amiro-os / modules / DiWheelDrive_1-1 / module.h @ 0128be0f
History | View | Annotate | Download (17.672 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | Copyright (C) 2016..2018 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 | #ifndef _AMIROOS_MODULE_H_
|
||
| 20 | #define _AMIROOS_MODULE_H_
|
||
| 21 | |||
| 22 | /*===========================================================================*/
|
||
| 23 | /**
|
||
| 24 | * @name Module specific functions
|
||
| 25 | * @{
|
||
| 26 | */
|
||
| 27 | /*===========================================================================*/
|
||
| 28 | |||
| 29 | /** @} */
|
||
| 30 | |||
| 31 | /*===========================================================================*/
|
||
| 32 | /**
|
||
| 33 | * @name ChibiOS/HAL configuration
|
||
| 34 | * @{
|
||
| 35 | */
|
||
| 36 | /*===========================================================================*/
|
||
| 37 | #include <hal.h> |
||
| 38 | #include <hal_qei.h> |
||
| 39 | 0128be0f | Marc Rothmann | #include <aos_interrupts.h> |
| 40 | e545e620 | Thomas Schöpping | |
| 41 | /**
|
||
| 42 | * @brief CAN driver to use.
|
||
| 43 | */
|
||
| 44 | #define MODULE_HAL_CAN CAND1
|
||
| 45 | |||
| 46 | /**
|
||
| 47 | * @brief Configuration for the CAN driver.
|
||
| 48 | */
|
||
| 49 | extern CANConfig moduleHalCanConfig;
|
||
| 50 | |||
| 51 | /**
|
||
| 52 | 0128be0f | Marc Rothmann | * @brief Interrupt driver (PAL).
|
| 53 | e545e620 | Thomas Schöpping | */
|
| 54 | 0128be0f | Marc Rothmann | |
| 55 | extern aos_interrupt_driver_t moduleIntDriver;
|
||
| 56 | e545e620 | Thomas Schöpping | |
| 57 | /**
|
||
| 58 | 0128be0f | Marc Rothmann | * @brief Interrupt driver config.
|
| 59 | e545e620 | Thomas Schöpping | */
|
| 60 | 0128be0f | Marc Rothmann | extern aos_interrupt_cfg_t moduleIntConfig[10]; |
| 61 | e545e620 | Thomas Schöpping | |
| 62 | /**
|
||
| 63 | * @brief I2C driver to access the compass.
|
||
| 64 | */
|
||
| 65 | #define MODULE_HAL_I2C_COMPASS I2CD1
|
||
| 66 | |||
| 67 | /**
|
||
| 68 | * @brief Configuration for the compass I2C driver.
|
||
| 69 | */
|
||
| 70 | extern I2CConfig moduleHalI2cCompassConfig;
|
||
| 71 | |||
| 72 | /**
|
||
| 73 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
|
||
| 74 | */
|
||
| 75 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
|
||
| 76 | |||
| 77 | /**
|
||
| 78 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
|
||
| 79 | */
|
||
| 80 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
|
||
| 81 | |||
| 82 | /**
|
||
| 83 | * @brief PWM driver to use.
|
||
| 84 | */
|
||
| 85 | #define MODULE_HAL_PWM_DRIVE PWMD2
|
||
| 86 | |||
| 87 | /**
|
||
| 88 | * @brief Configuration for the PWM driver.
|
||
| 89 | */
|
||
| 90 | extern PWMConfig moduleHalPwmDriveConfig;
|
||
| 91 | |||
| 92 | /**
|
||
| 93 | * @brief Drive PWM channel for the left wheel forward direction.
|
||
| 94 | */
|
||
| 95 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD 0 |
||
| 96 | |||
| 97 | /**
|
||
| 98 | * @brief Drive PWM channel for the left wheel backward direction.
|
||
| 99 | */
|
||
| 100 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD 1 |
||
| 101 | |||
| 102 | /**
|
||
| 103 | * @brief Drive PWM channel for the right wheel forward direction.
|
||
| 104 | */
|
||
| 105 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD 2 |
||
| 106 | |||
| 107 | /**
|
||
| 108 | * @brief Drive PWM channel for the right wheel backward direction.
|
||
| 109 | */
|
||
| 110 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD 3 |
||
| 111 | |||
| 112 | /**
|
||
| 113 | * @brief Quadrature encooder for the left wheel.
|
||
| 114 | */
|
||
| 115 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
|
||
| 116 | |||
| 117 | /**
|
||
| 118 | * @brief Quadrature encooder for the right wheel.
|
||
| 119 | */
|
||
| 120 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
|
||
| 121 | |||
| 122 | /**
|
||
| 123 | * @brief Configuration for both quadrature encoders.
|
||
| 124 | */
|
||
| 125 | extern QEIConfig moduleHalQeiConfig;
|
||
| 126 | |||
| 127 | /**
|
||
| 128 | * @brief QEI increments per wheel revolution.
|
||
| 129 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
|
||
| 130 | */
|
||
| 131 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
||
| 132 | |||
| 133 | /**
|
||
| 134 | * @brief Serial driver of the programmer interface.
|
||
| 135 | */
|
||
| 136 | #define MODULE_HAL_PROGIF SD1
|
||
| 137 | |||
| 138 | /**
|
||
| 139 | * @brief Configuration for the programmer serial interface driver.
|
||
| 140 | */
|
||
| 141 | extern SerialConfig moduleHalProgIfConfig;
|
||
| 142 | |||
| 143 | /**
|
||
| 144 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
|
||
| 145 | */
|
||
| 146 | #define MODULE_HAL_SPI_MOTION SPID1
|
||
| 147 | |||
| 148 | /**
|
||
| 149 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
|
||
| 150 | */
|
||
| 151 | extern SPIConfig moduleHalSpiAccelerometerConfig;
|
||
| 152 | |||
| 153 | /**
|
||
| 154 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
|
||
| 155 | */
|
||
| 156 | extern SPIConfig moduleHalSpiGyroscopeConfig;
|
||
| 157 | |||
| 158 | 8399aeae | Thomas Schöpping | /**
|
| 159 | * @brief Real-Time Clock driver.
|
||
| 160 | */
|
||
| 161 | #define MODULE_HAL_RTC RTCD1
|
||
| 162 | |||
| 163 | e545e620 | Thomas Schöpping | /** @} */
|
| 164 | |||
| 165 | /*===========================================================================*/
|
||
| 166 | /**
|
||
| 167 | * @name GPIO definitions
|
||
| 168 | * @{
|
||
| 169 | */
|
||
| 170 | /*===========================================================================*/
|
||
| 171 | #include <amiro-lld.h> |
||
| 172 | |||
| 173 | /**
|
||
| 174 | * @brief Interrupt channel for the SYS_SYNC signal.
|
||
| 175 | */
|
||
| 176 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSSYNC ((uint8_t)1) |
| 177 | e545e620 | Thomas Schöpping | |
| 178 | /**
|
||
| 179 | * @brief Interrupt channel for the SYS_WARMRST signal.
|
||
| 180 | */
|
||
| 181 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSWARMRST ((uint8_t)2) |
| 182 | e545e620 | Thomas Schöpping | |
| 183 | /**
|
||
| 184 | * @brief Interrupt channel for the PATH_DCSTAT signal.
|
||
| 185 | */
|
||
| 186 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_PATHDCSTAT ((uint8_t)3) |
| 187 | e545e620 | Thomas Schöpping | |
| 188 | /**
|
||
| 189 | * @brief Interrupt channel for the COMPASS_DRDY signal.
|
||
| 190 | */
|
||
| 191 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_COMPASSDRDY ((uint8_t)4) |
| 192 | e545e620 | Thomas Schöpping | |
| 193 | /**
|
||
| 194 | * @brief Interrupt channel for the SYS_PD signal.
|
||
| 195 | */
|
||
| 196 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSPD ((uint8_t)5) |
| 197 | e545e620 | Thomas Schöpping | |
| 198 | /**
|
||
| 199 | * @brief Interrupt channel for the SYS_REG_EN signal.
|
||
| 200 | */
|
||
| 201 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSREGEN ((uint8_t)6) |
| 202 | e545e620 | Thomas Schöpping | |
| 203 | /**
|
||
| 204 | * @brief Interrupt channel for the IR_INT signal.
|
||
| 205 | */
|
||
| 206 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_IRINT ((uint8_t)7) |
| 207 | e545e620 | Thomas Schöpping | |
| 208 | /**
|
||
| 209 | * @brief Interrupt channel for the GYRO_DRDY signal.
|
||
| 210 | */
|
||
| 211 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_GYRODRDY ((uint8_t)8) |
| 212 | e545e620 | Thomas Schöpping | |
| 213 | /**
|
||
| 214 | * @brief Interrupt channel for the SYS_UART_UP signal.
|
||
| 215 | */
|
||
| 216 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSUARTUP ((uint8_t)9) |
| 217 | e545e620 | Thomas Schöpping | |
| 218 | /**
|
||
| 219 | * @brief Interrupt channel for the ACCEL_INT signal.
|
||
| 220 | */
|
||
| 221 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_ACCELINT ((uint8_t)10) |
| 222 | e545e620 | Thomas Schöpping | |
| 223 | /**
|
||
| 224 | * @brief LED output signal GPIO.
|
||
| 225 | */
|
||
| 226 | extern apalGpio_t moduleGpioLed;
|
||
| 227 | |||
| 228 | /**
|
||
| 229 | * @brief POWER_EN output signal GPIO.
|
||
| 230 | */
|
||
| 231 | extern apalGpio_t moduleGpioPowerEn;
|
||
| 232 | |||
| 233 | /**
|
||
| 234 | * @brief COMPASS_DRDY input signal GPIO.
|
||
| 235 | */
|
||
| 236 | extern apalGpio_t moduleGpioCompassDrdy;
|
||
| 237 | |||
| 238 | /**
|
||
| 239 | * @brief IR_INT input signal GPIO.
|
||
| 240 | */
|
||
| 241 | extern apalGpio_t moduleGpioIrInt;
|
||
| 242 | |||
| 243 | /**
|
||
| 244 | * @brief GYRO_DRDY input signal GPIO.
|
||
| 245 | */
|
||
| 246 | extern apalGpio_t moduleGpioGyroDrdy;
|
||
| 247 | |||
| 248 | /**
|
||
| 249 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
| 250 | */
|
||
| 251 | extern apalGpio_t moduleGpioSysUartUp;
|
||
| 252 | |||
| 253 | /**
|
||
| 254 | * @brief ACCEL_INT input signal GPIO.
|
||
| 255 | */
|
||
| 256 | extern apalGpio_t moduleGpioAccelInt;
|
||
| 257 | |||
| 258 | /**
|
||
| 259 | * @brief SYS_SNYC bidirectional signal GPIO.
|
||
| 260 | */
|
||
| 261 | extern apalGpio_t moduleGpioSysSync;
|
||
| 262 | |||
| 263 | /**
|
||
| 264 | * @brief PATH_DCSTAT input signal GPIO.
|
||
| 265 | */
|
||
| 266 | extern apalGpio_t moduleGpioPathDcStat;
|
||
| 267 | |||
| 268 | /**
|
||
| 269 | * @brief PATH_DCEN output signal GPIO.
|
||
| 270 | */
|
||
| 271 | extern apalGpio_t moduleGpioPathDcEn;
|
||
| 272 | |||
| 273 | /**
|
||
| 274 | * @brief SYS_PD bidirectional signal GPIO.
|
||
| 275 | */
|
||
| 276 | extern apalGpio_t moduleGpioSysPd;
|
||
| 277 | |||
| 278 | /**
|
||
| 279 | * @brief SYS_REG_EN input signal GPIO.
|
||
| 280 | */
|
||
| 281 | extern apalGpio_t moduleGpioSysRegEn;
|
||
| 282 | |||
| 283 | /**
|
||
| 284 | * @brief SYS_WARMRST bidirectional signal GPIO.
|
||
| 285 | */
|
||
| 286 | extern apalGpio_t moduleGpioSysWarmrst;
|
||
| 287 | |||
| 288 | /** @} */
|
||
| 289 | |||
| 290 | /*===========================================================================*/
|
||
| 291 | /**
|
||
| 292 | * @name AMiRo-OS core configurations
|
||
| 293 | * @{
|
||
| 294 | */
|
||
| 295 | /*===========================================================================*/
|
||
| 296 | |||
| 297 | /**
|
||
| 298 | * @brief Event flag to be set on a SYS_SYNC interrupt.
|
||
| 299 | */
|
||
| 300 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_INT_SYSSYNC)) |
| 301 | e545e620 | Thomas Schöpping | |
| 302 | /**
|
||
| 303 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
|
||
| 304 | */
|
||
| 305 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)(1 << MODULE_GPIO_INT_SYSWARMRST)) |
| 306 | e545e620 | Thomas Schöpping | |
| 307 | /**
|
||
| 308 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
|
||
| 309 | */
|
||
| 310 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)(1 << MODULE_GPIO_INT_PATHDCSTAT)) |
| 311 | e545e620 | Thomas Schöpping | |
| 312 | /**
|
||
| 313 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
|
||
| 314 | */
|
||
| 315 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)(1 << MODULE_GPIO_INT_COMPASSDRDY)) |
| 316 | e545e620 | Thomas Schöpping | |
| 317 | /**
|
||
| 318 | * @brief Event flag to be set on a SYS_PD interrupt.
|
||
| 319 | */
|
||
| 320 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)(1 << MODULE_GPIO_INT_SYSPD)) |
| 321 | e545e620 | Thomas Schöpping | |
| 322 | /**
|
||
| 323 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
|
||
| 324 | */
|
||
| 325 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)(1 << MODULE_GPIO_INT_SYSREGEN)) |
| 326 | e545e620 | Thomas Schöpping | |
| 327 | /**
|
||
| 328 | * @brief Event flag to be set on a IR_INT interrupt.
|
||
| 329 | */
|
||
| 330 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)(1 << MODULE_GPIO_INT_IRINT)) |
| 331 | e545e620 | Thomas Schöpping | |
| 332 | /**
|
||
| 333 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
|
||
| 334 | */
|
||
| 335 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)(1 << MODULE_GPIO_INT_GYRODRDY)) |
| 336 | e545e620 | Thomas Schöpping | |
| 337 | /**
|
||
| 338 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
|
||
| 339 | */
|
||
| 340 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)(1 << MODULE_GPIO_INT_SYSUARTUP)) |
| 341 | e545e620 | Thomas Schöpping | |
| 342 | /**
|
||
| 343 | * @brief Event flag to be set on a ACCEL_INT interrupt.
|
||
| 344 | */
|
||
| 345 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)(1 << MODULE_GPIO_INT_ACCELINT)) |
| 346 | e545e620 | Thomas Schöpping | |
| 347 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 348 | e545e620 | Thomas Schöpping | /**
|
| 349 | * @brief Shell prompt text.
|
||
| 350 | */
|
||
| 351 | extern const char* moduleShellPrompt; |
||
| 352 | 6b53f6bf | Thomas Schöpping | #endif
|
| 353 | e545e620 | Thomas Schöpping | |
| 354 | /**
|
||
| 355 | * @brief Additional HAL initialization hook.
|
||
| 356 | */
|
||
| 357 | #define MODULE_INIT_HAL_EXTRA() { \
|
||
| 358 | qeiInit(); \ |
||
| 359 | } |
||
| 360 | |||
| 361 | /**
|
||
| 362 | * @brief Unit test initialization hook.
|
||
| 363 | */
|
||
| 364 | #define MODULE_INIT_TESTS() { \
|
||
| 365 | /* add unit-test shell commands */ \
|
||
| 366 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
| 367 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
||
| 368 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
||
| 369 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
||
| 370 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
||
| 371 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
||
| 372 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
||
| 373 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
||
| 374 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
||
| 375 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
||
| 376 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
||
| 377 | e545e620 | Thomas Schöpping | } |
| 378 | |||
| 379 | /**
|
||
| 380 | * @brief Periphery communication interfaces initialization hook.
|
||
| 381 | */
|
||
| 382 | #define MODULE_INIT_PERIPHERY_COMM() { \
|
||
| 383 | /* serial driver */ \
|
||
| 384 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
||
| 385 | /* I2C */ \
|
||
| 386 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
||
| 387 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
||
| 388 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
||
| 389 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 390 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 391 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 392 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 393 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
||
| 394 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
||
| 395 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
|
||
| 396 | /* PWM */ \
|
||
| 397 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
||
| 398 | /* QEI */ \
|
||
| 399 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
||
| 400 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
||
| 401 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
||
| 402 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
||
| 403 | } |
||
| 404 | |||
| 405 | /**
|
||
| 406 | * @brief Periphery communication interface deinitialization hook.
|
||
| 407 | */
|
||
| 408 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
||
| 409 | /* PWM */ \
|
||
| 410 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
||
| 411 | /* QEI */ \
|
||
| 412 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
||
| 413 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
||
| 414 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
||
| 415 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
||
| 416 | /* I2C */ \
|
||
| 417 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
||
| 418 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
||
| 419 | /* don't stop the serial driver so messages can still be printed */ \
|
||
| 420 | } |
||
| 421 | |||
| 422 | /** @} */
|
||
| 423 | |||
| 424 | /*===========================================================================*/
|
||
| 425 | /**
|
||
| 426 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 427 | * @{
|
||
| 428 | */
|
||
| 429 | /*===========================================================================*/
|
||
| 430 | |||
| 431 | /**
|
||
| 432 | * @brief PD signal GPIO.
|
||
| 433 | */
|
||
| 434 | extern apalControlGpio_t moduleSsspGpioPd;
|
||
| 435 | |||
| 436 | /**
|
||
| 437 | * @brief SYNC signal GPIO.
|
||
| 438 | */
|
||
| 439 | extern apalControlGpio_t moduleSsspGpioSync;
|
||
| 440 | |||
| 441 | /**
|
||
| 442 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
|
| 443 | */
|
||
| 444 | extern apalControlGpio_t moduleSsspGpioUp;
|
||
| 445 | |||
| 446 | /**
|
||
| 447 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
|
| 448 | */
|
||
| 449 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
|
||
| 450 | |||
| 451 | /**
|
||
| 452 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
|
| 453 | 6b53f6bf | Thomas Schöpping | */
|
| 454 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
|
||
| 455 | |||
| 456 | /**
|
||
| 457 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
|
| 458 | */
|
||
| 459 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
|
||
| 460 | |||
| 461 | 6b53f6bf | Thomas Schöpping | /** @} */
|
| 462 | |||
| 463 | /*===========================================================================*/
|
||
| 464 | /**
|
||
| 465 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
| 466 | * @{
|
||
| 467 | */
|
||
| 468 | /*===========================================================================*/
|
||
| 469 | #include <alld_a3906.h> |
||
| 470 | #include <alld_at24c01bn-sh-b.h> |
||
| 471 | #include <alld_hmc5883l.h> |
||
| 472 | #include <alld_ina219.h> |
||
| 473 | #include <alld_l3g4200d.h> |
||
| 474 | #include <alld_led.h> |
||
| 475 | #include <alld_lis331dlh.h> |
||
| 476 | #include <alld_ltc4412.h> |
||
| 477 | #include <alld_pca9544a.h> |
||
| 478 | #include <alld_tps62113.h> |
||
| 479 | #include <alld_vcnl4020.h> |
||
| 480 | |||
| 481 | /**
|
||
| 482 | * @brief Motor driver.
|
||
| 483 | */
|
||
| 484 | extern A3906Driver moduleLldMotors;
|
||
| 485 | |||
| 486 | /**
|
||
| 487 | * @brief EEPROM driver.
|
||
| 488 | */
|
||
| 489 | extern AT24C01BNDriver moduleLldEeprom;
|
||
| 490 | |||
| 491 | /**
|
||
| 492 | * @brief Compass driver.
|
||
| 493 | */
|
||
| 494 | extern HMC5883LDriver moduleLldCompass;
|
||
| 495 | |||
| 496 | /**
|
||
| 497 | * @brief Power monitor (VDD) driver.
|
||
| 498 | */
|
||
| 499 | extern INA219Driver moduleLldPowerMonitorVdd;
|
||
| 500 | |||
| 501 | /**
|
||
| 502 | * @brief Gyroscope driver.
|
||
| 503 | */
|
||
| 504 | extern L3G4200DDriver moduleLldGyroscope;
|
||
| 505 | |||
| 506 | /**
|
||
| 507 | * @brief Status LED driver.
|
||
| 508 | */
|
||
| 509 | extern LEDDriver moduleLldStatusLed;
|
||
| 510 | |||
| 511 | /**
|
||
| 512 | * @brief Accelerometer driver.
|
||
| 513 | */
|
||
| 514 | extern LIS331DLHDriver moduleLldAccelerometer;
|
||
| 515 | |||
| 516 | /**
|
||
| 517 | * @brief Power path controler (charging pins) driver.
|
||
| 518 | */
|
||
| 519 | extern LTC4412Driver moduleLldPowerPathController;
|
||
| 520 | |||
| 521 | /**
|
||
| 522 | * @brief I2C multiplexer driver.
|
||
| 523 | */
|
||
| 524 | extern PCA9544ADriver moduleLldI2cMultiplexer;
|
||
| 525 | |||
| 526 | /**
|
||
| 527 | * @brief Step down converter (VDRIVE) driver.
|
||
| 528 | */
|
||
| 529 | extern TPS62113Driver moduleLldStepDownConverterVdrive;
|
||
| 530 | |||
| 531 | /**
|
||
| 532 | * @brief Proximity sensor driver.
|
||
| 533 | */
|
||
| 534 | extern VCNL4020Driver moduleLldProximity;
|
||
| 535 | |||
| 536 | /** @} */
|
||
| 537 | |||
| 538 | /*===========================================================================*/
|
||
| 539 | /**
|
||
| 540 | * @name Unit tests (UT)
|
||
| 541 | * @{
|
||
| 542 | */
|
||
| 543 | /*===========================================================================*/
|
||
| 544 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 545 | #include <ut_alld_a3906.h> |
||
| 546 | #include <ut_alld_at24c01bn-sh-b.h> |
||
| 547 | #include <ut_alld_hmc5883l.h> |
||
| 548 | #include <ut_alld_ina219.h> |
||
| 549 | #include <ut_alld_l3g4200d.h> |
||
| 550 | #include <ut_alld_led.h> |
||
| 551 | #include <ut_alld_lis331dlh.h> |
||
| 552 | #include <ut_alld_ltc4412.h> |
||
| 553 | #include <ut_alld_pca9544a.h> |
||
| 554 | #include <ut_alld_tps62113.h> |
||
| 555 | #include <ut_alld_vcnl4020.h> |
||
| 556 | |||
| 557 | /**
|
||
| 558 | * @brief A3906 (motor driver) unit test object.
|
||
| 559 | */
|
||
| 560 | extern aos_unittest_t moduleUtAlldA3906;
|
||
| 561 | |||
| 562 | /**
|
||
| 563 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
||
| 564 | */
|
||
| 565 | extern aos_unittest_t moduleUtAlldAt24c01bn;
|
||
| 566 | |||
| 567 | /**
|
||
| 568 | * @brief HMC5883L (compass) unit test object.
|
||
| 569 | */
|
||
| 570 | extern aos_unittest_t moduleUtAlldHmc5883l;
|
||
| 571 | |||
| 572 | /**
|
||
| 573 | * @brief INA219 (power monitor) unit test object.
|
||
| 574 | */
|
||
| 575 | extern aos_unittest_t moduleUtAlldIna219;
|
||
| 576 | |||
| 577 | /**
|
||
| 578 | * @brief L3G4200D (gyroscope) unit test object.
|
||
| 579 | */
|
||
| 580 | extern aos_unittest_t moduleUtAlldL3g4200d;
|
||
| 581 | |||
| 582 | /**
|
||
| 583 | * @brief Status LED unit test object.
|
||
| 584 | */
|
||
| 585 | extern aos_unittest_t moduleUtAlldLed;
|
||
| 586 | |||
| 587 | /**
|
||
| 588 | * @brief LIS331DLH (accelerometer) unit test object.
|
||
| 589 | */
|
||
| 590 | extern aos_unittest_t moduleUtAlldLis331dlh;
|
||
| 591 | |||
| 592 | /**
|
||
| 593 | * @brief LTC4412 (power path controller) unit test object.
|
||
| 594 | */
|
||
| 595 | extern aos_unittest_t moduleUtAlldLtc4412;
|
||
| 596 | |||
| 597 | /**
|
||
| 598 | * @brief PCA9544A (I2C multiplexer) unit test object.
|
||
| 599 | */
|
||
| 600 | extern aos_unittest_t moduleUtAlldPca9544a;
|
||
| 601 | |||
| 602 | /**
|
||
| 603 | * @brief TPS62113 (step-down converter) unit test object.
|
||
| 604 | */
|
||
| 605 | extern aos_unittest_t moduleUtAlldTps62113;
|
||
| 606 | |||
| 607 | /**
|
||
| 608 | * @brief VCNL4020 (proximity sensor) unit test object.
|
||
| 609 | */
|
||
| 610 | extern aos_unittest_t moduleUtAlldVcnl4020;
|
||
| 611 | |||
| 612 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
| 613 | |||
| 614 | /** @} */
|
||
| 615 | |||
| 616 | #endif /* _AMIROOS_MODULE_H_ */ |