amiro-os / modules / DiWheelDrive_1-1 / module.c @ cca61a53
History | View | Annotate | Download (23.9 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
/**
|
20 |
* @file
|
21 |
* @brief Structures and constant for the DiWheelDrive module.
|
22 |
*
|
23 |
* @addtogroup diwheeldrive_module
|
24 |
* @{
|
25 |
*/
|
26 |
|
27 |
#include "module.h" |
28 |
|
29 |
#include <amiroos.h> |
30 |
|
31 |
/*===========================================================================*/
|
32 |
/**
|
33 |
* @name Module specific functions
|
34 |
* @{
|
35 |
*/
|
36 |
/*===========================================================================*/
|
37 |
|
38 |
/** @} */
|
39 |
|
40 |
/*===========================================================================*/
|
41 |
/**
|
42 |
* @name ChibiOS/HAL configuration
|
43 |
* @{
|
44 |
*/
|
45 |
/*===========================================================================*/
|
46 |
|
47 |
CANConfig moduleHalCanConfig = { |
48 |
/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
49 |
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
50 |
}; |
51 |
|
52 |
I2CConfig moduleHalI2cCompassConfig = { |
53 |
/* I²C mode */ OPMODE_I2C,
|
54 |
/* frequency */ 400000, |
55 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
56 |
}; |
57 |
|
58 |
I2CConfig moduleHalI2cProxEepromPwrmtrConfig = { |
59 |
/* I²C mode */ OPMODE_I2C,
|
60 |
/* frequency */ 400000, |
61 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
62 |
}; |
63 |
|
64 |
PWMConfig moduleHalPwmDriveConfig = { |
65 |
/* frequency */ 7200000, |
66 |
/* period */ 360, |
67 |
/* callback */ NULL, |
68 |
/* channel configurations */ {
|
69 |
/* channel 0 */ {
|
70 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
71 |
/* callback */ NULL |
72 |
}, |
73 |
/* channel 1 */ {
|
74 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
75 |
/* callback */ NULL |
76 |
}, |
77 |
/* channel 2 */ {
|
78 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
79 |
/* callback */ NULL |
80 |
}, |
81 |
/* channel 3 */ {
|
82 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
83 |
/* callback */ NULL |
84 |
}, |
85 |
}, |
86 |
/* TIM CR2 register */ 0, |
87 |
#if STM32_PWM_USE_ADVANCED
|
88 |
/* TIM BDTR register */ 0, |
89 |
#endif
|
90 |
/* TIM DIER register */ 0 |
91 |
}; |
92 |
|
93 |
QEIConfig moduleHalQeiConfig = { |
94 |
/* mode */ QEI_COUNT_BOTH,
|
95 |
/* channel config */ {
|
96 |
/* channel 0 */ {
|
97 |
/* input mode */ QEI_INPUT_NONINVERTED,
|
98 |
}, |
99 |
/* channel 1 */ {
|
100 |
/* input mode */ QEI_INPUT_NONINVERTED,
|
101 |
}, |
102 |
}, |
103 |
/* encoder range */ 0x10000u, |
104 |
}; |
105 |
|
106 |
SerialConfig moduleHalProgIfConfig = { |
107 |
/* bit rate */ 115200, |
108 |
/* CR1 */ 0, |
109 |
/* CR1 */ 0, |
110 |
/* CR1 */ 0, |
111 |
}; |
112 |
|
113 |
SPIConfig moduleHalSpiAccelerometerConfig = { |
114 |
/* circular buffer mode */ false, |
115 |
/* callback function pointer */ NULL, |
116 |
/* chip select line port */ GPIOC,
|
117 |
/* chip select line pad number */ GPIOC_ACCEL_SS_N,
|
118 |
/* CR1 */ SPI_CR1_BR_0,
|
119 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
120 |
}; |
121 |
|
122 |
SPIConfig moduleHalSpiGyroscopeConfig = { |
123 |
/* circular buffer mode */ false, |
124 |
/* callback function pointer */ NULL, |
125 |
/* chip select line port */ GPIOC,
|
126 |
/* chip select line pad number */ GPIOC_GYRO_SS_N,
|
127 |
/* CR1 */ SPI_CR1_BR_0,
|
128 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
129 |
}; |
130 |
|
131 |
/** @} */
|
132 |
|
133 |
/*===========================================================================*/
|
134 |
/**
|
135 |
* @name GPIO definitions
|
136 |
* @{
|
137 |
*/
|
138 |
/*===========================================================================*/
|
139 |
|
140 |
/**
|
141 |
* @brief LED output signal GPIO.
|
142 |
*/
|
143 |
static apalGpio_t _gpioLed = {
|
144 |
/* port */ GPIOA,
|
145 |
/* pad */ GPIOA_LED,
|
146 |
}; |
147 |
ROMCONST apalControlGpio_t moduleGpioLed = { |
148 |
/* GPIO */ &_gpioLed,
|
149 |
/* meta */ {
|
150 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
151 |
/* active state */ LED_LLD_GPIO_ACTIVE_STATE,
|
152 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
153 |
}, |
154 |
}; |
155 |
|
156 |
/**
|
157 |
* @brief POWER_EN output signal GPIO.
|
158 |
*/
|
159 |
static apalGpio_t _gpioPowerEn = {
|
160 |
/* port */ GPIOB,
|
161 |
/* pad */ GPIOB_POWER_EN,
|
162 |
}; |
163 |
ROMCONST apalControlGpio_t moduleGpioPowerEn = { |
164 |
/* GPIO */ &_gpioPowerEn,
|
165 |
/* meta */ {
|
166 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
167 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
168 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
169 |
}, |
170 |
}; |
171 |
|
172 |
/**
|
173 |
* @brief COMPASS_DRDY output signal GPIO.
|
174 |
*/
|
175 |
static apalGpio_t _gpioCompassDrdy = {
|
176 |
/* port */ GPIOB,
|
177 |
/* pad */ GPIOB_COMPASS_DRDY,
|
178 |
}; |
179 |
ROMCONST apalControlGpio_t moduleGpioCompassDrdy = { |
180 |
/* GPIO */ &_gpioCompassDrdy,
|
181 |
/* meta */ {
|
182 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
183 |
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
184 |
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
|
185 |
}, |
186 |
}; |
187 |
|
188 |
/**
|
189 |
* @brief IR_INT input signal GPIO.
|
190 |
*/
|
191 |
static apalGpio_t _gpioIrInt = {
|
192 |
/* port */ GPIOB,
|
193 |
/* pad */ GPIOB_IR_INT,
|
194 |
}; |
195 |
ROMCONST apalControlGpio_t moduleGpioIrInt = { |
196 |
/* GPIO */ &_gpioIrInt,
|
197 |
/* meta */ {
|
198 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
199 |
/* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
200 |
/* interrupt edge */ VCNL4020_LLD_INT_EDGE,
|
201 |
}, |
202 |
}; |
203 |
|
204 |
/**
|
205 |
* @brief GYRO_DRDY input signal GPIO.
|
206 |
*/
|
207 |
static apalGpio_t _gpioGyroDrdy = {
|
208 |
/* port */ GPIOB,
|
209 |
/* pad */ GPIOB_GYRO_DRDY,
|
210 |
}; |
211 |
ROMCONST apalControlGpio_t moduleGpioGyroDrdy = { |
212 |
/* GPIO */ &_gpioGyroDrdy,
|
213 |
/* meta */ {
|
214 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
215 |
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
216 |
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
|
217 |
}, |
218 |
}; |
219 |
|
220 |
/**
|
221 |
* @brief SYS_UART_UP bidirectional signal GPIO.
|
222 |
*/
|
223 |
static apalGpio_t _gpioSysUartUp = {
|
224 |
/* port */ GPIOB,
|
225 |
/* pad */ GPIOB_SYS_UART_UP,
|
226 |
}; |
227 |
ROMCONST apalControlGpio_t moduleGpioSysUartUp = { |
228 |
/* GPIO */ &_gpioSysUartUp,
|
229 |
/* meta */ {
|
230 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
231 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
232 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
233 |
}, |
234 |
}; |
235 |
|
236 |
/**
|
237 |
* @brief ACCEL_INT input signal GPIO.
|
238 |
*/
|
239 |
static apalGpio_t _gpioAccelInt = {
|
240 |
/* port */ GPIOB,
|
241 |
/* pad */ GPIOB_ACCEL_INT_N,
|
242 |
}; |
243 |
ROMCONST apalControlGpio_t moduleGpioAccelInt = { |
244 |
/* GPIO */ &_gpioAccelInt,
|
245 |
/* meta */ {
|
246 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
247 |
/* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
248 |
/* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
|
249 |
}, |
250 |
}; |
251 |
|
252 |
/**
|
253 |
* @brief SYS_SNYC bidirectional signal GPIO.
|
254 |
*/
|
255 |
static apalGpio_t _gpioSysSync = {
|
256 |
/* port */ GPIOC,
|
257 |
/* pad */ GPIOC_SYS_INT_N,
|
258 |
}; |
259 |
ROMCONST apalControlGpio_t moduleGpioSysSync = { |
260 |
/* GPIO */ &_gpioSysSync,
|
261 |
/* meta */ {
|
262 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
263 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
264 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
265 |
}, |
266 |
}; |
267 |
|
268 |
/**
|
269 |
* @brief PATH_DCSTAT input signal GPIO.
|
270 |
*/
|
271 |
static apalGpio_t _gpioPathDcStat = {
|
272 |
/* port */ GPIOC,
|
273 |
/* pad */ GPIOC_PATH_DCSTAT,
|
274 |
}; |
275 |
ROMCONST apalControlGpio_t moduleGpioPathDcStat = { |
276 |
/* GPIO */ &_gpioPathDcStat,
|
277 |
/* meta */ {
|
278 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
279 |
/* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
|
280 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
281 |
}, |
282 |
}; |
283 |
|
284 |
/**
|
285 |
* @brief PATH_DCEN output signal GPIO.
|
286 |
*/
|
287 |
static apalGpio_t _gpioPathDcEn = {
|
288 |
/* port */ GPIOC,
|
289 |
/* pad */ GPIOC_PATH_DCEN,
|
290 |
}; |
291 |
ROMCONST apalControlGpio_t moduleGpioPathDcEn = { |
292 |
/* GPIO */ &_gpioPathDcEn,
|
293 |
/* meta */ {
|
294 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
295 |
/* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
|
296 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
297 |
}, |
298 |
}; |
299 |
|
300 |
/**
|
301 |
* @brief SYS_PD bidirectional signal GPIO.
|
302 |
*/
|
303 |
static apalGpio_t _gpioSysPd = {
|
304 |
/* port */ GPIOC,
|
305 |
/* pad */ GPIOC_SYS_PD_N,
|
306 |
}; |
307 |
ROMCONST apalControlGpio_t moduleGpioSysPd = { |
308 |
/* GPIO */ &_gpioSysPd,
|
309 |
/* meta */ {
|
310 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
311 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
312 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
313 |
}, |
314 |
}; |
315 |
|
316 |
/**
|
317 |
* @brief SYS_REG_EN input signal GPIO.
|
318 |
*/
|
319 |
static apalGpio_t _gpioSysRegEn = {
|
320 |
/* port */ GPIOC,
|
321 |
/* pad */ GPIOC_SYS_REG_EN,
|
322 |
}; |
323 |
ROMCONST apalControlGpio_t moduleGpioSysRegEn = { |
324 |
/* GPIO */ &_gpioSysRegEn,
|
325 |
/* meta */ {
|
326 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
327 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
328 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
329 |
}, |
330 |
}; |
331 |
|
332 |
/**
|
333 |
* @brief SYS_WARMRST bidirectional signal GPIO.
|
334 |
*/
|
335 |
static apalGpio_t _gpioSysWarmrst = {
|
336 |
/* port */ GPIOD,
|
337 |
/* pad */ GPIOD_SYS_WARMRST_N,
|
338 |
}; |
339 |
ROMCONST apalControlGpio_t moduleGpioSysWarmrst = { |
340 |
/* GPIO */ &_gpioSysWarmrst,
|
341 |
/* meta */ {
|
342 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
343 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
344 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
345 |
}, |
346 |
}; |
347 |
|
348 |
/** @} */
|
349 |
|
350 |
/*===========================================================================*/
|
351 |
/**
|
352 |
* @name AMiRo-OS core configurations
|
353 |
* @{
|
354 |
*/
|
355 |
/*===========================================================================*/
|
356 |
|
357 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
358 |
ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
359 |
#endif
|
360 |
|
361 |
/** @} */
|
362 |
|
363 |
/*===========================================================================*/
|
364 |
/**
|
365 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
366 |
* @{
|
367 |
*/
|
368 |
/*===========================================================================*/
|
369 |
|
370 |
/** @} */
|
371 |
|
372 |
/*===========================================================================*/
|
373 |
/**
|
374 |
* @name Low-level drivers
|
375 |
* @{
|
376 |
*/
|
377 |
/*===========================================================================*/
|
378 |
|
379 |
A3906Driver moduleLldMotors = { |
380 |
/* power enable GPIO */ &moduleGpioPowerEn,
|
381 |
}; |
382 |
|
383 |
AT24C01BNDriver moduleLldEeprom = { |
384 |
/* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
385 |
/* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
|
386 |
}; |
387 |
|
388 |
HMC5883LDriver moduleLldCompass = { |
389 |
/* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
|
390 |
}; |
391 |
|
392 |
INA219Driver moduleLldPowerMonitorVdd = { |
393 |
/* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
394 |
/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
395 |
/* current LSB (uA) */ 0x00u, |
396 |
/* configuration */ NULL, |
397 |
}; |
398 |
|
399 |
L3G4200DDriver moduleLldGyroscope = { |
400 |
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
|
401 |
}; |
402 |
|
403 |
LEDDriver moduleLldStatusLed = { |
404 |
/* LED enable Gpio */ &moduleGpioLed,
|
405 |
}; |
406 |
|
407 |
LIS331DLHDriver moduleLldAccelerometer = { |
408 |
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
|
409 |
}; |
410 |
|
411 |
LTC4412Driver moduleLldPowerPathController = { |
412 |
/* Control GPIO */ &moduleGpioPathDcEn,
|
413 |
/* Status GPIO */ &moduleGpioPathDcStat,
|
414 |
}; |
415 |
|
416 |
PCA9544ADriver moduleLldI2cMultiplexer = { |
417 |
/* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
418 |
/* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
|
419 |
}; |
420 |
|
421 |
TPS62113Driver moduleLldStepDownConverterVdrive = { |
422 |
/* Power enable Gpio */ &moduleGpioPowerEn,
|
423 |
}; |
424 |
|
425 |
VCNL4020Driver moduleLldProximity = { |
426 |
/* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
427 |
}; |
428 |
|
429 |
/** @} */
|
430 |
|
431 |
/*===========================================================================*/
|
432 |
/**
|
433 |
* @name Unit tests (UT)
|
434 |
* @{
|
435 |
*/
|
436 |
/*===========================================================================*/
|
437 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
438 |
#include <string.h> |
439 |
#include <chprintf.h> |
440 |
|
441 |
/*
|
442 |
* A3906 (motor driver)
|
443 |
*/
|
444 |
static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
445 |
{ |
446 |
(void)argc;
|
447 |
(void)argv;
|
448 |
aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
449 |
return AOS_OK;
|
450 |
} |
451 |
static ut_a3906data_t _utA3906Data = {
|
452 |
/* driver */ &moduleLldMotors,
|
453 |
/* PWM information */ {
|
454 |
/* driver */ &MODULE_HAL_PWM_DRIVE,
|
455 |
/* channels */ {
|
456 |
/* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
457 |
/* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
458 |
/* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
459 |
/* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
460 |
}, |
461 |
}, |
462 |
/* QEI information */ {
|
463 |
/* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
464 |
/* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
465 |
/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
466 |
}, |
467 |
/* Wheel diameter */ {
|
468 |
/* left wheel */ 0.05571f, |
469 |
/* right wheel */ 0.05571f, |
470 |
}, |
471 |
/* timeout */ 10 * MICROSECONDS_PER_SECOND, |
472 |
}; |
473 |
aos_unittest_t moduleUtAlldA3906 = { |
474 |
/* name */ "A3906", |
475 |
/* info */ "motor driver", |
476 |
/* test function */ utAlldA3906Func,
|
477 |
/* shell command */ {
|
478 |
/* name */ "unittest:MotorDriver", |
479 |
/* callback */ _utShellCmdCb_AlldA3906,
|
480 |
/* next */ NULL, |
481 |
}, |
482 |
/* data */ &_utA3906Data,
|
483 |
}; |
484 |
|
485 |
/*
|
486 |
* AT24C01BN (EEPROM)
|
487 |
*/
|
488 |
static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
489 |
{ |
490 |
(void)argc;
|
491 |
(void)argv;
|
492 |
aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
|
493 |
return AOS_OK;
|
494 |
} |
495 |
static ut_at24c01bndata_t _utAt24c01bnData = {
|
496 |
/* driver */ &moduleLldEeprom,
|
497 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
498 |
}; |
499 |
aos_unittest_t moduleUtAlldAt24c01bn = { |
500 |
/* name */ "AT24C01BN-SH-B", |
501 |
/* info */ "1kbit EEPROM", |
502 |
/* test function */ utAlldAt24c01bnFunc,
|
503 |
/* shell command */ {
|
504 |
/* name */ "unittest:EEPROM", |
505 |
/* callback */ _utShellCmdCb_AlldAt24c01bn,
|
506 |
/* next */ NULL, |
507 |
}, |
508 |
/* data */ &_utAt24c01bnData,
|
509 |
}; |
510 |
|
511 |
/*
|
512 |
* HMC5883L (compass)
|
513 |
*/
|
514 |
static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
515 |
{ |
516 |
(void)argc;
|
517 |
(void)argv;
|
518 |
aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
519 |
return AOS_OK;
|
520 |
} |
521 |
static ut_hmc5883ldata_t _utHmc5883lData = {
|
522 |
/* HMC driver */ &moduleLldCompass,
|
523 |
/* event source */ &aos.events.io,
|
524 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
525 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
526 |
}; |
527 |
aos_unittest_t moduleUtAlldHmc5883l = { |
528 |
/* name */ "HMC5883L", |
529 |
/* info */ "compass", |
530 |
/* test function */ utAlldHmc5883lFunc,
|
531 |
/* shell command */ {
|
532 |
/* name */ "unittest:Compass", |
533 |
/* callback */ _utShellCmdCb_AlldHmc5883l,
|
534 |
/* next */ NULL, |
535 |
}, |
536 |
/* data */ &_utHmc5883lData,
|
537 |
}; |
538 |
|
539 |
/*
|
540 |
* INA219 (power monitor)
|
541 |
*/
|
542 |
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
543 |
{ |
544 |
(void)argc;
|
545 |
(void)argv;
|
546 |
aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
547 |
return AOS_OK;
|
548 |
} |
549 |
static ut_ina219data_t _utIna219Data = {
|
550 |
/* driver */ &moduleLldPowerMonitorVdd,
|
551 |
/* expected voltage */ 3.3f, |
552 |
/* tolerance */ 0.05f, |
553 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
554 |
}; |
555 |
aos_unittest_t moduleUtAlldIna219 = { |
556 |
/* name */ "INA219", |
557 |
/* info */ "power monitor", |
558 |
/* test function */ utAlldIna219Func,
|
559 |
/* shell command */ {
|
560 |
/* name */ "unittest:PowerMonitor", |
561 |
/* callback */ _utShellCmdCb_AlldIna219,
|
562 |
/* next */ NULL, |
563 |
}, |
564 |
/* data */ &_utIna219Data,
|
565 |
}; |
566 |
|
567 |
/*
|
568 |
* L3G4200D (gyroscope)
|
569 |
*/
|
570 |
static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
571 |
{ |
572 |
(void)argc;
|
573 |
(void)argv;
|
574 |
spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
575 |
aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
576 |
spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
577 |
return AOS_OK;
|
578 |
} |
579 |
static ut_l3g4200ddata_t _utL3g4200dData = {
|
580 |
/* driver */ &moduleLldGyroscope,
|
581 |
/* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
582 |
/* event source */ &aos.events.io,
|
583 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
584 |
}; |
585 |
aos_unittest_t moduleUtAlldL3g4200d = { |
586 |
/* name */ "L3G4200D", |
587 |
/* info */ "Gyroscope", |
588 |
/* test function */ utAlldL3g4200dFunc,
|
589 |
/* shell command */ {
|
590 |
/* name */ "unittest:Gyroscope", |
591 |
/* callback */ _utShellCmdCb_AlldL3g4200d,
|
592 |
/* next */ NULL, |
593 |
}, |
594 |
/* data */ &_utL3g4200dData,
|
595 |
}; |
596 |
|
597 |
/*
|
598 |
* Status LED
|
599 |
*/
|
600 |
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
601 |
{ |
602 |
(void)argc;
|
603 |
(void)argv;
|
604 |
aosUtRun(stream, &moduleUtAlldLed, NULL);
|
605 |
return AOS_OK;
|
606 |
} |
607 |
aos_unittest_t moduleUtAlldLed = { |
608 |
/* name */ "LED", |
609 |
/* info */ NULL, |
610 |
/* test function */ utAlldLedFunc,
|
611 |
/* shell command */ {
|
612 |
/* name */ "unittest:StatusLED", |
613 |
/* callback */ _utShellCmdCb_AlldLed,
|
614 |
/* next */ NULL, |
615 |
}, |
616 |
/* data */ &moduleLldStatusLed,
|
617 |
}; |
618 |
|
619 |
/*
|
620 |
* LIS331DLH (accelerometer)
|
621 |
*/
|
622 |
static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
623 |
{ |
624 |
(void)argc;
|
625 |
(void)argv;
|
626 |
spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
627 |
aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
628 |
spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
629 |
return AOS_OK;
|
630 |
} |
631 |
static ut_lis331dlhdata_t _utLis331dlhData = {
|
632 |
/* driver */ &moduleLldAccelerometer,
|
633 |
/* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
634 |
/* event source */ &aos.events.io,
|
635 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
636 |
}; |
637 |
aos_unittest_t moduleUtAlldLis331dlh = { |
638 |
/* name */ "LIS331DLH", |
639 |
/* info */ "Accelerometer", |
640 |
/* test function */ utAlldLis331dlhFunc,
|
641 |
/* shell command */ {
|
642 |
/* name */ "unittest:Accelerometer", |
643 |
/* callback */ _utShellCmdCb_AlldLis331dlh,
|
644 |
/* next */ NULL, |
645 |
}, |
646 |
/* data */ &_utLis331dlhData,
|
647 |
}; |
648 |
|
649 |
/*
|
650 |
* LTC4412 (power path controller)
|
651 |
*/
|
652 |
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
653 |
{ |
654 |
(void)argc;
|
655 |
(void)argv;
|
656 |
aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
657 |
return AOS_OK;
|
658 |
} |
659 |
aos_unittest_t moduleUtAlldLtc4412 = { |
660 |
/* name */ "LTC4412", |
661 |
/* info */ "Power path controller", |
662 |
/* test function */ utAlldLtc4412Func,
|
663 |
/* shell command */ {
|
664 |
/* name */ "unittest:PowerPathController", |
665 |
/* callback */ _utShellCmdCb_AlldLtc4412,
|
666 |
/* next */ NULL, |
667 |
}, |
668 |
/* data */ &moduleLldPowerPathController,
|
669 |
}; |
670 |
|
671 |
/*
|
672 |
* PCA9544A (I2C multiplexer)
|
673 |
*/
|
674 |
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
675 |
{ |
676 |
(void)argc;
|
677 |
(void)argv;
|
678 |
aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
679 |
return AOS_OK;
|
680 |
} |
681 |
static ut_pca9544adata_t _utPca9544aData = {
|
682 |
/* driver */ &moduleLldI2cMultiplexer,
|
683 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
684 |
}; |
685 |
aos_unittest_t moduleUtAlldPca9544a = { |
686 |
/* name */ "PCA9544A", |
687 |
/* info */ "I2C multiplexer", |
688 |
/* test function */ utAlldPca9544aFunc,
|
689 |
/* shell command */ {
|
690 |
/* name */ "unittest:I2CMultiplexer", |
691 |
/* callback */ _utShellCmdCb_AlldPca9544a,
|
692 |
/* next */ NULL, |
693 |
}, |
694 |
/* data */ &_utPca9544aData,
|
695 |
}; |
696 |
|
697 |
/*
|
698 |
* TPS62113 (step-down converter)
|
699 |
*/
|
700 |
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
701 |
{ |
702 |
(void)argc;
|
703 |
(void)argv;
|
704 |
aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
705 |
return AOS_OK;
|
706 |
} |
707 |
aos_unittest_t moduleUtAlldTps62113 = { |
708 |
/* name */ "TPS62113", |
709 |
/* info */ "Step down converter", |
710 |
/* test function */ utAlldTps62113Func,
|
711 |
/* shell command */ {
|
712 |
/* name */ "unittest:StepDownConverter", |
713 |
/* callback */ _utShellCmdCb_AlldTps62113,
|
714 |
/* next */ NULL, |
715 |
}, |
716 |
/* data */ &moduleLldStepDownConverterVdrive,
|
717 |
}; |
718 |
|
719 |
/*
|
720 |
* VCNL4020 (proximity sensor)
|
721 |
*/
|
722 |
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
723 |
{ |
724 |
uint8_t intstatus; |
725 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
726 |
vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
727 |
if (intstatus) {
|
728 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
729 |
} |
730 |
return;
|
731 |
} |
732 |
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
733 |
{ |
734 |
enum {
|
735 |
UNKNOWN, |
736 |
FL, FR, WL, WR, |
737 |
} sensor = UNKNOWN; |
738 |
// evaluate arguments
|
739 |
if (argc == 2) { |
740 |
if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
741 |
sensor = FL; |
742 |
} else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
743 |
sensor = FR; |
744 |
} else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
745 |
sensor = WL; |
746 |
} else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
747 |
sensor = WR; |
748 |
} |
749 |
} |
750 |
if (sensor != UNKNOWN) {
|
751 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
752 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
753 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
754 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
755 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
756 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
757 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
758 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
759 |
switch (sensor) {
|
760 |
case FL:
|
761 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
762 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
763 |
break;
|
764 |
case FR:
|
765 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
766 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
767 |
break;
|
768 |
case WL:
|
769 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
770 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
771 |
break;
|
772 |
case WR:
|
773 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
774 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
775 |
break;
|
776 |
default:
|
777 |
break;
|
778 |
} |
779 |
return AOS_OK;
|
780 |
} |
781 |
// print help
|
782 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
783 |
chprintf(stream, "Options:\n");
|
784 |
chprintf(stream, " --frontleft, -fl\n");
|
785 |
chprintf(stream, " Test front left proximity sensor.\n");
|
786 |
chprintf(stream, " --frontrigt, -fr\n");
|
787 |
chprintf(stream, " Test front right proximity sensor.\n");
|
788 |
chprintf(stream, " --wheelleft, -wl\n");
|
789 |
chprintf(stream, " Test left wheel proximity sensor.\n");
|
790 |
chprintf(stream, " --wheelright, -wr\n");
|
791 |
chprintf(stream, " Test right wheel proximity sensor.\n");
|
792 |
return AOS_INVALID_ARGUMENTS;
|
793 |
} |
794 |
static ut_vcnl4020data_t _utVcnl4020Data = {
|
795 |
/* driver */ &moduleLldProximity,
|
796 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
797 |
/* event source */ &aos.events.io,
|
798 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
799 |
}; |
800 |
aos_unittest_t moduleUtAlldVcnl4020 = { |
801 |
/* name */ "VCNL4020", |
802 |
/* info */ "proximity sensor", |
803 |
/* test function */ utAlldVcnl4020Func,
|
804 |
/* shell command */ {
|
805 |
/* name */ "unittest:Proximity", |
806 |
/* callback */ _utShellCmdCb_AlldVcnl4020,
|
807 |
/* next */ NULL, |
808 |
}, |
809 |
/* data */ &_utVcnl4020Data,
|
810 |
}; |
811 |
|
812 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
813 |
|
814 |
/** @} */
|
815 |
/** @} */
|