amiro-os / modules / DiWheelDrive_1-1 / module.c @ f606e2bf
History | View | Annotate | Download (19.563 KB)
| 1 |
/*
|
|---|---|
| 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 <amiroos.h> |
| 28 |
|
| 29 |
#include <string.h> |
| 30 |
|
| 31 |
/*===========================================================================*/
|
| 32 |
/**
|
| 33 |
* @name Module specific functions
|
| 34 |
* @{
|
| 35 |
*/
|
| 36 |
/*===========================================================================*/
|
| 37 |
|
| 38 |
/** @} */
|
| 39 |
|
| 40 |
/*===========================================================================*/
|
| 41 |
/**
|
| 42 |
* @name ChibiOS/HAL configuration
|
| 43 |
* @{
|
| 44 |
*/
|
| 45 |
/*===========================================================================*/
|
| 46 |
|
| 47 |
CANConfig moduleHalCanConfig = {
|
| 48 |
/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
| 49 |
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
| 50 |
}; |
| 51 |
|
| 52 |
I2CConfig moduleHalI2cCompassConfig = {
|
| 53 |
/* I²C mode */ OPMODE_I2C,
|
| 54 |
/* frequency */ 400000, |
| 55 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
| 56 |
}; |
| 57 |
|
| 58 |
I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
|
| 59 |
/* I²C mode */ OPMODE_I2C,
|
| 60 |
/* frequency */ 400000, |
| 61 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
| 62 |
}; |
| 63 |
|
| 64 |
PWMConfig moduleHalPwmDriveConfig = {
|
| 65 |
/* frequency */ 7200000, |
| 66 |
/* period */ 360, |
| 67 |
/* callback */ NULL, |
| 68 |
/* channel configurations */ {
|
| 69 |
/* channel 0 */ {
|
| 70 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 71 |
/* callback */ NULL |
| 72 |
}, |
| 73 |
/* channel 1 */ {
|
| 74 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 75 |
/* callback */ NULL |
| 76 |
}, |
| 77 |
/* channel 2 */ {
|
| 78 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 79 |
/* callback */ NULL |
| 80 |
}, |
| 81 |
/* channel 3 */ {
|
| 82 |
/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
| 83 |
/* callback */ NULL |
| 84 |
}, |
| 85 |
}, |
| 86 |
/* TIM CR2 register */ 0, |
| 87 |
#if (STM32_PWM_USE_ADVANCED == TRUE)
|
| 88 |
/* TIM BDTR register */ 0, |
| 89 |
#endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
| 90 |
/* TIM DIER register */ 0 |
| 91 |
}; |
| 92 |
|
| 93 |
QEIConfig moduleHalQeiConfig = {
|
| 94 |
/* mode */ QEI_COUNT_BOTH,
|
| 95 |
/* channel config */ {
|
| 96 |
/* channel 0 */ {
|
| 97 |
/* input mode */ QEI_INPUT_NONINVERTED,
|
| 98 |
}, |
| 99 |
/* channel 1 */ {
|
| 100 |
/* input mode */ QEI_INPUT_NONINVERTED,
|
| 101 |
}, |
| 102 |
}, |
| 103 |
/* encoder range */ 0x10000u, |
| 104 |
}; |
| 105 |
|
| 106 |
SerialConfig moduleHalProgIfConfig = {
|
| 107 |
/* bit rate */ 115200, |
| 108 |
/* CR1 */ 0, |
| 109 |
/* CR1 */ 0, |
| 110 |
/* CR1 */ 0, |
| 111 |
}; |
| 112 |
|
| 113 |
SPIConfig moduleHalSpiAccelerometerConfig = {
|
| 114 |
/* circular buffer mode */ false, |
| 115 |
/* callback function pointer */ NULL, |
| 116 |
/* chip select line port */ PAL_PORT(LINE_ACCEL_SS_N),
|
| 117 |
/* chip select line pad number */ PAL_PAD(LINE_ACCEL_SS_N),
|
| 118 |
/* CR1 */ SPI_CR1_BR_0,
|
| 119 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 120 |
}; |
| 121 |
|
| 122 |
SPIConfig moduleHalSpiGyroscopeConfig = {
|
| 123 |
/* circular buffer mode */ false, |
| 124 |
/* callback function pointer */ NULL, |
| 125 |
/* chip select line port */ PAL_PORT(LINE_GYRO_SS_N),
|
| 126 |
/* chip select line pad number */ PAL_PAD(LINE_GYRO_SS_N),
|
| 127 |
/* CR1 */ SPI_CR1_BR_0,
|
| 128 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 129 |
}; |
| 130 |
|
| 131 |
/** @} */
|
| 132 |
|
| 133 |
/*===========================================================================*/
|
| 134 |
/**
|
| 135 |
* @name GPIO definitions
|
| 136 |
* @{
|
| 137 |
*/
|
| 138 |
/*===========================================================================*/
|
| 139 |
|
| 140 |
/**
|
| 141 |
* @brief LED output signal GPIO.
|
| 142 |
*/
|
| 143 |
static apalGpio_t _gpioLed = {
|
| 144 |
/* line */ LINE_LED,
|
| 145 |
}; |
| 146 |
ROMCONST apalControlGpio_t moduleGpioLed = {
|
| 147 |
/* GPIO */ &_gpioLed,
|
| 148 |
/* meta */ {
|
| 149 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 150 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 151 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 152 |
}, |
| 153 |
}; |
| 154 |
|
| 155 |
/**
|
| 156 |
* @brief POWER_EN output signal GPIO.
|
| 157 |
*/
|
| 158 |
static apalGpio_t _gpioPowerEn = {
|
| 159 |
/* line */ LINE_POWER_EN,
|
| 160 |
}; |
| 161 |
ROMCONST apalControlGpio_t moduleGpioPowerEn = {
|
| 162 |
/* GPIO */ &_gpioPowerEn,
|
| 163 |
/* meta */ {
|
| 164 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 165 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 166 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 167 |
}, |
| 168 |
}; |
| 169 |
|
| 170 |
/**
|
| 171 |
* @brief COMPASS_DRDY output signal GPIO.
|
| 172 |
*/
|
| 173 |
static apalGpio_t _gpioCompassDrdy = {
|
| 174 |
/* line */ LINE_COMPASS_DRDY,
|
| 175 |
}; |
| 176 |
ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {
|
| 177 |
/* GPIO */ &_gpioCompassDrdy,
|
| 178 |
/* meta */ {
|
| 179 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 180 |
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 181 |
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
|
| 182 |
}, |
| 183 |
}; |
| 184 |
|
| 185 |
/**
|
| 186 |
* @brief IR_INT input signal GPIO.
|
| 187 |
*/
|
| 188 |
static apalGpio_t _gpioIrInt = {
|
| 189 |
/* line */ LINE_IR_INT,
|
| 190 |
}; |
| 191 |
ROMCONST apalControlGpio_t moduleGpioIrInt = {
|
| 192 |
/* GPIO */ &_gpioIrInt,
|
| 193 |
/* meta */ {
|
| 194 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 195 |
/* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 196 |
/* interrupt edge */ VCNL4020_LLD_INT_EDGE,
|
| 197 |
}, |
| 198 |
}; |
| 199 |
|
| 200 |
/**
|
| 201 |
* @brief GYRO_DRDY input signal GPIO.
|
| 202 |
*/
|
| 203 |
static apalGpio_t _gpioGyroDrdy = {
|
| 204 |
/* line */ LINE_GYRO_DRDY,
|
| 205 |
}; |
| 206 |
ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {
|
| 207 |
/* GPIO */ &_gpioGyroDrdy,
|
| 208 |
/* meta */ {
|
| 209 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 210 |
/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 211 |
/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
|
| 212 |
}, |
| 213 |
}; |
| 214 |
|
| 215 |
/**
|
| 216 |
* @brief SYS_UART_UP bidirectional signal GPIO.
|
| 217 |
*/
|
| 218 |
static apalGpio_t _gpioSysUartUp = {
|
| 219 |
/* line */ LINE_SYS_UART_UP,
|
| 220 |
}; |
| 221 |
ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
|
| 222 |
/* GPIO */ &_gpioSysUartUp,
|
| 223 |
/* meta */ {
|
| 224 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 225 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 226 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 227 |
}, |
| 228 |
}; |
| 229 |
|
| 230 |
/**
|
| 231 |
* @brief ACCEL_INT input signal GPIO.
|
| 232 |
*/
|
| 233 |
static apalGpio_t _gpioAccelInt = {
|
| 234 |
/* line */ LINE_ACCEL_INT_N,
|
| 235 |
}; |
| 236 |
ROMCONST apalControlGpio_t moduleGpioAccelInt = {
|
| 237 |
/* GPIO */ &_gpioAccelInt,
|
| 238 |
/* meta */ {
|
| 239 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 240 |
/* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 241 |
/* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
|
| 242 |
}, |
| 243 |
}; |
| 244 |
|
| 245 |
/**
|
| 246 |
* @brief SYS_SNYC bidirectional signal GPIO.
|
| 247 |
*/
|
| 248 |
static apalGpio_t _gpioSysSync = {
|
| 249 |
/* line */ LINE_SYS_INT_N,
|
| 250 |
}; |
| 251 |
ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
| 252 |
/* GPIO */ &_gpioSysSync,
|
| 253 |
/* meta */ {
|
| 254 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 255 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 256 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 257 |
}, |
| 258 |
}; |
| 259 |
|
| 260 |
/**
|
| 261 |
* @brief PATH_DCSTAT input signal GPIO.
|
| 262 |
*/
|
| 263 |
static apalGpio_t _gpioPathDcStat = {
|
| 264 |
/* line */ LINE_PATH_DCSTAT,
|
| 265 |
}; |
| 266 |
ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
|
| 267 |
/* GPIO */ &_gpioPathDcStat,
|
| 268 |
/* meta */ {
|
| 269 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 270 |
/* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
|
| 271 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 272 |
}, |
| 273 |
}; |
| 274 |
|
| 275 |
/**
|
| 276 |
* @brief PATH_DCEN output signal GPIO.
|
| 277 |
*/
|
| 278 |
static apalGpio_t _gpioPathDcEn = {
|
| 279 |
/* line */ LINE_PATH_DCEN,
|
| 280 |
}; |
| 281 |
ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
|
| 282 |
/* GPIO */ &_gpioPathDcEn,
|
| 283 |
/* meta */ {
|
| 284 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 285 |
/* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
|
| 286 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 287 |
}, |
| 288 |
}; |
| 289 |
|
| 290 |
/**
|
| 291 |
* @brief SYS_PD bidirectional signal GPIO.
|
| 292 |
*/
|
| 293 |
static apalGpio_t _gpioSysPd = {
|
| 294 |
/* line */ LINE_SYS_PD_N,
|
| 295 |
}; |
| 296 |
ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
| 297 |
/* GPIO */ &_gpioSysPd,
|
| 298 |
/* meta */ {
|
| 299 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 300 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 301 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 302 |
}, |
| 303 |
}; |
| 304 |
|
| 305 |
/**
|
| 306 |
* @brief SYS_REG_EN input signal GPIO.
|
| 307 |
*/
|
| 308 |
static apalGpio_t _gpioSysRegEn = {
|
| 309 |
/* line */ LINE_SYS_REG_EN,
|
| 310 |
}; |
| 311 |
ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
|
| 312 |
/* GPIO */ &_gpioSysRegEn,
|
| 313 |
/* meta */ {
|
| 314 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 315 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 316 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 317 |
}, |
| 318 |
}; |
| 319 |
|
| 320 |
/**
|
| 321 |
* @brief SYS_WARMRST bidirectional signal GPIO.
|
| 322 |
*/
|
| 323 |
static apalGpio_t _gpioSysWarmrst = {
|
| 324 |
/* line */ LINE_SYS_WARMRST_N,
|
| 325 |
}; |
| 326 |
ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
|
| 327 |
/* GPIO */ &_gpioSysWarmrst,
|
| 328 |
/* meta */ {
|
| 329 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 330 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 331 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 332 |
}, |
| 333 |
}; |
| 334 |
|
| 335 |
/** @} */
|
| 336 |
|
| 337 |
/*===========================================================================*/
|
| 338 |
/**
|
| 339 |
* @name AMiRo-OS core configurations
|
| 340 |
* @{
|
| 341 |
*/
|
| 342 |
/*===========================================================================*/
|
| 343 |
|
| 344 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 345 |
ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
| 346 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 347 |
|
| 348 |
/** @} */
|
| 349 |
|
| 350 |
/*===========================================================================*/
|
| 351 |
/**
|
| 352 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 353 |
* @{
|
| 354 |
*/
|
| 355 |
/*===========================================================================*/
|
| 356 |
|
| 357 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__) |
| 358 |
|
| 359 |
/* some local definitions */
|
| 360 |
// maximum number of bytes per CAN frame
|
| 361 |
#define CAN_BYTES_PER_FRAME 8 |
| 362 |
// identifier (as dominant as possible)
|
| 363 |
#define MSI_BCBMSG_CANID 0 |
| 364 |
|
| 365 |
aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
|
| 366 |
{
|
| 367 |
aosDbgCheck(buffer != NULL);
|
| 368 |
aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
| 369 |
|
| 370 |
// local variables
|
| 371 |
CANTxFrame frame; |
| 372 |
|
| 373 |
// setup the common parts of the message frame
|
| 374 |
frame.DLC = (uint8_t)length; |
| 375 |
frame.RTR = CAN_RTR_DATA; |
| 376 |
frame.IDE = CAN_IDE_STD; |
| 377 |
frame.SID = MSI_BCBMSG_CANID; |
| 378 |
memcpy(frame.data8, buffer, length); |
| 379 |
|
| 380 |
// sent the frame and return
|
| 381 |
return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
|
| 382 |
} |
| 383 |
|
| 384 |
aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length) |
| 385 |
{
|
| 386 |
aosDbgCheck(buffer != NULL);
|
| 387 |
aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
| 388 |
|
| 389 |
// local variables
|
| 390 |
CANRxFrame frame; |
| 391 |
|
| 392 |
// receive a frame and check for errors
|
| 393 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
|
| 394 |
// a correct frame was received
|
| 395 |
if (frame.DLC == length &&
|
| 396 |
frame.RTR == CAN_RTR_DATA && |
| 397 |
frame.IDE == CAN_IDE_STD && |
| 398 |
frame.SID == MSI_BCBMSG_CANID) {
|
| 399 |
// success: fetch the data and return
|
| 400 |
memcpy(buffer, frame.data8, length); |
| 401 |
return AOS_SSSP_BCB_SUCCESS;
|
| 402 |
} |
| 403 |
// an unexpected frame was received
|
| 404 |
else {
|
| 405 |
return AOS_SSSP_BCB_INVALIDMSG;
|
| 406 |
} |
| 407 |
} else {
|
| 408 |
// failure: return with error
|
| 409 |
return AOS_SSSP_BCB_ERROR;
|
| 410 |
} |
| 411 |
} |
| 412 |
|
| 413 |
#undef MSI_BCBMSG_CANID
|
| 414 |
#undef CAN_BYTES_PER_FRAME
|
| 415 |
|
| 416 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */ |
| 417 |
|
| 418 |
/** @} */
|
| 419 |
|
| 420 |
/*===========================================================================*/
|
| 421 |
/**
|
| 422 |
* @name Low-level drivers
|
| 423 |
* @{
|
| 424 |
*/
|
| 425 |
/*===========================================================================*/
|
| 426 |
|
| 427 |
A3906Driver moduleLldMotors = {
|
| 428 |
/* power enable GPIO */ &moduleGpioPowerEn,
|
| 429 |
}; |
| 430 |
|
| 431 |
AT24C01BDriver moduleLldEeprom = {
|
| 432 |
/* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 433 |
/* I²C address */ AT24C01B_LLD_I2C_ADDR_FIXED,
|
| 434 |
}; |
| 435 |
|
| 436 |
HMC5883LDriver moduleLldCompass = {
|
| 437 |
/* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
|
| 438 |
}; |
| 439 |
|
| 440 |
INA219Driver moduleLldPowerMonitorVdd = {
|
| 441 |
/* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 442 |
/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
| 443 |
/* current LSB (uA) */ 0x00u, |
| 444 |
/* configuration */ NULL, |
| 445 |
}; |
| 446 |
|
| 447 |
L3G4200DDriver moduleLldGyroscope = {
|
| 448 |
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
|
| 449 |
}; |
| 450 |
|
| 451 |
LEDDriver moduleLldStatusLed = {
|
| 452 |
/* LED enable Gpio */ &moduleGpioLed,
|
| 453 |
}; |
| 454 |
|
| 455 |
LIS331DLHDriver moduleLldAccelerometer = {
|
| 456 |
/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
|
| 457 |
}; |
| 458 |
|
| 459 |
LTC4412Driver moduleLldPowerPathController = {
|
| 460 |
/* Control GPIO */ &moduleGpioPathDcEn,
|
| 461 |
/* Status GPIO */ &moduleGpioPathDcStat,
|
| 462 |
}; |
| 463 |
|
| 464 |
PCA9544ADriver moduleLldI2cMultiplexer = {
|
| 465 |
/* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 466 |
/* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
|
| 467 |
}; |
| 468 |
|
| 469 |
TPS6211xDriver moduleLldStepDownConverterVdrive = {
|
| 470 |
/* Power enable Gpio */ &moduleGpioPowerEn,
|
| 471 |
}; |
| 472 |
|
| 473 |
VCNL4020Driver moduleLldProximity = {
|
| 474 |
/* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
|
| 475 |
}; |
| 476 |
|
| 477 |
/** @} */
|
| 478 |
|
| 479 |
/*===========================================================================*/
|
| 480 |
/**
|
| 481 |
* @name Tests
|
| 482 |
* @{
|
| 483 |
*/
|
| 484 |
/*===========================================================================*/
|
| 485 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 486 |
|
| 487 |
/*
|
| 488 |
* A3906 (motor driver)
|
| 489 |
*/
|
| 490 |
#include <module_test_A3906.h> |
| 491 |
static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 492 |
{
|
| 493 |
return moduleTestA3906ShellCb(stream, argc, argv, NULL); |
| 494 |
} |
| 495 |
AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
|
| 496 |
|
| 497 |
/*
|
| 498 |
* AT24C01BN-SH-B (EEPROM)
|
| 499 |
*/
|
| 500 |
#include <module_test_AT24C01B.h> |
| 501 |
static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 502 |
{
|
| 503 |
return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
| 504 |
} |
| 505 |
AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
|
| 506 |
|
| 507 |
/*
|
| 508 |
* HMC5883L (compass)
|
| 509 |
*/
|
| 510 |
#include <module_test_HMC5883L.h> |
| 511 |
static int _testHmc5883lShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 512 |
{
|
| 513 |
return moduleTestHmc5883lShellCb(stream, argc, argv, NULL); |
| 514 |
} |
| 515 |
AOS_SHELL_COMMAND(moduleTestHmc5883lShellCmd, "test:Compass", _testHmc5883lShellCmdCb);
|
| 516 |
|
| 517 |
/*
|
| 518 |
* INA219 (power monitor)
|
| 519 |
*/
|
| 520 |
#include <module_test_INA219.h> |
| 521 |
static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 522 |
{
|
| 523 |
return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
| 524 |
} |
| 525 |
AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
|
| 526 |
|
| 527 |
/*
|
| 528 |
* L3G4200D (gyroscope)
|
| 529 |
*/
|
| 530 |
#include <module_test_L3G4200D.h> |
| 531 |
static int _testL3g4200dShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 532 |
{
|
| 533 |
return moduleTestL3g4200dShellCb(stream, argc, argv, NULL); |
| 534 |
} |
| 535 |
AOS_SHELL_COMMAND(moduleTestL3g4200dShellCmd, "test:Gyroscope", _testL3g4200dShellCmdCb);
|
| 536 |
|
| 537 |
/*
|
| 538 |
* Status LED
|
| 539 |
*/
|
| 540 |
#include <module_test_LED.h> |
| 541 |
static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 542 |
{
|
| 543 |
return moduleTestLedShellCb(stream, argc, argv, NULL); |
| 544 |
} |
| 545 |
AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
|
| 546 |
|
| 547 |
/*
|
| 548 |
* LIS331DLH (accelerometer)
|
| 549 |
*/
|
| 550 |
#include <module_test_LIS331DLH.h> |
| 551 |
static int _testLis331dlhShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 552 |
{
|
| 553 |
return moduleTestLis331dlhShellCb(stream, argc, argv, NULL); |
| 554 |
} |
| 555 |
AOS_SHELL_COMMAND(moduleTestLis331dlhShellCmd, "test:Accelerometer", _testLis331dlhShellCmdCb);
|
| 556 |
|
| 557 |
/*
|
| 558 |
* LTC4412 (power path controller)
|
| 559 |
*/
|
| 560 |
#include <module_test_LTC4412.h> |
| 561 |
static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 562 |
{
|
| 563 |
return moduleTestLtc4412ShellCb(stream, argc, argv, NULL); |
| 564 |
} |
| 565 |
AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
|
| 566 |
|
| 567 |
/*
|
| 568 |
* PCA9544A (I2C multiplexer)
|
| 569 |
*/
|
| 570 |
#include <module_test_PCA9544A.h> |
| 571 |
static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 572 |
{
|
| 573 |
return moduleTestPca9544aShellCb(stream, argc, argv, NULL); |
| 574 |
} |
| 575 |
AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
|
| 576 |
|
| 577 |
/*
|
| 578 |
* TPS62113 (step-down converter)
|
| 579 |
*/
|
| 580 |
#include <module_test_TPS6211x.h> |
| 581 |
static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 582 |
{
|
| 583 |
return moduleTestTps6211xShellCb(stream, argc, argv, NULL); |
| 584 |
} |
| 585 |
AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
|
| 586 |
|
| 587 |
/*
|
| 588 |
* VCNL4020 (proximity sensor)
|
| 589 |
*/
|
| 590 |
#include <module_test_VCNL4020.h> |
| 591 |
static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 592 |
{
|
| 593 |
return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL); |
| 594 |
} |
| 595 |
AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
|
| 596 |
|
| 597 |
/*
|
| 598 |
* entire module
|
| 599 |
*/
|
| 600 |
static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 601 |
{
|
| 602 |
(void)argc;
|
| 603 |
(void)argv;
|
| 604 |
|
| 605 |
int status = AOS_OK;
|
| 606 |
char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
| 607 |
aos_testresult_t result_test = {0, 0};
|
| 608 |
aos_testresult_t result_total = {0, 0};
|
| 609 |
|
| 610 |
/* A3906 (motor driver) */
|
| 611 |
status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
|
| 612 |
result_total = aosTestResultAdd(result_total, result_test); |
| 613 |
|
| 614 |
/* AT24C01B (EEPROM) */
|
| 615 |
status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
| 616 |
result_total = aosTestResultAdd(result_total, result_test); |
| 617 |
|
| 618 |
/* HMC5883L (compass) */
|
| 619 |
status |= moduleTestHmc5883lShellCb(stream, 0, targv, &result_test);
|
| 620 |
result_total = aosTestResultAdd(result_total, result_test); |
| 621 |
|
| 622 |
/* INA219 (power monitor) */
|
| 623 |
status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
|
| 624 |
result_total = aosTestResultAdd(result_total, result_test); |
| 625 |
|
| 626 |
/* L3G4200D (gyroscope) */
|
| 627 |
status |= moduleTestL3g4200dShellCb(stream, 0, targv, &result_test);
|
| 628 |
result_total = aosTestResultAdd(result_total, result_test); |
| 629 |
|
| 630 |
/* Status LED */
|
| 631 |
status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
| 632 |
result_total = aosTestResultAdd(result_total, result_test); |
| 633 |
|
| 634 |
/* LIS331DLH (accelerometer) */
|
| 635 |
status |= moduleTestLis331dlhShellCb(stream, 0, targv, &result_test);
|
| 636 |
result_total = aosTestResultAdd(result_total, result_test); |
| 637 |
|
| 638 |
/* LTC4412 (power path controller) */
|
| 639 |
status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
|
| 640 |
result_total = aosTestResultAdd(result_total, result_test); |
| 641 |
|
| 642 |
/* PCA9544A (I2C multiplexer) */
|
| 643 |
status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
|
| 644 |
result_total = aosTestResultAdd(result_total, result_test); |
| 645 |
|
| 646 |
/* TPS62113 (step-down converter) */
|
| 647 |
status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
|
| 648 |
result_total = aosTestResultAdd(result_total, result_test); |
| 649 |
|
| 650 |
/* VCNL4020 (proximity sensor) */
|
| 651 |
// wheel left
|
| 652 |
targv[1] = "-wl"; |
| 653 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 654 |
result_total = aosTestResultAdd(result_total, result_test); |
| 655 |
// front left
|
| 656 |
targv[1] = "-fl"; |
| 657 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 658 |
result_total = aosTestResultAdd(result_total, result_test); |
| 659 |
// front right
|
| 660 |
targv[1] = "-fr"; |
| 661 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 662 |
result_total = aosTestResultAdd(result_total, result_test); |
| 663 |
// wheel right
|
| 664 |
targv[1] = "-wr"; |
| 665 |
status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
|
| 666 |
result_total = aosTestResultAdd(result_total, result_test); |
| 667 |
targv[1] = ""; |
| 668 |
|
| 669 |
// print total result
|
| 670 |
chprintf(stream, "\n");
|
| 671 |
aosTestResultPrintSummary(stream, &result_total, "entire module");
|
| 672 |
|
| 673 |
return status;
|
| 674 |
} |
| 675 |
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
| 676 |
|
| 677 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 678 |
|
| 679 |
/** @} */
|
| 680 |
/** @} */
|