amiro-os / modules / DiWheelDrive_1-1 / module.h @ 933df08e
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 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 | #ifndef _AMIROOS_MODULE_H_
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| 20 | #define _AMIROOS_MODULE_H_
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| 21 | |||
| 22 | /*===========================================================================*/
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| 23 | /**
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| 24 | * @name Module specific functions
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| 25 | * @{
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| 26 | */
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| 27 | /*===========================================================================*/
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| 28 | |||
| 29 | /** @} */
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| 30 | |||
| 31 | /*===========================================================================*/
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| 32 | /**
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| 33 | * @name ChibiOS/HAL configuration
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| 34 | * @{
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| 35 | */
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| 36 | /*===========================================================================*/
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| 37 | #include <hal.h> |
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| 38 | #include <hal_qei.h> |
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| 39 | |||
| 40 | /**
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| 41 | * @brief CAN driver to use.
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| 42 | */
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| 43 | #define MODULE_HAL_CAN CAND1
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| 44 | |||
| 45 | /**
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| 46 | * @brief Configuration for the CAN driver.
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| 47 | */
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| 48 | extern CANConfig moduleHalCanConfig;
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| 49 | |||
| 50 | /**
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| 51 | * @brief Interrupt driver to use.
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| 52 | */
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| 53 | #define MODULE_HAL_EXT EXTD1
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| 54 | |||
| 55 | /**
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| 56 | * @brief Interrupt driver configuration.
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| 57 | */
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| 58 | extern EXTConfig moduleHalExtConfig;
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| 59 | |||
| 60 | /**
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| 61 | * @brief I2C driver to access the compass.
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| 62 | */
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| 63 | #define MODULE_HAL_I2C_COMPASS I2CD1
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| 64 | |||
| 65 | /**
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| 66 | * @brief Configuration for the compass I2C driver.
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| 67 | */
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| 68 | extern I2CConfig moduleHalI2cCompassConfig;
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| 69 | |||
| 70 | /**
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| 71 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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| 72 | */
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| 73 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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| 74 | |||
| 75 | /**
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| 76 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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| 77 | */
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| 78 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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| 79 | |||
| 80 | /**
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| 81 | * @brief PWM driver to use.
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| 82 | */
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| 83 | #define MODULE_HAL_PWM_DRIVE PWMD2
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| 84 | |||
| 85 | /**
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| 86 | * @brief Configuration for the PWM driver.
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| 87 | */
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| 88 | extern PWMConfig moduleHalPwmDriveConfig;
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| 89 | |||
| 90 | /**
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| 91 | * @brief Drive PWM channel for the left wheel forward direction.
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| 92 | */
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| 93 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD 0 |
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| 94 | |||
| 95 | /**
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| 96 | * @brief Drive PWM channel for the left wheel backward direction.
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| 97 | */
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| 98 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD 1 |
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| 99 | |||
| 100 | /**
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| 101 | * @brief Drive PWM channel for the right wheel forward direction.
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| 102 | */
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| 103 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD 2 |
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| 104 | |||
| 105 | /**
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| 106 | * @brief Drive PWM channel for the right wheel backward direction.
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| 107 | */
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| 108 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD 3 |
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| 109 | |||
| 110 | /**
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| 111 | * @brief Quadrature encooder for the left wheel.
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| 112 | */
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| 113 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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| 114 | |||
| 115 | /**
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| 116 | * @brief Quadrature encooder for the right wheel.
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| 117 | */
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| 118 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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| 119 | |||
| 120 | /**
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| 121 | * @brief Configuration for both quadrature encoders.
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| 122 | */
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| 123 | extern QEIConfig moduleHalQeiConfig;
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| 124 | |||
| 125 | /**
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| 126 | * @brief QEI increments per wheel revolution.
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| 127 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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| 128 | */
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| 129 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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| 130 | |||
| 131 | /**
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| 132 | * @brief Serial driver of the programmer interface.
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| 133 | */
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| 134 | #define MODULE_HAL_PROGIF SD1
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| 135 | |||
| 136 | /**
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| 137 | * @brief Configuration for the programmer serial interface driver.
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| 138 | */
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| 139 | extern SerialConfig moduleHalProgIfConfig;
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| 140 | |||
| 141 | /**
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| 142 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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| 143 | */
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| 144 | #define MODULE_HAL_SPI_MOTION SPID1
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| 145 | |||
| 146 | /**
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| 147 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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| 148 | */
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| 149 | extern SPIConfig moduleHalSpiAccelerometerConfig;
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| 150 | |||
| 151 | /**
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| 152 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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| 153 | */
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| 154 | extern SPIConfig moduleHalSpiGyroscopeConfig;
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| 155 | |||
| 156 | 8399aeae | Thomas Schöpping | /**
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| 157 | * @brief Real-Time Clock driver.
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| 158 | */
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| 159 | #define MODULE_HAL_RTC RTCD1
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| 160 | |||
| 161 | e545e620 | Thomas Schöpping | /** @} */
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| 162 | |||
| 163 | /*===========================================================================*/
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| 164 | /**
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| 165 | * @name GPIO definitions
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| 166 | * @{
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| 167 | */
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| 168 | /*===========================================================================*/
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| 169 | #include <amiro-lld.h> |
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| 170 | |||
| 171 | /**
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| 172 | * @brief Interrupt channel for the SYS_SYNC signal.
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| 173 | */
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| 174 | #define MODULE_GPIO_EXTCHANNEL_SYSSYNC ((expchannel_t)1) |
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| 175 | |||
| 176 | /**
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| 177 | * @brief Interrupt channel for the SYS_WARMRST signal.
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| 178 | */
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| 179 | #define MODULE_GPIO_EXTCHANNEL_SYSWARMRST ((expchannel_t)2) |
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| 180 | |||
| 181 | /**
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| 182 | * @brief Interrupt channel for the PATH_DCSTAT signal.
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| 183 | */
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| 184 | #define MODULE_GPIO_EXTCHANNEL_PATHDCSTAT ((expchannel_t)3) |
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| 185 | |||
| 186 | /**
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| 187 | * @brief Interrupt channel for the COMPASS_DRDY signal.
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| 188 | */
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| 189 | #define MODULE_GPIO_EXTCHANNEL_COMPASSDRDY ((expchannel_t)5) |
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| 190 | |||
| 191 | /**
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| 192 | * @brief Interrupt channel for the SYS_PD signal.
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| 193 | */
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| 194 | e1a164f4 | Thomas Schöpping | #define MODULE_GPIO_EXTCHANNEL_SYSPD ((expchannel_t)8) |
| 195 | e545e620 | Thomas Schöpping | |
| 196 | /**
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| 197 | * @brief Interrupt channel for the SYS_REG_EN signal.
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| 198 | */
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| 199 | e1a164f4 | Thomas Schöpping | #define MODULE_GPIO_EXTCHANNEL_SYSREGEN ((expchannel_t)9) |
| 200 | e545e620 | Thomas Schöpping | |
| 201 | /**
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| 202 | * @brief Interrupt channel for the IR_INT signal.
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| 203 | */
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| 204 | #define MODULE_GPIO_EXTCHANNEL_IRINT ((expchannel_t)12) |
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| 205 | |||
| 206 | /**
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| 207 | * @brief Interrupt channel for the GYRO_DRDY signal.
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| 208 | */
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| 209 | #define MODULE_GPIO_EXTCHANNEL_GYRODRDY ((expchannel_t)13) |
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| 210 | |||
| 211 | /**
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| 212 | * @brief Interrupt channel for the SYS_UART_UP signal.
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| 213 | */
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| 214 | #define MODULE_GPIO_EXTCHANNEL_SYSUARTUP ((expchannel_t)14) |
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| 215 | |||
| 216 | /**
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| 217 | * @brief Interrupt channel for the ACCEL_INT signal.
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| 218 | */
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| 219 | #define MODULE_GPIO_EXTCHANNEL_ACCELINT ((expchannel_t)15) |
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| 220 | |||
| 221 | /**
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| 222 | * @brief LED output signal GPIO.
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| 223 | */
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| 224 | extern apalGpio_t moduleGpioLed;
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| 225 | |||
| 226 | /**
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| 227 | * @brief POWER_EN output signal GPIO.
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| 228 | */
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| 229 | extern apalGpio_t moduleGpioPowerEn;
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| 230 | |||
| 231 | /**
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| 232 | * @brief COMPASS_DRDY input signal GPIO.
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| 233 | */
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| 234 | extern apalGpio_t moduleGpioCompassDrdy;
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| 235 | |||
| 236 | /**
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| 237 | * @brief IR_INT input signal GPIO.
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| 238 | */
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| 239 | extern apalGpio_t moduleGpioIrInt;
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| 240 | |||
| 241 | /**
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| 242 | * @brief GYRO_DRDY input signal GPIO.
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| 243 | */
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| 244 | extern apalGpio_t moduleGpioGyroDrdy;
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| 245 | |||
| 246 | /**
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| 247 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 248 | */
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| 249 | extern apalGpio_t moduleGpioSysUartUp;
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| 250 | |||
| 251 | /**
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| 252 | * @brief ACCEL_INT input signal GPIO.
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| 253 | */
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| 254 | extern apalGpio_t moduleGpioAccelInt;
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| 255 | |||
| 256 | /**
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| 257 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 258 | */
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| 259 | extern apalGpio_t moduleGpioSysSync;
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| 260 | |||
| 261 | /**
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| 262 | * @brief PATH_DCSTAT input signal GPIO.
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| 263 | */
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| 264 | extern apalGpio_t moduleGpioPathDcStat;
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| 265 | |||
| 266 | /**
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| 267 | * @brief PATH_DCEN output signal GPIO.
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| 268 | */
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| 269 | extern apalGpio_t moduleGpioPathDcEn;
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| 270 | |||
| 271 | /**
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| 272 | * @brief SYS_PD bidirectional signal GPIO.
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| 273 | */
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| 274 | extern apalGpio_t moduleGpioSysPd;
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| 275 | |||
| 276 | /**
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| 277 | * @brief SYS_REG_EN input signal GPIO.
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| 278 | */
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| 279 | extern apalGpio_t moduleGpioSysRegEn;
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| 280 | |||
| 281 | /**
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| 282 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 283 | */
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| 284 | extern apalGpio_t moduleGpioSysWarmrst;
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| 285 | |||
| 286 | /** @} */
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| 287 | |||
| 288 | /*===========================================================================*/
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| 289 | /**
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| 290 | * @name AMiRo-OS core configurations
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| 291 | * @{
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| 292 | */
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| 293 | /*===========================================================================*/
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| 294 | |||
| 295 | /**
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| 296 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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| 297 | */
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| 298 | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSSYNC)) |
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| 299 | |||
| 300 | /**
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| 301 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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| 302 | */
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| 303 | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSWARMRST)) |
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| 304 | |||
| 305 | /**
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| 306 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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| 307 | */
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| 308 | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_PATHDCSTAT)) |
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| 309 | |||
| 310 | /**
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| 311 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
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| 312 | */
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| 313 | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_COMPASSDRDY)) |
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| 314 | |||
| 315 | /**
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| 316 | * @brief Event flag to be set on a SYS_PD interrupt.
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| 317 | */
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| 318 | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSPD)) |
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| 319 | |||
| 320 | /**
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| 321 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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| 322 | */
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| 323 | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSREGEN)) |
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| 324 | |||
| 325 | /**
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| 326 | * @brief Event flag to be set on a IR_INT interrupt.
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| 327 | */
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| 328 | #define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_IRINT)) |
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| 329 | |||
| 330 | /**
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| 331 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
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| 332 | */
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| 333 | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_GYRODRDY)) |
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| 334 | |||
| 335 | /**
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| 336 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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| 337 | */
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| 338 | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSUARTUP)) |
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| 339 | |||
| 340 | /**
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| 341 | * @brief Event flag to be set on a ACCEL_INT interrupt.
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| 342 | */
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| 343 | #define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_ACCELINT)) |
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| 344 | |||
| 345 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 346 | e545e620 | Thomas Schöpping | /**
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| 347 | * @brief Shell prompt text.
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| 348 | */
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| 349 | extern const char* moduleShellPrompt; |
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| 350 | 6b53f6bf | Thomas Schöpping | #endif
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| 351 | e545e620 | Thomas Schöpping | |
| 352 | /**
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| 353 | * @brief Additional HAL initialization hook.
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| 354 | */
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| 355 | #define MODULE_INIT_HAL_EXTRA() { \
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| 356 | qeiInit(); \ |
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| 357 | } |
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| 358 | |||
| 359 | /**
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| 360 | * @brief Unit test initialization hook.
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| 361 | */
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| 362 | #define MODULE_INIT_TESTS() { \
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| 363 | /* add unit-test shell commands */ \
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| 364 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
| 365 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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| 366 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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| 367 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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| 368 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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| 369 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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| 370 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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| 371 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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| 372 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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| 373 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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| 374 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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| 375 | e545e620 | Thomas Schöpping | } |
| 376 | |||
| 377 | /**
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| 378 | * @brief Periphery communication interfaces initialization hook.
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| 379 | */
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| 380 | #define MODULE_INIT_PERIPHERY_COMM() { \
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| 381 | /* serial driver */ \
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| 382 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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| 383 | /* I2C */ \
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| 384 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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| 385 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 386 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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| 387 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 388 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 389 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 390 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 391 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 392 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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| 393 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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| 394 | /* PWM */ \
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| 395 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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| 396 | /* QEI */ \
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| 397 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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| 398 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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| 399 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 400 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 401 | } |
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| 402 | |||
| 403 | /**
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| 404 | * @brief Periphery communication interface deinitialization hook.
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| 405 | */
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| 406 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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| 407 | /* PWM */ \
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| 408 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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| 409 | /* QEI */ \
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| 410 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 411 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 412 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 413 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 414 | /* I2C */ \
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| 415 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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| 416 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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| 417 | /* don't stop the serial driver so messages can still be printed */ \
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| 418 | } |
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| 419 | |||
| 420 | /** @} */
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| 421 | |||
| 422 | /*===========================================================================*/
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| 423 | /**
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| 424 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 425 | * @{
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| 426 | */
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| 427 | /*===========================================================================*/
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| 428 | |||
| 429 | /**
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| 430 | * @brief PD signal GPIO.
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| 431 | */
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| 432 | extern apalControlGpio_t moduleSsspGpioPd;
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| 433 | |||
| 434 | /**
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| 435 | * @brief SYNC signal GPIO.
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| 436 | */
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| 437 | extern apalControlGpio_t moduleSsspGpioSync;
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| 438 | |||
| 439 | /**
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| 440 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
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| 441 | */
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| 442 | extern apalControlGpio_t moduleSsspGpioUp;
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| 443 | |||
| 444 | /**
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| 445 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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| 446 | */
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| 447 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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| 448 | |||
| 449 | /**
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| 450 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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| 451 | 6b53f6bf | Thomas Schöpping | */
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| 452 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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| 453 | |||
| 454 | /**
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| 455 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
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| 456 | */
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| 457 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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| 458 | |||
| 459 | /**
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| 460 | 6b53f6bf | Thomas Schöpping | * @brief Hook to handle IO events during SSSP startup synchronization.
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| 461 | */
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| 462 | 933df08e | Thomas Schöpping | #define MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(mask, flags) { \
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| 463 | 6b53f6bf | Thomas Schöpping | /* ignore all events */ \
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| 464 | (void)mask; \
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| 465 | (void)flags; \
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| 466 | } |
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| 467 | |||
| 468 | /** @} */
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| 469 | |||
| 470 | /*===========================================================================*/
|
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| 471 | /**
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| 472 | e545e620 | Thomas Schöpping | * @name Low-level drivers
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| 473 | * @{
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| 474 | */
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| 475 | /*===========================================================================*/
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| 476 | #include <alld_a3906.h> |
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| 477 | #include <alld_at24c01bn-sh-b.h> |
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| 478 | #include <alld_hmc5883l.h> |
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| 479 | #include <alld_ina219.h> |
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| 480 | #include <alld_l3g4200d.h> |
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| 481 | #include <alld_led.h> |
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| 482 | #include <alld_lis331dlh.h> |
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| 483 | #include <alld_ltc4412.h> |
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| 484 | #include <alld_pca9544a.h> |
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| 485 | #include <alld_tps62113.h> |
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| 486 | #include <alld_vcnl4020.h> |
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| 487 | |||
| 488 | /**
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| 489 | * @brief Motor driver.
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| 490 | */
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| 491 | extern A3906Driver moduleLldMotors;
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| 492 | |||
| 493 | /**
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| 494 | * @brief EEPROM driver.
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| 495 | */
|
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| 496 | extern AT24C01BNDriver moduleLldEeprom;
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| 497 | |||
| 498 | /**
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| 499 | * @brief Compass driver.
|
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| 500 | */
|
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| 501 | extern HMC5883LDriver moduleLldCompass;
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| 502 | |||
| 503 | /**
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| 504 | * @brief Power monitor (VDD) driver.
|
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| 505 | */
|
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| 506 | extern INA219Driver moduleLldPowerMonitorVdd;
|
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| 507 | |||
| 508 | /**
|
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| 509 | * @brief Gyroscope driver.
|
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| 510 | */
|
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| 511 | extern L3G4200DDriver moduleLldGyroscope;
|
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| 512 | |||
| 513 | /**
|
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| 514 | * @brief Status LED driver.
|
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| 515 | */
|
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| 516 | extern LEDDriver moduleLldStatusLed;
|
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| 517 | |||
| 518 | /**
|
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| 519 | * @brief Accelerometer driver.
|
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| 520 | */
|
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| 521 | extern LIS331DLHDriver moduleLldAccelerometer;
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| 522 | |||
| 523 | /**
|
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| 524 | * @brief Power path controler (charging pins) driver.
|
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| 525 | */
|
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| 526 | extern LTC4412Driver moduleLldPowerPathController;
|
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| 527 | |||
| 528 | /**
|
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| 529 | * @brief I2C multiplexer driver.
|
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| 530 | */
|
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| 531 | extern PCA9544ADriver moduleLldI2cMultiplexer;
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| 532 | |||
| 533 | /**
|
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| 534 | * @brief Step down converter (VDRIVE) driver.
|
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| 535 | */
|
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| 536 | extern TPS62113Driver moduleLldStepDownConverterVdrive;
|
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| 537 | |||
| 538 | /**
|
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| 539 | * @brief Proximity sensor driver.
|
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| 540 | */
|
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| 541 | extern VCNL4020Driver moduleLldProximity;
|
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| 542 | |||
| 543 | /** @} */
|
||
| 544 | |||
| 545 | /*===========================================================================*/
|
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| 546 | /**
|
||
| 547 | * @name Unit tests (UT)
|
||
| 548 | * @{
|
||
| 549 | */
|
||
| 550 | /*===========================================================================*/
|
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| 551 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 552 | #include <ut_alld_a3906.h> |
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| 553 | #include <ut_alld_at24c01bn-sh-b.h> |
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| 554 | #include <ut_alld_hmc5883l.h> |
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| 555 | #include <ut_alld_ina219.h> |
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| 556 | #include <ut_alld_l3g4200d.h> |
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| 557 | #include <ut_alld_led.h> |
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| 558 | #include <ut_alld_lis331dlh.h> |
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| 559 | #include <ut_alld_ltc4412.h> |
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| 560 | #include <ut_alld_pca9544a.h> |
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| 561 | #include <ut_alld_tps62113.h> |
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| 562 | #include <ut_alld_vcnl4020.h> |
||
| 563 | |||
| 564 | /**
|
||
| 565 | * @brief A3906 (motor driver) unit test object.
|
||
| 566 | */
|
||
| 567 | extern aos_unittest_t moduleUtAlldA3906;
|
||
| 568 | |||
| 569 | /**
|
||
| 570 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
||
| 571 | */
|
||
| 572 | extern aos_unittest_t moduleUtAlldAt24c01bn;
|
||
| 573 | |||
| 574 | /**
|
||
| 575 | * @brief HMC5883L (compass) unit test object.
|
||
| 576 | */
|
||
| 577 | extern aos_unittest_t moduleUtAlldHmc5883l;
|
||
| 578 | |||
| 579 | /**
|
||
| 580 | * @brief INA219 (power monitor) unit test object.
|
||
| 581 | */
|
||
| 582 | extern aos_unittest_t moduleUtAlldIna219;
|
||
| 583 | |||
| 584 | /**
|
||
| 585 | * @brief L3G4200D (gyroscope) unit test object.
|
||
| 586 | */
|
||
| 587 | extern aos_unittest_t moduleUtAlldL3g4200d;
|
||
| 588 | |||
| 589 | /**
|
||
| 590 | * @brief Status LED unit test object.
|
||
| 591 | */
|
||
| 592 | extern aos_unittest_t moduleUtAlldLed;
|
||
| 593 | |||
| 594 | /**
|
||
| 595 | * @brief LIS331DLH (accelerometer) unit test object.
|
||
| 596 | */
|
||
| 597 | extern aos_unittest_t moduleUtAlldLis331dlh;
|
||
| 598 | |||
| 599 | /**
|
||
| 600 | * @brief LTC4412 (power path controller) unit test object.
|
||
| 601 | */
|
||
| 602 | extern aos_unittest_t moduleUtAlldLtc4412;
|
||
| 603 | |||
| 604 | /**
|
||
| 605 | * @brief PCA9544A (I2C multiplexer) unit test object.
|
||
| 606 | */
|
||
| 607 | extern aos_unittest_t moduleUtAlldPca9544a;
|
||
| 608 | |||
| 609 | /**
|
||
| 610 | * @brief TPS62113 (step-down converter) unit test object.
|
||
| 611 | */
|
||
| 612 | extern aos_unittest_t moduleUtAlldTps62113;
|
||
| 613 | |||
| 614 | /**
|
||
| 615 | * @brief VCNL4020 (proximity sensor) unit test object.
|
||
| 616 | */
|
||
| 617 | extern aos_unittest_t moduleUtAlldVcnl4020;
|
||
| 618 | |||
| 619 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
| 620 | |||
| 621 | /** @} */
|
||
| 622 | |||
| 623 | #endif /* _AMIROOS_MODULE_H_ */ |