Revision ded1ded7
| modules/NUCLEO-L476RG/Makefile | ||
|---|---|---|
| 159 | 159 |
include $(MODULE_DIR)/test/MPU6050/module_test_MPU6050.mk |
| 160 | 160 |
include $(MODULE_DIR)/test/VL53L1X/module_test_VL53L1X.mk |
| 161 | 161 |
|
| 162 |
|
|
| 163 | 162 |
# C warning options. |
| 164 | 163 |
CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes |
| 165 | 164 |
|
| modules/NUCLEO-L476RG/alldconf.h | ||
|---|---|---|
| 33 | 33 |
*/ |
| 34 | 34 |
#include <aos_alldconf.h> |
| 35 | 35 |
|
| 36 |
#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief VL53L1X I2C voltage level configuration. |
|
| 40 |
* @details VL53L1X assumes 1.8V I2C communication by default. |
|
| 41 |
* This flag triggers the API to set the device to 2.8V mode. |
|
| 42 |
*/ |
|
| 43 |
#define VL53L1X_LLD_I2C_2V8 true |
|
| 44 |
|
|
| 45 |
#endif |
|
| 46 |
|
|
| 36 | 47 |
#endif /* ALLDCONF_H */ |
| 37 | 48 |
|
| 38 | 49 |
/** @} */ |
| modules/NUCLEO-L476RG/board.h | ||
|---|---|---|
| 62 | 62 |
/* |
| 63 | 63 |
* Identifiers for optional peripherals. |
| 64 | 64 |
*/ |
| 65 |
#define BOARD_MPU6050_CONNECTED false |
|
| 66 |
|
|
| 65 |
#define BOARD_MPU6050_CONNECTED true |
|
| 67 | 66 |
#define BOARD_VL53L1X_CONNECTED true |
| 68 | 67 |
|
| 69 | 68 |
|
| ... | ... | |
| 463 | 462 |
* PB5 - ARD_D4 (analog). |
| 464 | 463 |
* PB6 - ARD_D10 (analog). |
| 465 | 464 |
* PB7 - PIN7 (analog). |
| 466 |
* PB8 - ARD_D15 (analog).
|
|
| 467 |
* PB9 - ARD_D14 (analog).
|
|
| 465 |
* PB8 - ARD_D15 (alternate 4).
|
|
| 466 |
* PB9 - ARD_D14 (alternate 4).
|
|
| 468 | 467 |
* PB10 - ARD_D6 (analog). |
| 469 | 468 |
* PB11 - PIN11 (analog). |
| 470 | 469 |
* PB12 - PIN12 (analog). |
| ... | ... | |
| 480 | 479 |
PIN_MODE_ANALOG(GPIOB_ARD_D4) | \ |
| 481 | 480 |
PIN_MODE_ANALOG(GPIOB_ARD_D10) | \ |
| 482 | 481 |
PIN_MODE_ANALOG(GPIOB_PIN7) | \ |
| 483 |
PIN_MODE_ANALOG(GPIOB_ARD_D15) | \
|
|
| 484 |
PIN_MODE_ANALOG(GPIOB_ARD_D14) | \
|
|
| 482 |
PIN_MODE_ALTERNATE(GPIOB_ARD_D15) | \
|
|
| 483 |
PIN_MODE_ALTERNATE(GPIOB_ARD_D14) | \
|
|
| 485 | 484 |
PIN_MODE_ANALOG(GPIOB_ARD_D6) | \ |
| 486 | 485 |
PIN_MODE_ANALOG(GPIOB_PIN11) | \ |
| 487 | 486 |
PIN_MODE_ANALOG(GPIOB_PIN12) | \ |
| ... | ... | |
| 496 | 495 |
PIN_OTYPE_PUSHPULL(GPIOB_ARD_D4) | \ |
| 497 | 496 |
PIN_OTYPE_PUSHPULL(GPIOB_ARD_D10) | \ |
| 498 | 497 |
PIN_OTYPE_PUSHPULL(GPIOB_PIN7) | \ |
| 499 |
PIN_OTYPE_PUSHPULL(GPIOB_ARD_D15) | \
|
|
| 500 |
PIN_OTYPE_PUSHPULL(GPIOB_ARD_D14) | \
|
|
| 498 |
PIN_OTYPE_OPENDRAIN(GPIOB_ARD_D15) | \
|
|
| 499 |
PIN_OTYPE_OPENDRAIN(GPIOB_ARD_D14) | \
|
|
| 501 | 500 |
PIN_OTYPE_PUSHPULL(GPIOB_ARD_D6) | \ |
| 502 | 501 |
PIN_OTYPE_PUSHPULL(GPIOB_PIN11) | \ |
| 503 | 502 |
PIN_OTYPE_PUSHPULL(GPIOB_PIN12) | \ |
| ... | ... | |
| 528 | 527 |
PIN_PUPDR_FLOATING(GPIOB_ARD_D4) | \ |
| 529 | 528 |
PIN_PUPDR_FLOATING(GPIOB_ARD_D10) | \ |
| 530 | 529 |
PIN_PUPDR_FLOATING(GPIOB_PIN7) | \ |
| 531 |
PIN_PUPDR_FLOATING(GPIOB_ARD_D15) | \
|
|
| 532 |
PIN_PUPDR_FLOATING(GPIOB_ARD_D14) | \
|
|
| 530 |
PIN_PUPDR_PULLUP(GPIOB_ARD_D15) | \
|
|
| 531 |
PIN_PUPDR_PULLUP(GPIOB_ARD_D14) | \
|
|
| 533 | 532 |
PIN_PUPDR_FLOATING(GPIOB_ARD_D6) | \ |
| 534 | 533 |
PIN_PUPDR_FLOATING(GPIOB_PIN11) | \ |
| 535 | 534 |
PIN_PUPDR_FLOATING(GPIOB_PIN12) | \ |
| ... | ... | |
| 560 | 559 |
PIN_AFIO_AF(GPIOB_ARD_D4, 0U) | \ |
| 561 | 560 |
PIN_AFIO_AF(GPIOB_ARD_D10, 0U) | \ |
| 562 | 561 |
PIN_AFIO_AF(GPIOB_PIN7, 0U)) |
| 563 |
#define VAL_GPIOB_AFRH (PIN_AFIO_AF(GPIOB_ARD_D15, 0U) | \
|
|
| 564 |
PIN_AFIO_AF(GPIOB_ARD_D14, 0U) | \
|
|
| 562 |
#define VAL_GPIOB_AFRH (PIN_AFIO_AF(GPIOB_ARD_D15, 4U) | \
|
|
| 563 |
PIN_AFIO_AF(GPIOB_ARD_D14, 4U) | \
|
|
| 565 | 564 |
PIN_AFIO_AF(GPIOB_ARD_D6, 0U) | \ |
| 566 | 565 |
PIN_AFIO_AF(GPIOB_PIN11, 0U) | \ |
| 567 | 566 |
PIN_AFIO_AF(GPIOB_PIN12, 0U) | \ |
| modules/NUCLEO-L476RG/mcuconf.h | ||
|---|---|---|
| 181 | 181 |
/* |
| 182 | 182 |
* I2C driver system settings. |
| 183 | 183 |
*/ |
| 184 |
#define STM32_I2C_USE_I2C1 FALSE
|
|
| 184 |
#define STM32_I2C_USE_I2C1 TRUE
|
|
| 185 | 185 |
#define STM32_I2C_USE_I2C2 FALSE |
| 186 |
#define STM32_I2C_USE_I2C3 TRUE
|
|
| 186 |
#define STM32_I2C_USE_I2C3 FALSE
|
|
| 187 | 187 |
#define STM32_I2C_BUSY_TIMEOUT 50 |
| 188 | 188 |
#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7) |
| 189 | 189 |
#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6) |
| modules/NUCLEO-L476RG/module.c | ||
|---|---|---|
| 49 | 49 |
/* CR1 */ 0, |
| 50 | 50 |
}; |
| 51 | 51 |
|
| 52 |
#if (BOARD_MPU6050_CONNECTED == true) |
|
| 53 |
|
|
| 54 |
I2CConfig moduleHalI2c3Config = {
|
|
| 55 |
/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook |
|
| 56 |
/* CR1 */ 0, |
|
| 57 |
/* CR2 */ 0, |
|
| 58 |
}; |
|
| 59 |
|
|
| 60 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
|
| 61 |
|
|
| 62 |
#if (BOARD_VL53L1X_CONNECTED == true) |
|
| 63 |
|
|
| 64 |
I2CConfig moduleHalI2c3Config = {
|
|
| 65 |
/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook |
|
| 52 |
I2CConfig moduleHalI2cConfig = {
|
|
| 53 |
/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF hook |
|
| 66 | 54 |
/* CR1 */ 0, |
| 67 | 55 |
/* CR2 */ 0, |
| 68 | 56 |
}; |
| 69 | 57 |
|
| 70 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 71 |
|
|
| 72 | 58 |
/** @} */ |
| 73 | 59 |
|
| 74 | 60 |
/*===========================================================================*/ |
| ... | ... | |
| 108 | 94 |
}, |
| 109 | 95 |
}; |
| 110 | 96 |
|
| 97 |
#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 111 | 98 |
|
| 99 |
/** |
|
| 100 |
* @brief VL53L1X interrupt signal GPIO. |
|
| 101 |
*/ |
|
| 112 | 102 |
static apalGpio_t _gpioVl53l1xINT = {
|
| 113 |
/* line */ PAL_LINE(GPIOC, GPIOC_PIN2),
|
|
| 103 |
/* line */ PAL_LINE(GPIOC, GPIOC_PIN6),
|
|
| 114 | 104 |
}; |
| 115 | 105 |
ROMCONST apalControlGpio_t moduleGpioVl53l1xINT = {
|
| 116 | 106 |
/* GPIO */ &_gpioVl53l1xINT, |
| ... | ... | |
| 121 | 111 |
}, |
| 122 | 112 |
}; |
| 123 | 113 |
|
| 114 |
/** |
|
| 115 |
* @brief VL53L1X XSHUT signal GPIO. |
|
| 116 |
*/ |
|
| 124 | 117 |
static apalGpio_t _gpioVl53l1xXSHUT = {
|
| 125 |
/* line */ PAL_LINE(GPIOC, GPIOC_PIN3),
|
|
| 118 |
/* line */ PAL_LINE(GPIOC, GPIOC_PIN5),
|
|
| 126 | 119 |
}; |
| 127 | 120 |
ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT = {
|
| 128 | 121 |
/* GPIO */ &_gpioVl53l1xXSHUT, |
| ... | ... | |
| 133 | 126 |
}, |
| 134 | 127 |
}; |
| 135 | 128 |
|
| 129 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 130 |
|
|
| 136 | 131 |
/** @} */ |
| 137 | 132 |
|
| 138 | 133 |
/*===========================================================================*/ |
| ... | ... | |
| 172 | 167 |
/* Button Gpio */ &moduleGpioUserButton, |
| 173 | 168 |
}; |
| 174 | 169 |
|
| 175 |
|
|
| 176 |
#if (BOARD_VL53L1X_CONNECTED == true) |
|
| 177 |
VL53L1XDriver moduleLldVl53l1x = {
|
|
| 178 |
/* I2C Driver */ &MODULE_HAL_I2C3, |
|
| 179 |
/* I²C address */ VL53L1X_LLD_I2C_ADDR_DEFAULT, |
|
| 180 |
/* GPIO 1:INT pin */ &moduleGpioVl53l1xINT, |
|
| 181 |
/* Xshut */ &moduleGpioVl53l1xXSHUT, |
|
| 182 |
}; |
|
| 183 |
|
|
| 184 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 185 |
|
|
| 186 | 170 |
#if (BOARD_MPU6050_CONNECTED == true) |
| 187 | 171 |
|
| 188 | 172 |
MPU6050Driver moduleLldMpu6050 = {
|
| 189 |
/* I2C Driver */ &MODULE_HAL_I2C3,
|
|
| 173 |
/* I2C Driver */ &MODULE_HAL_I2C, |
|
| 190 | 174 |
/* I²C address */ MPU6050_LLD_I2C_ADDR_FIXED, |
| 191 | 175 |
}; |
| 192 | 176 |
|
| 177 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
|
| 193 | 178 |
|
| 179 |
#if (BOARD_VL53L1X_CONNECTED == true) |
|
| 194 | 180 |
|
| 195 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
|
| 181 |
VL53L1XDriver moduleLldVl53l1x = {
|
|
| 182 |
/* device data */ {},
|
|
| 183 |
/* interface data */ {
|
|
| 184 |
/* I2C Driver */ &MODULE_HAL_I2C, |
|
| 185 |
/* I²C address */ VL53L1X_LLD_I2C_ADDR_DEFAULT, |
|
| 186 |
/* GPIO 1:INT pin */ &moduleGpioVl53l1xINT, |
|
| 187 |
/* Xshut */ &moduleGpioVl53l1xXSHUT, |
|
| 188 |
}, |
|
| 189 |
}; |
|
| 190 |
|
|
| 191 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 196 | 192 |
|
| 197 | 193 |
/** @} */ |
| 198 | 194 |
|
| ... | ... | |
| 215 | 211 |
AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb); |
| 216 | 212 |
|
| 217 | 213 |
/* |
| 218 |
* LED |
|
| 219 |
*/ |
|
| 220 |
#include <module_test_VL53L1X.h> |
|
| 221 |
static int _testShellVL53L1XCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
| 222 |
{
|
|
| 223 |
return moduleTestVL53L1XShellCb(stream, argc, argv, NULL); |
|
| 224 |
} |
|
| 225 |
AOS_SHELL_COMMAND(moduleTestVL53L1XShellCmd, "test:VL53L1X", _testShellVL53L1XCmdCb); |
|
| 226 |
|
|
| 227 |
static int _testShellVL53L1XInitCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
| 228 |
{
|
|
| 229 |
return moduleTestVL53L1XInitShellCb(stream, argc, argv, NULL); |
|
| 230 |
} |
|
| 231 |
AOS_SHELL_COMMAND(moduleTestVL53L1XInitShellCmd, "test:VL53L1X:INIT", _testShellVL53L1XInitCmdCb); |
|
| 232 |
|
|
| 233 |
/* |
|
| 234 | 214 |
* User button |
| 235 | 215 |
*/ |
| 236 | 216 |
#include <module_test_button.h> |
| ... | ... | |
| 241 | 221 |
AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb); |
| 242 | 222 |
|
| 243 | 223 |
#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
| 244 |
|
|
| 245 | 224 |
/* |
| 246 | 225 |
* MPU6050 (accelerometer & gyroscope) |
| 247 | 226 |
*/ |
| ... | ... | |
| 251 | 230 |
return moduleTestMpu6050ShellCb(stream, argc, argv, NULL); |
| 252 | 231 |
} |
| 253 | 232 |
AOS_SHELL_COMMAND(moduleTestMpu6050ShellCmd, "test:IMU", _testMpu6050ShellCmdCb); |
| 254 |
|
|
| 255 | 233 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
| 256 | 234 |
|
| 235 |
#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 236 |
/* |
|
| 237 |
* VL53L1X |
|
| 238 |
*/ |
|
| 239 |
#include <module_test_VL53L1X.h> |
|
| 240 |
static int _testShellVL53L1XCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
| 241 |
{
|
|
| 242 |
return moduleTestVL53L1XShellCb(stream, argc, argv, NULL); |
|
| 243 |
} |
|
| 244 |
AOS_SHELL_COMMAND(moduleTestVL53L1XShellCmd, "test:VL53L1X", _testShellVL53L1XCmdCb); |
|
| 245 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 246 |
|
|
| 257 | 247 |
/* |
| 258 | 248 |
* entire module |
| 259 | 249 |
*/ |
| ... | ... | |
| 275 | 265 |
status |= moduleTestButtonShellCb(stream, 0, targv, &result_test); |
| 276 | 266 |
result_total = aosTestResultAdd(result_total, result_test); |
| 277 | 267 |
|
| 278 |
/* MPU6050 (accelerometer & gyroscope) */ |
|
| 279 | 268 |
#if (BOARD_MPU6050_CONNECTED == true) |
| 269 |
/* MPU6050 (accelerometer & gyroscope) */ |
|
| 280 | 270 |
status |= moduleTestMpu6050ShellCb(stream, 0, targv, &result_test); |
| 281 | 271 |
result_total = aosTestResultAdd(result_total, result_test); |
| 282 | 272 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
| 283 | 273 |
|
| 274 |
#if (BOARD_VL53L1X_CONNECTED == true) |
|
| 275 |
/* VL53L1X (ToF sensor) */ |
|
| 276 |
status |= moduleTestVL53L1XShellCb(stream, 0, targv, &result_test); |
|
| 277 |
result_total = aosTestResultAdd(result_total, result_test); |
|
| 278 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 279 |
|
|
| 284 | 280 |
// print total result |
| 285 | 281 |
chprintf(stream, "\n"); |
| 286 | 282 |
aosTestResultPrintSummary(stream, &result_total, "entire module"); |
| modules/NUCLEO-L476RG/module.h | ||
|---|---|---|
| 29 | 29 |
|
| 30 | 30 |
#include <amiroos.h> |
| 31 | 31 |
|
| 32 |
#if (BOARD_MPU6050_CONNECTED == true) |
|
| 33 |
#include <math.h> |
|
| 34 |
#endif /* BOARD_MPU6050_CONNECTED == true */ |
|
| 35 |
|
|
| 32 | 36 |
/*===========================================================================*/ |
| 33 | 37 |
/** |
| 34 | 38 |
* @name Module specific functions |
| ... | ... | |
| 60 | 64 |
*/ |
| 61 | 65 |
#define MODULE_HAL_RTC RTCD1 |
| 62 | 66 |
|
| 63 |
#if (BOARD_MPU6050_CONNECTED == true || BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 64 |
|
|
| 65 | 67 |
/** |
| 66 |
* @brief I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery).
|
|
| 68 |
* @brief Default I2C interface for the NUCLEO I/O.
|
|
| 67 | 69 |
*/ |
| 68 |
#define MODULE_HAL_I2C3 I2CD3
|
|
| 70 |
#define MODULE_HAL_I2C I2CD1
|
|
| 69 | 71 |
|
| 70 | 72 |
/** |
| 71 |
* @brief Configuration for the I2C driver #3.
|
|
| 73 |
* @brief Configuration for the I2C driver #1.
|
|
| 72 | 74 |
*/ |
| 73 |
extern I2CConfig moduleHalI2c3Config; |
|
| 74 |
|
|
| 75 |
#endif /* (BOARD_MPU6050_CONNECTED == true || BOARD_VL53L1X_CONNECTED == true) */ |
|
| 75 |
extern I2CConfig moduleHalI2cConfig; |
|
| 76 | 76 |
|
| 77 | 77 |
/** @} */ |
| 78 | 78 |
|
| ... | ... | |
| 92 | 92 |
* @brief User button input signal. |
| 93 | 93 |
*/ |
| 94 | 94 |
extern ROMCONST apalControlGpio_t moduleGpioUserButton; |
| 95 |
|
|
| 96 |
#if (BOARD_VL53L1X_CONNECTED == true) |
|
| 97 |
|
|
| 98 |
/** |
|
| 99 |
* @brief VL53L1X interrupt signal (GPIO1). |
|
| 100 |
*/ |
|
| 95 | 101 |
extern ROMCONST apalControlGpio_t moduleGpioVl53l1xINT; |
| 102 |
|
|
| 103 |
/** |
|
| 104 |
* @brief VL53L1X XSHUT signal. |
|
| 105 |
*/ |
|
| 96 | 106 |
extern ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT; |
| 97 | 107 |
|
| 108 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 109 |
|
|
| 98 | 110 |
/** @} */ |
| 99 | 111 |
|
| 100 | 112 |
/*===========================================================================*/ |
| ... | ... | |
| 104 | 116 |
*/ |
| 105 | 117 |
/*===========================================================================*/ |
| 106 | 118 |
|
| 107 |
#include <math.h> |
|
| 108 |
|
|
| 109 | 119 |
/** |
| 110 | 120 |
* @brief Event flag to be set on a USER_BUTTON interrupt. |
| 111 | 121 |
*/ |
| ... | ... | |
| 160 | 170 |
#if (BOARD_VL53L1X_CONNECTED == true) |
| 161 | 171 |
#define MODULE_INIT_TEST_VL53L1X() { \
|
| 162 | 172 |
aosShellAddCommand(&aos.shell, &moduleTestVL53L1XShellCmd); \ |
| 163 |
aosShellAddCommand(&aos.shell, &moduleTestVL53L1XInitShellCmd); \ |
|
| 164 | 173 |
} |
| 165 | 174 |
#else /* (BOARD_VL53L1X_CONNECTED == true) */ |
| 166 | 175 |
#define MODULE_INIT_TEST_VL53L1X() {}
|
| ... | ... | |
| 172 | 181 |
#define MODULE_INIT_PERIPHERY_IF() { \
|
| 173 | 182 |
/* serial driver */ \ |
| 174 | 183 |
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
| 175 |
/* MPU6050 demo */ \ |
|
| 176 |
MODULE_INIT_PERIPHERY_IF_MPU6050(); \ |
|
| 177 |
MODULE_INIT_PERIPHERY_IF_VL53L1X(); \ |
|
| 184 |
/* I2C */ \ |
|
| 185 |
uint32_t i2c_freq = 1000000; /* maximum I2C frequency supported for this MCU */ \ |
|
| 186 |
MODULE_INIT_PERIPHERY_IF_MPU6050(i2c_freq); \ |
|
| 187 |
MODULE_INIT_PERIPHERY_IF_VL53L1X(i2c_freq); \ |
|
| 188 |
if (i2c_freq == 100000) /* standard-mode @ 100 kHz */ { \
|
|
| 189 |
moduleHalI2cConfig.timingr = 0x10909CEC; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
|
| 190 |
} else if (i2c_freq == 400000) /* fast-mode @ 400 kHz */ { \
|
|
| 191 |
moduleHalI2cConfig.timingr = 0x00702991; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
|
| 192 |
} else if (i2c_freq == 1000000) /* fast-mode-plus @ 10000 kHz */ { \
|
|
| 193 |
moduleHalI2cConfig.timingr = 0x00300F33; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
|
| 194 |
} else { \
|
|
| 195 |
aosDbgAssertMsg(false, "I2C frequency not supported"); \ |
|
| 196 |
} \ |
|
| 197 |
i2cStart(&MODULE_HAL_I2C, &moduleHalI2cConfig); \ |
|
| 178 | 198 |
} |
| 179 |
#if (BOARD_MPU6050_CONNECTED == true) |
|
| 180 |
#define MODULE_INIT_PERIPHERY_IF_MPU6050() { \
|
|
| 181 |
/* maximum I2C frequency is 1MHz for this MCU */ \ |
|
| 182 |
uint32_t i2c3_freq = 1000000; \ |
|
| 183 |
/* find minimum amon all devices connected to this bus */ \ |
|
| 184 |
i2c3_freq = (MPU6050_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
|
| 185 |
/* calculate PRESC (prescaler): \ |
|
| 186 |
* target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \ |
|
| 187 |
*/ \ |
|
| 188 |
moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
|
| 189 |
/* SCL shall be low half of the time. */ \ |
|
| 190 |
moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
|
| 191 |
/* SCL shall be high half the time of low or slightly longer. */ \ |
|
| 192 |
moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \ |
|
| 193 |
/* SDA shall be delayed 1/10 of SCL low, or shorter */ \ |
|
| 194 |
moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
|
| 195 |
/* SCL shall be delyed twice as long as SDA, but longer than 0. */ \ |
|
| 196 |
moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
|
| 197 |
/* now we can start the I2C driver */ \ |
|
| 198 |
chSysLock(); \ |
|
| 199 |
palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \ |
|
| 200 |
palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \ |
|
| 201 |
chSysUnlock(); \ |
|
| 202 |
i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
|
| 203 |
} |
|
| 204 |
#else /* (BOARD_MPU6050_CONNECTED == true) */ |
|
| 205 |
#define MODULE_INIT_PERIPHERY_IF_MPU6050() {}
|
|
| 206 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
|
| 207 | 199 |
|
| 208 |
#if (BOARD_VL53L1X_CONNECTED == true) |
|
| 209 |
#define MODULE_INIT_PERIPHERY_IF_VL53L1X() { \
|
|
| 210 |
/* maximum I2C frequency is 1MHz for this MCU */ \ |
|
| 211 |
uint32_t i2c3_freq = 1000000; \ |
|
| 212 |
/* find minimum amon all devices connected to this bus */ \ |
|
| 213 |
i2c3_freq = (VL53L1X_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? VL53L1X_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
|
| 214 |
/* calculate PRESC (prescaler): \ |
|
| 215 |
* target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \ |
|
| 216 |
*/ \ |
|
| 217 |
moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
|
| 218 |
/* SCL shall be low half of the time. */ \ |
|
| 219 |
moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
|
| 220 |
/* SCL shall be high half the time of low or slightly longer. */ \ |
|
| 221 |
moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \ |
|
| 222 |
/* SDA shall be delayed 1/10 of SCL low, or shorter */ \ |
|
| 223 |
moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
|
| 224 |
/* SCL shall be delyed twice as long as SDA, but longer than 0. */ \ |
|
| 225 |
moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
|
| 226 |
/* setup the GPIO signals */ \ |
|
| 227 |
moduleHalI2c3Config.timingr = 0x00702991; \ |
|
| 228 |
chSysLock(); \ |
|
| 229 |
PAL_PORT(moduleLldVl53l1x.xshut->gpio->line)->PUPDR &= ~(3U << (PAL_PAD(moduleLldVl53l1x.xshut->gpio->line) * 2U)); \ |
|
| 230 |
PAL_PORT(moduleLldVl53l1x.xshut->gpio->line)->PUPDR |= PIN_PUPDR_PULLUP(PAL_PAD(moduleLldVl53l1x.xshut->gpio->line)); \ |
|
| 231 |
/* palSetLineMode(moduleLldVl53l1x.xshut->gpio->line, PAL_MODE_OUTPUT_OPENDRAIN); \*/ \ |
|
| 232 |
palSetLineMode(moduleLldVl53l1x.xshut->gpio->line, PAL_MODE_OUTPUT_PUSHPULL); \ |
|
| 233 |
palSetLineMode(moduleLldVl53l1x.gpio1->gpio->line, PAL_MODE_INPUT_PULLUP); \ |
|
| 234 |
palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \ |
|
| 235 |
palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \ |
|
| 200 |
|
|
| 201 |
/** |
|
| 202 |
* @brief Limits I2C frequency to maximum value supported by MPU6050. |
|
| 203 |
*/ |
|
| 204 |
#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 205 |
#define MODULE_INIT_PERIPHERY_IF_MPU6050(freq) {freq = (MPU6050_LLD_I2C_MAXFREQUENCY < freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : freq;}
|
|
| 206 |
#else |
|
| 207 |
#define MODULE_INIT_PERIPHERY_IF_MPU6050(freq) {}
|
|
| 208 |
#endif |
|
| 209 |
|
|
| 210 |
/** |
|
| 211 |
* @brief Limits I2C frequency to maximum value supported by VL53L1X and configures required GPIOs. |
|
| 212 |
*/ |
|
| 213 |
#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 214 |
#define MODULE_INIT_PERIPHERY_IF_VL53L1X(freq) { \
|
|
| 215 |
freq = (VL53L1X_LLD_I2C_MAXFREQUENCY < freq) ? VL53L1X_LLD_I2C_MAXFREQUENCY : freq; \ |
|
| 216 |
chSysLock(); \ |
|
| 217 |
/* set XSHUT GPIO as output in open-drain configuration with internal pull-up, but initially pulled-down signal */ \ |
|
| 218 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->OTYPER &= ~(1U << PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line)); \ |
|
| 219 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->OTYPER |= PIN_OTYPE_OPENDRAIN(PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line)); \ |
|
| 220 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->PUPDR &= ~(3U << (PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line) * 2U)); \ |
|
| 221 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->PUPDR |= PIN_PUPDR_PULLUP(PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line)); \ |
|
| 222 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->ODR &= ~(1U << PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line)); \ |
|
| 223 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->ODR |= PIN_ODR_LOW(PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line)); \ |
|
| 224 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->MODER &= ~(3U << (PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line) * 2U)); \ |
|
| 225 |
PAL_PORT(moduleLldVl53l1x.Interface.xshut->gpio->line)->MODER |= PIN_MODE_OUTPUT(PAL_PAD(moduleLldVl53l1x.Interface.xshut->gpio->line)); \ |
|
| 226 |
/* set GPIO1 (interrupt) GPIO as input with internal pull-up */ \ |
|
| 227 |
PAL_PORT(moduleLldVl53l1x.Interface.gpio1->gpio->line)->PUPDR &= ~(3U << (PAL_PAD(moduleLldVl53l1x.Interface.gpio1->gpio->line) * 2U)); \ |
|
| 228 |
PAL_PORT(moduleLldVl53l1x.Interface.gpio1->gpio->line)->PUPDR |= PIN_PUPDR_PULLUP(PAL_PAD(moduleLldVl53l1x.Interface.gpio1->gpio->line)); \ |
|
| 229 |
PAL_PORT(moduleLldVl53l1x.Interface.gpio1->gpio->line)->MODER &= ~(3U << (PAL_PAD(moduleLldVl53l1x.Interface.gpio1->gpio->line) * 2U)); \ |
|
| 230 |
PAL_PORT(moduleLldVl53l1x.Interface.gpio1->gpio->line)->MODER |= PIN_MODE_INPUT(PAL_PAD(moduleLldVl53l1x.Interface.gpio1->gpio->line)); \ |
|
| 236 | 231 |
chSysUnlock(); \ |
| 237 |
apalControlGpioSet(moduleLldVl53l1x.xshut, APAL_GPIO_OFF); \ |
|
| 238 |
/* now we can start the I2C driver */ \ |
|
| 239 |
i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
|
| 240 | 232 |
} |
| 241 |
#else /* (BOARD_VL53L1X_CONNECTED == true) */
|
|
| 242 |
#define MODULE_INIT_PERIPHERY_IF_VL53L1X() {}
|
|
| 243 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */
|
|
| 233 |
#else |
|
| 234 |
#define MODULE_INIT_PERIPHERY_IF_VL53L1X(freq) {}
|
|
| 235 |
#endif |
|
| 244 | 236 |
|
| 245 | 237 |
/** |
| 246 | 238 |
* @brief Periphery communication interface deinitialization hook. |
| 247 | 239 |
*/ |
| 248 | 240 |
#define MODULE_SHUTDOWN_PERIPHERY_IF() { \
|
| 241 |
/* I2C */ \ |
|
| 242 |
i2cStop(&MODULE_HAL_I2C); \ |
|
| 249 | 243 |
/* don't stop the serial driver so messages can still be printed */ \ |
| 250 | 244 |
} |
| 251 | 245 |
|
| ... | ... | |
| 289 | 283 |
*/ |
| 290 | 284 |
extern LEDDriver moduleLldLed; |
| 291 | 285 |
|
| 292 |
#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 293 |
|
|
| 294 |
#include <alld_VL53L1X.h> |
|
| 295 |
|
|
| 296 |
extern VL53L1XDriver moduleLldVl53l1x; |
|
| 297 |
|
|
| 298 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 299 |
|
|
| 300 | 286 |
/** |
| 301 | 287 |
* @brief Button driver. |
| 302 | 288 |
*/ |
| ... | ... | |
| 313 | 299 |
|
| 314 | 300 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
| 315 | 301 |
|
| 302 |
#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 303 |
|
|
| 304 |
#include <alld_VL53L1X.h> |
|
| 305 |
|
|
| 306 |
/** |
|
| 307 |
* @brief ToF sensor (VL53L1X) driver. |
|
| 308 |
*/ |
|
| 309 |
extern VL53L1XDriver moduleLldVl53l1x; |
|
| 310 |
|
|
| 311 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 312 |
|
|
| 316 | 313 |
/** @} */ |
| 317 | 314 |
|
| 318 | 315 |
/*===========================================================================*/ |
| ... | ... | |
| 329 | 326 |
extern aos_shellcommand_t moduleTestLedShellCmd; |
| 330 | 327 |
|
| 331 | 328 |
/** |
| 332 |
* @brief VL53L1X test command. |
|
| 333 |
*/ |
|
| 334 |
extern aos_shellcommand_t moduleTestVL53L1XShellCmd; |
|
| 335 |
extern aos_shellcommand_t moduleTestVL53L1XInitShellCmd; |
|
| 336 |
|
|
| 337 |
/** |
|
| 338 | 329 |
* @brief User button test command. |
| 339 | 330 |
*/ |
| 340 | 331 |
extern aos_shellcommand_t moduleTestButtonShellCmd; |
| ... | ... | |
| 348 | 339 |
|
| 349 | 340 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
| 350 | 341 |
|
| 342 |
#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 343 |
|
|
| 344 |
/** |
|
| 345 |
* @brief VL53L1X (ToF sonsor) test command. |
|
| 346 |
*/ |
|
| 347 |
extern aos_shellcommand_t moduleTestVL53L1XShellCmd; |
|
| 348 |
|
|
| 349 |
#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
|
| 350 |
|
|
| 351 | 351 |
/** |
| 352 | 352 |
* @brief Entire module test command. |
| 353 | 353 |
*/ |
| modules/NUCLEO-L476RG/test/VL53L1X/module_test_VL53L1X.c | ||
|---|---|---|
| 39 | 39 |
/* LOCAL VARIABLES */ |
| 40 | 40 |
/******************************************************************************/ |
| 41 | 41 |
|
| 42 |
static aos_test_vl53l1x_bus _data = {
|
|
| 42 |
static aos_test_vl53l1xdata_t _data = {
|
|
| 43 | 43 |
/* pointer to VL53L1X driver */ &moduleLldVl53l1x, |
| 44 | 44 |
}; |
| 45 | 45 |
|
| 46 | 46 |
static AOS_TEST(_test, "VL53L1X", NULL, moduleTestVL53L1XShellCb, aosTestVL53L1XFunc, &_data); |
| 47 |
static AOS_TEST(_test2, "VL53L1X:INIT", NULL, moduleTestVL53L1XInitShellCb, aosTestVL53L1Xi2cInit, &_data); |
|
| 48 | 47 |
|
| 49 | 48 |
/******************************************************************************/ |
| 50 | 49 |
/* LOCAL FUNCTIONS */ |
| ... | ... | |
| 59 | 58 |
(void)argc; |
| 60 | 59 |
(void)argv; |
| 61 | 60 |
|
| 62 |
|
|
| 63 |
aosprintf("STM32_I2C3CLK: %u\n", STM32_I2C3CLK);
|
|
| 64 |
aosprintf("Timing_: %08x\n", moduleHalI2c3Config.timingr);
|
|
| 65 | 61 |
if (result != NULL) {
|
| 66 | 62 |
*result = aosTestRun(stream, &_test, NULL); |
| 67 | 63 |
} else {
|
| ... | ... | |
| 71 | 67 |
return AOS_OK; |
| 72 | 68 |
} |
| 73 | 69 |
|
| 74 |
int moduleTestVL53L1XInitShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result) |
|
| 75 |
{
|
|
| 76 |
(void)argc; |
|
| 77 |
(void)argv; |
|
| 78 |
|
|
| 79 |
if (result != NULL) {
|
|
| 80 |
*result = aosTestRun(stream, &_test2, NULL); |
|
| 81 |
} else {
|
|
| 82 |
aosTestRun(stream, &_test2, NULL); |
|
| 83 |
} |
|
| 84 |
|
|
| 85 |
return AOS_OK; |
|
| 86 |
} |
|
| 87 |
|
|
| 88 | 70 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| modules/NUCLEO-L476RG/test/VL53L1X/module_test_VL53L1X.h | ||
|---|---|---|
| 52 | 52 |
extern "C" {
|
| 53 | 53 |
#endif /* defined(__cplusplus) */ |
| 54 | 54 |
int moduleTestVL53L1XShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result); |
| 55 |
int moduleTestVL53L1XInitShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result); |
|
| 56 | 55 |
#if defined(__cplusplus) |
| 57 | 56 |
} |
| 58 | 57 |
#endif /* defined(__cplusplus) */ |
| periphery-lld/AMiRo-LLD | ||
|---|---|---|
| 1 |
Subproject commit 99ca7610753617020954f4c3abcf72c7ecf63f6a |
|
| 1 |
Subproject commit 0aa71229314806120b2d2efe661c5d169dd0c166 |
|
| periphery-lld/aos_periphAL.c | ||
|---|---|---|
| 17 | 17 |
*/ |
| 18 | 18 |
|
| 19 | 19 |
#include <periphAL.h> |
| 20 |
#include <amiroos.h> |
|
| 20 | 21 |
|
| 21 | 22 |
/*============================================================================*/ |
| 22 | 23 |
/* DEBUG */ |
| 23 | 24 |
/*============================================================================*/ |
| 24 | 25 |
|
| 25 |
#if (AMIROOS_CFG_DBG == true) |
|
| 26 |
#if (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG == true)
|
|
| 26 | 27 |
|
| 27 |
#include <amiroos.h> |
|
| 28 | 28 |
#include <chprintf.h> |
| 29 | 29 |
|
| 30 | 30 |
void apalDbgAssertMsg(const bool c, const char* fmt, ...) |
| ... | ... | |
| 52 | 52 |
return chars; |
| 53 | 53 |
} |
| 54 | 54 |
|
| 55 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
|
| 55 |
#endif /* (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG == true) */
|
|
| 56 | 56 |
|
| 57 | 57 |
/*============================================================================*/ |
| 58 | 58 |
/* TIMING */ |
| ... | ... | |
| 76 | 76 |
|
| 77 | 77 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
| 78 | 78 |
|
| 79 |
apalTime_t apalGetTime(void) |
|
| 80 |
{
|
|
| 81 |
aos_timestamp_t uptime; |
|
| 82 |
aosSysGetUptime(&uptime); |
|
| 83 |
|
|
| 84 |
return uptime & ~((apalTime_t)0); |
|
| 85 |
} |
|
| 86 |
|
|
| 79 | 87 |
/*============================================================================*/ |
| 80 | 88 |
/* GPIO */ |
| 81 | 89 |
/*============================================================================*/ |
| periphery-lld/aos_periphAL.h | ||
|---|---|---|
| 24 | 24 |
/*============================================================================*/ |
| 25 | 25 |
|
| 26 | 26 |
#include <aosconf.h> |
| 27 |
#include <alldconf.h> |
|
| 27 | 28 |
#include <hal.h> |
| 28 | 29 |
|
| 29 | 30 |
/*============================================================================*/ |
| 30 | 31 |
/* DEBUG */ |
| 31 | 32 |
/*============================================================================*/ |
| 32 | 33 |
|
| 33 |
#if (AMIROOS_CFG_DBG != true) |
|
| 34 |
#if (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG != true)
|
|
| 34 | 35 |
|
| 35 |
#define apalDbgAssert(condition)
|
|
| 36 |
#define apalDbgAssertMsg(condition, fmt, ...)
|
|
| 36 | 37 |
|
| 37 | 38 |
#define apalDbgPrintf(fmt, ...) 0 |
| 38 | 39 |
|
| 39 |
#endif /* (AMIROOS_CFG_DBG == true) */
|
|
| 40 |
#endif /* (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG != true) */
|
|
| 40 | 41 |
|
| 41 | 42 |
/*============================================================================*/ |
| 42 | 43 |
/* TIMING */ |
| test/periphery-lld/MPU6050_v1/aos_test_MPU6050.c | ||
|---|---|---|
| 54 | 54 |
|
| 55 | 55 |
aosTestResultInit(&result); |
| 56 | 56 |
|
| 57 |
status = mpu6050_lld_read_register(((aos_test_mpu6050data_t*)test->data)->mpu, MPU6050_LLD_WHO_AM_I, data, 1, ((aos_test_mpu6050data_t*)test->data)->timeout); |
|
| 58 |
if (status == APAL_STATUS_OK && data[0] == MPU6050_I_AM) {
|
|
| 57 |
status = mpu6050_lld_read_register(((aos_test_mpu6050data_t*)test->data)->mpu, MPU6050_LLD_REGISTER_WHO_AM_I, data, 1, ((aos_test_mpu6050data_t*)test->data)->timeout);
|
|
| 58 |
if (status == APAL_STATUS_OK && data[0] == MPU6050_LLD_WHO_AM_I) {
|
|
| 59 | 59 |
aosTestPassed(stream, &result); |
| 60 | 60 |
} else {
|
| 61 |
aosTestFailedMsg(stream, &result, "0x%08X | 0x%02X\n", status, data[0]);
|
|
| 61 |
aosTestFailedMsg(stream, &result, "0x%08X | 0x%02X (%u)\n", status, data[0], i2cGetErrors(((aos_test_mpu6050data_t*)test->data)->mpu->i2cd));
|
|
| 62 | 62 |
} |
| 63 | 63 |
|
| 64 | 64 |
return result; |
| test/periphery-lld/VL53L1X_v1/aos_test_VL53L1X.c | ||
|---|---|---|
| 56 | 56 |
*/ |
| 57 | 57 |
aos_testresult_t aosTestVL53L1XFunc(BaseSequentialStream* stream, const aos_test_t* test) |
| 58 | 58 |
{
|
| 59 |
// aosDbgCheck(test->data != NULL && ((aos_test_leddata_t*)test->data)->led != NULL); |
|
| 60 |
|
|
| 61 |
chprintf(stream, "Peter Wurst\n"); |
|
| 59 |
aosDbgCheck(test->data != NULL && ((aos_test_vl53l1xdata_t*)test->data)->vl53l1x != NULL); |
|
| 62 | 60 |
|
| 63 | 61 |
// local variables |
| 64 |
aos_testresult_t result = {0,0};
|
|
| 65 |
// int32_t status; |
|
| 66 |
// chprintf(stream, "Hello World!\n"); |
|
| 67 |
// // aosTestResultInit(&result); |
|
| 68 |
|
|
| 69 |
// VL53L1_Dev_t dev; |
|
| 70 |
// dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x); |
|
| 71 |
|
|
| 72 |
// chprintf(stream, "Toggle PC2...\n"); |
|
| 73 |
// chprintf(stream, "On...\n"); |
|
| 74 |
/* vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_ON); */ |
|
| 75 |
// aosThdSSleep(5); |
|
| 76 |
// chprintf(stream, "off...\n"); |
|
| 77 |
// status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_OFF); |
|
| 78 |
// aosThdSSleep(5); |
|
| 79 |
// chprintf(stream, "On...\n"); |
|
| 80 |
// status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_ON); |
|
| 81 |
// aosThdSSleep(5); |
|
| 82 |
// chprintf(stream, "Off...\n"); |
|
| 83 |
// status |= vl53l1x_GPIO1_set(((aos_test_vl53l1x_bus*)test->data)->vl53l1x, GPIO_LLD_STATE_OFF); |
|
| 84 |
// // status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state); |
|
| 85 |
// if (status == APAL_STATUS_OK) {
|
|
| 86 |
// aosTestPassed(stream, &result); |
|
| 87 |
// } else {
|
|
| 88 |
// aosTestFailed(stream, &result); |
|
| 89 |
// }p |
|
| 90 |
|
|
| 91 |
// chprintf(stream, "turning off for two seconds...\n"); |
|
| 92 |
// state = LED_LLD_STATE_OFF; |
|
| 93 |
// status = led_lld_set(((aos_test_leddata_t*)test->data)->led, state); |
|
| 94 |
// aosThdSSleep(2); |
|
| 95 |
// status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state); |
|
| 96 |
// if (status == APAL_STATUS_OK && state == LED_LLD_STATE_OFF) {
|
|
| 97 |
// aosTestPassed(stream, &result); |
|
| 98 |
// } else {
|
|
| 99 |
// aosTestFailed(stream, &result); |
|
| 100 |
// } |
|
| 101 |
|
|
| 102 |
// chprintf(stream, "toggling for two seconds...\n"); |
|
| 103 |
// status = led_lld_set(((aos_test_leddata_t*)test->data)->led, LED_LLD_STATE_ON); |
|
| 104 |
// for (uint32_t i = 0; i < 2000/100; ++i) {
|
|
| 105 |
// status |= led_lld_toggle(((aos_test_leddata_t*)test->data)->led); |
|
| 106 |
// status |= led_lld_get(((aos_test_leddata_t*)test->data)->led, &state); |
|
| 107 |
// status |= ((uint8_t)state != (i & 0x01u)) ? APAL_STATUS_ERROR : APAL_STATUS_OK; |
|
| 108 |
// aosThdMSleep(100); |
|
| 109 |
// } |
|
| 110 |
// status = led_lld_set(((aos_test_leddata_t*)test->data)->led, LED_LLD_STATE_OFF); |
|
| 111 |
// if (status == APAL_STATUS_OK) {
|
|
| 112 |
// aosTestPassed(stream, &result); |
|
| 113 |
// } else {
|
|
| 114 |
// aosTestFailed(stream, &result); |
|
| 115 |
// } |
|
| 116 |
|
|
| 117 |
// aosTestInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(LEDDriver)); |
|
| 118 |
|
|
| 119 |
/* |
|
| 120 |
uint8_t byteData, sensorState=0; |
|
| 121 |
uint16_t wordData; |
|
| 122 |
uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right |
|
| 123 |
uint16_t Distance; |
|
| 124 |
uint16_t SignalRate; |
|
| 125 |
uint16_t AmbientRate; |
|
| 126 |
uint8_t RangeStatus; |
|
| 127 |
uint8_t dataReady; |
|
| 62 |
aos_testresult_t result; |
|
| 128 | 63 |
int32_t status; |
| 129 |
*/ |
|
| 130 |
|
|
| 131 |
|
|
| 132 |
// aosTestResultInit(&result); |
|
| 133 |
|
|
| 134 |
VL53L1_Dev_t dev; |
|
| 135 |
dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x); |
|
| 136 |
/* vl53l1x_GPIO1_set(&dev.vl53l1x, GPIO_LLD_STATE_ON); */ |
|
| 137 |
|
|
| 138 |
// status = VL53L1_RdByte(&dev, 0x010F, &byteData); |
|
| 139 |
// printf("VL53L1X Model_ID: %X\n", byteData);
|
|
| 140 |
// status = VL53L1_RdByte(&dev, 0x0110, &byteData); |
|
| 141 |
// printf("VL53L1X Module_Type: %X\n", byteData);
|
|
| 142 |
// status = VL53L1_RdWord(&dev, 0x010F, &wordData); |
|
| 143 |
// printf("VL53L1X: %X\n", wordData);
|
|
| 144 |
|
|
| 145 |
// activate device |
|
| 146 |
apalControlGpioState_t xshut_state; |
|
| 147 |
apalControlGpioState_t gpio_state; |
|
| 148 |
apalControlGpioGet(dev.vl53l1x.xshut, &xshut_state); |
|
| 149 |
apalControlGpioGet(dev.vl53l1x.gpio1, &gpio_state); |
|
| 150 |
if (xshut_state == APAL_GPIO_OFF) {
|
|
| 151 |
chprintf(stream, "XSHUT OFF -> activating\n"); |
|
| 152 |
apalControlGpioSet(dev.vl53l1x.xshut, APAL_GPIO_ON); |
|
| 153 |
aosThdSSleep(1); |
|
| 154 |
aosThdUSleep(2 * VL53L1X_LLD_BOOTDURATION); |
|
| 155 |
} else {
|
|
| 156 |
chprintf(stream, "XSHUT ON\n"); |
|
| 157 |
} |
|
| 158 |
chprintf(stream, "0x%08X | 0x%08X\n", (uint32_t)dev.vl53l1x.i2cd, (uint32_t)(&I2CD3)); |
|
| 159 |
chprintf(stream, "0x%02X\n", dev.vl53l1x.xshut); |
|
| 160 |
if (gpio_state == APAL_GPIO_OFF) {
|
|
| 161 |
chprintf(stream, "Gpio OFF \n"); |
|
| 64 |
VL53L1_Error error; |
|
| 65 |
|
|
| 66 |
aosTestResultInit(&result); |
|
| 67 |
|
|
| 68 |
{
|
|
| 69 |
chprintf(stream, "Checking XSHUT signal...\n"); |
|
| 70 |
vl53l1x_lld_state_t device_state = VL53L1X_LLD_STATE_ON; |
|
| 71 |
status = vl53l1x_lld_getState(((aos_test_vl53l1xdata_t*)test->data)->vl53l1x, &device_state); |
|
| 72 |
if (status == APAL_STATUS_OK) {
|
|
| 73 |
chprintf(stream, "\tXSHUT signal is %s.\n", (device_state == VL53L1X_LLD_STATE_ON) ? "on" : "off"); |
|
| 74 |
aosTestPassed(stream, &result); |
|
| 75 |
} else {
|
|
| 76 |
aosTestFailed(stream, &result); |
|
| 77 |
} |
|
| 78 |
|
|
| 79 |
if (device_state != VL53L1X_LLD_STATE_ON) {
|
|
| 80 |
chprintf(stream, "Initilaizing device...\n"); |
|
| 81 |
status = vl53l1x_lld_init(((aos_test_vl53l1xdata_t*)test->data)->vl53l1x); |
|
| 82 |
if (status == APAL_STATUS_OK) {
|
|
| 83 |
aosTestPassed(stream, &result); |
|
| 84 |
} else {
|
|
| 85 |
aosTestFailedMsg(stream, &result, "%d\t%u\n", status, i2cGetErrors(((aos_test_vl53l1xdata_t*)test->data)->vl53l1x->Interface.i2cd)); |
|
| 86 |
} |
|
| 87 |
} |
|
| 162 | 88 |
} |
| 163 | 89 |
|
| 164 |
uint8_t testBuf[49] = {0};
|
|
| 165 |
// Reste device |
|
| 166 |
|
|
| 167 |
// printf("Resetting device! \n");
|
|
| 168 |
/* chprintf(stream, "Testif broken!\n"); */ |
|
| 169 |
|
|
| 170 |
uint8_t data[4] = {0};
|
|
| 171 |
/* Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i); */ |
|
| 172 |
/* apalI2CMasterReceive(dev.vl53l1x.i2cd, dev.vl53l1x.addr, testBuf, 3, 10); */ |
|
| 173 |
/* aosThdMSleep(1000); */ |
|
| 174 |
/* chprintf(stream, "Start reset!\n"); */ |
|
| 175 |
/* apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 3, testBuf, 0, 10); */ |
|
| 176 |
chprintf(stream, "Before sleep!\n"); |
|
| 177 |
/* apalI2CMasterTransmit() */ |
|
| 178 |
/* aosThdMSleep(1000); */ |
|
| 179 |
aosThdUSleep(2 * VL53L1X_LLD_BOOTDURATION); |
|
| 180 |
/* 0x002E */ |
|
| 181 |
|
|
| 182 |
data[0] = 0x01; |
|
| 183 |
data[1] = 0x0f; |
|
| 184 |
uint8_t stuff[4] = { 0 };
|
|
| 185 |
/* data[3] = 0x01; */ |
|
| 186 |
chprintf(stream, "End reset!\n"); |
|
| 187 |
|
|
| 188 |
apalExitStatus_t res = apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 2, stuff , 0, 10); |
|
| 189 |
|
|
| 190 |
|
|
| 191 |
chprintf(stream, "Res: %d\n", res); |
|
| 192 |
aosThdMSleep(100); |
|
| 193 |
i2cflags_t err = i2cGetErrors(dev.vl53l1x.i2cd); |
|
| 194 |
chprintf(stream, "Error: %08x\n", err); |
|
| 195 |
aosThdMSleep(100); |
|
| 196 |
/* apalI2CMasterReceive(dev.vl53l1x.i2cd, dev.vl53l1x.addr, testBuf, 4, 10); */ |
|
| 197 |
/* apalI2CMasterTransmit(dev.vl53l1x.i2cd, dev.vl53l1x.addr, data, 3, testBuf, 0, 10); */ |
|
| 198 |
/* /\* VL53L1_RdByte(&dev, VL53L1_IDENTIFICATION__MODEL_ID, &data); *\/ */ |
|
| 199 |
chprintf(stream, "0x%02\n", stuff[0]); |
|
| 200 |
chprintf(stream, "0x%02\n", stuff[1]); |
|
| 201 |
chprintf(stream, "0x%02\n", data[0]); |
|
| 202 |
chprintf(stream, "0x%02\n", data[1]); |
|
| 203 |
for(int i = 0; i < 49 ; i++){
|
|
| 204 |
chprintf(stream, "0x%02 ", testBuf[i]); |
|
| 90 |
{
|
|
| 91 |
chprintf(stream, "Read device info...\n"); |
|
| 92 |
VL53L1_DeviceInfo_t device_info; |
|
| 93 |
error = VL53L1_GetDeviceInfo(((aos_test_vl53l1xdata_t*)test->data)->vl53l1x, &device_info); |
|
| 94 |
if (error == VL53L1_ERROR_NONE) {
|
|
| 95 |
chprintf(stream, "\tname: %s\n", device_info.Name); |
|
| 96 |
chprintf(stream, "\ttype: %s\n", device_info.Type); |
|
| 97 |
chprintf(stream, "\tproduct id: %s\n", device_info.ProductId); |
|
| 98 |
chprintf(stream, "\tproduct tpye: %u\n", device_info.ProductType); |
|
| 99 |
chprintf(stream, "\trevision: %u.%u\n", device_info.ProductRevisionMajor, device_info.ProductRevisionMinor); |
|
| 100 |
aosTestPassed(stream, &result); |
|
| 101 |
} else {
|
|
| 102 |
aosTestFailedMsg(stream, &result, "%d", error); |
|
| 103 |
} |
|
| 205 | 104 |
} |
| 206 |
chprintf(stream, "\n"); |
|
| 207 |
|
|
| 208 |
/* VL53L1_WrByte(&dev, 0x0000, 0x00); */ |
|
| 209 |
/* aosThdSSleep(2); */ |
|
| 210 |
/* vl53l1_WrByte(&dev, 0x0000, 0x01); */ |
|
| 211 |
|
|
| 212 |
|
|
| 213 |
aosTestPassed(stream, &result); |
|
| 214 |
|
|
| 215 |
|
|
| 216 |
return result; |
|
| 217 |
} |
|
| 218 |
|
|
| 219 |
|
|
| 220 |
|
|
| 221 |
/** |
|
| 222 |
* @brief Test if I2C was initialized correctly. |
|
| 223 |
* |
|
| 224 |
* @param[in] stream Stream for input/output. |
|
| 225 |
* @param[in] test Test object. |
|
| 226 |
* |
|
| 227 |
* @return Test result value. |
|
| 228 |
*/ |
|
| 229 |
aos_testresult_t aosTestVL53L1Xi2cInit(BaseSequentialStream* stream, const aos_test_t* test) |
|
| 230 |
{
|
|
| 231 |
// aosDbgCheck(test->data != NULL && ((aos_test_leddata_t*)test->data)->led != NULL); |
|
| 232 |
|
|
| 233 |
// local variables |
|
| 234 |
aos_testresult_t result = {0,0};
|
|
| 235 |
uint8_t byteData, sensorState=0; |
|
| 236 |
uint16_t wordData; |
|
| 237 |
uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right |
|
| 238 |
uint16_t Distance; |
|
| 239 |
uint16_t SignalRate; |
|
| 240 |
uint16_t AmbientRate; |
|
| 241 |
uint8_t RangeStatus; |
|
| 242 |
uint8_t dataReady; |
|
| 243 |
int32_t status; |
|
| 244 |
chprintf(stream, "Hello World!\n"); |
|
| 245 |
// aosTestResultInit(&result); |
|
| 246 |
|
|
| 247 |
VL53L1_Dev_t dev; |
|
| 248 |
dev.vl53l1x = *(((aos_test_vl53l1x_bus*)test->data)->vl53l1x); |
|
| 249 |
// status = VL53L1_RdByte(&dev, 0x010F, &byteData); |
|
| 250 |
// printf("VL53L1X Model_ID: %X\n", byteData);
|
|
| 251 |
// status = VL53L1_RdByte(&dev, 0x0110, &byteData); |
|
| 252 |
// printf("VL53L1X Module_Type: %X\n", byteData);
|
|
| 253 |
// status = VL53L1_RdWord(&dev, 0x010F, &wordData); |
|
| 254 |
// printf("VL53L1X: %X\n", wordData);
|
|
| 255 |
uint8_t testBuf[2] = {0};
|
|
| 256 |
// Reste device |
|
| 257 |
printf("Resetting device! \n");
|
|
| 258 |
VL53L1_WrByte(&dev, 0x0000, 0x00); |
|
| 259 |
aosThdSSleep(2); |
|
| 260 |
VL53L1_WrByte(&dev, 0x0000, 0x01); |
|
| 261 |
|
|
| 262 |
|
|
| 263 |
aosTestPassed(stream, &result); |
|
| 264 | 105 |
|
| 265 | 106 |
return result; |
| 266 | 107 |
} |
| test/periphery-lld/VL53L1X_v1/aos_test_VL53L1X.h | ||
|---|---|---|
| 21 | 21 |
|
| 22 | 22 |
#include <amiroos.h> |
| 23 | 23 |
|
| 24 |
|
|
| 25 | 24 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 26 | 25 |
|
| 27 | 26 |
#include <alld_VL53L1X.h> |
| ... | ... | |
| 51 | 50 |
*/ |
| 52 | 51 |
VL53L1XDriver* vl53l1x; |
| 53 | 52 |
|
| 54 |
} aos_test_vl53l1x_bus;
|
|
| 53 |
} aos_test_vl53l1xdata_t;
|
|
| 55 | 54 |
|
| 56 | 55 |
|
| 57 | 56 |
/******************************************************************************/ |
| ... | ... | |
| 66 | 65 |
extern "C" {
|
| 67 | 66 |
#endif /* defined(__cplusplus) */ |
| 68 | 67 |
aos_testresult_t aosTestVL53L1XFunc(BaseSequentialStream* stream, const aos_test_t* test); |
| 69 |
aos_testresult_t aosTestVL53L1Xi2cInit(BaseSequentialStream* stream, const aos_test_t* test); |
|
| 70 | 68 |
#if defined(__cplusplus) |
| 71 | 69 |
} |
| 72 | 70 |
#endif /* defined(__cplusplus) */ |
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