AMiRo-OS

/*

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

Copyright (C) 2016..2020  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 NUCLEO-L476RG module.

 *

 * @addtogroup NUCLEO-L476RG_module

 * @{

 */

#include <amiroos.h>

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

/**

 * @name Module specific functions

 * @{

 */

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

/** @} */

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

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

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

SerialConfig moduleHalProgIfConfig = {

  /* bit rate */ 115200,

  /* CR1      */ 0,

  /* CR1      */ 0,

  /* CR1      */ 0,

};

I2CConfig moduleHalI2cConfig = {

  /* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF hook

  /* CR1        */ 0,

  /* CR2        */ 0,

};

/** @} */

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

/**

 * @name GPIO definitions

 * @{

 */

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

/**

 * @brief   LED output signal GPIO.

 */

static apalGpio_t _gpioLed = {

  /* line */ LINE_LED_GREEN,

};

ROMCONST apalControlGpio_t moduleGpioLed = {

  /* GPIO */ &_gpioLed,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   User button input signal GPIO.

 */

static apalGpio_t _gpioUserButton = {

  /* line */ LINE_BUTTON,

};

ROMCONST apalControlGpio_t moduleGpioUserButton = {

  /* GPIO */ &_gpioUserButton,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__)

/**

 * @brief   VL53L1X interrupt signal GPIO.

 */

static apalGpio_t _gpioVl53l1xINT = {

  /* line */ PAL_LINE(GPIOC, GPIOC_PIN6),

};

ROMCONST apalControlGpio_t moduleGpioVl53l1xINT = {

  /* GPIO */ &_gpioVl53l1xINT,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_FALLING,

  },

};

/**

 * @brief   VL53L1X XSHUT signal GPIO.

 */

static apalGpio_t _gpioVl53l1xXSHUT = {

  /* line */ PAL_LINE(GPIOC, GPIOC_PIN5),

};

ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT = {

  /* GPIO */ &_gpioVl53l1xXSHUT,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

#endif /* (BOARD_VL53L1X_CONNECTED == true) */

/** @} */

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

/**

 * @name AMiRo-OS core configurations

 * @{

 */

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

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG";

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

/** @} */

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

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

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

/** @} */

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

/**

 * @name Low-level drivers

 * @{

 */

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

LEDDriver moduleLldLed = {

  /* LED enable Gpio */ &moduleGpioLed,

};

ButtonDriver moduleLldUserButton = {

  /* Button Gpio  */ &moduleGpioUserButton,

};

#if (BOARD_MPU6050_CONNECTED == true)

MPU6050Driver moduleLldMpu6050 = {

  /* I2C Driver       */ &MODULE_HAL_I2C,

  /* I²C address      */ MPU6050_LLD_I2C_ADDR_FIXED,

};

#endif /* (BOARD_MPU6050_CONNECTED == true) */

#if (BOARD_VL53L1X_CONNECTED == true)

VL53L1XDriver moduleLldVl53l1x = {

  /* device data    */ {},

  /* interface data */ {

    /* I2C Driver     */ &MODULE_HAL_I2C,

    /* I²C address    */ VL53L1X_LLD_I2C_ADDR_DEFAULT,

    /* GPIO 1:INT pin */ &moduleGpioVl53l1xINT,

    /* Xshut          */ &moduleGpioVl53l1xXSHUT,

  },

};

#endif /* (BOARD_VL53L1X_CONNECTED == true) */

/** @} */

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

/**

 * @name Tests

 * @{

 */

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

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/*

 * 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:LED", _testLedShellCmdCb);

/*

 * User button

 */

#include <module_test_button.h>

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

{

  return moduleTestButtonShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);

#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__)

/*

 * MPU6050 (accelerometer & gyroscope)

 */

#include <module_test_MPU6050.h>

static int _testMpu6050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestMpu6050ShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestMpu6050ShellCmd, "test:IMU", _testMpu6050ShellCmdCb);

#endif /* (BOARD_MPU6050_CONNECTED == true) */

#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__)

/*

 * VL53L1X

 */

#include <module_test_VL53L1X.h>

static int _testShellVL53L1XCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestVL53L1XShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestVL53L1XShellCmd, "test:VL53L1X", _testShellVL53L1XCmdCb);

#endif /* (BOARD_VL53L1X_CONNECTED == true) */

/*

 * 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};

  /* LED */

  status |= moduleTestLedShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* User button */

  status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

#if (BOARD_MPU6050_CONNECTED == true)

  /* MPU6050 (accelerometer & gyroscope) */

  status |= moduleTestMpu6050ShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

#endif /* (BOARD_MPU6050_CONNECTED == true) */

#if (BOARD_VL53L1X_CONNECTED == true)

  /* VL53L1X (ToF sensor) */

  status |= moduleTestVL53L1XShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

#endif /* (BOARD_VL53L1X_CONNECTED == true) */

  // 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) */

/** @} */

/** @} */