/*
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
Copyright (C) 2016..2018 Thomas Schöpping et al.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
/**
* @file
* @brief Structures and constant for the DiWheelDrive module.
*
* @addtogroup diwheeldrive_module
* @{
*/
#include "module.h"
#include
/*===========================================================================*/
/**
* @name Module specific functions
* @{
*/
/*===========================================================================*/
/** @} */
/*===========================================================================*/
/**
* @name ChibiOS/HAL configuration
* @{
*/
/*===========================================================================*/
CANConfig moduleHalCanConfig = {
/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
};
I2CConfig moduleHalI2cCompassConfig = {
/* I²C mode */ OPMODE_I2C,
/* frequency */ 400000,
/* duty cycle */ FAST_DUTY_CYCLE_2,
};
I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
/* I²C mode */ OPMODE_I2C,
/* frequency */ 400000,
/* duty cycle */ FAST_DUTY_CYCLE_2,
};
PWMConfig moduleHalPwmDriveConfig = {
/* frequency */ 7200000,
/* period */ 360,
/* callback */ NULL,
/* channel configurations */ {
/* channel 0 */ {
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
/* callback */ NULL
},
/* channel 1 */ {
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
/* callback */ NULL
},
/* channel 2 */ {
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
/* callback */ NULL
},
/* channel 3 */ {
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
/* callback */ NULL
},
},
/* TIM CR2 register */ 0,
#if STM32_PWM_USE_ADVANCED
/* TIM BDTR register */ 0,
#endif
/* TIM DIER register */ 0
};
QEIConfig moduleHalQeiConfig = {
/* mode */ QEI_COUNT_BOTH,
/* channel config */ {
/* channel 0 */ {
/* input mode */ QEI_INPUT_NONINVERTED,
},
/* channel 1 */ {
/* input mode */ QEI_INPUT_NONINVERTED,
},
},
/* encoder range */ 0x10000u,
};
SerialConfig moduleHalProgIfConfig = {
/* bit rate */ 115200,
/* CR1 */ 0,
/* CR1 */ 0,
/* CR1 */ 0,
};
SPIConfig moduleHalSpiAccelerometerConfig = {
/* circular buffer mode */ false,
/* callback function pointer */ NULL,
/* chip select line port */ GPIOC,
/* chip select line pad number */ GPIOC_ACCEL_SS_N,
/* CR1 */ SPI_CR1_BR_0,
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
};
SPIConfig moduleHalSpiGyroscopeConfig = {
/* circular buffer mode */ false,
/* callback function pointer */ NULL,
/* chip select line port */ GPIOC,
/* chip select line pad number */ GPIOC_GYRO_SS_N,
/* CR1 */ SPI_CR1_BR_0,
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
};
/** @} */
/*===========================================================================*/
/**
* @name GPIO definitions
* @{
*/
/*===========================================================================*/
/**
* @brief LED output signal GPIO.
*/
static apalGpio_t _gpioLed = {
/* port */ GPIOA,
/* pad */ GPIOA_LED,
};
ROMCONST apalControlGpio_t moduleGpioLed = {
/* GPIO */ &_gpioLed,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
/* active state */ LED_LLD_GPIO_ACTIVE_STATE,
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
},
};
/**
* @brief POWER_EN output signal GPIO.
*/
static apalGpio_t _gpioPowerEn = {
/* port */ GPIOB,
/* pad */ GPIOB_POWER_EN,
};
ROMCONST apalControlGpio_t moduleGpioPowerEn = {
/* GPIO */ &_gpioPowerEn,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
/* active state */ APAL_GPIO_ACTIVE_HIGH,
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
},
};
/**
* @brief COMPASS_DRDY output signal GPIO.
*/
static apalGpio_t _gpioCompassDrdy = {
/* port */ GPIOB,
/* pad */ GPIOB_COMPASS_DRDY,
};
ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {
/* GPIO */ &_gpioCompassDrdy,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_INPUT,
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
},
};
/**
* @brief IR_INT input signal GPIO.
*/
static apalGpio_t _gpioIrInt = {
/* port */ GPIOB,
/* pad */ GPIOB_IR_INT,
};
ROMCONST apalControlGpio_t moduleGpioIrInt = {
/* GPIO */ &_gpioIrInt,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_INPUT,
/* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ VCNL4020_LLD_INT_EDGE,
},
};
/**
* @brief GYRO_DRDY input signal GPIO.
*/
static apalGpio_t _gpioGyroDrdy = {
/* port */ GPIOB,
/* pad */ GPIOB_GYRO_DRDY,
};
ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {
/* GPIO */ &_gpioGyroDrdy,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_INPUT,
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
},
};
/**
* @brief SYS_UART_UP bidirectional signal GPIO.
*/
static apalGpio_t _gpioSysUartUp = {
/* port */ GPIOB,
/* pad */ GPIOB_SYS_UART_UP,
};
ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
/* GPIO */ &_gpioSysUartUp,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
/* active state */ APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
},
};
/**
* @brief ACCEL_INT input signal GPIO.
*/
static apalGpio_t _gpioAccelInt = {
/* port */ GPIOB,
/* pad */ GPIOB_ACCEL_INT_N,
};
ROMCONST apalControlGpio_t moduleGpioAccelInt = {
/* GPIO */ &_gpioAccelInt,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_INPUT,
/* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
},
};
/**
* @brief SYS_SNYC bidirectional signal GPIO.
*/
static apalGpio_t _gpioSysSync = {
/* port */ GPIOC,
/* pad */ GPIOC_SYS_INT_N,
};
ROMCONST apalControlGpio_t moduleGpioSysSync = {
/* GPIO */ &_gpioSysSync,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
/* active state */ APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
},
};
/**
* @brief PATH_DCSTAT input signal GPIO.
*/
static apalGpio_t _gpioPathDcStat = {
/* port */ GPIOC,
/* pad */ GPIOC_PATH_DCSTAT,
};
ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
/* GPIO */ &_gpioPathDcStat,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_INPUT,
/* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
},
};
/**
* @brief PATH_DCEN output signal GPIO.
*/
static apalGpio_t _gpioPathDcEn = {
/* port */ GPIOC,
/* pad */ GPIOC_PATH_DCEN,
};
ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
/* GPIO */ &_gpioPathDcEn,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
/* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
},
};
/**
* @brief SYS_PD bidirectional signal GPIO.
*/
static apalGpio_t _gpioSysPd = {
/* port */ GPIOC,
/* pad */ GPIOC_SYS_PD_N,
};
ROMCONST apalControlGpio_t moduleGpioSysPd = {
/* GPIO */ &_gpioSysPd,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
/* active state */ APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
},
};
/**
* @brief SYS_REG_EN input signal GPIO.
*/
static apalGpio_t _gpioSysRegEn = {
/* port */ GPIOC,
/* pad */ GPIOC_SYS_REG_EN,
};
ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
/* GPIO */ &_gpioSysRegEn,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_INPUT,
/* active state */ APAL_GPIO_ACTIVE_HIGH,
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
},
};
/**
* @brief SYS_WARMRST bidirectional signal GPIO.
*/
static apalGpio_t _gpioSysWarmrst = {
/* port */ GPIOD,
/* pad */ GPIOD_SYS_WARMRST_N,
};
ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
/* GPIO */ &_gpioSysWarmrst,
/* meta */ {
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
/* active state */ APAL_GPIO_ACTIVE_LOW,
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
},
};
/** @} */
/*===========================================================================*/
/**
* @name AMiRo-OS core configurations
* @{
*/
/*===========================================================================*/
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
ROMCONST char* moduleShellPrompt = "DiWheelDrive";
#endif
/** @} */
/*===========================================================================*/
/**
* @name Startup Shutdown Synchronization Protocol (SSSP)
* @{
*/
/*===========================================================================*/
/** @} */
/*===========================================================================*/
/**
* @name Low-level drivers
* @{
*/
/*===========================================================================*/
A3906Driver moduleLldMotors = {
/* power enable GPIO */ &moduleGpioPowerEn,
};
AT24C01BNDriver moduleLldEeprom = {
/* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
/* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
};
HMC5883LDriver moduleLldCompass = {
/* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
};
INA219Driver moduleLldPowerMonitorVdd = {
/* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
/* current LSB (uA) */ 0x00u,
/* configuration */ NULL,
};
L3G4200DDriver moduleLldGyroscope = {
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
};
LEDDriver moduleLldStatusLed = {
/* LED enable Gpio */ &moduleGpioLed,
};
LIS331DLHDriver moduleLldAccelerometer = {
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
};
LTC4412Driver moduleLldPowerPathController = {
/* Control GPIO */ &moduleGpioPathDcEn,
/* Status GPIO */ &moduleGpioPathDcStat,
};
PCA9544ADriver moduleLldI2cMultiplexer = {
/* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
/* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
};
TPS62113Driver moduleLldStepDownConverterVdrive = {
/* Power enable Gpio */ &moduleGpioPowerEn,
};
VCNL4020Driver moduleLldProximity = {
/* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
};
/** @} */
/*===========================================================================*/
/**
* @name Unit tests (UT)
* @{
*/
/*===========================================================================*/
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
#include
#include
/* A3906 (motor driver) */
static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldA3906, NULL);
return AOS_OK;
}
static ut_a3906data_t _utA3906Data = {
/* driver */ &moduleLldMotors,
/* PWM information */ {
/* driver */ &MODULE_HAL_PWM_DRIVE,
/* channels */ {
/* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
/* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
/* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
/* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
},
},
/* QEI information */ {
/* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
/* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
},
/* Wheel diameter */ {
/* left wheel */ 0.05571f,
/* right wheel */ 0.05571f,
},
/* timeout */ 5 * MICROSECONDS_PER_SECOND,
};
aos_unittest_t moduleUtAlldA3906 = {
/* name */ "A3906",
/* info */ "motor driver",
/* test function */ utAlldA3906Func,
/* shell command */ {
/* name */ "unittest:MotorDriver",
/* callback */ _utShellCmdCb_AlldA3906,
/* next */ NULL,
},
/* data */ &_utA3906Data,
};
/* AT24C01BN (EEPROM) */
static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
return AOS_OK;
}
static ut_at24c01bndata_t _utAt24c01bnData = {
/* driver */ &moduleLldEeprom,
/* timeout */ MICROSECONDS_PER_SECOND,
};
aos_unittest_t moduleUtAlldAt24c01bn = {
/* name */ "AT24C01BN-SH-B",
/* info */ "1kbit EEPROM",
/* test function */ utAlldAt24c01bnFunc,
/* shell command */ {
/* name */ "unittest:EEPROM",
/* callback */ _utShellCmdCb_AlldAt24c01bn,
/* next */ NULL,
},
/* data */ &_utAt24c01bnData,
};
/* HMC5883L (compass) */
static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
return AOS_OK;
}
static ut_hmc5883ldata_t _utHmc5883lData = {
/* HMC driver */ &moduleLldCompass,
/* event source */ &aos.events.io,
/* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
/* timeout */ MICROSECONDS_PER_SECOND,
};
aos_unittest_t moduleUtAlldHmc5883l = {
/* name */ "HMC5883L",
/* info */ "compass",
/* test function */ utAlldHmc5883lFunc,
/* shell command */ {
/* name */ "unittest:Compass",
/* callback */ _utShellCmdCb_AlldHmc5883l,
/* next */ NULL,
},
/* data */ &_utHmc5883lData,
};
/* INA219 (power monitor) */
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
return AOS_OK;
}
static ut_ina219data_t _utIna219Data = {
/* driver */ &moduleLldPowerMonitorVdd,
/* expected voltage */ 3.3f,
/* tolerance */ 0.05f,
/* timeout */ MICROSECONDS_PER_SECOND,
};
aos_unittest_t moduleUtAlldIna219 = {
/* name */ "INA219",
/* info */ "power monitor",
/* test function */ utAlldIna219Func,
/* shell command */ {
/* name */ "unittest:PowerMonitor",
/* callback */ _utShellCmdCb_AlldIna219,
/* next */ NULL,
},
/* data */ &_utIna219Data,
};
/* L3G4200D (gyroscope) */
static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf);
aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid);
return AOS_OK;
}
static ut_l3g4200ddata_t _utL3g4200dData = {
/* driver */ &moduleLldGyroscope,
/* SPI configuration */ &moduleHalSpiGyroscopeConfig,
/* event source */ &aos.events.io,
/* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
};
aos_unittest_t moduleUtAlldL3g4200d = {
/* name */ "L3G4200D",
/* info */ "Gyroscope",
/* test function */ utAlldL3g4200dFunc,
/* shell command */ {
/* name */ "unittest:Gyroscope",
/* callback */ _utShellCmdCb_AlldL3g4200d,
/* next */ NULL,
},
/* data */ &_utL3g4200dData,
};
/* Status LED */
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldLed, NULL);
return AOS_OK;
}
aos_unittest_t moduleUtAlldLed = {
/* name */ "LED",
/* info */ NULL,
/* test function */ utAlldLedFunc,
/* shell command */ {
/* name */ "unittest:StatusLED",
/* callback */ _utShellCmdCb_AlldLed,
/* next */ NULL,
},
/* data */ &moduleLldStatusLed,
};
/* LIS331DLH (accelerometer) */
static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf);
aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid);
return AOS_OK;
}
static ut_lis331dlhdata_t _utLis331dlhData = {
/* driver */ &moduleLldAccelerometer,
/* SPI configuration */ &moduleHalSpiAccelerometerConfig,
/* event source */ &aos.events.io,
/* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
};
aos_unittest_t moduleUtAlldLis331dlh = {
/* name */ "LIS331DLH",
/* info */ "Accelerometer",
/* test function */ utAlldLis331dlhFunc,
/* shell command */ {
/* name */ "unittest:Accelerometer",
/* callback */ _utShellCmdCb_AlldLis331dlh,
/* next */ NULL,
},
/* data */ &_utLis331dlhData,
};
/* LTC4412 (power path controller) */
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
return AOS_OK;
}
aos_unittest_t moduleUtAlldLtc4412 = {
/* name */ "LTC4412",
/* info */ "Power path controller",
/* test function */ utAlldLtc4412Func,
/* shell command */ {
/* name */ "unittest:PowerPathController",
/* callback */ _utShellCmdCb_AlldLtc4412,
/* next */ NULL,
},
/* data */ &moduleLldPowerPathController,
};
/* PCA9544A (I2C multiplexer) */
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
return AOS_OK;
}
static ut_pca9544adata_t _utPca9544aData = {
/* driver */ &moduleLldI2cMultiplexer,
/* timeout */ MICROSECONDS_PER_SECOND,
};
aos_unittest_t moduleUtAlldPca9544a = {
/* name */ "PCA9544A",
/* info */ "I2C multiplexer",
/* test function */ utAlldPca9544aFunc,
/* shell command */ {
/* name */ "unittest:I2CMultiplexer",
/* callback */ _utShellCmdCb_AlldPca9544a,
/* next */ NULL,
},
/* data */ &_utPca9544aData,
};
/* TPS62113 (step-down converter) */
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[])
{
(void)argc;
(void)argv;
aosUtRun(stream, &moduleUtAlldTps62113, NULL);
return AOS_OK;
}
aos_unittest_t moduleUtAlldTps62113 = {
/* name */ "TPS62113",
/* info */ "Step down converter",
/* test function */ utAlldTps62113Func,
/* shell command */ {
/* name */ "unittest:StepDownConverter",
/* callback */ _utShellCmdCb_AlldTps62113,
/* next */ NULL,
},
/* data */ &moduleLldStepDownConverterVdrive,
};
/* VCNL4020 (proximity sensor) */
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl)
{
uint8_t intstatus;
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
if (intstatus) {
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
}
return;
}
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[])
{
enum {
UNKNOWN,
FL, FR, WL, WR,
} sensor = UNKNOWN;
// evaluate arguments
if (argc == 2) {
if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) {
sensor = FL;
} else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) {
sensor = FR;
} else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) {
sensor = WL;
} else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) {
sensor = WR;
}
}
if (sensor != UNKNOWN) {
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld);
switch (sensor) {
case FL:
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
break;
case FR:
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
break;
case WL:
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
break;
case WR:
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
break;
default:
break;
}
return AOS_OK;
}
// print help
chprintf(stream, "Usage: %s OPTION\n", argv[0]);
chprintf(stream, "Options:\n");
chprintf(stream, " --frontleft, -fl\n");
chprintf(stream, " Test front left proximity sensor.\n");
chprintf(stream, " --frontrigt, -fr\n");
chprintf(stream, " Test front right proximity sensor.\n");
chprintf(stream, " --wheelleft, -wl\n");
chprintf(stream, " Test left wheel proximity sensor.\n");
chprintf(stream, " --wheelright, -wr\n");
chprintf(stream, " Test right wheel proximity sensor.\n");
return AOS_INVALID_ARGUMENTS;
}
static ut_vcnl4020data_t _utVcnl4020Data = {
/* driver */ &moduleLldProximity,
/* timeout */ MICROSECONDS_PER_SECOND,
/* event source */ &aos.events.io,
/* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
};
aos_unittest_t moduleUtAlldVcnl4020 = {
/* name */ "VCNL4020",
/* info */ "proximity sensor",
/* test function */ utAlldVcnl4020Func,
/* shell command */ {
/* name */ "unittest:Proximity",
/* callback */ _utShellCmdCb_AlldVcnl4020,
/* next */ NULL,
},
/* data */ &_utVcnl4020Data,
};
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
/** @} */
/** @} */