amiro-os / modules / DiWheelDrive_1-1 / module.c @ e0ce5f27
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 53710ca3 | Marc Rothmann | /**
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| 20 | * @file
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| 21 | * @brief Structures and constant for the DiWheelDrive module.
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| 22 | *
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| 23 | * @addtogroup diwheeldrive_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | e545e620 | Thomas Schöpping | #include "module.h" |
| 28 | |||
| 29 | 1e5f7648 | Thomas Schöpping | #include <amiroos.h> |
| 30 | |||
| 31 | e545e620 | Thomas Schöpping | /*===========================================================================*/
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| 32 | /**
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| 33 | * @name Module specific functions
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| 34 | * @{
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| 35 | */
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| 36 | /*===========================================================================*/
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| 37 | |||
| 38 | /** @} */
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| 39 | |||
| 40 | /*===========================================================================*/
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| 41 | /**
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| 42 | * @name ChibiOS/HAL configuration
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| 43 | * @{
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| 44 | */
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| 45 | /*===========================================================================*/
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| 46 | |||
| 47 | CANConfig moduleHalCanConfig = {
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| 48 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 49 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 50 | }; |
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| 51 | |||
| 52 | I2CConfig moduleHalI2cCompassConfig = {
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| 53 | /* I²C mode */ OPMODE_I2C,
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| 54 | /* frequency */ 400000, |
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| 55 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 56 | }; |
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| 57 | |||
| 58 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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| 59 | /* I²C mode */ OPMODE_I2C,
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| 60 | /* frequency */ 400000, |
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| 61 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 62 | }; |
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| 63 | |||
| 64 | PWMConfig moduleHalPwmDriveConfig = {
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| 65 | /* frequency */ 7200000, |
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| 66 | /* period */ 360, |
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| 67 | /* callback */ NULL, |
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| 68 | /* channel configurations */ {
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| 69 | /* channel 0 */ {
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| 70 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 71 | /* callback */ NULL |
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| 72 | }, |
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| 73 | /* channel 1 */ {
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| 74 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 75 | /* callback */ NULL |
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| 76 | }, |
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| 77 | /* channel 2 */ {
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| 78 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 79 | /* callback */ NULL |
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| 80 | }, |
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| 81 | /* channel 3 */ {
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| 82 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 83 | /* callback */ NULL |
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| 84 | }, |
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| 85 | }, |
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| 86 | /* TIM CR2 register */ 0, |
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| 87 | #if STM32_PWM_USE_ADVANCED
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| 88 | /* TIM BDTR register */ 0, |
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| 89 | #endif
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| 90 | /* TIM DIER register */ 0 |
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| 91 | }; |
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| 92 | |||
| 93 | QEIConfig moduleHalQeiConfig = {
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| 94 | /* mode */ QEI_COUNT_BOTH,
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| 95 | /* channel config */ {
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| 96 | /* channel 0 */ {
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| 97 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 98 | }, |
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| 99 | /* channel 1 */ {
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| 100 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 101 | }, |
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| 102 | }, |
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| 103 | /* encoder range */ 0x10000u, |
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| 104 | }; |
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| 105 | |||
| 106 | SerialConfig moduleHalProgIfConfig = {
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| 107 | /* bit rate */ 115200, |
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| 108 | /* CR1 */ 0, |
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| 109 | /* CR1 */ 0, |
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| 110 | /* CR1 */ 0, |
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| 111 | }; |
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| 112 | |||
| 113 | SPIConfig moduleHalSpiAccelerometerConfig = {
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| 114 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 115 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 116 | /* chip select line port */ GPIOC,
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| 117 | /* chip select line pad number */ GPIOC_ACCEL_SS_N,
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| 118 | /* CR1 */ SPI_CR1_BR_0,
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| 119 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 120 | }; |
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| 121 | |||
| 122 | SPIConfig moduleHalSpiGyroscopeConfig = {
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| 123 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 124 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 125 | /* chip select line port */ GPIOC,
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| 126 | /* chip select line pad number */ GPIOC_GYRO_SS_N,
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| 127 | /* CR1 */ SPI_CR1_BR_0,
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| 128 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 129 | }; |
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| 130 | |||
| 131 | /** @} */
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| 132 | |||
| 133 | /*===========================================================================*/
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| 134 | /**
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| 135 | * @name GPIO definitions
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| 136 | * @{
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| 137 | */
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| 138 | /*===========================================================================*/
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| 139 | |||
| 140 | 1e5f7648 | Thomas Schöpping | /**
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| 141 | * @brief LED output signal GPIO.
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| 142 | */
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| 143 | static apalGpio_t _gpioLed = {
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| 144 | e545e620 | Thomas Schöpping | /* port */ GPIOA,
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| 145 | /* pad */ GPIOA_LED,
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| 146 | }; |
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| 147 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioLed = {
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| 148 | /* GPIO */ &_gpioLed,
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| 149 | /* meta */ {
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| 150 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 151 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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| 152 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 153 | }, |
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| 154 | }; |
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| 155 | e545e620 | Thomas Schöpping | |
| 156 | 1e5f7648 | Thomas Schöpping | /**
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| 157 | * @brief POWER_EN output signal GPIO.
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| 158 | */
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| 159 | static apalGpio_t _gpioPowerEn = {
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| 160 | /* port */ GPIOB,
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| 161 | e545e620 | Thomas Schöpping | /* pad */ GPIOB_POWER_EN,
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| 162 | }; |
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| 163 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioPowerEn = {
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| 164 | /* GPIO */ &_gpioPowerEn,
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| 165 | /* meta */ {
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| 166 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 167 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 168 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 169 | }, |
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| 170 | }; |
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| 171 | e545e620 | Thomas Schöpping | |
| 172 | 1e5f7648 | Thomas Schöpping | /**
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| 173 | * @brief COMPASS_DRDY output signal GPIO.
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| 174 | */
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| 175 | static apalGpio_t _gpioCompassDrdy = {
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| 176 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 177 | /* pad */ GPIOB_COMPASS_DRDY,
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| 178 | }; |
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| 179 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioCompassDrdy = {
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| 180 | /* GPIO */ &_gpioCompassDrdy,
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| 181 | /* meta */ {
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| 182 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 183 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 184 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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| 185 | }, |
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| 186 | }; |
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| 187 | e545e620 | Thomas Schöpping | |
| 188 | 1e5f7648 | Thomas Schöpping | /**
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| 189 | * @brief IR_INT input signal GPIO.
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| 190 | */
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| 191 | static apalGpio_t _gpioIrInt = {
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| 192 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 193 | /* pad */ GPIOB_IR_INT,
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| 194 | }; |
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| 195 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioIrInt = {
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| 196 | /* GPIO */ &_gpioIrInt,
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| 197 | /* meta */ {
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| 198 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 199 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 200 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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| 201 | }, |
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| 202 | }; |
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| 203 | e545e620 | Thomas Schöpping | |
| 204 | 1e5f7648 | Thomas Schöpping | /**
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| 205 | * @brief GYRO_DRDY input signal GPIO.
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| 206 | */
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| 207 | static apalGpio_t _gpioGyroDrdy = {
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| 208 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 209 | /* pad */ GPIOB_GYRO_DRDY,
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| 210 | }; |
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| 211 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioGyroDrdy = {
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| 212 | /* GPIO */ &_gpioGyroDrdy,
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| 213 | /* meta */ {
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| 214 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 215 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 216 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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| 217 | }, |
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| 218 | }; |
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| 219 | e545e620 | Thomas Schöpping | |
| 220 | 1e5f7648 | Thomas Schöpping | /**
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| 221 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 222 | */
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| 223 | static apalGpio_t _gpioSysUartUp = {
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| 224 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 225 | /* pad */ GPIOB_SYS_UART_UP,
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| 226 | }; |
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| 227 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysUartUp = {
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| 228 | /* GPIO */ &_gpioSysUartUp,
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| 229 | /* meta */ {
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| 230 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 231 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 232 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 233 | }, |
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| 234 | }; |
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| 235 | e545e620 | Thomas Schöpping | |
| 236 | 1e5f7648 | Thomas Schöpping | /**
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| 237 | * @brief ACCEL_INT input signal GPIO.
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| 238 | */
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| 239 | static apalGpio_t _gpioAccelInt = {
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| 240 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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| 241 | /* pad */ GPIOB_ACCEL_INT_N,
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| 242 | }; |
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| 243 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioAccelInt = {
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| 244 | /* GPIO */ &_gpioAccelInt,
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| 245 | /* meta */ {
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| 246 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 247 | /* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 248 | /* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
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| 249 | }, |
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| 250 | }; |
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| 251 | e545e620 | Thomas Schöpping | |
| 252 | 1e5f7648 | Thomas Schöpping | /**
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| 253 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 254 | */
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| 255 | static apalGpio_t _gpioSysSync = {
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| 256 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 257 | /* pad */ GPIOC_SYS_INT_N,
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| 258 | }; |
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| 259 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysSync = {
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| 260 | /* GPIO */ &_gpioSysSync,
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| 261 | /* meta */ {
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| 262 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 263 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 264 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 265 | }, |
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| 266 | }; |
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| 267 | e545e620 | Thomas Schöpping | |
| 268 | 1e5f7648 | Thomas Schöpping | /**
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| 269 | * @brief PATH_DCSTAT input signal GPIO.
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| 270 | */
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| 271 | static apalGpio_t _gpioPathDcStat = {
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| 272 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 273 | /* pad */ GPIOC_PATH_DCSTAT,
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| 274 | }; |
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| 275 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioPathDcStat = {
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| 276 | /* GPIO */ &_gpioPathDcStat,
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| 277 | /* meta */ {
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| 278 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 279 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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| 280 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 281 | }, |
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| 282 | }; |
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| 283 | e545e620 | Thomas Schöpping | |
| 284 | 1e5f7648 | Thomas Schöpping | /**
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| 285 | * @brief PATH_DCEN output signal GPIO.
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| 286 | */
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| 287 | static apalGpio_t _gpioPathDcEn = {
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| 288 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 289 | /* pad */ GPIOC_PATH_DCEN,
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| 290 | }; |
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| 291 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioPathDcEn = {
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| 292 | /* GPIO */ &_gpioPathDcEn,
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| 293 | /* meta */ {
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| 294 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 295 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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| 296 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 297 | }, |
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| 298 | }; |
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| 299 | e545e620 | Thomas Schöpping | |
| 300 | 1e5f7648 | Thomas Schöpping | /**
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| 301 | * @brief SYS_PD bidirectional signal GPIO.
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| 302 | */
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| 303 | static apalGpio_t _gpioSysPd = {
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| 304 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 305 | /* pad */ GPIOC_SYS_PD_N,
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| 306 | }; |
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| 307 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysPd = {
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| 308 | /* GPIO */ &_gpioSysPd,
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| 309 | /* meta */ {
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| 310 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 311 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 312 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 313 | }, |
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| 314 | }; |
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| 315 | e545e620 | Thomas Schöpping | |
| 316 | 1e5f7648 | Thomas Schöpping | /**
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| 317 | * @brief SYS_REG_EN input signal GPIO.
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| 318 | */
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| 319 | static apalGpio_t _gpioSysRegEn = {
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| 320 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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| 321 | /* pad */ GPIOC_SYS_REG_EN,
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| 322 | }; |
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| 323 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysRegEn = {
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| 324 | /* GPIO */ &_gpioSysRegEn,
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| 325 | /* meta */ {
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| 326 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 327 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 328 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 329 | }, |
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| 330 | }; |
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| 331 | e545e620 | Thomas Schöpping | |
| 332 | 1e5f7648 | Thomas Schöpping | /**
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| 333 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 334 | */
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| 335 | static apalGpio_t _gpioSysWarmrst = {
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| 336 | e545e620 | Thomas Schöpping | /* port */ GPIOD,
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| 337 | /* pad */ GPIOD_SYS_WARMRST_N,
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| 338 | }; |
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| 339 | 1e5f7648 | Thomas Schöpping | apalControlGpio_t moduleGpioSysWarmrst = {
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| 340 | /* GPIO */ &_gpioSysWarmrst,
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| 341 | /* meta */ {
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| 342 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 343 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 344 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 345 | }, |
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| 346 | }; |
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| 347 | e545e620 | Thomas Schöpping | |
| 348 | /** @} */
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| 349 | |||
| 350 | /*===========================================================================*/
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| 351 | /**
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| 352 | * @name AMiRo-OS core configurations
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| 353 | * @{
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| 354 | */
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| 355 | /*===========================================================================*/
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| 356 | |||
| 357 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 358 | const char* moduleShellPrompt = "DiWheelDrive"; |
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| 359 | #endif
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| 360 | |||
| 361 | /** @} */
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| 362 | |||
| 363 | /*===========================================================================*/
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| 364 | /**
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| 365 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 366 | * @{
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| 367 | */
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| 368 | /*===========================================================================*/
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| 369 | |||
| 370 | e545e620 | Thomas Schöpping | /** @} */
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| 371 | |||
| 372 | /*===========================================================================*/
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| 373 | /**
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| 374 | * @name Low-level drivers
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| 375 | * @{
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| 376 | */
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| 377 | /*===========================================================================*/
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| 378 | |||
| 379 | A3906Driver moduleLldMotors = {
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| 380 | 1e5f7648 | Thomas Schöpping | /* power enable GPIO */ &moduleGpioPowerEn,
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| 381 | e545e620 | Thomas Schöpping | }; |
| 382 | |||
| 383 | AT24C01BNDriver moduleLldEeprom = {
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| 384 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 385 | /* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
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| 386 | }; |
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| 387 | |||
| 388 | HMC5883LDriver moduleLldCompass = {
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| 389 | /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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| 390 | }; |
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| 391 | |||
| 392 | INA219Driver moduleLldPowerMonitorVdd = {
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| 393 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 394 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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| 395 | /* current LSB (uA) */ 0x00u, |
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| 396 | /* configuration */ NULL, |
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| 397 | }; |
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| 398 | |||
| 399 | L3G4200DDriver moduleLldGyroscope = {
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| 400 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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| 401 | }; |
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| 402 | |||
| 403 | LEDDriver moduleLldStatusLed = {
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| 404 | 1e5f7648 | Thomas Schöpping | /* LED enable Gpio */ &moduleGpioLed,
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| 405 | e545e620 | Thomas Schöpping | }; |
| 406 | |||
| 407 | LIS331DLHDriver moduleLldAccelerometer = {
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| 408 | /* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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| 409 | }; |
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| 410 | |||
| 411 | LTC4412Driver moduleLldPowerPathController = {
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| 412 | 1e5f7648 | Thomas Schöpping | /* Control GPIO */ &moduleGpioPathDcEn,
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| 413 | /* Status GPIO */ &moduleGpioPathDcStat,
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| 414 | e545e620 | Thomas Schöpping | }; |
| 415 | |||
| 416 | PCA9544ADriver moduleLldI2cMultiplexer = {
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| 417 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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| 418 | /* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
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| 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,
|
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| 782 | /* next */ NULL, |
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| 783 | }, |
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| 784 | /* data */ &_utVcnl4020Data,
|
||
| 785 | }; |
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| 786 | |||
| 787 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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| 788 | |||
| 789 | /** @} */
|
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| 790 | 53710ca3 | Marc Rothmann | /** @} */ |