| 306 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BL_IND,
|
| 307 | abb8b3f4 | Thomas Schöpping | }; |
| 308 | ROMCONST apalControlGpio_t moduleGpioImuBlInd = {
|
||
| 309 | /* GPIO */ &_gpioImuBlInd,
|
||
| 310 | /* meta */ {
|
||
| 311 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 312 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
||
| 313 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 314 | }, |
||
| 315 | }; |
||
| 316 | |||
| 317 | /**
|
||
| 318 | * @brief SYS_WARMRST bidirectional signal GPIO.
|
||
| 319 | */
|
||
| 320 | static apalGpio_t _gpioSysWarmrst = {
|
||
| 321 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_WARMRST_N,
|
| 322 | abb8b3f4 | Thomas Schöpping | }; |
| 323 | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
|
||
| 324 | /* GPIO */ &_gpioSysWarmrst,
|
||
| 325 | /* meta */ {
|
||
| 326 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 327 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 328 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 329 | }, |
||
| 330 | }; |
||
| 331 | |||
| 332 | /** @} */
|
||
| 333 | |||
| 334 | /*===========================================================================*/
|
||
| 335 | /**
|
||
| 336 | * @name AMiRo-OS core configurations
|
||
| 337 | * @{
|
||
| 338 | */
|
||
| 339 | /*===========================================================================*/
|
||
| 340 | |||
| 341 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 342 | abb8b3f4 | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
| 343 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 344 | abb8b3f4 | Thomas Schöpping | |
| 345 | /** @} */
|
||
| 346 | |||
| 347 | /*===========================================================================*/
|
||
| 348 | /**
|
||
| 349 | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
||
| 350 | * @{
|
||
| 351 | */
|
||
| 352 | /*===========================================================================*/
|
||
| 353 | |||
| 354 | c53ef0b1 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__) |
| 355 | |||
| 356 | /* some local definitions */
|
||
| 357 | // maximum number of bytes per CAN frame
|
||
| 358 | #define CAN_BYTES_PER_FRAME 8 |
||
| 359 | // identifier (as dominant as possible)
|
||
| 360 | #define MSI_BCBMSG_CANID 0 |
||
| 361 | |||
| 362 | aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
|
||
| 363 | {
|
||
| 364 | aosDbgCheck(buffer != NULL);
|
||
| 365 | aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
||
| 366 | |||
| 367 | // local variables
|
||
| 368 | CANTxFrame frame; |
||
| 369 | |||
| 370 | // setup the common parts of the message frame
|
||
| 371 | frame.DLC = (uint8_t)length; |
||
| 372 | frame.RTR = CAN_RTR_DATA; |
||
| 373 | frame.IDE = CAN_IDE_STD; |
||
| 374 | frame.SID = MSI_BCBMSG_CANID; |
||
| 375 | memcpy(frame.data8, buffer, length); |
||
| 376 | |||
| 377 | // sent the frame and return
|
||
| 378 | return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
|
||
| 379 | } |
||
| 380 | |||
| 381 | aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length) |
||
| 382 | {
|
||
| 383 | aosDbgCheck(buffer != NULL);
|
||
| 384 | aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
||
| 385 | |||
| 386 | // local variables
|
||
| 387 | CANRxFrame frame; |
||
| 388 | |||
| 389 | // receive a frame and check for errors
|
||
| 390 | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
|
||
| 391 | // a correct frame was received
|
||
| 392 | if (frame.DLC == length &&
|
||
| 393 | frame.RTR == CAN_RTR_DATA && |
||
| 394 | frame.IDE == CAN_IDE_STD && |
||
| 395 | frame.SID == MSI_BCBMSG_CANID) {
|
||
| 396 | // success: fetch the data and return
|
||
| 397 | memcpy(buffer, frame.data8, length); |
||
| 398 | return AOS_SSSP_BCB_SUCCESS;
|
||
| 399 | } |
||
| 400 | // an unexpected frame was received
|
||
| 401 | else {
|
||
| 402 | return AOS_SSSP_BCB_INVALIDMSG;
|
||
| 403 | } |
||
| 404 | } else {
|
||
| 405 | // failure: return with error
|
||
| 406 | return AOS_SSSP_BCB_ERROR;
|
||
| 407 | } |
||
| 408 | } |
||
| 409 | |||
| 410 | #undef MSI_BCBMSG_CANID
|
||
| 411 | #undef CAN_BYTES_PER_FRAME
|
||
| 412 | |||
| 413 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */ |
||
| 414 | |||
| 415 | abb8b3f4 | Thomas Schöpping | /** @} */
|
| 416 | |||
| 417 | /*===========================================================================*/
|
||
| 418 | /**
|
||
| 419 | * @name Low-level drivers
|
||
| 420 | * @{
|
||
| 421 | */
|
||
| 422 | /*===========================================================================*/
|
||
| 423 | |||
| 424 | A3906Driver moduleLldMotors = {
|
||
| 425 | /* power enable GPIO */ &moduleGpioPowerEn,
|
||
| 426 | }; |
||
| 427 | |||
| 428 | AT24C01BDriver moduleLldEeprom = {
|
||
| 429 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 430 | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
|
||
| 431 | }; |
||
| 432 | |||
| 433 | 4c72a54c | Thomas Schöpping | // TODO: BNO055
|
| 434 | |||
| 435 | abb8b3f4 | Thomas Schöpping | INA219Driver moduleLldPowerMonitorVdd = {
|
| 436 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 437 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
||
| 438 | /* current LSB (uA) */ 0x00u, |
||
| 439 | /* configuration */ NULL, |
||
| 440 | }; |
||
| 441 | |||
| 442 | LEDDriver moduleLldStatusLed = {
|
||
| 443 | /* LED enable Gpio */ &moduleGpioLed,
|
||
| 444 | }; |
||
| 445 | |||
| 446 | LTC4412Driver moduleLldPowerPathController = {
|
||
| 447 | /* Control GPIO */ &moduleGpioPathDcEn,
|
||
| 448 | /* Status GPIO */ &moduleGpioPathDcStat,
|
||
| 449 | }; |
||
| 450 | |||
| 451 | PCA9544ADriver moduleLldI2cMultiplexer = {
|
||
| 452 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 453 | /* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
|
||
| 454 | }; |
||
| 455 | |||
| 456 | TPS6211xDriver moduleLldStepDownConverterVdrive = {
|
||
| 457 | /* Power enable Gpio */ &moduleGpioPowerEn,
|
||
| 458 | }; |
||
| 459 | |||
| 460 | VCNL4020Driver moduleLldProximity = {
|
||
| 461 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 462 | }; |
||
| 463 | |||
| 464 | /** @} */
|
||
| 465 | |||
| 466 | /*===========================================================================*/
|
||
| 467 | /**
|
||
| 468 | 4c72a54c | Thomas Schöpping | * @name Tests
|
| 469 | abb8b3f4 | Thomas Schöpping | * @{
|
| 470 | */
|
||
| 471 | /*===========================================================================*/
|
||
| 472 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 473 | |||
| 474 | /*
|
||
| 475 | * A3906 (motor driver)
|
||
| 476 | */
|
||
| 477 | 4c72a54c | Thomas Schöpping | #include <module_test_A3906.h> |
| 478 | static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 479 | abb8b3f4 | Thomas Schöpping | {
|
| 480 | 4c72a54c | Thomas Schöpping | return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
| 481 | abb8b3f4 | Thomas Schöpping | } |
| 482 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
|
| 483 | abb8b3f4 | Thomas Schöpping | |
| 484 | /*
|
||
| 485 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
|
| 486 | abb8b3f4 | Thomas Schöpping | */
|
| 487 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
| 488 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 489 | abb8b3f4 | Thomas Schöpping | {
|
| 490 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
| 491 | abb8b3f4 | Thomas Schöpping | } |
| 492 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
|
| 493 | |||
| 494 | // TODO: BNO055
|
||
| 495 | abb8b3f4 | Thomas Schöpping | |
| 496 | /*
|
||
| 497 | * INA219 (power monitor)
|
||
| 498 | */
|
||
| 499 | 4c72a54c | Thomas Schöpping | #include <module_test_INA219.h> |
| 500 | static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 501 | abb8b3f4 | Thomas Schöpping | {
|
| 502 | 4c72a54c | Thomas Schöpping | return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
| 503 | abb8b3f4 | Thomas Schöpping | } |
| 504 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
|
| 505 | abb8b3f4 | Thomas Schöpping | |
| 506 | /*
|
||
| 507 | * Status LED
|
||
| 508 | */
|
||
| 509 | 4c72a54c | Thomas Schöpping | #include <module_test_LED.h> |
| 510 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 511 | abb8b3f4 | Thomas Schöpping | {
|
| 512 | 4c72a54c | Thomas Schöpping | return moduleTestLedShellCb(stream, argc, argv, NULL); |
| 513 | abb8b3f4 | Thomas Schöpping | } |
| 514 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
|
| 515 | abb8b3f4 | Thomas Schöpping | |
| 516 | /*
|
||
| 517 | * LTC4412 (power path controller)
|
||
| 518 | */
|
||
| 519 | 4c72a54c | Thomas Schöpping | #include <module_test_LTC4412.h> |
| 520 | static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 521 | abb8b3f4 | Thomas Schöpping | {
|
| 522 | 4c72a54c | Thomas Schöpping | return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
| 523 | abb8b3f4 | Thomas Schöpping | } |
| 524 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
|
| 525 | abb8b3f4 | Thomas Schöpping | |
| 526 | /*
|
||
| 527 | * PCA9544A (I2C multiplexer)
|
||
| 528 | */
|
||
| 529 | 4c72a54c | Thomas Schöpping | #include <module_test_PCA9544A.h> |
| 530 | static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 531 | abb8b3f4 | Thomas Schöpping | {
|
| 532 | 4c72a54c | Thomas Schöpping | return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
| 533 | abb8b3f4 | Thomas Schöpping | } |
| 534 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
|
| 535 | abb8b3f4 | Thomas Schöpping | |
| 536 | /*
|
||
| 537 | * TPS62113 (step-down converter)
|
||
| 538 | */
|
||
| 539 | 4c72a54c | Thomas Schöpping | #include <module_test_TPS6211x.h> |
| 540 | static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 541 | abb8b3f4 | Thomas Schöpping | {
|
| 542 | 4c72a54c | Thomas Schöpping | return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
| 543 | abb8b3f4 | Thomas Schöpping | } |
| 544 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
|
| 545 | abb8b3f4 | Thomas Schöpping | |
| 546 | /*
|
||
| 547 | * VCNL4020 (proximity sensor)
|
||
| 548 | */
|
||
| 549 | 4c72a54c | Thomas Schöpping | #include <module_test_VCNL4020.h> |
| 550 | static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 551 | abb8b3f4 | Thomas Schöpping | {
|
| 552 | 4c72a54c | Thomas Schöpping | return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
| 553 | abb8b3f4 | Thomas Schöpping | } |
| 554 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
|
| 555 | |||
| 556 | /*
|
||
| 557 | * entire module
|
||
| 558 | */
|
||
| 559 | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 560 | abb8b3f4 | Thomas Schöpping | {
|
| 561 | 4c72a54c | Thomas Schöpping | (void)argc;
|
| 562 | (void)argv;
|
||
| 563 | |||
| 564 | int status = AOS_OK;
|
||
| 565 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
||
| 566 | aos_testresult_t result_test = {0, 0};
|
||
| 567 | aos_testresult_t result_total = {0, 0};
|
||
| 568 | |||
| 569 | /* A3906 (motor driver) */
|
||
| 570 | status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
|
||
| 571 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 572 | |||
| 573 | /* AT24C01B (EEPROM) */
|
||
| 574 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
||
| 575 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 576 | |||
| 577 | // TODO: BNO055
|
||
| 578 | |||
| 579 | /* INA219 (power monitor) */
|
||
| 580 | status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
|
||
| 581 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 582 | |||
| 583 | /* Status LED */
|
||
| 584 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
||
| 585 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 586 | |||
| 587 | /* LTC4412 (power path controller) */
|
||
| 588 | status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
|
||
| 589 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 590 | |||
| 591 | /* PCA9544A (I2C multiplexer) */
|
||
| 592 | status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
|
||
| 593 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 594 | |||
| 595 | /* TPS62113 (step-down converter) */
|
||
| 596 | status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
|
||
| 597 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 598 | |||
| 599 | /* VCNL4020 (proximity sensor) */
|
||
| 600 | // wheel left
|
||
| 601 | targv[1] = "-wl"; |
||
| 602 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 603 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 604 | // front left
|
||
| 605 | targv[1] = "-fl"; |
||
| 606 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 607 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 608 | // front right
|
||
| 609 | targv[1] = "-fr"; |
||
| 610 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 611 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 612 | // wheel right
|
||
| 613 | targv[1] = "-wr"; |
||
| 614 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 615 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 616 | targv[1] = ""; |
||
| 617 | |||
| 618 | // print total result
|
||
| 619 | chprintf(stream, "\n");
|
||
| 620 | aosTestResultPrintSummary(stream, &result_total, "entire module");
|
||
| 621 | |||
| 622 | return status;
|
||
| 623 | abb8b3f4 | Thomas Schöpping | } |
| 624 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
| 625 | abb8b3f4 | Thomas Schöpping | |
| 626 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 627 | |||
| 628 | /** @} */
|
||
| 629 | /** @} */ |