amiro-os / modules / DiWheelDrive_1-2 / module.c @ abb8b3f4
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| 1 | abb8b3f4 | 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..2019 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 | /**
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| 20 | * @file
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| 21 | * @brief Structures and constant for the DiWheelDrive module.
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| 22 | *
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| 23 | * @addtogroup diwheeldrive_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | #include "module.h" |
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| 28 | |||
| 29 | /*===========================================================================*/
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| 30 | /**
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| 31 | * @name Module specific functions
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| 32 | * @{
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| 33 | */
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| 34 | /*===========================================================================*/
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| 35 | |||
| 36 | /** @} */
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| 37 | |||
| 38 | /*===========================================================================*/
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| 39 | /**
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| 40 | * @name ChibiOS/HAL configuration
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| 41 | * @{
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| 42 | */
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| 43 | /*===========================================================================*/
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| 44 | |||
| 45 | CANConfig moduleHalCanConfig = {
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| 46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 48 | }; |
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| 49 | |||
| 50 | I2CConfig moduleHalI2cImuConfig = {
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| 51 | /* I²C mode */ OPMODE_I2C,
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| 52 | /* frequency */ 400000, |
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| 53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 54 | }; |
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| 55 | |||
| 56 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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| 57 | /* I²C mode */ OPMODE_I2C,
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| 58 | /* frequency */ 400000, |
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| 59 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 60 | }; |
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| 61 | |||
| 62 | PWMConfig moduleHalPwmDriveConfig = {
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| 63 | /* frequency */ 7200000, |
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| 64 | /* period */ 360, |
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| 65 | /* callback */ NULL, |
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| 66 | /* channel configurations */ {
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| 67 | /* channel 0 */ {
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| 68 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 69 | /* callback */ NULL |
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| 70 | }, |
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| 71 | /* channel 1 */ {
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| 72 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 73 | /* callback */ NULL |
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| 74 | }, |
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| 75 | /* channel 2 */ {
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| 76 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 77 | /* callback */ NULL |
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| 78 | }, |
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| 79 | /* channel 3 */ {
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| 80 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 81 | /* callback */ NULL |
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| 82 | }, |
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| 83 | }, |
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| 84 | /* TIM CR2 register */ 0, |
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| 85 | #if (STM32_PWM_USE_ADVANCED == TRUE)
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| 86 | /* TIM BDTR register */ 0, |
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| 87 | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
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| 88 | /* TIM DIER register */ 0 |
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| 89 | }; |
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| 90 | |||
| 91 | QEIConfig moduleHalQeiConfig = {
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| 92 | /* mode */ QEI_COUNT_BOTH,
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| 93 | /* channel config */ {
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| 94 | /* channel 0 */ {
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| 95 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 96 | }, |
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| 97 | /* channel 1 */ {
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| 98 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 99 | }, |
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| 100 | }, |
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| 101 | /* encoder range */ 0x10000u, |
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| 102 | }; |
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| 103 | |||
| 104 | SerialConfig moduleHalProgIfConfig = {
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| 105 | /* bit rate */ 115200, |
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| 106 | /* CR1 */ 0, |
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| 107 | /* CR1 */ 0, |
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| 108 | /* CR1 */ 0, |
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| 109 | }; |
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| 110 | |||
| 111 | /** @} */
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| 112 | |||
| 113 | /*===========================================================================*/
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| 114 | /**
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| 115 | * @name GPIO definitions
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| 116 | * @{
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| 117 | */
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| 118 | /*===========================================================================*/
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| 119 | |||
| 120 | /**
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| 121 | * @brief LED output signal GPIO.
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| 122 | */
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| 123 | static apalGpio_t _gpioLed = {
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| 124 | /* port */ GPIOA,
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| 125 | /* pad */ GPIOA_LED,
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| 126 | }; |
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| 127 | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 128 | /* GPIO */ &_gpioLed,
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| 129 | /* meta */ {
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| 130 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 131 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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| 132 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 133 | }, |
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| 134 | }; |
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| 135 | |||
| 136 | /**
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| 137 | * @brief POWER_EN output signal GPIO.
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| 138 | */
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| 139 | static apalGpio_t _gpioPowerEn = {
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| 140 | /* port */ GPIOB,
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| 141 | /* pad */ GPIOB_POWER_EN,
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| 142 | }; |
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| 143 | ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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| 144 | /* GPIO */ &_gpioPowerEn,
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| 145 | /* meta */ {
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| 146 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 147 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 148 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 149 | }, |
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| 150 | }; |
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| 151 | |||
| 152 | /**
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| 153 | * @brief IR_INT input signal GPIO.
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| 154 | */
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| 155 | static apalGpio_t _gpioIrInt = {
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| 156 | /* port */ GPIOB,
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| 157 | /* pad */ GPIOB_IR_INT,
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| 158 | }; |
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| 159 | ROMCONST apalControlGpio_t moduleGpioIrInt = {
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| 160 | /* GPIO */ &_gpioIrInt,
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| 161 | /* meta */ {
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| 162 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 163 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 164 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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| 165 | }, |
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| 166 | }; |
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| 167 | |||
| 168 | /**
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| 169 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 170 | */
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| 171 | static apalGpio_t _gpioSysUartUp = {
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| 172 | /* port */ GPIOB,
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| 173 | /* pad */ GPIOB_SYS_UART_UP,
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| 174 | }; |
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| 175 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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| 176 | /* GPIO */ &_gpioSysUartUp,
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| 177 | /* meta */ {
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| 178 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 179 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 180 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 181 | }, |
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| 182 | }; |
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| 183 | |||
| 184 | /**
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| 185 | * @brief IMU_INT input signal GPIO.
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| 186 | */
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| 187 | static apalGpio_t _gpioImuInt = {
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| 188 | /* port */ GPIOB,
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| 189 | /* pad */ GPIOB_IMU_INT,
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| 190 | }; |
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| 191 | ROMCONST apalControlGpio_t moduleGpioImuInt = {
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| 192 | /* GPIO */ &_gpioImuInt,
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| 193 | /* meta */ {
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| 194 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 195 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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| 196 | /* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO |
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| 197 | }, |
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| 198 | }; |
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| 199 | |||
| 200 | /**
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| 201 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 202 | */
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| 203 | static apalGpio_t _gpioSysSync = {
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| 204 | /* port */ GPIOC,
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| 205 | /* pad */ GPIOC_SYS_INT_N,
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| 206 | }; |
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| 207 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
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| 208 | /* GPIO */ &_gpioSysSync,
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| 209 | /* meta */ {
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| 210 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 211 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 212 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 213 | }, |
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| 214 | }; |
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| 215 | |||
| 216 | /**
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| 217 | * @brief IMU_RESET output signal GPIO.
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| 218 | */
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| 219 | static apalGpio_t _gpioImuReset = {
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| 220 | /* port */ GPIOC,
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| 221 | /* pad */ GPIOC_IMU_RESET_N,
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| 222 | }; |
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| 223 | ROMCONST apalControlGpio_t moduleGpioImuReset = {
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| 224 | /* GPIO */ &_gpioImuReset,
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| 225 | /* meta */ {
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| 226 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 227 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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| 228 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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| 229 | }, |
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| 230 | }; |
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| 231 | |||
| 232 | /**
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| 233 | * @brief PATH_DCSTAT input signal GPIO.
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| 234 | */
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| 235 | static apalGpio_t _gpioPathDcStat = {
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| 236 | /* port */ GPIOC,
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| 237 | /* pad */ GPIOC_PATH_DCSTAT,
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| 238 | }; |
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| 239 | ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
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| 240 | /* GPIO */ &_gpioPathDcStat,
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| 241 | /* meta */ {
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| 242 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 243 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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| 244 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 245 | }, |
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| 246 | }; |
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| 247 | |||
| 248 | /**
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| 249 | * @brief PATH_DCEN output signal GPIO.
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| 250 | */
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| 251 | static apalGpio_t _gpioPathDcEn = {
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| 252 | /* port */ GPIOC,
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| 253 | /* pad */ GPIOC_PATH_DCEN,
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| 254 | }; |
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| 255 | ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
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| 256 | /* GPIO */ &_gpioPathDcEn,
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| 257 | /* meta */ {
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| 258 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 259 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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| 260 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 261 | }, |
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| 262 | }; |
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| 263 | |||
| 264 | /**
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| 265 | * @brief SYS_PD bidirectional signal GPIO.
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| 266 | */
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| 267 | static apalGpio_t _gpioSysPd = {
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| 268 | /* port */ GPIOC,
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| 269 | /* pad */ GPIOC_SYS_PD_N,
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| 270 | }; |
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| 271 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
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| 272 | /* GPIO */ &_gpioSysPd,
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| 273 | /* meta */ {
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| 274 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 275 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 276 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 277 | }, |
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| 278 | }; |
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| 279 | |||
| 280 | /**
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| 281 | * @brief SYS_REG_EN input signal GPIO.
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| 282 | */
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| 283 | static apalGpio_t _gpioSysRegEn = {
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| 284 | /* port */ GPIOC,
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| 285 | /* pad */ GPIOC_SYS_REG_EN,
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| 286 | }; |
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| 287 | ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
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| 288 | /* GPIO */ &_gpioSysRegEn,
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| 289 | /* meta */ {
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| 290 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 291 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 292 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 293 | }, |
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| 294 | }; |
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| 295 | |||
| 296 | /**
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| 297 | * @brief IMU_BOOT_LOAD output signal GPIO.
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| 298 | */
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| 299 | static apalGpio_t _gpioImuBootLoad = {
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| 300 | /* port */ GPIOC,
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| 301 | /* pad */ GPIOC_IMU_BOOT_LOAD_N,
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| 302 | }; |
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| 303 | ROMCONST apalControlGpio_t moduleGpioImuBootLoad = {
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| 304 | /* GPIO */ &_gpioImuBootLoad,
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| 305 | /* meta */ {
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| 306 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 307 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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| 308 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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| 309 | }, |
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| 310 | }; |
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| 311 | |||
| 312 | /**
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| 313 | * @brief IMU_BL_IND input signal GPIO.
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| 314 | */
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| 315 | static apalGpio_t _gpioImuBlInd = {
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| 316 | /* port */ GPIOC,
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| 317 | /* pad */ GPIOC_IMU_BL_IND,
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| 318 | }; |
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| 319 | ROMCONST apalControlGpio_t moduleGpioImuBlInd = {
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| 320 | /* GPIO */ &_gpioImuBlInd,
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| 321 | /* meta */ {
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| 322 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 323 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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| 324 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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| 325 | }, |
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| 326 | }; |
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| 327 | |||
| 328 | /**
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| 329 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 330 | */
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| 331 | static apalGpio_t _gpioSysWarmrst = {
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| 332 | /* port */ GPIOD,
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| 333 | /* pad */ GPIOD_SYS_WARMRST_N,
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| 334 | }; |
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| 335 | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
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| 336 | /* GPIO */ &_gpioSysWarmrst,
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| 337 | /* meta */ {
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| 338 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 339 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 340 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 341 | }, |
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| 342 | }; |
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| 343 | |||
| 344 | /** @} */
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| 345 | |||
| 346 | /*===========================================================================*/
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| 347 | /**
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| 348 | * @name AMiRo-OS core configurations
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| 349 | * @{
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| 350 | */
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| 351 | /*===========================================================================*/
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| 352 | |||
| 353 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 354 | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
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| 355 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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| 356 | |||
| 357 | /** @} */
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| 358 | |||
| 359 | /*===========================================================================*/
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| 360 | /**
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| 361 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 362 | * @{
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| 363 | */
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| 364 | /*===========================================================================*/
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| 365 | |||
| 366 | /** @} */
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| 367 | |||
| 368 | /*===========================================================================*/
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| 369 | /**
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| 370 | * @name Low-level drivers
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| 371 | * @{
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| 372 | */
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| 373 | /*===========================================================================*/
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| 374 | |||
| 375 | A3906Driver moduleLldMotors = {
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| 376 | /* power enable GPIO */ &moduleGpioPowerEn,
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| 377 | }; |
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| 378 | |||
| 379 | AT24C01BDriver moduleLldEeprom = {
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| 380 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 381 | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
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| 382 | }; |
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| 383 | |||
| 384 | INA219Driver moduleLldPowerMonitorVdd = {
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| 385 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 386 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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| 387 | /* current LSB (uA) */ 0x00u, |
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| 388 | /* configuration */ NULL, |
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| 389 | }; |
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| 390 | |||
| 391 | LEDDriver moduleLldStatusLed = {
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| 392 | /* LED enable Gpio */ &moduleGpioLed,
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| 393 | }; |
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| 394 | |||
| 395 | LTC4412Driver moduleLldPowerPathController = {
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| 396 | /* Control GPIO */ &moduleGpioPathDcEn,
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| 397 | /* Status GPIO */ &moduleGpioPathDcStat,
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| 398 | }; |
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| 399 | |||
| 400 | PCA9544ADriver moduleLldI2cMultiplexer = {
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| 401 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 402 | /* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
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| 403 | }; |
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| 404 | |||
| 405 | TPS6211xDriver moduleLldStepDownConverterVdrive = {
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| 406 | /* Power enable Gpio */ &moduleGpioPowerEn,
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| 407 | }; |
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| 408 | |||
| 409 | VCNL4020Driver moduleLldProximity = {
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| 410 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 411 | }; |
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| 412 | |||
| 413 | /** @} */
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| 414 | |||
| 415 | /*===========================================================================*/
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| 416 | /**
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| 417 | * @name Unit tests (UT)
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| 418 | * @{
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| 419 | */
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| 420 | /*===========================================================================*/
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| 421 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 422 | #include <string.h> |
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| 423 | |||
| 424 | /*
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| 425 | * A3906 (motor driver)
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| 426 | */
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| 427 | static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 428 | {
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| 429 | (void)argc;
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| 430 | (void)argv;
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| 431 | aosUtRun(stream, &moduleUtAlldA3906, NULL);
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| 432 | return AOS_OK;
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| 433 | } |
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| 434 | static ut_a3906data_t _utA3906Data = {
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| 435 | /* driver */ &moduleLldMotors,
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| 436 | /* PWM information */ {
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| 437 | /* driver */ &MODULE_HAL_PWM_DRIVE,
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| 438 | /* channels */ {
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| 439 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
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| 440 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
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| 441 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
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| 442 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
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| 443 | }, |
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| 444 | }, |
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| 445 | /* QEI information */ {
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| 446 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
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| 447 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
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| 448 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
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| 449 | }, |
||
| 450 | /* Wheel diameter */ {
|
||
| 451 | /* left wheel */ 0.05571f, |
||
| 452 | /* right wheel */ 0.05571f, |
||
| 453 | }, |
||
| 454 | /* timeout */ 10 * MICROSECONDS_PER_SECOND, |
||
| 455 | }; |
||
| 456 | aos_unittest_t moduleUtAlldA3906 = {
|
||
| 457 | /* name */ "A3906", |
||
| 458 | /* info */ "motor driver", |
||
| 459 | /* test function */ utAlldA3906Func,
|
||
| 460 | /* shell command */ {
|
||
| 461 | /* name */ "unittest:MotorDriver", |
||
| 462 | /* callback */ _utShellCmdCb_AlldA3906,
|
||
| 463 | /* next */ NULL, |
||
| 464 | }, |
||
| 465 | /* data */ &_utA3906Data,
|
||
| 466 | }; |
||
| 467 | |||
| 468 | /*
|
||
| 469 | * AT24C01B (EEPROM)
|
||
| 470 | */
|
||
| 471 | static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 472 | {
|
||
| 473 | (void)argc;
|
||
| 474 | (void)argv;
|
||
| 475 | aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
|
||
| 476 | return AOS_OK;
|
||
| 477 | } |
||
| 478 | static ut_at24c01bdata_t _utAlldAt24c01bData = {
|
||
| 479 | /* driver */ &moduleLldEeprom,
|
||
| 480 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 481 | }; |
||
| 482 | aos_unittest_t moduleUtAlldAt24c01b = {
|
||
| 483 | /* name */ "AT24C01B", |
||
| 484 | /* info */ "1kbit EEPROM", |
||
| 485 | /* test function */ utAlldAt24c01bFunc,
|
||
| 486 | /* shell command */ {
|
||
| 487 | /* name */ "unittest:EEPROM", |
||
| 488 | /* callback */ _utShellCmdCb_AlldAt24c01b,
|
||
| 489 | /* next */ NULL, |
||
| 490 | }, |
||
| 491 | /* data */ &_utAlldAt24c01bData,
|
||
| 492 | }; |
||
| 493 | |||
| 494 | /*
|
||
| 495 | * INA219 (power monitor)
|
||
| 496 | */
|
||
| 497 | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 498 | {
|
||
| 499 | (void)argc;
|
||
| 500 | (void)argv;
|
||
| 501 | aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
||
| 502 | return AOS_OK;
|
||
| 503 | } |
||
| 504 | static ut_ina219data_t _utIna219Data = {
|
||
| 505 | /* driver */ &moduleLldPowerMonitorVdd,
|
||
| 506 | /* expected voltage */ 3.3f, |
||
| 507 | /* tolerance */ 0.05f, |
||
| 508 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 509 | }; |
||
| 510 | aos_unittest_t moduleUtAlldIna219 = {
|
||
| 511 | /* name */ "INA219", |
||
| 512 | /* info */ "power monitor", |
||
| 513 | /* test function */ utAlldIna219Func,
|
||
| 514 | /* shell command */ {
|
||
| 515 | /* name */ "unittest:PowerMonitor", |
||
| 516 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
| 517 | /* next */ NULL, |
||
| 518 | }, |
||
| 519 | /* data */ &_utIna219Data,
|
||
| 520 | }; |
||
| 521 | |||
| 522 | /*
|
||
| 523 | * Status LED
|
||
| 524 | */
|
||
| 525 | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 526 | {
|
||
| 527 | (void)argc;
|
||
| 528 | (void)argv;
|
||
| 529 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
| 530 | return AOS_OK;
|
||
| 531 | } |
||
| 532 | aos_unittest_t moduleUtAlldLed = {
|
||
| 533 | /* name */ "LED", |
||
| 534 | /* info */ NULL, |
||
| 535 | /* test function */ utAlldLedFunc,
|
||
| 536 | /* shell command */ {
|
||
| 537 | /* name */ "unittest:StatusLED", |
||
| 538 | /* callback */ _utShellCmdCb_AlldLed,
|
||
| 539 | /* next */ NULL, |
||
| 540 | }, |
||
| 541 | /* data */ &moduleLldStatusLed,
|
||
| 542 | }; |
||
| 543 | |||
| 544 | /*
|
||
| 545 | * LTC4412 (power path controller)
|
||
| 546 | */
|
||
| 547 | static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 548 | {
|
||
| 549 | (void)argc;
|
||
| 550 | (void)argv;
|
||
| 551 | aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
||
| 552 | return AOS_OK;
|
||
| 553 | } |
||
| 554 | aos_unittest_t moduleUtAlldLtc4412 = {
|
||
| 555 | /* name */ "LTC4412", |
||
| 556 | /* info */ "Power path controller", |
||
| 557 | /* test function */ utAlldLtc4412Func,
|
||
| 558 | /* shell command */ {
|
||
| 559 | /* name */ "unittest:PowerPathController", |
||
| 560 | /* callback */ _utShellCmdCb_AlldLtc4412,
|
||
| 561 | /* next */ NULL, |
||
| 562 | }, |
||
| 563 | /* data */ &moduleLldPowerPathController,
|
||
| 564 | }; |
||
| 565 | |||
| 566 | /*
|
||
| 567 | * PCA9544A (I2C multiplexer)
|
||
| 568 | */
|
||
| 569 | static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 570 | {
|
||
| 571 | (void)argc;
|
||
| 572 | (void)argv;
|
||
| 573 | aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
||
| 574 | return AOS_OK;
|
||
| 575 | } |
||
| 576 | static ut_pca9544adata_t _utPca9544aData = {
|
||
| 577 | /* driver */ &moduleLldI2cMultiplexer,
|
||
| 578 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 579 | }; |
||
| 580 | aos_unittest_t moduleUtAlldPca9544a = {
|
||
| 581 | /* name */ "PCA9544A", |
||
| 582 | /* info */ "I2C multiplexer", |
||
| 583 | /* test function */ utAlldPca9544aFunc,
|
||
| 584 | /* shell command */ {
|
||
| 585 | /* name */ "unittest:I2CMultiplexer", |
||
| 586 | /* callback */ _utShellCmdCb_AlldPca9544a,
|
||
| 587 | /* next */ NULL, |
||
| 588 | }, |
||
| 589 | /* data */ &_utPca9544aData,
|
||
| 590 | }; |
||
| 591 | |||
| 592 | /*
|
||
| 593 | * TPS62113 (step-down converter)
|
||
| 594 | */
|
||
| 595 | static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 596 | {
|
||
| 597 | (void)argc;
|
||
| 598 | (void)argv;
|
||
| 599 | aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
||
| 600 | return AOS_OK;
|
||
| 601 | } |
||
| 602 | aos_unittest_t moduleUtAlldTps62113 = {
|
||
| 603 | /* name */ "TPS62113", |
||
| 604 | /* info */ "Step down converter", |
||
| 605 | /* test function */ utAlldTps6211xFunc,
|
||
| 606 | /* shell command */ {
|
||
| 607 | /* name */ "unittest:StepDownConverter", |
||
| 608 | /* callback */ _utShellCmdCb_AlldTps62113,
|
||
| 609 | /* next */ NULL, |
||
| 610 | }, |
||
| 611 | /* data */ &moduleLldStepDownConverterVdrive,
|
||
| 612 | }; |
||
| 613 | |||
| 614 | /*
|
||
| 615 | * VCNL4020 (proximity sensor)
|
||
| 616 | */
|
||
| 617 | static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
||
| 618 | {
|
||
| 619 | uint8_t intstatus; |
||
| 620 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
||
| 621 | vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 622 | if (intstatus) {
|
||
| 623 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 624 | } |
||
| 625 | return;
|
||
| 626 | } |
||
| 627 | static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 628 | {
|
||
| 629 | enum {
|
||
| 630 | UNKNOWN, |
||
| 631 | FL, FR, WL, WR, |
||
| 632 | } sensor = UNKNOWN; |
||
| 633 | // evaluate arguments
|
||
| 634 | if (argc == 2) { |
||
| 635 | if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
||
| 636 | sensor = FL; |
||
| 637 | } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
||
| 638 | sensor = FR; |
||
| 639 | } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
||
| 640 | sensor = WL; |
||
| 641 | } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
||
| 642 | sensor = WR; |
||
| 643 | } |
||
| 644 | } |
||
| 645 | if (sensor != UNKNOWN) {
|
||
| 646 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 647 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 648 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 649 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 650 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 651 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 652 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 653 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
| 654 | switch (sensor) {
|
||
| 655 | case FL:
|
||
| 656 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 657 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
||
| 658 | break;
|
||
| 659 | case FR:
|
||
| 660 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 661 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
||
| 662 | break;
|
||
| 663 | case WL:
|
||
| 664 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 665 | aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
||
| 666 | break;
|
||
| 667 | case WR:
|
||
| 668 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
| 669 | aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
||
| 670 | break;
|
||
| 671 | default:
|
||
| 672 | break;
|
||
| 673 | } |
||
| 674 | return AOS_OK;
|
||
| 675 | } |
||
| 676 | // print help
|
||
| 677 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
| 678 | chprintf(stream, "Options:\n");
|
||
| 679 | chprintf(stream, " --frontleft, -fl\n");
|
||
| 680 | chprintf(stream, " Test front left proximity sensor.\n");
|
||
| 681 | chprintf(stream, " --frontrigt, -fr\n");
|
||
| 682 | chprintf(stream, " Test front right proximity sensor.\n");
|
||
| 683 | chprintf(stream, " --wheelleft, -wl\n");
|
||
| 684 | chprintf(stream, " Test left wheel proximity sensor.\n");
|
||
| 685 | chprintf(stream, " --wheelright, -wr\n");
|
||
| 686 | chprintf(stream, " Test right wheel proximity sensor.\n");
|
||
| 687 | return AOS_INVALID_ARGUMENTS;
|
||
| 688 | } |
||
| 689 | static ut_vcnl4020data_t _utVcnl4020Data = {
|
||
| 690 | /* driver */ &moduleLldProximity,
|
||
| 691 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 692 | /* event source */ &aos.events.io,
|
||
| 693 | /* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
||
| 694 | }; |
||
| 695 | aos_unittest_t moduleUtAlldVcnl4020 = {
|
||
| 696 | /* name */ "VCNL4020", |
||
| 697 | /* info */ "proximity sensor", |
||
| 698 | /* test function */ utAlldVcnl4020Func,
|
||
| 699 | /* shell command */ {
|
||
| 700 | /* name */ "unittest:Proximity", |
||
| 701 | /* callback */ _utShellCmdCb_AlldVcnl4020,
|
||
| 702 | /* next */ NULL, |
||
| 703 | }, |
||
| 704 | /* data */ &_utVcnl4020Data,
|
||
| 705 | }; |
||
| 706 | |||
| 707 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 708 | |||
| 709 | /** @} */
|
||
| 710 | /** @} */ |