/modules/NUCLEO-L476RG/module.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / NUCLEO-L476RG / module.c @ f606e2bf

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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..2019  Thomas Schöpping et al.
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+            Simon Welzel
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /**
  * @file
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+ * @brief   Structures and constant for the NUCLEO-L476RG module.
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+            Simon Welzel
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+ * @addtogroup NUCLEO-L476RG_module
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+ * @{
  */
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+#include <amiroos.h>
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+            Simon Welzel
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 SerialConfig moduleHalProgIfConfig = {
   /* bit rate */ 115200,
   /* CR1      */ 0,
   /* CR1      */ 0,
   /* CR1      */ 0,
 };
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+#if (BOARD_MPU6050_CONNECTED == true)
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+            Thomas Schöpping
 I2CConfig moduleHalI2c3Config = {
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+  /* timing reg */ 0, // configured later in MODULE_INIT_PERIPHERY_IF_MPU6050() hook
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+  /* CR1        */ 0,
   /* CR2        */ 0,
 };
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+#endif /* (BOARD_MPU6050_CONNECTED == true) */
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+            Thomas Schöpping
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+/** @} */
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+/*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
 /**
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+ * @brief   LED output signal GPIO.
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+ */
 static apalGpio_t _gpioLed = {
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+  /* line */ LINE_LED_GREEN,
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+};
 ROMCONST apalControlGpio_t moduleGpioLed = {
   /* GPIO */ &_gpioLed,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
 /**
  * @brief   User button input signal GPIO.
  */
 static apalGpio_t _gpioUserButton = {
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+  /* line */ LINE_BUTTON,
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+};
 ROMCONST apalControlGpio_t moduleGpioUserButton = {
   /* GPIO */ &_gpioUserButton,
   /* meta */ {
     /* 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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+            Simon Welzel
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
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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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+            Simon Welzel
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+/** @} */
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+            Simon Welzel
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+/*===========================================================================*/
 /**
  * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
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+LEDDriver moduleLldLed = {
   /* LED enable Gpio */ &moduleGpioLed,
 };
 ButtonDriver moduleLldUserButton = {
   /* Button Gpio  */ &moduleGpioUserButton,
 };
 #if (BOARD_MPU6050_CONNECTED == true)
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+            Thomas Schöpping
 MPU6050Driver moduleLldMpu6050 = {
   /* I2C Driver       */ &MODULE_HAL_I2C3,
   /* I²C address      */ MPU6050_LLD_I2C_ADDR_FIXED,
 };
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+#endif /* (BOARD_MPU6050_CONNECTED == true) */
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+            Thomas Schöpping
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+/** @} */
 /*===========================================================================*/
 /**
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+ * @name Tests
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+ * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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+            Simon Welzel
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+/*
  * LED
  */
 #include <module_test_LED.h>
 static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+{
   return moduleTestLedShellCb(stream, argc, argv, NULL);
+}
 AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
 /*
  * User button
  */
 #include <module_test_button.h>
 static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+{
   return moduleTestButtonShellCb(stream, argc, argv, NULL);
+}
 AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
 #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__)
 /*
  * MPU6050 (accelerometer & gyroscope)
  */
 #include <module_test_MPU6050.h>
 static int _testMpu6050ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+{
   return moduleTestMpu6050ShellCb(stream, argc, argv, NULL);
+}
 AOS_SHELL_COMMAND(moduleTestMpu6050ShellCmd, "test:IMU", _testMpu6050ShellCmdCb);
 #endif /* (BOARD_MPU6050_CONNECTED == true) */
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+            Thomas Schöpping
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+/*
  * entire module
  */
 static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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+            Thomas Schöpping
   (void)argc;
   (void)argv;
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+  int status = AOS_OK;
   char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};
   aos_testresult_t result_test = {0, 0};
   aos_testresult_t result_total = {0, 0};
   /* LED */
   status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
   result_total = aosTestResultAdd(result_total, result_test);
   /* User button */
   status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
   result_total = aosTestResultAdd(result_total, result_test);
   /* MPU6050 (accelerometer & gyroscope) */
 #if (BOARD_MPU6050_CONNECTED == true)
   status |= moduleTestMpu6050ShellCb(stream, 0, targv, &result_test);
   result_total = aosTestResultAdd(result_total, result_test);
 #endif /* (BOARD_MPU6050_CONNECTED == true) */
   // print total result
   chprintf(stream, "\n");
   aosTestResultPrintSummary(stream, &result_total, "entire module");
   return status;
+}
 AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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+            Thomas Schöpping
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+#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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+            Thomas Schöpping
 /** @} */
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+/** @} */