amiro-os / modules / DiWheelDrive_1-2 / module.c @ a193bcf1
History | View | Annotate | Download (20.203 KB)
| 1 | abb8b3f4 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | Copyright (C) 2016..2019 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 DiWheelDrive module.
|
||
| 22 | *
|
||
| 23 | * @addtogroup diwheeldrive_module
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | #include "module.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 | CANConfig moduleHalCanConfig = {
|
||
| 46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||
| 47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
||
| 48 | }; |
||
| 49 | |||
| 50 | I2CConfig moduleHalI2cImuConfig = {
|
||
| 51 | /* I²C mode */ OPMODE_I2C,
|
||
| 52 | /* frequency */ 400000, |
||
| 53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 54 | }; |
||
| 55 | |||
| 56 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
|
||
| 57 | /* I²C mode */ OPMODE_I2C,
|
||
| 58 | /* frequency */ 400000, |
||
| 59 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 60 | }; |
||
| 61 | |||
| 62 | PWMConfig moduleHalPwmDriveConfig = {
|
||
| 63 | /* frequency */ 7200000, |
||
| 64 | /* period */ 360, |
||
| 65 | /* callback */ NULL, |
||
| 66 | /* channel configurations */ {
|
||
| 67 | /* channel 0 */ {
|
||
| 68 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 69 | /* callback */ NULL |
||
| 70 | }, |
||
| 71 | /* channel 1 */ {
|
||
| 72 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 73 | /* callback */ NULL |
||
| 74 | }, |
||
| 75 | /* channel 2 */ {
|
||
| 76 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 77 | /* callback */ NULL |
||
| 78 | }, |
||
| 79 | /* channel 3 */ {
|
||
| 80 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 81 | /* callback */ NULL |
||
| 82 | }, |
||
| 83 | }, |
||
| 84 | /* TIM CR2 register */ 0, |
||
| 85 | #if (STM32_PWM_USE_ADVANCED == TRUE)
|
||
| 86 | /* TIM BDTR register */ 0, |
||
| 87 | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
||
| 88 | /* TIM DIER register */ 0 |
||
| 89 | }; |
||
| 90 | |||
| 91 | QEIConfig moduleHalQeiConfig = {
|
||
| 92 | /* mode */ QEI_COUNT_BOTH,
|
||
| 93 | /* channel config */ {
|
||
| 94 | /* channel 0 */ {
|
||
| 95 | /* input mode */ QEI_INPUT_NONINVERTED,
|
||
| 96 | }, |
||
| 97 | /* channel 1 */ {
|
||
| 98 | /* input mode */ QEI_INPUT_NONINVERTED,
|
||
| 99 | }, |
||
| 100 | }, |
||
| 101 | /* encoder range */ 0x10000u, |
||
| 102 | }; |
||
| 103 | |||
| 104 | SerialConfig moduleHalProgIfConfig = {
|
||
| 105 | /* bit rate */ 115200, |
||
| 106 | /* CR1 */ 0, |
||
| 107 | /* CR1 */ 0, |
||
| 108 | /* CR1 */ 0, |
||
| 109 | }; |
||
| 110 | |||
| 111 | /** @} */
|
||
| 112 | |||
| 113 | /*===========================================================================*/
|
||
| 114 | /**
|
||
| 115 | * @name GPIO definitions
|
||
| 116 | * @{
|
||
| 117 | */
|
||
| 118 | /*===========================================================================*/
|
||
| 119 | |||
| 120 | /**
|
||
| 121 | * @brief LED output signal GPIO.
|
||
| 122 | */
|
||
| 123 | static apalGpio_t _gpioLed = {
|
||
| 124 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
|
| 125 | abb8b3f4 | Thomas Schöpping | }; |
| 126 | ROMCONST apalControlGpio_t moduleGpioLed = {
|
||
| 127 | /* GPIO */ &_gpioLed,
|
||
| 128 | /* meta */ {
|
||
| 129 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 130 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
|
||
| 131 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 132 | }, |
||
| 133 | }; |
||
| 134 | |||
| 135 | /**
|
||
| 136 | * @brief POWER_EN output signal GPIO.
|
||
| 137 | */
|
||
| 138 | static apalGpio_t _gpioPowerEn = {
|
||
| 139 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
|
| 140 | abb8b3f4 | Thomas Schöpping | }; |
| 141 | ROMCONST apalControlGpio_t moduleGpioPowerEn = {
|
||
| 142 | /* GPIO */ &_gpioPowerEn,
|
||
| 143 | /* meta */ {
|
||
| 144 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 145 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 146 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 147 | }, |
||
| 148 | }; |
||
| 149 | |||
| 150 | /**
|
||
| 151 | * @brief IR_INT input signal GPIO.
|
||
| 152 | */
|
||
| 153 | static apalGpio_t _gpioIrInt = {
|
||
| 154 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT,
|
| 155 | abb8b3f4 | Thomas Schöpping | }; |
| 156 | ROMCONST apalControlGpio_t moduleGpioIrInt = {
|
||
| 157 | /* GPIO */ &_gpioIrInt,
|
||
| 158 | /* meta */ {
|
||
| 159 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 160 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
||
| 161 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
|
||
| 162 | }, |
||
| 163 | }; |
||
| 164 | |||
| 165 | /**
|
||
| 166 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
| 167 | */
|
||
| 168 | static apalGpio_t _gpioSysUartUp = {
|
||
| 169 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
|
| 170 | abb8b3f4 | Thomas Schöpping | }; |
| 171 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
|
||
| 172 | /* GPIO */ &_gpioSysUartUp,
|
||
| 173 | /* meta */ {
|
||
| 174 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 175 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 176 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 177 | }, |
||
| 178 | }; |
||
| 179 | |||
| 180 | /**
|
||
| 181 | * @brief IMU_INT input signal GPIO.
|
||
| 182 | */
|
||
| 183 | static apalGpio_t _gpioImuInt = {
|
||
| 184 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_INT,
|
| 185 | abb8b3f4 | Thomas Schöpping | }; |
| 186 | ROMCONST apalControlGpio_t moduleGpioImuInt = {
|
||
| 187 | /* GPIO */ &_gpioImuInt,
|
||
| 188 | /* meta */ {
|
||
| 189 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 190 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
||
| 191 | /* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO |
||
| 192 | }, |
||
| 193 | }; |
||
| 194 | |||
| 195 | /**
|
||
| 196 | * @brief SYS_SNYC bidirectional signal GPIO.
|
||
| 197 | */
|
||
| 198 | static apalGpio_t _gpioSysSync = {
|
||
| 199 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
|
| 200 | abb8b3f4 | Thomas Schöpping | }; |
| 201 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
||
| 202 | /* GPIO */ &_gpioSysSync,
|
||
| 203 | /* meta */ {
|
||
| 204 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 205 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 206 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 207 | }, |
||
| 208 | }; |
||
| 209 | |||
| 210 | /**
|
||
| 211 | * @brief IMU_RESET output signal GPIO.
|
||
| 212 | */
|
||
| 213 | static apalGpio_t _gpioImuReset = {
|
||
| 214 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_RESET_N,
|
| 215 | abb8b3f4 | Thomas Schöpping | }; |
| 216 | ROMCONST apalControlGpio_t moduleGpioImuReset = {
|
||
| 217 | /* GPIO */ &_gpioImuReset,
|
||
| 218 | /* meta */ {
|
||
| 219 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 220 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
||
| 221 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 222 | }, |
||
| 223 | }; |
||
| 224 | |||
| 225 | /**
|
||
| 226 | * @brief PATH_DCSTAT input signal GPIO.
|
||
| 227 | */
|
||
| 228 | static apalGpio_t _gpioPathDcStat = {
|
||
| 229 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCSTAT,
|
| 230 | abb8b3f4 | Thomas Schöpping | }; |
| 231 | ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
|
||
| 232 | /* GPIO */ &_gpioPathDcStat,
|
||
| 233 | /* meta */ {
|
||
| 234 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 235 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
|
||
| 236 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 237 | }, |
||
| 238 | }; |
||
| 239 | |||
| 240 | /**
|
||
| 241 | * @brief PATH_DCEN output signal GPIO.
|
||
| 242 | */
|
||
| 243 | static apalGpio_t _gpioPathDcEn = {
|
||
| 244 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCEN,
|
| 245 | abb8b3f4 | Thomas Schöpping | }; |
| 246 | ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
|
||
| 247 | /* GPIO */ &_gpioPathDcEn,
|
||
| 248 | /* meta */ {
|
||
| 249 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 250 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
|
||
| 251 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 252 | }, |
||
| 253 | }; |
||
| 254 | |||
| 255 | /**
|
||
| 256 | * @brief SYS_PD bidirectional signal GPIO.
|
||
| 257 | */
|
||
| 258 | static apalGpio_t _gpioSysPd = {
|
||
| 259 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
|
| 260 | abb8b3f4 | Thomas Schöpping | }; |
| 261 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
||
| 262 | /* GPIO */ &_gpioSysPd,
|
||
| 263 | /* meta */ {
|
||
| 264 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 265 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 266 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 267 | }, |
||
| 268 | }; |
||
| 269 | |||
| 270 | /**
|
||
| 271 | * @brief SYS_REG_EN input signal GPIO.
|
||
| 272 | */
|
||
| 273 | static apalGpio_t _gpioSysRegEn = {
|
||
| 274 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_REG_EN,
|
| 275 | abb8b3f4 | Thomas Schöpping | }; |
| 276 | ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
|
||
| 277 | /* GPIO */ &_gpioSysRegEn,
|
||
| 278 | /* meta */ {
|
||
| 279 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 280 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 281 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 282 | }, |
||
| 283 | }; |
||
| 284 | |||
| 285 | /**
|
||
| 286 | * @brief IMU_BOOT_LOAD output signal GPIO.
|
||
| 287 | */
|
||
| 288 | static apalGpio_t _gpioImuBootLoad = {
|
||
| 289 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BOOT_LOAD_N,
|
| 290 | abb8b3f4 | Thomas Schöpping | }; |
| 291 | ROMCONST apalControlGpio_t moduleGpioImuBootLoad = {
|
||
| 292 | /* GPIO */ &_gpioImuBootLoad,
|
||
| 293 | /* meta */ {
|
||
| 294 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 295 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
||
| 296 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 297 | }, |
||
| 298 | }; |
||
| 299 | |||
| 300 | /**
|
||
| 301 | * @brief IMU_BL_IND input signal GPIO.
|
||
| 302 | */
|
||
| 303 | static apalGpio_t _gpioImuBlInd = {
|
||
| 304 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BL_IND,
|
| 305 | abb8b3f4 | Thomas Schöpping | }; |
| 306 | ROMCONST apalControlGpio_t moduleGpioImuBlInd = {
|
||
| 307 | /* GPIO */ &_gpioImuBlInd,
|
||
| 308 | /* meta */ {
|
||
| 309 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 310 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
||
| 311 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 312 | }, |
||
| 313 | }; |
||
| 314 | |||
| 315 | /**
|
||
| 316 | * @brief SYS_WARMRST bidirectional signal GPIO.
|
||
| 317 | */
|
||
| 318 | static apalGpio_t _gpioSysWarmrst = {
|
||
| 319 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_WARMRST_N,
|
| 320 | abb8b3f4 | Thomas Schöpping | }; |
| 321 | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
|
||
| 322 | /* GPIO */ &_gpioSysWarmrst,
|
||
| 323 | /* meta */ {
|
||
| 324 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 325 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 326 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 327 | }, |
||
| 328 | }; |
||
| 329 | |||
| 330 | /** @} */
|
||
| 331 | |||
| 332 | /*===========================================================================*/
|
||
| 333 | /**
|
||
| 334 | * @name AMiRo-OS core configurations
|
||
| 335 | * @{
|
||
| 336 | */
|
||
| 337 | /*===========================================================================*/
|
||
| 338 | |||
| 339 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 340 | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
||
| 341 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 342 | |||
| 343 | /** @} */
|
||
| 344 | |||
| 345 | /*===========================================================================*/
|
||
| 346 | /**
|
||
| 347 | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
||
| 348 | * @{
|
||
| 349 | */
|
||
| 350 | /*===========================================================================*/
|
||
| 351 | |||
| 352 | /** @} */
|
||
| 353 | |||
| 354 | /*===========================================================================*/
|
||
| 355 | /**
|
||
| 356 | * @name Low-level drivers
|
||
| 357 | * @{
|
||
| 358 | */
|
||
| 359 | /*===========================================================================*/
|
||
| 360 | |||
| 361 | A3906Driver moduleLldMotors = {
|
||
| 362 | /* power enable GPIO */ &moduleGpioPowerEn,
|
||
| 363 | }; |
||
| 364 | |||
| 365 | AT24C01BDriver moduleLldEeprom = {
|
||
| 366 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 367 | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
|
||
| 368 | }; |
||
| 369 | |||
| 370 | INA219Driver moduleLldPowerMonitorVdd = {
|
||
| 371 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 372 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
||
| 373 | /* current LSB (uA) */ 0x00u, |
||
| 374 | /* configuration */ NULL, |
||
| 375 | }; |
||
| 376 | |||
| 377 | LEDDriver moduleLldStatusLed = {
|
||
| 378 | /* LED enable Gpio */ &moduleGpioLed,
|
||
| 379 | }; |
||
| 380 | |||
| 381 | LTC4412Driver moduleLldPowerPathController = {
|
||
| 382 | /* Control GPIO */ &moduleGpioPathDcEn,
|
||
| 383 | /* Status GPIO */ &moduleGpioPathDcStat,
|
||
| 384 | }; |
||
| 385 | |||
| 386 | PCA9544ADriver moduleLldI2cMultiplexer = {
|
||
| 387 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 388 | /* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
|
||
| 389 | }; |
||
| 390 | |||
| 391 | TPS6211xDriver moduleLldStepDownConverterVdrive = {
|
||
| 392 | /* Power enable Gpio */ &moduleGpioPowerEn,
|
||
| 393 | }; |
||
| 394 | |||
| 395 | VCNL4020Driver moduleLldProximity = {
|
||
| 396 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 397 | }; |
||
| 398 | |||
| 399 | /** @} */
|
||
| 400 | |||
| 401 | /*===========================================================================*/
|
||
| 402 | /**
|
||
| 403 | * @name Unit tests (UT)
|
||
| 404 | * @{
|
||
| 405 | */
|
||
| 406 | /*===========================================================================*/
|
||
| 407 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 408 | #include <string.h> |
||
| 409 | |||
| 410 | /*
|
||
| 411 | * A3906 (motor driver)
|
||
| 412 | */
|
||
| 413 | static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 414 | {
|
||
| 415 | (void)argc;
|
||
| 416 | (void)argv;
|
||
| 417 | aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
||
| 418 | return AOS_OK;
|
||
| 419 | } |
||
| 420 | static ut_a3906data_t _utA3906Data = {
|
||
| 421 | /* driver */ &moduleLldMotors,
|
||
| 422 | /* PWM information */ {
|
||
| 423 | /* driver */ &MODULE_HAL_PWM_DRIVE,
|
||
| 424 | /* channels */ {
|
||
| 425 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
||
| 426 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
||
| 427 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
||
| 428 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
||
| 429 | }, |
||
| 430 | }, |
||
| 431 | /* QEI information */ {
|
||
| 432 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
||
| 433 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
||
| 434 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
||
| 435 | }, |
||
| 436 | /* Wheel diameter */ {
|
||
| 437 | /* left wheel */ 0.05571f, |
||
| 438 | /* right wheel */ 0.05571f, |
||
| 439 | }, |
||
| 440 | /* timeout */ 10 * MICROSECONDS_PER_SECOND, |
||
| 441 | }; |
||
| 442 | aos_unittest_t moduleUtAlldA3906 = {
|
||
| 443 | /* name */ "A3906", |
||
| 444 | /* info */ "motor driver", |
||
| 445 | /* test function */ utAlldA3906Func,
|
||
| 446 | /* shell command */ {
|
||
| 447 | /* name */ "unittest:MotorDriver", |
||
| 448 | /* callback */ _utShellCmdCb_AlldA3906,
|
||
| 449 | /* next */ NULL, |
||
| 450 | }, |
||
| 451 | /* data */ &_utA3906Data,
|
||
| 452 | }; |
||
| 453 | |||
| 454 | /*
|
||
| 455 | * AT24C01B (EEPROM)
|
||
| 456 | */
|
||
| 457 | static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 458 | {
|
||
| 459 | (void)argc;
|
||
| 460 | (void)argv;
|
||
| 461 | aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
|
||
| 462 | return AOS_OK;
|
||
| 463 | } |
||
| 464 | static ut_at24c01bdata_t _utAlldAt24c01bData = {
|
||
| 465 | /* driver */ &moduleLldEeprom,
|
||
| 466 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 467 | }; |
||
| 468 | aos_unittest_t moduleUtAlldAt24c01b = {
|
||
| 469 | /* name */ "AT24C01B", |
||
| 470 | /* info */ "1kbit EEPROM", |
||
| 471 | /* test function */ utAlldAt24c01bFunc,
|
||
| 472 | /* shell command */ {
|
||
| 473 | /* name */ "unittest:EEPROM", |
||
| 474 | /* callback */ _utShellCmdCb_AlldAt24c01b,
|
||
| 475 | /* next */ NULL, |
||
| 476 | }, |
||
| 477 | /* data */ &_utAlldAt24c01bData,
|
||
| 478 | }; |
||
| 479 | |||
| 480 | /*
|
||
| 481 | * INA219 (power monitor)
|
||
| 482 | */
|
||
| 483 | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 484 | {
|
||
| 485 | (void)argc;
|
||
| 486 | (void)argv;
|
||
| 487 | aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
||
| 488 | return AOS_OK;
|
||
| 489 | } |
||
| 490 | static ut_ina219data_t _utIna219Data = {
|
||
| 491 | /* driver */ &moduleLldPowerMonitorVdd,
|
||
| 492 | /* expected voltage */ 3.3f, |
||
| 493 | /* tolerance */ 0.05f, |
||
| 494 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 495 | }; |
||
| 496 | aos_unittest_t moduleUtAlldIna219 = {
|
||
| 497 | /* name */ "INA219", |
||
| 498 | /* info */ "power monitor", |
||
| 499 | /* test function */ utAlldIna219Func,
|
||
| 500 | /* shell command */ {
|
||
| 501 | /* name */ "unittest:PowerMonitor", |
||
| 502 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
| 503 | /* next */ NULL, |
||
| 504 | }, |
||
| 505 | /* data */ &_utIna219Data,
|
||
| 506 | }; |
||
| 507 | |||
| 508 | /*
|
||
| 509 | * Status LED
|
||
| 510 | */
|
||
| 511 | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 512 | {
|
||
| 513 | (void)argc;
|
||
| 514 | (void)argv;
|
||
| 515 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
| 516 | return AOS_OK;
|
||
| 517 | } |
||
| 518 | aos_unittest_t moduleUtAlldLed = {
|
||
| 519 | /* name */ "LED", |
||
| 520 | /* info */ NULL, |
||
| 521 | /* test function */ utAlldLedFunc,
|
||
| 522 | /* shell command */ {
|
||
| 523 | /* name */ "unittest:StatusLED", |
||
| 524 | /* callback */ _utShellCmdCb_AlldLed,
|
||
| 525 | /* next */ NULL, |
||
| 526 | }, |
||
| 527 | /* data */ &moduleLldStatusLed,
|
||
| 528 | }; |
||
| 529 | |||
| 530 | /*
|
||
| 531 | * LTC4412 (power path controller)
|
||
| 532 | */
|
||
| 533 | static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 534 | {
|
||
| 535 | (void)argc;
|
||
| 536 | (void)argv;
|
||
| 537 | aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
||
| 538 | return AOS_OK;
|
||
| 539 | } |
||
| 540 | aos_unittest_t moduleUtAlldLtc4412 = {
|
||
| 541 | /* name */ "LTC4412", |
||
| 542 | /* info */ "Power path controller", |
||
| 543 | /* test function */ utAlldLtc4412Func,
|
||
| 544 | /* shell command */ {
|
||
| 545 | /* name */ "unittest:PowerPathController", |
||
| 546 | /* callback */ _utShellCmdCb_AlldLtc4412,
|
||
| 547 | /* next */ NULL, |
||
| 548 | }, |
||
| 549 | /* data */ &moduleLldPowerPathController,
|
||
| 550 | }; |
||
| 551 | |||
| 552 | /*
|
||
| 553 | * PCA9544A (I2C multiplexer)
|
||
| 554 | */
|
||
| 555 | static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 556 | {
|
||
| 557 | (void)argc;
|
||
| 558 | (void)argv;
|
||
| 559 | aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
||
| 560 | return AOS_OK;
|
||
| 561 | } |
||
| 562 | static ut_pca9544adata_t _utPca9544aData = {
|
||
| 563 | /* driver */ &moduleLldI2cMultiplexer,
|
||
| 564 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 565 | }; |
||
| 566 | aos_unittest_t moduleUtAlldPca9544a = {
|
||
| 567 | /* name */ "PCA9544A", |
||
| 568 | /* info */ "I2C multiplexer", |
||
| 569 | /* test function */ utAlldPca9544aFunc,
|
||
| 570 | /* shell command */ {
|
||
| 571 | /* name */ "unittest:I2CMultiplexer", |
||
| 572 | /* callback */ _utShellCmdCb_AlldPca9544a,
|
||
| 573 | /* next */ NULL, |
||
| 574 | }, |
||
| 575 | /* data */ &_utPca9544aData,
|
||
| 576 | }; |
||
| 577 | |||
| 578 | /*
|
||
| 579 | * TPS62113 (step-down converter)
|
||
| 580 | */
|
||
| 581 | static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 582 | {
|
||
| 583 | (void)argc;
|
||
| 584 | (void)argv;
|
||
| 585 | aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
||
| 586 | return AOS_OK;
|
||
| 587 | } |
||
| 588 | aos_unittest_t moduleUtAlldTps62113 = {
|
||
| 589 | /* name */ "TPS62113", |
||
| 590 | /* info */ "Step down converter", |
||
| 591 | /* test function */ utAlldTps6211xFunc,
|
||
| 592 | /* shell command */ {
|
||
| 593 | /* name */ "unittest:StepDownConverter", |
||
| 594 | /* callback */ _utShellCmdCb_AlldTps62113,
|
||
| 595 | /* next */ NULL, |
||
| 596 | }, |
||
| 597 | /* data */ &moduleLldStepDownConverterVdrive,
|
||
| 598 | }; |
||
| 599 | |||
| 600 | /*
|
||
| 601 | * VCNL4020 (proximity sensor)
|
||
| 602 | */
|
||
| 603 | static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
||
| 604 | {
|
||
| 605 | uint8_t intstatus; |
||
| 606 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
||
| 607 | vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 608 | if (intstatus) {
|
||
| 609 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 610 | } |
||
| 611 | return;
|
||
| 612 | } |
||
| 613 | static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 614 | {
|
||
| 615 | enum {
|
||
| 616 | UNKNOWN, |
||
| 617 | FL, FR, WL, WR, |
||
| 618 | } sensor = UNKNOWN; |
||
| 619 | // evaluate arguments
|
||
| 620 | if (argc == 2) { |
||
| 621 | if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
||
| 622 | sensor = FL; |
||
| 623 | } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
||
| 624 | sensor = FR; |
||
| 625 | } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
||
| 626 | sensor = WL; |
||
| 627 | } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
||
| 628 | sensor = WR; |
||
| 629 | } |
||
| 630 | } |
||
| 631 | if (sensor != UNKNOWN) {
|
||
| 632 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 633 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 634 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 635 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 636 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 637 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 638 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 639 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 640 | switch (sensor) {
|
||
| 641 | case FL:
|
||
| 642 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 643 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
||
| 644 | break;
|
||
| 645 | case FR:
|
||
| 646 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 647 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
||
| 648 | break;
|
||
| 649 | case WL:
|
||
| 650 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 651 | aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
||
| 652 | break;
|
||
| 653 | case WR:
|
||
| 654 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 655 | aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
||
| 656 | break;
|
||
| 657 | default:
|
||
| 658 | break;
|
||
| 659 | } |
||
| 660 | return AOS_OK;
|
||
| 661 | } |
||
| 662 | // print help
|
||
| 663 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
| 664 | chprintf(stream, "Options:\n");
|
||
| 665 | chprintf(stream, " --frontleft, -fl\n");
|
||
| 666 | chprintf(stream, " Test front left proximity sensor.\n");
|
||
| 667 | chprintf(stream, " --frontrigt, -fr\n");
|
||
| 668 | chprintf(stream, " Test front right proximity sensor.\n");
|
||
| 669 | chprintf(stream, " --wheelleft, -wl\n");
|
||
| 670 | chprintf(stream, " Test left wheel proximity sensor.\n");
|
||
| 671 | chprintf(stream, " --wheelright, -wr\n");
|
||
| 672 | chprintf(stream, " Test right wheel proximity sensor.\n");
|
||
| 673 | 916f8d28 | Thomas Schöpping | return AOS_INVALIDARGUMENTS;
|
| 674 | abb8b3f4 | Thomas Schöpping | } |
| 675 | static ut_vcnl4020data_t _utVcnl4020Data = {
|
||
| 676 | /* driver */ &moduleLldProximity,
|
||
| 677 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 678 | /* event source */ &aos.events.io,
|
||
| 679 | /* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
||
| 680 | }; |
||
| 681 | aos_unittest_t moduleUtAlldVcnl4020 = {
|
||
| 682 | /* name */ "VCNL4020", |
||
| 683 | /* info */ "proximity sensor", |
||
| 684 | /* test function */ utAlldVcnl4020Func,
|
||
| 685 | /* shell command */ {
|
||
| 686 | /* name */ "unittest:Proximity", |
||
| 687 | /* callback */ _utShellCmdCb_AlldVcnl4020,
|
||
| 688 | /* next */ NULL, |
||
| 689 | }, |
||
| 690 | /* data */ &_utVcnl4020Data,
|
||
| 691 | }; |
||
| 692 | |||
| 693 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 694 | |||
| 695 | /** @} */
|
||
| 696 | /** @} */ |