amiro-os / modules / DiWheelDrive_1-2 / module.c @ b23ca7cc
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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 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
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| 125 | abb8b3f4 | Thomas Schöpping | }; |
| 126 | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 127 | /* GPIO */ &_gpioLed,
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| 128 | /* meta */ {
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| 129 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 130 | 4c72a54c | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 131 | abb8b3f4 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 132 | }, |
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| 133 | }; |
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| 134 | |||
| 135 | /**
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| 136 | * @brief POWER_EN output signal GPIO.
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| 137 | */
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| 138 | static apalGpio_t _gpioPowerEn = {
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| 139 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
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| 140 | abb8b3f4 | Thomas Schöpping | }; |
| 141 | ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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| 142 | /* GPIO */ &_gpioPowerEn,
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| 143 | /* meta */ {
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| 144 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 145 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 146 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 147 | }, |
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| 148 | }; |
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| 149 | |||
| 150 | /**
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| 151 | * @brief IR_INT input signal GPIO.
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| 152 | */
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| 153 | static apalGpio_t _gpioIrInt = {
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| 154 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT,
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| 155 | abb8b3f4 | Thomas Schöpping | }; |
| 156 | ROMCONST apalControlGpio_t moduleGpioIrInt = {
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| 157 | /* GPIO */ &_gpioIrInt,
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| 158 | /* meta */ {
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| 159 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 160 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 161 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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| 162 | }, |
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| 163 | }; |
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| 164 | |||
| 165 | /**
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| 166 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 167 | */
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| 168 | static apalGpio_t _gpioSysUartUp = {
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| 169 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
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| 170 | abb8b3f4 | Thomas Schöpping | }; |
| 171 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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| 172 | /* GPIO */ &_gpioSysUartUp,
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| 173 | /* meta */ {
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| 174 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 175 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 176 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 177 | }, |
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| 178 | }; |
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| 179 | |||
| 180 | /**
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| 181 | * @brief IMU_INT input signal GPIO.
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| 182 | */
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| 183 | static apalGpio_t _gpioImuInt = {
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| 184 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_INT,
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| 185 | abb8b3f4 | Thomas Schöpping | }; |
| 186 | ROMCONST apalControlGpio_t moduleGpioImuInt = {
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| 187 | /* GPIO */ &_gpioImuInt,
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| 188 | /* meta */ {
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| 189 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 190 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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| 191 | /* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO |
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| 192 | }, |
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| 193 | }; |
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| 194 | |||
| 195 | /**
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| 196 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 197 | */
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| 198 | static apalGpio_t _gpioSysSync = {
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| 199 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
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| 200 | abb8b3f4 | Thomas Schöpping | }; |
| 201 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
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| 202 | /* GPIO */ &_gpioSysSync,
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| 203 | /* meta */ {
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| 204 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 205 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 206 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 207 | }, |
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| 208 | }; |
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| 209 | |||
| 210 | /**
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| 211 | * @brief IMU_RESET output signal GPIO.
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| 212 | */
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| 213 | static apalGpio_t _gpioImuReset = {
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| 214 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_RESET_N,
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| 215 | abb8b3f4 | Thomas Schöpping | }; |
| 216 | ROMCONST apalControlGpio_t moduleGpioImuReset = {
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| 217 | /* GPIO */ &_gpioImuReset,
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| 218 | /* meta */ {
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| 219 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 220 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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| 221 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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| 222 | }, |
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| 223 | }; |
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| 224 | |||
| 225 | /**
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| 226 | * @brief PATH_DCSTAT input signal GPIO.
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| 227 | */
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| 228 | static apalGpio_t _gpioPathDcStat = {
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| 229 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCSTAT,
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| 230 | abb8b3f4 | Thomas Schöpping | }; |
| 231 | ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
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| 232 | /* GPIO */ &_gpioPathDcStat,
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| 233 | /* meta */ {
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| 234 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 235 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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| 236 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 237 | }, |
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| 238 | }; |
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| 239 | |||
| 240 | /**
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| 241 | * @brief PATH_DCEN output signal GPIO.
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| 242 | */
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| 243 | static apalGpio_t _gpioPathDcEn = {
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| 244 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCEN,
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| 245 | abb8b3f4 | Thomas Schöpping | }; |
| 246 | ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
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| 247 | /* GPIO */ &_gpioPathDcEn,
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| 248 | /* meta */ {
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| 249 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 250 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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| 251 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 252 | }, |
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| 253 | }; |
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| 254 | |||
| 255 | /**
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| 256 | * @brief SYS_PD bidirectional signal GPIO.
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| 257 | */
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| 258 | static apalGpio_t _gpioSysPd = {
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| 259 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
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| 260 | abb8b3f4 | Thomas Schöpping | }; |
| 261 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
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| 262 | /* GPIO */ &_gpioSysPd,
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| 263 | /* meta */ {
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| 264 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 265 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 266 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 267 | }, |
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| 268 | }; |
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| 269 | |||
| 270 | /**
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| 271 | * @brief SYS_REG_EN input signal GPIO.
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| 272 | */
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| 273 | static apalGpio_t _gpioSysRegEn = {
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| 274 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_REG_EN,
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| 275 | abb8b3f4 | Thomas Schöpping | }; |
| 276 | ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
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| 277 | /* GPIO */ &_gpioSysRegEn,
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| 278 | /* meta */ {
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| 279 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 280 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 281 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 282 | }, |
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| 283 | }; |
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| 284 | |||
| 285 | /**
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| 286 | * @brief IMU_BOOT_LOAD output signal GPIO.
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| 287 | */
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| 288 | static apalGpio_t _gpioImuBootLoad = {
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| 289 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BOOT_LOAD_N,
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| 290 | abb8b3f4 | Thomas Schöpping | }; |
| 291 | ROMCONST apalControlGpio_t moduleGpioImuBootLoad = {
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| 292 | /* GPIO */ &_gpioImuBootLoad,
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| 293 | /* meta */ {
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| 294 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 295 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
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| 296 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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| 297 | }, |
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| 298 | }; |
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| 299 | |||
| 300 | /**
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| 301 | * @brief IMU_BL_IND input signal GPIO.
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| 302 | */
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| 303 | static apalGpio_t _gpioImuBlInd = {
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| 304 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BL_IND,
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| 305 | abb8b3f4 | Thomas Schöpping | }; |
| 306 | ROMCONST apalControlGpio_t moduleGpioImuBlInd = {
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| 307 | /* GPIO */ &_gpioImuBlInd,
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| 308 | /* meta */ {
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| 309 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 310 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
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| 311 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
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| 312 | }, |
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| 313 | }; |
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| 314 | |||
| 315 | /**
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| 316 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 317 | */
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| 318 | static apalGpio_t _gpioSysWarmrst = {
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| 319 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_WARMRST_N,
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| 320 | abb8b3f4 | Thomas Schöpping | }; |
| 321 | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
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| 322 | /* GPIO */ &_gpioSysWarmrst,
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| 323 | /* meta */ {
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| 324 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 325 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 326 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 327 | }, |
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| 328 | }; |
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| 329 | |||
| 330 | /** @} */
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| 331 | |||
| 332 | /*===========================================================================*/
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| 333 | /**
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| 334 | * @name AMiRo-OS core configurations
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| 335 | * @{
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| 336 | */
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| 337 | /*===========================================================================*/
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| 338 | |||
| 339 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 340 | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
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| 341 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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| 342 | |||
| 343 | /** @} */
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| 344 | |||
| 345 | /*===========================================================================*/
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| 346 | /**
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| 347 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 348 | * @{
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| 349 | */
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| 350 | /*===========================================================================*/
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| 351 | |||
| 352 | /** @} */
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| 353 | |||
| 354 | /*===========================================================================*/
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| 355 | /**
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| 356 | * @name Low-level drivers
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| 357 | * @{
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| 358 | */
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| 359 | /*===========================================================================*/
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| 360 | |||
| 361 | A3906Driver moduleLldMotors = {
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| 362 | /* power enable GPIO */ &moduleGpioPowerEn,
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| 363 | }; |
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| 364 | |||
| 365 | AT24C01BDriver moduleLldEeprom = {
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| 366 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 367 | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
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| 368 | }; |
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| 369 | |||
| 370 | 4c72a54c | Thomas Schöpping | // TODO: BNO055
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| 371 | |||
| 372 | abb8b3f4 | Thomas Schöpping | INA219Driver moduleLldPowerMonitorVdd = {
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| 373 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 374 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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| 375 | /* current LSB (uA) */ 0x00u, |
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| 376 | /* configuration */ NULL, |
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| 377 | }; |
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| 378 | |||
| 379 | LEDDriver moduleLldStatusLed = {
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| 380 | /* LED enable Gpio */ &moduleGpioLed,
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| 381 | }; |
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| 382 | |||
| 383 | LTC4412Driver moduleLldPowerPathController = {
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| 384 | /* Control GPIO */ &moduleGpioPathDcEn,
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| 385 | /* Status GPIO */ &moduleGpioPathDcStat,
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| 386 | }; |
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| 387 | |||
| 388 | PCA9544ADriver moduleLldI2cMultiplexer = {
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| 389 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 390 | /* 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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| 391 | }; |
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| 392 | |||
| 393 | TPS6211xDriver moduleLldStepDownConverterVdrive = {
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| 394 | /* Power enable Gpio */ &moduleGpioPowerEn,
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| 395 | }; |
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| 396 | |||
| 397 | VCNL4020Driver moduleLldProximity = {
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| 398 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 399 | }; |
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| 400 | |||
| 401 | /** @} */
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| 402 | |||
| 403 | /*===========================================================================*/
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| 404 | /**
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| 405 | 4c72a54c | Thomas Schöpping | * @name Tests
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| 406 | abb8b3f4 | Thomas Schöpping | * @{
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| 407 | */
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| 408 | /*===========================================================================*/
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| 409 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 410 | |||
| 411 | /*
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| 412 | * A3906 (motor driver)
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| 413 | */
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| 414 | 4c72a54c | Thomas Schöpping | #include <module_test_A3906.h> |
| 415 | static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 416 | abb8b3f4 | Thomas Schöpping | {
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| 417 | 4c72a54c | Thomas Schöpping | return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
| 418 | abb8b3f4 | Thomas Schöpping | } |
| 419 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
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| 420 | abb8b3f4 | Thomas Schöpping | |
| 421 | /*
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| 422 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
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| 423 | abb8b3f4 | Thomas Schöpping | */
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| 424 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
| 425 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 426 | abb8b3f4 | Thomas Schöpping | {
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| 427 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
| 428 | abb8b3f4 | Thomas Schöpping | } |
| 429 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
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| 430 | |||
| 431 | // TODO: BNO055
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| 432 | abb8b3f4 | Thomas Schöpping | |
| 433 | /*
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| 434 | * INA219 (power monitor)
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| 435 | */
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| 436 | 4c72a54c | Thomas Schöpping | #include <module_test_INA219.h> |
| 437 | static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 438 | abb8b3f4 | Thomas Schöpping | {
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| 439 | 4c72a54c | Thomas Schöpping | return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
| 440 | abb8b3f4 | Thomas Schöpping | } |
| 441 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
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| 442 | abb8b3f4 | Thomas Schöpping | |
| 443 | /*
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| 444 | * Status LED
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| 445 | */
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| 446 | 4c72a54c | Thomas Schöpping | #include <module_test_LED.h> |
| 447 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 448 | abb8b3f4 | Thomas Schöpping | {
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| 449 | 4c72a54c | Thomas Schöpping | return moduleTestLedShellCb(stream, argc, argv, NULL); |
| 450 | abb8b3f4 | Thomas Schöpping | } |
| 451 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
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| 452 | abb8b3f4 | Thomas Schöpping | |
| 453 | /*
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| 454 | * LTC4412 (power path controller)
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| 455 | */
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| 456 | 4c72a54c | Thomas Schöpping | #include <module_test_LTC4412.h> |
| 457 | static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 458 | abb8b3f4 | Thomas Schöpping | {
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| 459 | 4c72a54c | Thomas Schöpping | return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
| 460 | abb8b3f4 | Thomas Schöpping | } |
| 461 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
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| 462 | abb8b3f4 | Thomas Schöpping | |
| 463 | /*
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| 464 | * PCA9544A (I2C multiplexer)
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| 465 | */
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| 466 | 4c72a54c | Thomas Schöpping | #include <module_test_PCA9544A.h> |
| 467 | static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 468 | abb8b3f4 | Thomas Schöpping | {
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| 469 | 4c72a54c | Thomas Schöpping | return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
| 470 | abb8b3f4 | Thomas Schöpping | } |
| 471 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
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| 472 | abb8b3f4 | Thomas Schöpping | |
| 473 | /*
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| 474 | * TPS62113 (step-down converter)
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| 475 | */
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| 476 | 4c72a54c | Thomas Schöpping | #include <module_test_TPS6211x.h> |
| 477 | static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 478 | abb8b3f4 | Thomas Schöpping | {
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| 479 | 4c72a54c | Thomas Schöpping | return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
| 480 | abb8b3f4 | Thomas Schöpping | } |
| 481 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
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| 482 | abb8b3f4 | Thomas Schöpping | |
| 483 | /*
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| 484 | * VCNL4020 (proximity sensor)
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| 485 | */
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| 486 | 4c72a54c | Thomas Schöpping | #include <module_test_VCNL4020.h> |
| 487 | static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 488 | abb8b3f4 | Thomas Schöpping | {
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| 489 | 4c72a54c | Thomas Schöpping | return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
| 490 | abb8b3f4 | Thomas Schöpping | } |
| 491 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
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| 492 | |||
| 493 | /*
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| 494 | * entire module
|
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| 495 | */
|
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| 496 | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 497 | abb8b3f4 | Thomas Schöpping | {
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| 498 | 4c72a54c | Thomas Schöpping | (void)argc;
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| 499 | (void)argv;
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| 500 | |||
| 501 | int status = AOS_OK;
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| 502 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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| 503 | aos_testresult_t result_test = {0, 0};
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| 504 | aos_testresult_t result_total = {0, 0};
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| 505 | |||
| 506 | /* A3906 (motor driver) */
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| 507 | status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
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| 508 | result_total = aosTestResultAdd(result_total, result_test); |
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| 509 | |||
| 510 | /* AT24C01B (EEPROM) */
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| 511 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
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| 512 | result_total = aosTestResultAdd(result_total, result_test); |
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| 513 | |||
| 514 | // TODO: BNO055
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| 515 | |||
| 516 | /* INA219 (power monitor) */
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| 517 | status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
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| 518 | result_total = aosTestResultAdd(result_total, result_test); |
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| 519 | |||
| 520 | /* Status LED */
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| 521 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
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| 522 | result_total = aosTestResultAdd(result_total, result_test); |
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| 523 | |||
| 524 | /* LTC4412 (power path controller) */
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| 525 | status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
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| 526 | result_total = aosTestResultAdd(result_total, result_test); |
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| 527 | |||
| 528 | /* PCA9544A (I2C multiplexer) */
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| 529 | status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
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| 530 | result_total = aosTestResultAdd(result_total, result_test); |
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| 531 | |||
| 532 | /* TPS62113 (step-down converter) */
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| 533 | status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
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| 534 | result_total = aosTestResultAdd(result_total, result_test); |
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| 535 | |||
| 536 | /* VCNL4020 (proximity sensor) */
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| 537 | // wheel left
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| 538 | targv[1] = "-wl"; |
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| 539 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
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| 540 | result_total = aosTestResultAdd(result_total, result_test); |
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| 541 | // front left
|
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| 542 | targv[1] = "-fl"; |
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| 543 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
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| 544 | result_total = aosTestResultAdd(result_total, result_test); |
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| 545 | // front right
|
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| 546 | targv[1] = "-fr"; |
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| 547 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
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| 548 | result_total = aosTestResultAdd(result_total, result_test); |
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| 549 | // wheel right
|
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| 550 | targv[1] = "-wr"; |
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| 551 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
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| 552 | result_total = aosTestResultAdd(result_total, result_test); |
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| 553 | targv[1] = ""; |
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| 554 | |||
| 555 | // print total result
|
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| 556 | chprintf(stream, "\n");
|
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| 557 | aosTestResultPrintSummary(stream, &result_total, "entire module");
|
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| 558 | |||
| 559 | return status;
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| 560 | abb8b3f4 | Thomas Schöpping | } |
| 561 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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| 562 | abb8b3f4 | Thomas Schöpping | |
| 563 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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| 564 | |||
| 565 | /** @} */
|
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| 566 | /** @} */ |