/modules/PowerManagement_1-2/module.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / PowerManagement_1-2 / module.c @ bc7aed20

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       /*
       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 PowerManagement module.
+       *
        * @addtogroup powermanagement_module
        * @{
        */
       #include <amiroos.h>
       #include <string.h>
       /*===========================================================================*/
       /**
        * @name Module specific functions
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name ChibiOS/HAL configuration
        * @{
        */
       /*===========================================================================*/
       ADCConversionGroup moduleHalAdcVsysConversionGroup = {
         /* buffer type        */ true,
         /* number of channels */ 1,
         /* callback function  */ NULL,
         /* error callback     */ NULL,
         /* CR1                */ ADC_CR1_AWDEN | ADC_CR1_AWDIE,
         /* CR2                */ ADC_CR2_SWSTART | ADC_CR2_CONT,
         /* SMPR1              */ 0,
         /* SMPR2              */ ADC_SMPR2_SMP_AN9(ADC_SAMPLE_480),
         /* HTR                */ ADC_HTR_HT,
         /* LTR                */ 0,
         /* SQR1               */ ADC_SQR1_NUM_CH(1),
         /* SQR2               */ 0,
         /* SQR3               */ ADC_SQR3_SQ1_N(ADC_CHANNEL_IN9),
       };
       CANConfig moduleHalCanConfig = {
         /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
         /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(3) | CAN_BTR_TS1(15) | CAN_BTR_BRP(1),
       };
       I2CConfig moduleHalI2cSrPm18Pm33GaugeRearConfig = {
         /* I²C mode   */ OPMODE_I2C,
         /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)
         /* duty cycle */ FAST_DUTY_CYCLE_2,
       };
       I2CConfig moduleHalI2cSrPm42Pm50PmVddEepromGaugeFrontConfig = {
         /* I²C mode   */ OPMODE_I2C,
         /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)
         /* duty cycle */ FAST_DUTY_CYCLE_2,
       };
       PWMConfig moduleHalPwmBuzzerConfig = {
         /* frequency              */ 1000000,
         /* period                 */ 0,
         /* callback               */ NULL,
         /* channel configurations */ {
           /* channel 0              */ {
             /* mode                   */ PWM_OUTPUT_DISABLED,
             /* callback               */ NULL
           },
           /* channel 1              */ {
             /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
             /* callback               */ NULL
           },
           /* channel 2              */ {
             /* mode                   */ PWM_OUTPUT_DISABLED,
             /* callback               */ NULL
           },
           /* channel 3              */ {
             /* mode                   */ PWM_OUTPUT_DISABLED,
             /* 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,
       };
       SerialConfig moduleHalProgIfConfig = {
         /* bit rate */ 115200,
         /* CR1      */ 0,
         /* CR1      */ 0,
         /* CR1      */ 0,
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name GPIO definitions
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   SWITCH_STATUS input signal GPIO.
        */
       static apalGpio_t _gpioSwitchStatus = {
         /* line */ LINE_SWITCH_STATUS_N,
       };
       ROMCONST apalControlGpio_t moduleGpioSwitchStatus = {
         /* GPIO */ &_gpioSwitchStatus,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   SYS_REG_EN output signal GPIO.
        */
       static apalGpio_t _gpioSysRegEn = {
         /* line */ LINE_SYS_REG_EN,
       };
       ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
         /* GPIO */ &_gpioSysRegEn,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   IR_INT1 input signal GPIO.
        */
       static apalGpio_t _gpioIrInt1 = {
         /* line */ LINE_IR_INT1_N,
       };
       ROMCONST apalControlGpio_t moduleGpioIrInt1 = {
         /* GPIO */ &_gpioIrInt1,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
       #if (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR)
           /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
       #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X)
           /* active state   */ (PCAL6524_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ PCAL6524_LLD_INT_EDGE,
       #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X)
           /* active state   */ (PCAL6524_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ PCAL6524_LLD_INT_EDGE,
       #else /* (BOARD_SENSORRING == ?) */
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
       #endif /* (BOARD_SENSORRING == ?) */
         },
       };
       /**
        * @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   SYS_UART_DN bidirectional signal GPIO.
        */
       static apalGpio_t _gpioSysUartDn = {
         /* line */ LINE_SYS_UART_DN,
       };
       ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
         /* GPIO */ &_gpioSysUartDn,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   CHARGE_STAT2A input signal GPIO.
        */
       static apalGpio_t _gpioChargeStat2A = {
         /* line */ LINE_CHARGE_STAT2A,
       };
       ROMCONST apalControlGpio_t moduleGpioChargeStat2A = {
         /* GPIO */ &_gpioChargeStat2A,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ BQ241xx_LLD_CHARGE_STATUS_GPIO_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   GAUGE_BATLOW2 input signal GPIO.
        */
       static apalGpio_t _gpioGaugeBatLow2 = {
         /* line */ LINE_GAUGE_BATLOW2,
       };
       ROMCONST apalControlGpio_t moduleGpioGaugeBatLow2 = {
         /* GPIO */ &_gpioGaugeBatLow2,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ BQ27500_LLD_BATLOW_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   GAUGE_BATGD2 input signal GPIO.
        */
       static apalGpio_t _gpioGaugeBatGd2 = {
         /* line */ LINE_GAUGE_BATGD2_N,
       };
       ROMCONST apalControlGpio_t moduleGpioGaugeBatGd2 = {
         /* GPIO */ &_gpioGaugeBatGd2,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ BQ27500_LLD_BATGOOD_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @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   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @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   CHARGE_STAT1A input signal GPIO.
        */
       static apalGpio_t _gpioChargeStat1A = {
         /* line */ LINE_CHARGE_STAT1A,
       };
       ROMCONST apalControlGpio_t moduleGpioChargeStat1A = {
         /* GPIO */ &_gpioChargeStat1A,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ BQ241xx_LLD_CHARGE_STATUS_GPIO_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   GAUGE_BATLOW1 input signal GPIO.
        */
       static apalGpio_t _gpioGaugeBatLow1 = {
         /* line */ LINE_GAUGE_BATLOW1,
       };
       ROMCONST apalControlGpio_t moduleGpioGaugeBatLow1 = {
         /* GPIO */ &_gpioGaugeBatLow1,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ BQ27500_LLD_BATLOW_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   GAUGE_BATGD1 input signal GPIO.
        */
       static apalGpio_t _gpioGaugeBatGd1 = {
         /* line */ LINE_GAUGE_BATGD1_N,
       };
       ROMCONST apalControlGpio_t moduleGpioGaugeBatGd1 = {
         /* GPIO */ &_gpioGaugeBatGd1,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ BQ27500_LLD_BATGOOD_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   CHARG_EN1 output signal GPIO.
        */
       static apalGpio_t _gpioChargeEn1 = {
         /* line */ LINE_CHARGE_EN1_N,
       };
       ROMCONST apalControlGpio_t moduleGpioChargeEn1 = {
         /* GPIO */ &_gpioChargeEn1,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ BQ241xx_LLD_ENABLED_GPIO_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   IR_INT2 input signal GPIO.
        */
       static apalGpio_t _gpioIrInt2 = {
         /* line */ LINE_IR_INT2_N,
       };
       ROMCONST apalControlGpio_t moduleGpioIrInt2 = {
         /* GPIO */ &_gpioIrInt2,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
       #if (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR)
           /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
       #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X)
           /* active state   */ (PCAL6524_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ PCAL6524_LLD_INT_EDGE,
       #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X)
           /* active state   */ (PCAL6524_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ PCAL6524_LLD_INT_EDGE,
       #else /* (BOARD_SENSORRING == ?) */
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
       #endif /* (BOARD_SENSORRING == ?) */
         },
       };
       /**
        * @brief   TOUCH_INT input signal GPIO.
        */
       static apalGpio_t _gpioTouchInt = {
         /* line */ LINE_TOUCH_INT_N,
       };
       ROMCONST apalControlGpio_t moduleGpioTouchInt = {
         /* GPIO */ &_gpioTouchInt,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
       #if (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR)
           /* active state   */ (MPR121_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ MPR121_LLD_INT_EDGE,
       #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X)
           /* active state   */ (AT42QT1050_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ AT42QT1050_LLD_INT_EDGE,
       #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X)
           /* active state   */ (AT42QT1050_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ AT42QT1050_LLD_INT_EDGE,
       #else /* (BOARD_SENSORRING == ?) */
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
       #endif /* (BOARD_SENSORRING == ?) */
         },
       };
       /**
        * @brief   SYS_DONE input signal GPIO.
        */
       static apalGpio_t _gpioSysDone = {
         /* line */ LINE_SYS_DONE,
       };
       ROMCONST apalControlGpio_t moduleGpioSysDone = {
         /* GPIO */ &_gpioSysDone,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   SYS_PROG output signal GPIO.
        */
       static apalGpio_t _gpioSysProg = {
         /* line */ LINE_SYS_PROG_N,
       };
       ROMCONST apalControlGpio_t moduleGpioSysProg = {
         /* GPIO */ &_gpioSysProg,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   PATH_DC input signal GPIO.
        */
       static apalGpio_t _gpioPathDc = {
         /* line */ LINE_PATH_DC,
       };
       ROMCONST apalControlGpio_t moduleGpioPathDc = {
         /* GPIO */ &_gpioPathDc,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   SYS_SPI_DIR bidirectional signal GPIO.
        */
       static apalGpio_t _gpioSysSpiDir = {
         /* line */ LINE_SYS_SPI_DIR,
       };
       ROMCONST apalControlGpio_t moduleGpioSysSpiDir = {
         /* GPIO */ &_gpioSysSpiDir,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_FALLING,
         },
       };
       /**
        * @brief   SYS_SYNC 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   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_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,
         },
       };
       /**
        * @brief   BT_RST output signal GPIO.
        */
       static apalGpio_t _gpioBtRst = {
         /* line */ LINE_BT_RST,
       };
       ROMCONST apalControlGpio_t moduleGpioBtRst = {
         /* GPIO */ &_gpioBtRst,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   CHARGE_EN2 output signal GPIO.
        */
       static apalGpio_t _gpioChargeEn2 = {
         /* line */ LINE_CHARGE_EN2_N,
       };
       ROMCONST apalControlGpio_t moduleGpioChargeEn2 = {
         /* GPIO */ &_gpioChargeEn2,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ BQ241xx_LLD_ENABLED_GPIO_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name AMiRo-OS core configurations
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
       ROMCONST char* moduleShellPrompt = "PowerManagement";
       #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Startup Shutdown Synchronization Protocol (SSSP)
        * @{
        */
       /*===========================================================================*/
       #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__)
       /* some local definitions */
       // maximum number of bytes per CAN frame
       #define CAN_BYTES_PER_FRAME                     8
       // identifier (as dominant as possible)
       #define MSI_BCBMSG_CANID                        0
       aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
+      {
         aosDbgCheck(buffer != NULL);
         aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
         // local variables
         CANTxFrame frame;
         // setup the common parts of the message frame
         frame.DLC = (uint8_t)length;
         frame.RTR = CAN_RTR_DATA;
         frame.IDE = CAN_IDE_STD;
         frame.SID = MSI_BCBMSG_CANID;
         memcpy(frame.data8, buffer, length);
         // sent the frame and return
         return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
+      }
       aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length)
+      {
         aosDbgCheck(buffer != NULL);
         aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
         // local variables
         CANRxFrame frame;
         // receive a frame and check for errors
         if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
           // a correct frame was received
           if (frame.DLC == length &&
               frame.RTR == CAN_RTR_DATA &&
               frame.IDE == CAN_IDE_STD &&
               frame.SID == MSI_BCBMSG_CANID) {
             // success: fetch the data and return
             memcpy(buffer, frame.data8, length);
             return AOS_SSSP_BCB_SUCCESS;
+          }
           // an unexpected frame was received
           else {
             return AOS_SSSP_BCB_INVALIDMSG;
+          }
         } else {
           // failure: return with error
           return AOS_SSSP_BCB_ERROR;
+        }
+      }
       #undef MSI_BCBMSG_CANID
       #undef CAN_BYTES_PER_FRAME
       #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Low-level drivers
        * @{
        */
       /*===========================================================================*/
       AT24C01BDriver moduleLldEeprom = {
         /* I2C driver   */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I2C address  */ AT24C01B_LLD_I2C_ADDR_FIXED,
       };
       BQ241xxDriver moduleLldBatteryChargerFront = {
         /* charge enable GPIO */ &moduleGpioChargeEn1,
         /* charge status GPIO */ &moduleGpioChargeStat1A,
       };
       BQ241xxDriver moduleLldBatteryChargerRear = {
         /* charge enable GPIO */ &moduleGpioChargeEn2,
         /* charge status GPIO */ &moduleGpioChargeStat2A,
       };
       BQ27500Driver moduleLldFuelGaugeFront = {
         /* I2C driver         */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* battery low GPIO   */ &moduleGpioGaugeBatLow1,
         /* battery good GPIO  */ &moduleGpioGaugeBatGd1,
       };
       BQ27500Driver moduleLldFuelGaugeRear = {
         /* I2C driver         */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,
         /* battery low GPIO   */ &moduleGpioGaugeBatLow2,
         /* battery good GPIO  */ &moduleGpioGaugeBatGd2,
       };
       INA219Driver moduleLldPowerMonitorVdd = {
         /* I2C Driver       */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address      */ INA219_LLD_I2C_ADDR_A0 | INA219_LLD_I2C_ADDR_A1,
         /* current LSB (uA) */ 0x00u,
         /* configuration    */ NULL,
       };
       INA219Driver moduleLldPowerMonitorVio18 = {
         /* I2C Driver       */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,
         /* I²C address      */ INA219_LLD_I2C_ADDR_A1,
         /* current LSB (uA) */ 0x00u,
         /* configuration    */ NULL,
       };
       INA219Driver moduleLldPowerMonitorVio33 = {
         /* I2C Driver       */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,
         /* I²C address      */ INA219_LLD_I2C_ADDR_FIXED,
         /* current LSB (uA) */ 0x00u,
         /* configuration    */ NULL,
       };
       INA219Driver moduleLldPowerMonitorVsys42 = {
         /* I2C Driver       */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address      */ INA219_LLD_I2C_ADDR_FIXED,
         /* current LSB (uA) */ 0x00u,
         /* configuration    */ NULL,
       };
       INA219Driver moduleLldPowerMonitorVio50 = {
         /* I2C Driver       */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address      */ INA219_LLD_I2C_ADDR_A1,
         /* current LSB (uA) */ 0x00u,
         /* configuration    */ NULL,
       };
       LEDDriver moduleLldStatusLed = {
         /* LED GPIO */ &moduleGpioLed,
       };
       TPS6211xDriver moduleLldStepDownConverter = {
         /* Power enable GPIO */ &moduleGpioPowerEn,
       };
       #if (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR) || defined(__DOXYGEN__)
       MPR121Driver moduleLldTouch = {
         /* I²C Driver */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
       };
       PCA9544ADriver moduleLldI2cMultiplexer1 = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,
         /* I²C address  */ PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
       };
       PCA9544ADriver moduleLldI2cMultiplexer2 = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address  */ PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
       };
       VCNL4020Driver moduleLldProximity1 = {
         /* I²C Driver */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,
       };
       VCNL4020Driver moduleLldProximity2 = {
         /* I²C Driver */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
       };
       #endif /* (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR) */
       #if (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X) || defined(__DOXYGEN__)
       PCAL6524Driver moduleLldGpioExtender1 = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,
         /* I²C address  */ PCAL6524_LLD_I2C_ADDR_VDD,
       };
       PCAL6524Driver moduleLldGpioExtender2 = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address  */ PCAL6524_LLD_I2C_ADDR_VDD,
       };
       AT42QT1050Driver moduleLldTouch = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address  */ AT42QT1050_LLD_I2C_ADDRSEL_LOW,
       };
       #endif /* (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X) */
       #if (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X) || defined(__DOXYGEN__)
       PCAL6524Driver moduleLldGpioExtender1 = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,
         /* I²C address  */ PCAL6524_LLD_I2C_ADDR_VDD,
       };
       PCAL6524Driver moduleLldGpioExtender2 = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address  */ PCAL6524_LLD_I2C_ADDR_VDD,
       };
       AT42QT1050Driver moduleLldTouch = {
         /* I²C driver   */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,
         /* I²C address  */ AT42QT1050_LLD_I2C_ADDRSEL_LOW,
       };
       #endif /* (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Tests
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       /*
        * ADC (VSYS)
        */
       #include <module_test_adc.h>
       static int _testAdcShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestAdcShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestAdcShellCmd, "test:ADC", _testAdcShellCmdCb);
       /*
        * AT24C01BN-SH-B (EEPROM)
        */
       #include <module_test_AT24C01B.h>
       static int _testAt24c01bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestAt24c01bShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24c01bShellCmdCb);
       /*
        * bq24103a (battery charger)
        */
       #include <module_test_bq241xx.h>
       static int _testBq241xxShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestBq241xxShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestBq241xxShellCmd, "test:BatteryCharger", _testBq241xxShellCmdCb);
       /*
        * bq27500 (fuel gauge)
        */
       #include <module_test_bq27500.h>
       static int _testBq27500ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestBq27500ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestBq27500ShellCmd, "test:FuelGauge", _testBq27500ShellCmdCb);
       /*
        * bq27500 (fuel gauge) in combination with bq24103a (battery charger)
        */
       #include <module_test_bq27500_bq241xx.h>
       static int _testBq27500Bq241xxShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestBq27500Bq241xxShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestBq27500Bq241xxShellCmd, "test:FuelGauge&BatteryCharger", _testBq27500Bq241xxShellCmdCb);
       /*
        * INA219 (power monitor)
        */
       #include <module_test_INA219.h>
       static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestIna219ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
       /*
        * Status LED
        */
       #include <module_test_LED.h>
       static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestLedShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
       /*
        * PKLCS1212E4001 (buzzer)
        */
       #include <module_test_PKxxxExxx.h>
       static int _testPkxxxexxxShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestPkxxxexxxShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestPkxxxexxxShellCmd, "test:Buzzer", _testPkxxxexxxShellCmdCb);
       /*
        * TPS62113 (step-down converter)
        */
       #include <module_test_TPS6211x.h>
       static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestTps6211xShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestTps6211xShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
       /*
        * TPS62113 (step-sown converter) in combination with INA219 (power monitor)
        */
       #include <module_test_TPS6211x_INA219.h>
       static int _testTps6211xIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestTps6211xIna219ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestTps6211xIna219ShellCmd, "test:StepDownConverter&PowerMonitor", _testTps6211xIna219ShellCmdCb);
       #if (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR) || defined(__DOXYGEN__)
       /*
        * MPR121 (touch sensor)
        */
       #include <module_test_MPR121.h>
       static int _testMpr121ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestMpr121ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestMpr121ShellCmd, "test:Touch", _testMpr121ShellCmdCb);
       /*
        * PCA9544A (I2C multiplexer)
        */
       #include <module_test_PCA9544A.h>
       static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestPca9544aShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
       /*
        * VCNL4020 (proximity sensor)
        */
       #include <module_test_VCNL4020.h>
       static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:Proximity", _testVcnl4020ShellCmdCb);
       #endif /* (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR) */
       #if (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X) || defined(__DOXYGEN__)
       /*
        * PCAL6524 (GPIO extender)
        */
       #include <module_test_PCAL6524.h>
       static int _testPcal6524ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestPcal6524ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestPcal6524ShellCmd, "test:GPIOExtenter", _testPcal6524ShellCmdCb);
       /*
        * AT42QT1050 (touch sensor)
        */
       #include <module_test_AT42QT1050.h>
       static int _testAt42qt1050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestAt42qt1050ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestAt42qt1050ShellCmd, "test:Touch", _testAt42qt1050ShellCmdCb);
       #endif /* (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X) */
       #if (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X) || defined(__DOXYGEN__)
       /*
        * PCAL6524 (GPIO extender)
        */
       #include <module_test_PCAL6524.h>
       static int _testPcal6524ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestPcal6524ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestPcal6524ShellCmd, "test:GPIOExtenter", _testPcal6524ShellCmdCb);
       /*
        * AT42QT1050 (touch sensor)
        */
       #include <module_test_AT42QT1050.h>
       static int _testAt42qt1050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestAt42qt1050ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestAt42qt1050ShellCmd, "test:Touch", _testAt42qt1050ShellCmdCb);
       #endif /* (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X) */
       /*
        * entire module
        */
       static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         int status = AOS_OK;
         char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};
         aos_testresult_t result_test = {0, 0};
         aos_testresult_t result_total = {0, 0};
         /* ADC */
         status |= moduleTestAdcShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* AT24C01BN-SH-B (EEPROM) */
         status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* bq24103a (battery charger) */
         // front
         targv[1] = "-f";
         status |= moduleTestBq241xxShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // rear
         targv[1] = "-r";
         status |= moduleTestBq241xxShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
         /* bq27500 (fuel gauge) */
         // front
         targv[1] = "-f";
         status |= moduleTestBq27500ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // rear
         targv[1] = "-r";
         status |= moduleTestBq27500ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
         /* bq 27500 (fuel gauge) in combination with bq24103a (battery charger) */
         // front
         targv[1] = "-f";
         status |= moduleTestBq27500Bq241xxShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // rear
         targv[1] = "-r";
         status |= moduleTestBq27500Bq241xxShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
         /* INA219 (power monitor) */
         // VDD
         targv[1] = "VDD";
         status |= moduleTestIna219ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // VIO 1.8V
         targv[1] = "VIO1.8";
         status |= moduleTestIna219ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // VIO 3.3V
         targv[1] = "VIO3.3";
         status |= moduleTestIna219ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // VSYS 4.2V
         targv[1] = "VSYS4.2";
         status |= moduleTestIna219ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // VIO 5.0V
         targv[1] = "VIO5.0";
         status |= moduleTestIna219ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
         /* status LED */
         status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* PKLCS1212E4001 (buzzer) */
         status |= moduleTestPkxxxexxxShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* TPS62113 (step-down converter) */
         status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* TPS62113 (step-down converter) in combination with INA219 (power monitor) */
         status |= moduleTestTps6211xIna219ShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
       #if (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR)
         /* MPR121 (touch sensor) */
         status |= moduleTestMpr121ShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* PCA9544A (I2C multiplexer) */
         // #1
         targv[1] = "#1";
         status |= moduleTestPca9544aShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // #2
         targv[1] = "#2";
         status |= moduleTestPca9544aShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
         /* VCNL4020 (proximity sensor) */
         // north-northeast
         targv[1] = "-nne";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // east-northeast
         targv[1] = "-ene";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // east-southeast
         targv[1] = "-ese";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // south-southeast
         targv[1] = "-sse";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // south-southwest
         targv[1] = "-ssw";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // west-southwest
         targv[1] = "-wsw";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // west-northwest
         targv[1] = "-wnw";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // west-northwest
         targv[1] = "-nnw";
         status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
       #endif /* (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR) */
       #if (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X)
         /* PCAL6524 (GPIO extender) */
         // #1
         targv[1] = "#1";
         status |= moduleTestPcal6524ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // #2
         targv[1] = "#2";
         status |= moduleTestPcal6524ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
         /* AT42QT1050 (touch sensor) */
         status |= moduleTestAt42qt1050ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
       #endif /* (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X) */
       #if (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X)
         /* PCAL6524 (GPIO extender) */
         // #1
         targv[1] = "#1";
         status |= moduleTestPcal6524ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // #2
         targv[1] = "#2";
         status |= moduleTestPcal6524ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         targv[1] = "";
         /* AT42QT1050 (touch sensor) */
         status |= moduleTestAt42qt1050ShellCb(stream, 2, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
       #endif /* (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X) */
         // print total result
         chprintf(stream, "\n");
         aosTestResultPrintSummary(stream, &result_total, "entire module");
         return status;
+      }
       AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
       #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
       /** @} */
       /** @} */