AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  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 <http://www.gnu.org/licenses/>.

*/

/**

 * @file

 * @brief   Structures and constant for the DiWheelDrive module.

 *

 * @addtogroup diwheeldrive_module

 * @{

 */

#include "module.h"

/*===========================================================================*/

/**

 * @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 == TRUE)

  /* TIM BDTR register      */ 0,

#endif /* (STM32_PWM_USE_ADVANCED == TRUE) */

  /* 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        */ PAL_PORT(LINE_ACCEL_SS_N),

  /* chip select line pad number  */ PAL_PAD(LINE_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        */ PAL_PORT(LINE_GYRO_SS_N),

  /* chip select line pad number  */ PAL_PAD(LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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 = {

  /* line */ LINE_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) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

ROMCONST char* moduleShellPrompt = "DiWheelDrive";

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

/** @} */

/*===========================================================================*/

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name Low-level drivers

 * @{

 */

/*===========================================================================*/

A3906Driver moduleLldMotors = {

  /* power enable GPIO  */ &moduleGpioPowerEn,

};

AT24C01BDriver moduleLldEeprom = {

  /* I2C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,

  /* I²C address  */ AT24C01B_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,

};

TPS6211xDriver 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 <string.h>

/*

 * 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          */ 10 * 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,

};

/*

 * AT24C01B (EEPROM)

 */

static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[])

{

  (void)argc;

  (void)argv;

  aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);

  return AOS_OK;

}

static ut_at24c01bdata_t _utAlldAt24c01bData = {

  /* driver   */ &moduleLldEeprom,

  /* timeout  */ MICROSECONDS_PER_SECOND,

};

aos_unittest_t moduleUtAlldAt24c01b = {

  /* name           */ "AT24C01B",

  /* info           */ "1kbit EEPROM",

  /* test function  */ utAlldAt24c01bFunc,

  /* shell command  */ {

    /* name     */ "unittest:EEPROM",

    /* callback */ _utShellCmdCb_AlldAt24c01b,

    /* next     */ NULL,

  },

  /* data           */ &_utAlldAt24c01bData,

};

/*

 * 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  */ utAlldTps6211xFunc,

  /* 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_INVALIDARGUMENTS;

}

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) */

/** @} */

/** @} */