amiro-os / modules / DiWheelDrive_1-1 / module.c @ e05848a6
History | View | Annotate | Download (23.67 KB)
1 | e545e620 | Thomas Schöpping | /*
|
---|---|---|---|
2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | Copyright (C) 2016..2018 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 | 53710ca3 | Marc Rothmann | /**
|
20 | * @file
|
||
21 | * @brief Structures and constant for the DiWheelDrive module.
|
||
22 | *
|
||
23 | * @addtogroup diwheeldrive_module
|
||
24 | * @{
|
||
25 | */
|
||
26 | |||
27 | e545e620 | Thomas Schöpping | #include "module.h" |
28 | |||
29 | 1e5f7648 | Thomas Schöpping | #include <amiroos.h> |
30 | |||
31 | e545e620 | Thomas Schöpping | /*===========================================================================*/
|
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 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
115 | e545e620 | Thomas Schöpping | /* 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 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
124 | e545e620 | Thomas Schöpping | /* 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 | 1e5f7648 | Thomas Schöpping | /**
|
141 | * @brief LED output signal GPIO.
|
||
142 | */
|
||
143 | static apalGpio_t _gpioLed = {
|
||
144 | e545e620 | Thomas Schöpping | /* port */ GPIOA,
|
145 | /* pad */ GPIOA_LED,
|
||
146 | }; |
||
147 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
156 | 1e5f7648 | Thomas Schöpping | /**
|
157 | * @brief POWER_EN output signal GPIO.
|
||
158 | */
|
||
159 | static apalGpio_t _gpioPowerEn = {
|
||
160 | /* port */ GPIOB,
|
||
161 | e545e620 | Thomas Schöpping | /* pad */ GPIOB_POWER_EN,
|
162 | }; |
||
163 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
172 | 1e5f7648 | Thomas Schöpping | /**
|
173 | * @brief COMPASS_DRDY output signal GPIO.
|
||
174 | */
|
||
175 | static apalGpio_t _gpioCompassDrdy = {
|
||
176 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
|
177 | /* pad */ GPIOB_COMPASS_DRDY,
|
||
178 | }; |
||
179 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
188 | 1e5f7648 | Thomas Schöpping | /**
|
189 | * @brief IR_INT input signal GPIO.
|
||
190 | */
|
||
191 | static apalGpio_t _gpioIrInt = {
|
||
192 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
|
193 | /* pad */ GPIOB_IR_INT,
|
||
194 | }; |
||
195 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
204 | 1e5f7648 | Thomas Schöpping | /**
|
205 | * @brief GYRO_DRDY input signal GPIO.
|
||
206 | */
|
||
207 | static apalGpio_t _gpioGyroDrdy = {
|
||
208 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
|
209 | /* pad */ GPIOB_GYRO_DRDY,
|
||
210 | }; |
||
211 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
220 | 1e5f7648 | Thomas Schöpping | /**
|
221 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
222 | */
|
||
223 | static apalGpio_t _gpioSysUartUp = {
|
||
224 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
|
225 | /* pad */ GPIOB_SYS_UART_UP,
|
||
226 | }; |
||
227 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
236 | 1e5f7648 | Thomas Schöpping | /**
|
237 | * @brief ACCEL_INT input signal GPIO.
|
||
238 | */
|
||
239 | static apalGpio_t _gpioAccelInt = {
|
||
240 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
|
241 | /* pad */ GPIOB_ACCEL_INT_N,
|
||
242 | }; |
||
243 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
252 | 1e5f7648 | Thomas Schöpping | /**
|
253 | * @brief SYS_SNYC bidirectional signal GPIO.
|
||
254 | */
|
||
255 | static apalGpio_t _gpioSysSync = {
|
||
256 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
|
257 | /* pad */ GPIOC_SYS_INT_N,
|
||
258 | }; |
||
259 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
268 | 1e5f7648 | Thomas Schöpping | /**
|
269 | * @brief PATH_DCSTAT input signal GPIO.
|
||
270 | */
|
||
271 | static apalGpio_t _gpioPathDcStat = {
|
||
272 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
|
273 | /* pad */ GPIOC_PATH_DCSTAT,
|
||
274 | }; |
||
275 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
284 | 1e5f7648 | Thomas Schöpping | /**
|
285 | * @brief PATH_DCEN output signal GPIO.
|
||
286 | */
|
||
287 | static apalGpio_t _gpioPathDcEn = {
|
||
288 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
|
289 | /* pad */ GPIOC_PATH_DCEN,
|
||
290 | }; |
||
291 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
300 | 1e5f7648 | Thomas Schöpping | /**
|
301 | * @brief SYS_PD bidirectional signal GPIO.
|
||
302 | */
|
||
303 | static apalGpio_t _gpioSysPd = {
|
||
304 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
|
305 | /* pad */ GPIOC_SYS_PD_N,
|
||
306 | }; |
||
307 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
316 | 1e5f7648 | Thomas Schöpping | /**
|
317 | * @brief SYS_REG_EN input signal GPIO.
|
||
318 | */
|
||
319 | static apalGpio_t _gpioSysRegEn = {
|
||
320 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
|
321 | /* pad */ GPIOC_SYS_REG_EN,
|
||
322 | }; |
||
323 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
332 | 1e5f7648 | Thomas Schöpping | /**
|
333 | * @brief SYS_WARMRST bidirectional signal GPIO.
|
||
334 | */
|
||
335 | static apalGpio_t _gpioSysWarmrst = {
|
||
336 | e545e620 | Thomas Schöpping | /* port */ GPIOD,
|
337 | /* pad */ GPIOD_SYS_WARMRST_N,
|
||
338 | }; |
||
339 | 1e5f7648 | Thomas Schöpping | 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 | e545e620 | Thomas Schöpping | |
348 | /** @} */
|
||
349 | |||
350 | /*===========================================================================*/
|
||
351 | /**
|
||
352 | * @name AMiRo-OS core configurations
|
||
353 | * @{
|
||
354 | */
|
||
355 | /*===========================================================================*/
|
||
356 | |||
357 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
358 | const char* moduleShellPrompt = "DiWheelDrive"; |
||
359 | #endif
|
||
360 | |||
361 | /** @} */
|
||
362 | |||
363 | /*===========================================================================*/
|
||
364 | /**
|
||
365 | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
||
366 | * @{
|
||
367 | */
|
||
368 | /*===========================================================================*/
|
||
369 | |||
370 | e545e620 | Thomas Schöpping | /** @} */
|
371 | |||
372 | /*===========================================================================*/
|
||
373 | /**
|
||
374 | * @name Low-level drivers
|
||
375 | * @{
|
||
376 | */
|
||
377 | /*===========================================================================*/
|
||
378 | |||
379 | A3906Driver moduleLldMotors = { |
||
380 | 1e5f7648 | Thomas Schöpping | /* power enable GPIO */ &moduleGpioPowerEn,
|
381 | e545e620 | Thomas Schöpping | }; |
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 | 1e5f7648 | Thomas Schöpping | /* LED enable Gpio */ &moduleGpioLed,
|
405 | e545e620 | Thomas Schöpping | }; |
406 | |||
407 | LIS331DLHDriver moduleLldAccelerometer = { |
||
408 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
|
||
409 | }; |
||
410 | |||
411 | LTC4412Driver moduleLldPowerPathController = { |
||
412 | 1e5f7648 | Thomas Schöpping | /* Control GPIO */ &moduleGpioPathDcEn,
|
413 | /* Status GPIO */ &moduleGpioPathDcStat,
|
||
414 | e545e620 | Thomas Schöpping | }; |
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 | 1e5f7648 | Thomas Schöpping | /* Power enable Gpio */ &moduleGpioPowerEn,
|
423 | e545e620 | Thomas Schöpping | }; |
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 | /* A3906 (motor driver) */
|
||
442 | static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
||
443 | { |
||
444 | (void)argc;
|
||
445 | (void)argv;
|
||
446 | aosUtRun(stream, &moduleUtAlldA3906, NULL);
|
||
447 | return AOS_OK;
|
||
448 | } |
||
449 | static ut_a3906data_t _utA3906Data = {
|
||
450 | /* driver */ &moduleLldMotors,
|
||
451 | /* PWM information */ {
|
||
452 | /* driver */ &MODULE_HAL_PWM_DRIVE,
|
||
453 | /* channels */ {
|
||
454 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
|
||
455 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
|
||
456 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
|
||
457 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
|
||
458 | }, |
||
459 | }, |
||
460 | /* QEI information */ {
|
||
461 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
|
||
462 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
|
||
463 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
|
||
464 | }, |
||
465 | /* Wheel diameter */ 0.05571f, |
||
466 | 1e5f7648 | Thomas Schöpping | /* timeout */ 10 * MICROSECONDS_PER_SECOND, |
467 | e545e620 | Thomas Schöpping | }; |
468 | aos_unittest_t moduleUtAlldA3906 = { |
||
469 | /* name */ "A3906", |
||
470 | /* info */ "motor driver", |
||
471 | /* test function */ utAlldA3906Func,
|
||
472 | /* shell command */ {
|
||
473 | /* name */ "unittest:MotorDriver", |
||
474 | /* callback */ _utShellCmdCb_AlldA3906,
|
||
475 | /* next */ NULL, |
||
476 | }, |
||
477 | /* data */ &_utA3906Data,
|
||
478 | }; |
||
479 | |||
480 | /* AT24C01BN (EEPROM) */
|
||
481 | static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
||
482 | { |
||
483 | (void)argc;
|
||
484 | (void)argv;
|
||
485 | aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
|
||
486 | return AOS_OK;
|
||
487 | } |
||
488 | static ut_at24c01bndata_t _utAt24c01bnData = {
|
||
489 | /* driver */ &moduleLldEeprom,
|
||
490 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
491 | }; |
||
492 | aos_unittest_t moduleUtAlldAt24c01bn = { |
||
493 | /* name */ "AT24C01BN-SH-B", |
||
494 | /* info */ "1kbit EEPROM", |
||
495 | /* test function */ utAlldAt24c01bnFunc,
|
||
496 | /* shell command */ {
|
||
497 | /* name */ "unittest:EEPROM", |
||
498 | /* callback */ _utShellCmdCb_AlldAt24c01bn,
|
||
499 | /* next */ NULL, |
||
500 | }, |
||
501 | /* data */ &_utAt24c01bnData,
|
||
502 | }; |
||
503 | |||
504 | /* HMC5883L (compass) */
|
||
505 | static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
||
506 | { |
||
507 | (void)argc;
|
||
508 | (void)argv;
|
||
509 | aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
||
510 | return AOS_OK;
|
||
511 | } |
||
512 | static ut_hmc5883ldata_t _utHmc5883lData = {
|
||
513 | /* HMC driver */ &moduleLldCompass,
|
||
514 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
515 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
516 | e545e620 | Thomas Schöpping | /* timeout */ MICROSECONDS_PER_SECOND,
|
517 | }; |
||
518 | aos_unittest_t moduleUtAlldHmc5883l = { |
||
519 | /* name */ "HMC5883L", |
||
520 | /* info */ "compass", |
||
521 | /* test function */ utAlldHmc5883lFunc,
|
||
522 | /* shell command */ {
|
||
523 | /* name */ "unittest:Compass", |
||
524 | /* callback */ _utShellCmdCb_AlldHmc5883l,
|
||
525 | /* next */ NULL, |
||
526 | }, |
||
527 | /* data */ &_utHmc5883lData,
|
||
528 | }; |
||
529 | |||
530 | /* INA219 (power monitor) */
|
||
531 | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
||
532 | { |
||
533 | (void)argc;
|
||
534 | (void)argv;
|
||
535 | aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
||
536 | return AOS_OK;
|
||
537 | } |
||
538 | static ut_ina219data_t _utIna219Data = {
|
||
539 | /* driver */ &moduleLldPowerMonitorVdd,
|
||
540 | /* expected voltage */ 3.3f, |
||
541 | /* tolerance */ 0.05f, |
||
542 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
543 | }; |
||
544 | aos_unittest_t moduleUtAlldIna219 = { |
||
545 | /* name */ "INA219", |
||
546 | /* info */ "power monitor", |
||
547 | /* test function */ utAlldIna219Func,
|
||
548 | /* shell command */ {
|
||
549 | /* name */ "unittest:PowerMonitor", |
||
550 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
551 | /* next */ NULL, |
||
552 | }, |
||
553 | /* data */ &_utIna219Data,
|
||
554 | }; |
||
555 | |||
556 | /* L3G4200D (gyroscope) */
|
||
557 | static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
||
558 | { |
||
559 | (void)argc;
|
||
560 | (void)argv;
|
||
561 | spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
||
562 | aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
||
563 | spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
||
564 | return AOS_OK;
|
||
565 | } |
||
566 | static ut_l3g4200ddata_t _utL3g4200dData = {
|
||
567 | /* driver */ &moduleLldGyroscope,
|
||
568 | /* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
||
569 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
570 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
571 | e545e620 | Thomas Schöpping | }; |
572 | aos_unittest_t moduleUtAlldL3g4200d = { |
||
573 | /* name */ "L3G4200D", |
||
574 | /* info */ "Gyroscope", |
||
575 | /* test function */ utAlldL3g4200dFunc,
|
||
576 | /* shell command */ {
|
||
577 | /* name */ "unittest:Gyroscope", |
||
578 | /* callback */ _utShellCmdCb_AlldL3g4200d,
|
||
579 | /* next */ NULL, |
||
580 | }, |
||
581 | /* data */ &_utL3g4200dData,
|
||
582 | }; |
||
583 | |||
584 | /* Status LED */
|
||
585 | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
||
586 | { |
||
587 | (void)argc;
|
||
588 | (void)argv;
|
||
589 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
590 | return AOS_OK;
|
||
591 | } |
||
592 | aos_unittest_t moduleUtAlldLed = { |
||
593 | /* name */ "LED", |
||
594 | /* info */ NULL, |
||
595 | /* test function */ utAlldLedFunc,
|
||
596 | /* shell command */ {
|
||
597 | /* name */ "unittest:StatusLED", |
||
598 | /* callback */ _utShellCmdCb_AlldLed,
|
||
599 | /* next */ NULL, |
||
600 | }, |
||
601 | /* data */ &moduleLldStatusLed,
|
||
602 | }; |
||
603 | |||
604 | /* LIS331DLH (accelerometer) */
|
||
605 | static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
||
606 | { |
||
607 | (void)argc;
|
||
608 | (void)argv;
|
||
609 | spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
||
610 | aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
||
611 | spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
||
612 | return AOS_OK;
|
||
613 | } |
||
614 | static ut_lis331dlhdata_t _utLis331dlhData = {
|
||
615 | /* driver */ &moduleLldAccelerometer,
|
||
616 | /* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
||
617 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
618 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
619 | e545e620 | Thomas Schöpping | }; |
620 | aos_unittest_t moduleUtAlldLis331dlh = { |
||
621 | /* name */ "LIS331DLH", |
||
622 | /* info */ "Accelerometer", |
||
623 | /* test function */ utAlldLis331dlhFunc,
|
||
624 | /* shell command */ {
|
||
625 | /* name */ "unittest:Accelerometer", |
||
626 | /* callback */ _utShellCmdCb_AlldLis331dlh,
|
||
627 | /* next */ NULL, |
||
628 | }, |
||
629 | /* data */ &_utLis331dlhData,
|
||
630 | }; |
||
631 | |||
632 | /* LTC4412 (power path controller) */
|
||
633 | static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
||
634 | { |
||
635 | (void)argc;
|
||
636 | (void)argv;
|
||
637 | aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
||
638 | return AOS_OK;
|
||
639 | } |
||
640 | aos_unittest_t moduleUtAlldLtc4412 = { |
||
641 | /* name */ "LTC4412", |
||
642 | /* info */ "Power path controller", |
||
643 | /* test function */ utAlldLtc4412Func,
|
||
644 | /* shell command */ {
|
||
645 | /* name */ "unittest:PowerPathController", |
||
646 | /* callback */ _utShellCmdCb_AlldLtc4412,
|
||
647 | /* next */ NULL, |
||
648 | }, |
||
649 | /* data */ &moduleLldPowerPathController,
|
||
650 | }; |
||
651 | |||
652 | /* PCA9544A (I2C multiplexer) */
|
||
653 | static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
||
654 | { |
||
655 | (void)argc;
|
||
656 | (void)argv;
|
||
657 | aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
||
658 | return AOS_OK;
|
||
659 | } |
||
660 | static ut_pca9544adata_t _utPca9544aData = {
|
||
661 | /* driver */ &moduleLldI2cMultiplexer,
|
||
662 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
663 | }; |
||
664 | aos_unittest_t moduleUtAlldPca9544a = { |
||
665 | /* name */ "PCA9544A", |
||
666 | /* info */ "I2C multiplexer", |
||
667 | /* test function */ utAlldPca9544aFunc,
|
||
668 | /* shell command */ {
|
||
669 | /* name */ "unittest:I2CMultiplexer", |
||
670 | /* callback */ _utShellCmdCb_AlldPca9544a,
|
||
671 | /* next */ NULL, |
||
672 | }, |
||
673 | /* data */ &_utPca9544aData,
|
||
674 | }; |
||
675 | |||
676 | /* TPS62113 (step-down converter) */
|
||
677 | static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
||
678 | { |
||
679 | (void)argc;
|
||
680 | (void)argv;
|
||
681 | aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
||
682 | return AOS_OK;
|
||
683 | } |
||
684 | aos_unittest_t moduleUtAlldTps62113 = { |
||
685 | /* name */ "TPS62113", |
||
686 | /* info */ "Step down converter", |
||
687 | /* test function */ utAlldTps62113Func,
|
||
688 | /* shell command */ {
|
||
689 | /* name */ "unittest:StepDownConverter", |
||
690 | /* callback */ _utShellCmdCb_AlldTps62113,
|
||
691 | /* next */ NULL, |
||
692 | }, |
||
693 | /* data */ &moduleLldStepDownConverterVdrive,
|
||
694 | }; |
||
695 | |||
696 | /* VCNL4020 (proximity sensor) */
|
||
697 | static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
||
698 | { |
||
699 | uint8_t intstatus; |
||
700 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
||
701 | vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
702 | if (intstatus) {
|
||
703 | vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
704 | } |
||
705 | return;
|
||
706 | } |
||
707 | static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
||
708 | { |
||
709 | enum {
|
||
710 | UNKNOWN, |
||
711 | FL, FR, WL, WR, |
||
712 | } sensor = UNKNOWN; |
||
713 | // evaluate arguments
|
||
714 | if (argc == 2) { |
||
715 | if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
||
716 | sensor = FL; |
||
717 | } else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
||
718 | sensor = FR; |
||
719 | } else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
||
720 | sensor = WL; |
||
721 | } else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
||
722 | sensor = WR; |
||
723 | } |
||
724 | } |
||
725 | if (sensor != UNKNOWN) {
|
||
726 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
727 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
728 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
729 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
730 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
731 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
732 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
733 | _utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
||
734 | switch (sensor) {
|
||
735 | case FL:
|
||
736 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
737 | 1e5f7648 | Thomas Schöpping | aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
738 | e545e620 | Thomas Schöpping | break;
|
739 | case FR:
|
||
740 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
741 | aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
||
742 | break;
|
||
743 | case WL:
|
||
744 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
745 | aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
||
746 | break;
|
||
747 | case WR:
|
||
748 | pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
||
749 | aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
||
750 | break;
|
||
751 | default:
|
||
752 | break;
|
||
753 | } |
||
754 | return AOS_OK;
|
||
755 | } |
||
756 | // print help
|
||
757 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
758 | chprintf(stream, "Options:\n");
|
||
759 | chprintf(stream, " --frontleft, -fl\n");
|
||
760 | chprintf(stream, " Test front left proximity sensor.\n");
|
||
761 | chprintf(stream, " --frontrigt, -fr\n");
|
||
762 | chprintf(stream, " Test front right proximity sensor.\n");
|
||
763 | chprintf(stream, " --wheelleft, -wl\n");
|
||
764 | chprintf(stream, " Test left wheel proximity sensor.\n");
|
||
765 | chprintf(stream, " --wheelright, -wr\n");
|
||
766 | chprintf(stream, " Test right wheel proximity sensor.\n");
|
||
767 | return AOS_INVALID_ARGUMENTS;
|
||
768 | } |
||
769 | static ut_vcnl4020data_t _utVcnl4020Data = {
|
||
770 | /* driver */ &moduleLldProximity,
|
||
771 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
772 | 6b53f6bf | Thomas Schöpping | /* event source */ &aos.events.io,
|
773 | 1e5f7648 | Thomas Schöpping | /* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
774 | e545e620 | Thomas Schöpping | }; |
775 | aos_unittest_t moduleUtAlldVcnl4020 = { |
||
776 | /* name */ "VCNL4020", |
||
777 | /* info */ "proximity sensor", |
||
778 | /* test function */ utAlldVcnl4020Func,
|
||
779 | /* shell command */ {
|
||
780 | /* name */ "unittest:Proximity", |
||
781 | /* callback */ _utShellCmdCb_AlldVcnl4020,
|
||
782 | /* next */ NULL, |
||
783 | }, |
||
784 | /* data */ &_utVcnl4020Data,
|
||
785 | }; |
||
786 | |||
787 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
788 | |||
789 | /** @} */
|
||
790 | 53710ca3 | Marc Rothmann | /** @} */ |