amiro-os / modules / DiWheelDrive_1-2 / module.c @ f38aba21
History | View | Annotate | Download (15.62 KB)
| 1 | abb8b3f4 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | Copyright (C) 2016..2019 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 | /**
|
||
| 20 | * @file
|
||
| 21 | * @brief Structures and constant for the DiWheelDrive module.
|
||
| 22 | *
|
||
| 23 | * @addtogroup diwheeldrive_module
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | #include "module.h" |
||
| 28 | |||
| 29 | /*===========================================================================*/
|
||
| 30 | /**
|
||
| 31 | * @name Module specific functions
|
||
| 32 | * @{
|
||
| 33 | */
|
||
| 34 | /*===========================================================================*/
|
||
| 35 | |||
| 36 | /** @} */
|
||
| 37 | |||
| 38 | /*===========================================================================*/
|
||
| 39 | /**
|
||
| 40 | * @name ChibiOS/HAL configuration
|
||
| 41 | * @{
|
||
| 42 | */
|
||
| 43 | /*===========================================================================*/
|
||
| 44 | |||
| 45 | CANConfig moduleHalCanConfig = {
|
||
| 46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||
| 47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
||
| 48 | }; |
||
| 49 | |||
| 50 | I2CConfig moduleHalI2cImuConfig = {
|
||
| 51 | /* I²C mode */ OPMODE_I2C,
|
||
| 52 | /* frequency */ 400000, |
||
| 53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 54 | }; |
||
| 55 | |||
| 56 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
|
||
| 57 | /* I²C mode */ OPMODE_I2C,
|
||
| 58 | /* frequency */ 400000, |
||
| 59 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 60 | }; |
||
| 61 | |||
| 62 | PWMConfig moduleHalPwmDriveConfig = {
|
||
| 63 | /* frequency */ 7200000, |
||
| 64 | /* period */ 360, |
||
| 65 | /* callback */ NULL, |
||
| 66 | /* channel configurations */ {
|
||
| 67 | /* channel 0 */ {
|
||
| 68 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 69 | /* callback */ NULL |
||
| 70 | }, |
||
| 71 | /* channel 1 */ {
|
||
| 72 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 73 | /* callback */ NULL |
||
| 74 | }, |
||
| 75 | /* channel 2 */ {
|
||
| 76 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 77 | /* callback */ NULL |
||
| 78 | }, |
||
| 79 | /* channel 3 */ {
|
||
| 80 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 81 | /* callback */ NULL |
||
| 82 | }, |
||
| 83 | }, |
||
| 84 | /* TIM CR2 register */ 0, |
||
| 85 | #if (STM32_PWM_USE_ADVANCED == TRUE)
|
||
| 86 | /* TIM BDTR register */ 0, |
||
| 87 | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
||
| 88 | /* TIM DIER register */ 0 |
||
| 89 | }; |
||
| 90 | |||
| 91 | QEIConfig moduleHalQeiConfig = {
|
||
| 92 | /* mode */ QEI_COUNT_BOTH,
|
||
| 93 | /* channel config */ {
|
||
| 94 | /* channel 0 */ {
|
||
| 95 | /* input mode */ QEI_INPUT_NONINVERTED,
|
||
| 96 | }, |
||
| 97 | /* channel 1 */ {
|
||
| 98 | /* input mode */ QEI_INPUT_NONINVERTED,
|
||
| 99 | }, |
||
| 100 | }, |
||
| 101 | /* encoder range */ 0x10000u, |
||
| 102 | }; |
||
| 103 | |||
| 104 | SerialConfig moduleHalProgIfConfig = {
|
||
| 105 | /* bit rate */ 115200, |
||
| 106 | /* CR1 */ 0, |
||
| 107 | /* CR1 */ 0, |
||
| 108 | /* CR1 */ 0, |
||
| 109 | }; |
||
| 110 | |||
| 111 | /** @} */
|
||
| 112 | |||
| 113 | /*===========================================================================*/
|
||
| 114 | /**
|
||
| 115 | * @name GPIO definitions
|
||
| 116 | * @{
|
||
| 117 | */
|
||
| 118 | /*===========================================================================*/
|
||
| 119 | |||
| 120 | /**
|
||
| 121 | * @brief LED output signal GPIO.
|
||
| 122 | */
|
||
| 123 | static apalGpio_t _gpioLed = {
|
||
| 124 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
|
| 125 | abb8b3f4 | Thomas Schöpping | }; |
| 126 | ROMCONST apalControlGpio_t moduleGpioLed = {
|
||
| 127 | /* GPIO */ &_gpioLed,
|
||
| 128 | /* meta */ {
|
||
| 129 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 130 | 4c72a54c | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 131 | abb8b3f4 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 132 | }, |
||
| 133 | }; |
||
| 134 | |||
| 135 | /**
|
||
| 136 | * @brief POWER_EN output signal GPIO.
|
||
| 137 | */
|
||
| 138 | static apalGpio_t _gpioPowerEn = {
|
||
| 139 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
|
| 140 | abb8b3f4 | Thomas Schöpping | }; |
| 141 | ROMCONST apalControlGpio_t moduleGpioPowerEn = {
|
||
| 142 | /* GPIO */ &_gpioPowerEn,
|
||
| 143 | /* meta */ {
|
||
| 144 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 145 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 146 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 147 | }, |
||
| 148 | }; |
||
| 149 | |||
| 150 | /**
|
||
| 151 | * @brief IR_INT input signal GPIO.
|
||
| 152 | */
|
||
| 153 | static apalGpio_t _gpioIrInt = {
|
||
| 154 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT,
|
| 155 | abb8b3f4 | Thomas Schöpping | }; |
| 156 | ROMCONST apalControlGpio_t moduleGpioIrInt = {
|
||
| 157 | /* GPIO */ &_gpioIrInt,
|
||
| 158 | /* meta */ {
|
||
| 159 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 160 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
||
| 161 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
|
||
| 162 | }, |
||
| 163 | }; |
||
| 164 | |||
| 165 | /**
|
||
| 166 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
| 167 | */
|
||
| 168 | static apalGpio_t _gpioSysUartUp = {
|
||
| 169 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
|
| 170 | abb8b3f4 | Thomas Schöpping | }; |
| 171 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
|
||
| 172 | /* GPIO */ &_gpioSysUartUp,
|
||
| 173 | /* meta */ {
|
||
| 174 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 175 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 176 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 177 | }, |
||
| 178 | }; |
||
| 179 | |||
| 180 | /**
|
||
| 181 | * @brief IMU_INT input signal GPIO.
|
||
| 182 | */
|
||
| 183 | static apalGpio_t _gpioImuInt = {
|
||
| 184 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_INT,
|
| 185 | abb8b3f4 | Thomas Schöpping | }; |
| 186 | ROMCONST apalControlGpio_t moduleGpioImuInt = {
|
||
| 187 | /* GPIO */ &_gpioImuInt,
|
||
| 188 | /* meta */ {
|
||
| 189 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 190 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
||
| 191 | /* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO |
||
| 192 | }, |
||
| 193 | }; |
||
| 194 | |||
| 195 | /**
|
||
| 196 | * @brief SYS_SNYC bidirectional signal GPIO.
|
||
| 197 | */
|
||
| 198 | static apalGpio_t _gpioSysSync = {
|
||
| 199 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
|
| 200 | abb8b3f4 | Thomas Schöpping | }; |
| 201 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
||
| 202 | /* GPIO */ &_gpioSysSync,
|
||
| 203 | /* meta */ {
|
||
| 204 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 205 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 206 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 207 | }, |
||
| 208 | }; |
||
| 209 | |||
| 210 | /**
|
||
| 211 | * @brief IMU_RESET output signal GPIO.
|
||
| 212 | */
|
||
| 213 | static apalGpio_t _gpioImuReset = {
|
||
| 214 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_RESET_N,
|
| 215 | abb8b3f4 | Thomas Schöpping | }; |
| 216 | ROMCONST apalControlGpio_t moduleGpioImuReset = {
|
||
| 217 | /* GPIO */ &_gpioImuReset,
|
||
| 218 | /* meta */ {
|
||
| 219 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 220 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
||
| 221 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 222 | }, |
||
| 223 | }; |
||
| 224 | |||
| 225 | /**
|
||
| 226 | * @brief PATH_DCSTAT input signal GPIO.
|
||
| 227 | */
|
||
| 228 | static apalGpio_t _gpioPathDcStat = {
|
||
| 229 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCSTAT,
|
| 230 | abb8b3f4 | Thomas Schöpping | }; |
| 231 | ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
|
||
| 232 | /* GPIO */ &_gpioPathDcStat,
|
||
| 233 | /* meta */ {
|
||
| 234 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 235 | /* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
|
||
| 236 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 237 | }, |
||
| 238 | }; |
||
| 239 | |||
| 240 | /**
|
||
| 241 | * @brief PATH_DCEN output signal GPIO.
|
||
| 242 | */
|
||
| 243 | static apalGpio_t _gpioPathDcEn = {
|
||
| 244 | 3106e8cc | Thomas Schöpping | /* line */ LINE_PATH_DCEN,
|
| 245 | abb8b3f4 | Thomas Schöpping | }; |
| 246 | ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
|
||
| 247 | /* GPIO */ &_gpioPathDcEn,
|
||
| 248 | /* meta */ {
|
||
| 249 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 250 | /* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
|
||
| 251 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 252 | }, |
||
| 253 | }; |
||
| 254 | |||
| 255 | /**
|
||
| 256 | * @brief SYS_PD bidirectional signal GPIO.
|
||
| 257 | */
|
||
| 258 | static apalGpio_t _gpioSysPd = {
|
||
| 259 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
|
| 260 | abb8b3f4 | Thomas Schöpping | }; |
| 261 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
||
| 262 | /* GPIO */ &_gpioSysPd,
|
||
| 263 | /* meta */ {
|
||
| 264 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 265 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 266 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 267 | }, |
||
| 268 | }; |
||
| 269 | |||
| 270 | /**
|
||
| 271 | * @brief SYS_REG_EN input signal GPIO.
|
||
| 272 | */
|
||
| 273 | static apalGpio_t _gpioSysRegEn = {
|
||
| 274 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_REG_EN,
|
| 275 | abb8b3f4 | Thomas Schöpping | }; |
| 276 | ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
|
||
| 277 | /* GPIO */ &_gpioSysRegEn,
|
||
| 278 | /* meta */ {
|
||
| 279 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 280 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 281 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 282 | }, |
||
| 283 | }; |
||
| 284 | |||
| 285 | /**
|
||
| 286 | * @brief IMU_BOOT_LOAD output signal GPIO.
|
||
| 287 | */
|
||
| 288 | static apalGpio_t _gpioImuBootLoad = {
|
||
| 289 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BOOT_LOAD_N,
|
| 290 | abb8b3f4 | Thomas Schöpping | }; |
| 291 | ROMCONST apalControlGpio_t moduleGpioImuBootLoad = {
|
||
| 292 | /* GPIO */ &_gpioImuBootLoad,
|
||
| 293 | /* meta */ {
|
||
| 294 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 295 | /* active state */ APAL_GPIO_ACTIVE_LOW, // TODO |
||
| 296 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 297 | }, |
||
| 298 | }; |
||
| 299 | |||
| 300 | /**
|
||
| 301 | * @brief IMU_BL_IND input signal GPIO.
|
||
| 302 | */
|
||
| 303 | static apalGpio_t _gpioImuBlInd = {
|
||
| 304 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IMU_BL_IND,
|
| 305 | abb8b3f4 | Thomas Schöpping | }; |
| 306 | ROMCONST apalControlGpio_t moduleGpioImuBlInd = {
|
||
| 307 | /* GPIO */ &_gpioImuBlInd,
|
||
| 308 | /* meta */ {
|
||
| 309 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 310 | /* active state */ APAL_GPIO_ACTIVE_HIGH, // TODO |
||
| 311 | /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO |
||
| 312 | }, |
||
| 313 | }; |
||
| 314 | |||
| 315 | /**
|
||
| 316 | * @brief SYS_WARMRST bidirectional signal GPIO.
|
||
| 317 | */
|
||
| 318 | static apalGpio_t _gpioSysWarmrst = {
|
||
| 319 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_WARMRST_N,
|
| 320 | abb8b3f4 | Thomas Schöpping | }; |
| 321 | ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
|
||
| 322 | /* GPIO */ &_gpioSysWarmrst,
|
||
| 323 | /* meta */ {
|
||
| 324 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 325 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 326 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 327 | }, |
||
| 328 | }; |
||
| 329 | |||
| 330 | /** @} */
|
||
| 331 | |||
| 332 | /*===========================================================================*/
|
||
| 333 | /**
|
||
| 334 | * @name AMiRo-OS core configurations
|
||
| 335 | * @{
|
||
| 336 | */
|
||
| 337 | /*===========================================================================*/
|
||
| 338 | |||
| 339 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 340 | ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
||
| 341 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 342 | |||
| 343 | /** @} */
|
||
| 344 | |||
| 345 | /*===========================================================================*/
|
||
| 346 | /**
|
||
| 347 | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
||
| 348 | * @{
|
||
| 349 | */
|
||
| 350 | /*===========================================================================*/
|
||
| 351 | |||
| 352 | /** @} */
|
||
| 353 | |||
| 354 | /*===========================================================================*/
|
||
| 355 | /**
|
||
| 356 | * @name Low-level drivers
|
||
| 357 | * @{
|
||
| 358 | */
|
||
| 359 | /*===========================================================================*/
|
||
| 360 | |||
| 361 | A3906Driver moduleLldMotors = {
|
||
| 362 | /* power enable GPIO */ &moduleGpioPowerEn,
|
||
| 363 | }; |
||
| 364 | |||
| 365 | AT24C01BDriver moduleLldEeprom = {
|
||
| 366 | /* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 367 | /* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
|
||
| 368 | }; |
||
| 369 | |||
| 370 | 4c72a54c | Thomas Schöpping | // TODO: BNO055
|
| 371 | |||
| 372 | abb8b3f4 | Thomas Schöpping | INA219Driver moduleLldPowerMonitorVdd = {
|
| 373 | /* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 374 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
||
| 375 | /* current LSB (uA) */ 0x00u, |
||
| 376 | /* configuration */ NULL, |
||
| 377 | }; |
||
| 378 | |||
| 379 | LEDDriver moduleLldStatusLed = {
|
||
| 380 | /* LED enable Gpio */ &moduleGpioLed,
|
||
| 381 | }; |
||
| 382 | |||
| 383 | LTC4412Driver moduleLldPowerPathController = {
|
||
| 384 | /* Control GPIO */ &moduleGpioPathDcEn,
|
||
| 385 | /* Status GPIO */ &moduleGpioPathDcStat,
|
||
| 386 | }; |
||
| 387 | |||
| 388 | PCA9544ADriver moduleLldI2cMultiplexer = {
|
||
| 389 | /* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 390 | /* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
|
||
| 391 | }; |
||
| 392 | |||
| 393 | TPS6211xDriver moduleLldStepDownConverterVdrive = {
|
||
| 394 | /* Power enable Gpio */ &moduleGpioPowerEn,
|
||
| 395 | }; |
||
| 396 | |||
| 397 | VCNL4020Driver moduleLldProximity = {
|
||
| 398 | /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
||
| 399 | }; |
||
| 400 | |||
| 401 | /** @} */
|
||
| 402 | |||
| 403 | /*===========================================================================*/
|
||
| 404 | /**
|
||
| 405 | 4c72a54c | Thomas Schöpping | * @name Tests
|
| 406 | abb8b3f4 | Thomas Schöpping | * @{
|
| 407 | */
|
||
| 408 | /*===========================================================================*/
|
||
| 409 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 410 | |||
| 411 | /*
|
||
| 412 | * A3906 (motor driver)
|
||
| 413 | */
|
||
| 414 | 4c72a54c | Thomas Schöpping | #include <module_test_A3906.h> |
| 415 | static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 416 | abb8b3f4 | Thomas Schöpping | {
|
| 417 | 4c72a54c | Thomas Schöpping | return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
| 418 | abb8b3f4 | Thomas Schöpping | } |
| 419 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
|
| 420 | abb8b3f4 | Thomas Schöpping | |
| 421 | /*
|
||
| 422 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
|
| 423 | abb8b3f4 | Thomas Schöpping | */
|
| 424 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
| 425 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 426 | abb8b3f4 | Thomas Schöpping | {
|
| 427 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
| 428 | abb8b3f4 | Thomas Schöpping | } |
| 429 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
|
| 430 | |||
| 431 | // TODO: BNO055
|
||
| 432 | abb8b3f4 | Thomas Schöpping | |
| 433 | /*
|
||
| 434 | * INA219 (power monitor)
|
||
| 435 | */
|
||
| 436 | 4c72a54c | Thomas Schöpping | #include <module_test_INA219.h> |
| 437 | static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 438 | abb8b3f4 | Thomas Schöpping | {
|
| 439 | 4c72a54c | Thomas Schöpping | return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
| 440 | abb8b3f4 | Thomas Schöpping | } |
| 441 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
|
| 442 | abb8b3f4 | Thomas Schöpping | |
| 443 | /*
|
||
| 444 | * Status LED
|
||
| 445 | */
|
||
| 446 | 4c72a54c | Thomas Schöpping | #include <module_test_LED.h> |
| 447 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 448 | abb8b3f4 | Thomas Schöpping | {
|
| 449 | 4c72a54c | Thomas Schöpping | return moduleTestLedShellCb(stream, argc, argv, NULL); |
| 450 | abb8b3f4 | Thomas Schöpping | } |
| 451 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
|
| 452 | abb8b3f4 | Thomas Schöpping | |
| 453 | /*
|
||
| 454 | * LTC4412 (power path controller)
|
||
| 455 | */
|
||
| 456 | 4c72a54c | Thomas Schöpping | #include <module_test_LTC4412.h> |
| 457 | static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 458 | abb8b3f4 | Thomas Schöpping | {
|
| 459 | 4c72a54c | Thomas Schöpping | return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
| 460 | abb8b3f4 | Thomas Schöpping | } |
| 461 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
|
| 462 | abb8b3f4 | Thomas Schöpping | |
| 463 | /*
|
||
| 464 | * PCA9544A (I2C multiplexer)
|
||
| 465 | */
|
||
| 466 | 4c72a54c | Thomas Schöpping | #include <module_test_PCA9544A.h> |
| 467 | static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 468 | abb8b3f4 | Thomas Schöpping | {
|
| 469 | 4c72a54c | Thomas Schöpping | return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
| 470 | abb8b3f4 | Thomas Schöpping | } |
| 471 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
|
| 472 | abb8b3f4 | Thomas Schöpping | |
| 473 | /*
|
||
| 474 | * TPS62113 (step-down converter)
|
||
| 475 | */
|
||
| 476 | 4c72a54c | Thomas Schöpping | #include <module_test_TPS6211x.h> |
| 477 | static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 478 | abb8b3f4 | Thomas Schöpping | {
|
| 479 | 4c72a54c | Thomas Schöpping | return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
| 480 | abb8b3f4 | Thomas Schöpping | } |
| 481 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
|
| 482 | abb8b3f4 | Thomas Schöpping | |
| 483 | /*
|
||
| 484 | * VCNL4020 (proximity sensor)
|
||
| 485 | */
|
||
| 486 | 4c72a54c | Thomas Schöpping | #include <module_test_VCNL4020.h> |
| 487 | static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 488 | abb8b3f4 | Thomas Schöpping | {
|
| 489 | 4c72a54c | Thomas Schöpping | return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
| 490 | abb8b3f4 | Thomas Schöpping | } |
| 491 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
|
| 492 | |||
| 493 | /*
|
||
| 494 | * entire module
|
||
| 495 | */
|
||
| 496 | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 497 | abb8b3f4 | Thomas Schöpping | {
|
| 498 | 4c72a54c | Thomas Schöpping | (void)argc;
|
| 499 | (void)argv;
|
||
| 500 | |||
| 501 | int status = AOS_OK;
|
||
| 502 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
||
| 503 | aos_testresult_t result_test = {0, 0};
|
||
| 504 | aos_testresult_t result_total = {0, 0};
|
||
| 505 | |||
| 506 | /* A3906 (motor driver) */
|
||
| 507 | status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
|
||
| 508 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 509 | |||
| 510 | /* AT24C01B (EEPROM) */
|
||
| 511 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
||
| 512 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 513 | |||
| 514 | // TODO: BNO055
|
||
| 515 | |||
| 516 | /* INA219 (power monitor) */
|
||
| 517 | status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
|
||
| 518 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 519 | |||
| 520 | /* Status LED */
|
||
| 521 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
||
| 522 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 523 | |||
| 524 | /* LTC4412 (power path controller) */
|
||
| 525 | status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
|
||
| 526 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 527 | |||
| 528 | /* PCA9544A (I2C multiplexer) */
|
||
| 529 | status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
|
||
| 530 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 531 | |||
| 532 | /* TPS62113 (step-down converter) */
|
||
| 533 | status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
|
||
| 534 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 535 | |||
| 536 | /* VCNL4020 (proximity sensor) */
|
||
| 537 | // wheel left
|
||
| 538 | targv[1] = "-wl"; |
||
| 539 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 540 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 541 | // front left
|
||
| 542 | targv[1] = "-fl"; |
||
| 543 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 544 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 545 | // front right
|
||
| 546 | targv[1] = "-fr"; |
||
| 547 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 548 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 549 | // wheel right
|
||
| 550 | targv[1] = "-wr"; |
||
| 551 | status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
||
| 552 | result_total = aosTestResultAdd(result_total, result_test); |
||
| 553 | targv[1] = ""; |
||
| 554 | |||
| 555 | // print total result
|
||
| 556 | chprintf(stream, "\n");
|
||
| 557 | aosTestResultPrintSummary(stream, &result_total, "entire module");
|
||
| 558 | |||
| 559 | return status;
|
||
| 560 | abb8b3f4 | Thomas Schöpping | } |
| 561 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
| 562 | abb8b3f4 | Thomas Schöpping | |
| 563 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 564 | |||
| 565 | /** @} */
|
||
| 566 | /** @} */ |