amiro-os / modules / LightRing_1-2 / module.h @ c7dcc892
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the LightRing module.
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*
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* @addtogroup lightring_module
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* @{
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*/
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.h> |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief CAN driver to use.
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*/
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#define MODULE_HAL_CAN CAND1
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/**
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* @brief Configuration for the CAN driver.
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*/
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extern CANConfig moduleHalCanConfig;
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/**
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* @brief I2C driver to access the EEPROM, power monitor and the breakout header.
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*/
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#define MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT I2CD2
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/**
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* @brief Configuration for the EEPROM, power monitor and breakout I2C driver.
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*/
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extern I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig;
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/**
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* @brief Serial driver of the programmer interface.
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*/
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#define MODULE_HAL_PROGIF SD1
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/**
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* @brief Configuration for the programmer serial interface driver.
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*/
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extern SerialConfig moduleHalProgIfConfig;
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/**
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* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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*/
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#define MODULE_HAL_SPI_LIGHT SPID1
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/**
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* @brief Configuration for the SPI interface driver to communicate with the LED driver.
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*/
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extern SPIConfig moduleHalSpiLightConfig;
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/**
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* @brief SPI interface driver for the breakout header.
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*/
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#define MODULE_HAL_SPI_BREAKOUT SPID2
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/**
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* @brief UART interface driver for the breakout header (alternative to serial).
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*/
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#define MODULE_HAL_UART_BREAKOUT UARTD2
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/**
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* @brief Real-Time Clock driver.
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*/
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#define MODULE_HAL_RTC RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LIGHT_BANK output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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/**
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* @brief RS232_R_EN_N output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioRs232En;
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/**
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* @brief SW_V33_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwV33En;
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// The 4.2V switch is disabled due to a hardware bug.
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///**
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// * @brief SW_V42_EN output signal GPIO.
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// */
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//extern ROMCONST apalControlGpio_t moduleGpioSwV42En;
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/**
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* @brief SW_V50_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwV50En;
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/**
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* @brief IO_3 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo3;
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/**
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* @brief IO_5 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo5;
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/**
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* @brief IO_6 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo6;
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/**
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* @brief SYS_UART_DN bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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/**
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* @brief IO_7 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo7;
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/**
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* @brief IO_8 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo8;
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/**
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* @brief IO_4 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo4;
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/**
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* @brief IO_1 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo1;
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/**
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* @brief IO_2 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo2;
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/**
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* @brief LED output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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/**
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* @brief LIGHT_XLAT output signal.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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/**
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* @brief SW_V18_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwV18En;
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/**
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* @brief SW_VSYS_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwVsysEn;
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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/**
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* @brief SYS_SYNC bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Event flag to be set on a IO_4 (breakout) interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO4 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_4))
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/**
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* @brief Event flag to be set on a IO_1 (breakout) interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO1 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_1))
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/**
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* @brief Event flag to be set on a SYS_SYNC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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/**
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* @brief Event flag to be set on a IO_3 (breakout) interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO3 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_3))
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/**
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* @brief Event flag to be set on a IO_5 (breakout) interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO5 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_5))
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/**
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* @brief Event flag to be set on a IO_6 (breakout) interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO6 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_6))
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/**
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* @brief Event flag to be set on a SYS_UART_DN interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
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/**
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* @brief Event flag to be set on a SYS_UART_UP interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
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/**
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* @brief Event flag to be set on a IO_7 (breakout) interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO7 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_7))
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/**
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* @brief Event flag to be set on a IO_8 (breakout) interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO8 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8))
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/**
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* @brief Event flag to be set on a SYS_PD interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell prompt text.
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*/
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extern ROMCONST char* moduleShellPrompt; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/**
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* @brief Interrupt initialization macro.
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* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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*/
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#define MODULE_INIT_INTERRUPTS() { \
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/* breakout interrupts must be enabled explicitely */ \
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} |
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/**
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* @brief Unit test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \
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aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldMic9404x.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
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} |
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/**
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* @brief Periphery communication interfaces initialization hook.
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*/
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#define MODULE_INIT_PERIPHERY_COMM() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* I2C */ \
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moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \ |
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moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \ |
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moduleHalI2cEepromPwrmtrBreakoutConfig.duty_cycle = (moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig); \ |
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/* SPI */ \
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spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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} |
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/**
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* @brief Periphery communication interface deinitialization hook.
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*/
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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/* SPI */ \
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spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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/* I2C */ \
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i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT); \ |
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/* don't stop the serial driver so messages can still be printed */ \
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} |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief PD signal GPIO.
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*/
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#define moduleSsspGpioPd moduleGpioSysPd
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/**
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* @brief SYNC signal GPIO.
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*/
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#define moduleSsspGpioSync moduleGpioSysSync
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/**
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* @brief UP signal GPIO.
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*/
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#define moduleSsspGpioUp moduleGpioSysUartUp
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/**
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* @brief DN signal GPIO.
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*/
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#define moduleSsspGpioDn moduleGpioSysUartDn
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/**
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* @brief Event flags for PD signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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/**
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* @brief Event flags for SYNC signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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/**
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* @brief Event flags for UP signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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/**
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* @brief Event flags for DN signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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#include <alld_AT24C01B.h> |
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#include <alld_INA219.h> |
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#include <alld_LED.h> |
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#include <alld_MIC9404x.h> |
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//#include <alld_SNx5C3221E.h>
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#include <alld_TLC5947.h> |
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/**
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* @brief EEPROM driver.
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*/
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extern AT24C01BDriver moduleLldEeprom;
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/**
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* @brief Power monitor (VLED 4.2) driver.
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*/
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extern INA219Driver moduleLldPowerMonitorVled;
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/**
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* @brief Status LED driver.
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*/
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extern LEDDriver moduleLldStatusLed;
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/**
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* @brief Power switch driver (1.8V).
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*/
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extern MIC9404xDriver moduleLldPowerSwitchV18;
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/**
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* @brief Power switch driver (3.3V).
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*/
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extern MIC9404xDriver moduleLldPowerSwitchV33;
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/**
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* @brief Power switch driver (4.2V).
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*/
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extern MIC9404xDriver moduleLldPowerSwitchV42;
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/**
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* @brief Power switch driver (5.0V).
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*/
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extern MIC9404xDriver moduleLldPowerSwitchV50;
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/**
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* @brief Pseudo power switch driver (VSYS).
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* @details There is no actual MIC9040x device, but the swicthable circuit behaves analogous.
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*/
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extern MIC9404xDriver moduleLldPowerSwitchVsys;
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/**
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* @brief LED PWM driver.
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*/
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extern TLC5947Driver moduleLldLedPwm;
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <ut_alld_AT24C01B_v1.h> |
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#include <ut_alld_INA219_v1.h> |
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#include <ut_alld_LED_v1.h> |
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#include <ut_alld_MIC9404x_v1.h> |
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//#include <ut_alld_SNx5C3221E_v1.h>
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#include <ut_alld_TLC5947_v1.h> |
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/**
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* @brief EEPROM unit test object.
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*/
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extern aos_unittest_t moduleUtAlldAt24c01b;
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/**
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* @brief INA219 (power monitor) unit test object.
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*/
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extern aos_unittest_t moduleUtAlldIna219;
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/**
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* @brief Status LED unit test object.
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*/
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extern aos_unittest_t moduleUtAlldLed;
|
| 475 |
|
| 476 |
/**
|
| 477 |
* @brief Power switch unit test object.
|
| 478 |
*/
|
| 479 |
extern aos_unittest_t moduleUtAlldMic9404x;
|
| 480 |
|
| 481 |
/**
|
| 482 |
* @brief LED PWM driver unit test object.
|
| 483 |
*/
|
| 484 |
extern aos_unittest_t moduleUtAlldTlc5947;
|
| 485 |
|
| 486 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 487 |
|
| 488 |
/** @} */
|
| 489 |
|
| 490 |
#endif /* AMIROOS_MODULE_H */ |
| 491 |
|
| 492 |
/** @} */
|