amiro-os / modules / NUCLEO-L476RG / module.c @ e375d633
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the NUCLEO-L476RG module.
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*
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* @addtogroup NUCLEO-L476RG_module
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* @{
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*/
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#include <amiroos.h> |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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SerialConfig moduleHalProgIfConfig = {
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/* bit rate */ 115200, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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}; |
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I2CConfig moduleHalI2cConfig = {
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/* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF hook |
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/* CR1 */ 0, |
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/* CR2 */ 0, |
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LED output signal GPIO.
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*/
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static apalGpio_t _gpioLed = {
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/* line */ LINE_LED_GREEN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLed = {
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/* GPIO */ &_gpioLed,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief User button input signal GPIO.
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*/
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static apalGpio_t _gpioUserButton = {
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/* line */ LINE_BUTTON,
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}; |
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ROMCONST apalControlGpio_t moduleGpioUserButton = {
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/* GPIO */ &_gpioUserButton,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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ROMCONST char* moduleShellPrompt = "NUCLEO-L476RG"; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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LEDDriver moduleLldLed = {
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/* LED enable Gpio */ &moduleGpioLed,
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}; |
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ButtonDriver moduleLldUserButton = {
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/* Button Gpio */ &moduleGpioUserButton,
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}; |
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#if (BOARD_MPU6050_CONNECTED == true) |
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MPU6050Driver moduleLldMpu6050 = {
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/* I2C Driver */ &MODULE_HAL_I2C,
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/* I²C address */ MPU6050_LLD_I2C_ADDR_FIXED,
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}; |
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Tests
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/*
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* LED
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*/
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#include <module_test_LED.h> |
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static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestLedShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
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/*
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* User button
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*/
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#include <module_test_button.h> |
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static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestButtonShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
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#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
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/*
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* MPU6050 (accelerometer & gyroscope)
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*/
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#include <module_test_MPU6050.h> |
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static int _testMpu6050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestMpu6050ShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestMpu6050ShellCmd, "test:IMU", _testMpu6050ShellCmdCb);
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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/*
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* entire module
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*/
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static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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int status = AOS_OK;
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char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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aos_testresult_t result_test = {0, 0};
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aos_testresult_t result_total = {0, 0};
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/* LED */
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status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
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result_total = aosTestResultAdd(result_total, result_test); |
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/* User button */
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status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
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result_total = aosTestResultAdd(result_total, result_test); |
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/* MPU6050 (accelerometer & gyroscope) */
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#if (BOARD_MPU6050_CONNECTED == true) |
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status |= moduleTestMpu6050ShellCb(stream, 0, targv, &result_test);
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result_total = aosTestResultAdd(result_total, result_test); |
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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// print total result
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chprintf(stream, "\n");
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aosTestResultPrintSummary(stream, &result_total, "entire module");
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return status;
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} |
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AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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/** @} */
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