amiro-os / modules / DiWheelDrive_1-1 / module.h @ 0128be0f
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #ifndef _AMIROOS_MODULE_H_
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| 20 | #define _AMIROOS_MODULE_H_
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| 21 | |||
| 22 | /*===========================================================================*/
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| 23 | /**
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| 24 | * @name Module specific functions
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| 25 | * @{
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| 26 | */
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| 27 | /*===========================================================================*/
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| 28 | |||
| 29 | /** @} */
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| 30 | |||
| 31 | /*===========================================================================*/
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| 32 | /**
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| 33 | * @name ChibiOS/HAL configuration
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| 34 | * @{
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| 35 | */
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| 36 | /*===========================================================================*/
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| 37 | #include <hal.h> |
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| 38 | #include <hal_qei.h> |
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| 39 | 0128be0f | Marc Rothmann | #include <aos_interrupts.h> |
| 40 | e545e620 | Thomas Schöpping | |
| 41 | /**
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| 42 | * @brief CAN driver to use.
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| 43 | */
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| 44 | #define MODULE_HAL_CAN CAND1
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| 45 | |||
| 46 | /**
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| 47 | * @brief Configuration for the CAN driver.
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| 48 | */
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| 49 | extern CANConfig moduleHalCanConfig;
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| 50 | |||
| 51 | /**
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| 52 | 0128be0f | Marc Rothmann | * @brief Interrupt driver (PAL).
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| 53 | e545e620 | Thomas Schöpping | */
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| 54 | 0128be0f | Marc Rothmann | |
| 55 | extern aos_interrupt_driver_t moduleIntDriver;
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| 56 | e545e620 | Thomas Schöpping | |
| 57 | /**
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| 58 | 0128be0f | Marc Rothmann | * @brief Interrupt driver config.
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| 59 | e545e620 | Thomas Schöpping | */
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| 60 | 0128be0f | Marc Rothmann | extern aos_interrupt_cfg_t moduleIntConfig[10]; |
| 61 | e545e620 | Thomas Schöpping | |
| 62 | /**
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| 63 | * @brief I2C driver to access the compass.
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| 64 | */
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| 65 | #define MODULE_HAL_I2C_COMPASS I2CD1
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| 66 | |||
| 67 | /**
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| 68 | * @brief Configuration for the compass I2C driver.
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| 69 | */
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| 70 | extern I2CConfig moduleHalI2cCompassConfig;
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| 71 | |||
| 72 | /**
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| 73 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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| 74 | */
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| 75 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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| 76 | |||
| 77 | /**
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| 78 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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| 79 | */
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| 80 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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| 81 | |||
| 82 | /**
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| 83 | * @brief PWM driver to use.
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| 84 | */
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| 85 | #define MODULE_HAL_PWM_DRIVE PWMD2
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| 86 | |||
| 87 | /**
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| 88 | * @brief Configuration for the PWM driver.
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| 89 | */
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| 90 | extern PWMConfig moduleHalPwmDriveConfig;
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| 91 | |||
| 92 | /**
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| 93 | * @brief Drive PWM channel for the left wheel forward direction.
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| 94 | */
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| 95 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD 0 |
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| 96 | |||
| 97 | /**
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| 98 | * @brief Drive PWM channel for the left wheel backward direction.
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| 99 | */
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| 100 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD 1 |
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| 101 | |||
| 102 | /**
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| 103 | * @brief Drive PWM channel for the right wheel forward direction.
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| 104 | */
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| 105 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD 2 |
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| 106 | |||
| 107 | /**
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| 108 | * @brief Drive PWM channel for the right wheel backward direction.
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| 109 | */
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| 110 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD 3 |
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| 111 | |||
| 112 | /**
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| 113 | * @brief Quadrature encooder for the left wheel.
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| 114 | */
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| 115 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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| 116 | |||
| 117 | /**
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| 118 | * @brief Quadrature encooder for the right wheel.
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| 119 | */
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| 120 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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| 121 | |||
| 122 | /**
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| 123 | * @brief Configuration for both quadrature encoders.
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| 124 | */
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| 125 | extern QEIConfig moduleHalQeiConfig;
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| 126 | |||
| 127 | /**
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| 128 | * @brief QEI increments per wheel revolution.
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| 129 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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| 130 | */
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| 131 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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| 132 | |||
| 133 | /**
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| 134 | * @brief Serial driver of the programmer interface.
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| 135 | */
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| 136 | #define MODULE_HAL_PROGIF SD1
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| 137 | |||
| 138 | /**
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| 139 | * @brief Configuration for the programmer serial interface driver.
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| 140 | */
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| 141 | extern SerialConfig moduleHalProgIfConfig;
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| 142 | |||
| 143 | /**
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| 144 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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| 145 | */
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| 146 | #define MODULE_HAL_SPI_MOTION SPID1
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| 147 | |||
| 148 | /**
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| 149 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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| 150 | */
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| 151 | extern SPIConfig moduleHalSpiAccelerometerConfig;
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| 152 | |||
| 153 | /**
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| 154 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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| 155 | */
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| 156 | extern SPIConfig moduleHalSpiGyroscopeConfig;
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| 157 | |||
| 158 | 8399aeae | Thomas Schöpping | /**
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| 159 | * @brief Real-Time Clock driver.
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| 160 | */
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| 161 | #define MODULE_HAL_RTC RTCD1
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| 162 | |||
| 163 | e545e620 | Thomas Schöpping | /** @} */
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| 164 | |||
| 165 | /*===========================================================================*/
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| 166 | /**
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| 167 | * @name GPIO definitions
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| 168 | * @{
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| 169 | */
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| 170 | /*===========================================================================*/
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| 171 | #include <amiro-lld.h> |
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| 172 | |||
| 173 | /**
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| 174 | * @brief Interrupt channel for the SYS_SYNC signal.
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| 175 | */
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| 176 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSSYNC ((uint8_t)1) |
| 177 | e545e620 | Thomas Schöpping | |
| 178 | /**
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| 179 | * @brief Interrupt channel for the SYS_WARMRST signal.
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| 180 | */
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| 181 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSWARMRST ((uint8_t)2) |
| 182 | e545e620 | Thomas Schöpping | |
| 183 | /**
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| 184 | * @brief Interrupt channel for the PATH_DCSTAT signal.
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| 185 | */
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| 186 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_PATHDCSTAT ((uint8_t)3) |
| 187 | e545e620 | Thomas Schöpping | |
| 188 | /**
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| 189 | * @brief Interrupt channel for the COMPASS_DRDY signal.
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| 190 | */
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| 191 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_COMPASSDRDY ((uint8_t)4) |
| 192 | e545e620 | Thomas Schöpping | |
| 193 | /**
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| 194 | * @brief Interrupt channel for the SYS_PD signal.
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| 195 | */
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| 196 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSPD ((uint8_t)5) |
| 197 | e545e620 | Thomas Schöpping | |
| 198 | /**
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| 199 | * @brief Interrupt channel for the SYS_REG_EN signal.
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| 200 | */
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| 201 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSREGEN ((uint8_t)6) |
| 202 | e545e620 | Thomas Schöpping | |
| 203 | /**
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| 204 | * @brief Interrupt channel for the IR_INT signal.
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| 205 | */
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| 206 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_IRINT ((uint8_t)7) |
| 207 | e545e620 | Thomas Schöpping | |
| 208 | /**
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| 209 | * @brief Interrupt channel for the GYRO_DRDY signal.
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| 210 | */
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| 211 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_GYRODRDY ((uint8_t)8) |
| 212 | e545e620 | Thomas Schöpping | |
| 213 | /**
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| 214 | * @brief Interrupt channel for the SYS_UART_UP signal.
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| 215 | */
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| 216 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_SYSUARTUP ((uint8_t)9) |
| 217 | e545e620 | Thomas Schöpping | |
| 218 | /**
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| 219 | * @brief Interrupt channel for the ACCEL_INT signal.
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| 220 | */
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| 221 | 0128be0f | Marc Rothmann | #define MODULE_GPIO_INT_ACCELINT ((uint8_t)10) |
| 222 | e545e620 | Thomas Schöpping | |
| 223 | /**
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| 224 | * @brief LED output signal GPIO.
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| 225 | */
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| 226 | extern apalGpio_t moduleGpioLed;
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| 227 | |||
| 228 | /**
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| 229 | * @brief POWER_EN output signal GPIO.
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| 230 | */
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| 231 | extern apalGpio_t moduleGpioPowerEn;
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| 232 | |||
| 233 | /**
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| 234 | * @brief COMPASS_DRDY input signal GPIO.
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| 235 | */
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| 236 | extern apalGpio_t moduleGpioCompassDrdy;
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| 237 | |||
| 238 | /**
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| 239 | * @brief IR_INT input signal GPIO.
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| 240 | */
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| 241 | extern apalGpio_t moduleGpioIrInt;
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| 242 | |||
| 243 | /**
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| 244 | * @brief GYRO_DRDY input signal GPIO.
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| 245 | */
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| 246 | extern apalGpio_t moduleGpioGyroDrdy;
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| 247 | |||
| 248 | /**
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| 249 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 250 | */
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| 251 | extern apalGpio_t moduleGpioSysUartUp;
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| 252 | |||
| 253 | /**
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| 254 | * @brief ACCEL_INT input signal GPIO.
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| 255 | */
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| 256 | extern apalGpio_t moduleGpioAccelInt;
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| 257 | |||
| 258 | /**
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| 259 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 260 | */
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| 261 | extern apalGpio_t moduleGpioSysSync;
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| 262 | |||
| 263 | /**
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| 264 | * @brief PATH_DCSTAT input signal GPIO.
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| 265 | */
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| 266 | extern apalGpio_t moduleGpioPathDcStat;
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| 267 | |||
| 268 | /**
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| 269 | * @brief PATH_DCEN output signal GPIO.
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| 270 | */
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| 271 | extern apalGpio_t moduleGpioPathDcEn;
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| 272 | |||
| 273 | /**
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| 274 | * @brief SYS_PD bidirectional signal GPIO.
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| 275 | */
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| 276 | extern apalGpio_t moduleGpioSysPd;
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| 277 | |||
| 278 | /**
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| 279 | * @brief SYS_REG_EN input signal GPIO.
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| 280 | */
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| 281 | extern apalGpio_t moduleGpioSysRegEn;
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| 282 | |||
| 283 | /**
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| 284 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 285 | */
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| 286 | extern apalGpio_t moduleGpioSysWarmrst;
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| 287 | |||
| 288 | /** @} */
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| 289 | |||
| 290 | /*===========================================================================*/
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| 291 | /**
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| 292 | * @name AMiRo-OS core configurations
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| 293 | * @{
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| 294 | */
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| 295 | /*===========================================================================*/
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| 296 | |||
| 297 | /**
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| 298 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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| 299 | */
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| 300 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_INT_SYSSYNC)) |
| 301 | e545e620 | Thomas Schöpping | |
| 302 | /**
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| 303 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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| 304 | */
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| 305 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)(1 << MODULE_GPIO_INT_SYSWARMRST)) |
| 306 | e545e620 | Thomas Schöpping | |
| 307 | /**
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| 308 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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| 309 | */
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| 310 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)(1 << MODULE_GPIO_INT_PATHDCSTAT)) |
| 311 | e545e620 | Thomas Schöpping | |
| 312 | /**
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| 313 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
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| 314 | */
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| 315 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)(1 << MODULE_GPIO_INT_COMPASSDRDY)) |
| 316 | e545e620 | Thomas Schöpping | |
| 317 | /**
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| 318 | * @brief Event flag to be set on a SYS_PD interrupt.
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| 319 | */
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| 320 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)(1 << MODULE_GPIO_INT_SYSPD)) |
| 321 | e545e620 | Thomas Schöpping | |
| 322 | /**
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| 323 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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| 324 | */
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| 325 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)(1 << MODULE_GPIO_INT_SYSREGEN)) |
| 326 | e545e620 | Thomas Schöpping | |
| 327 | /**
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| 328 | * @brief Event flag to be set on a IR_INT interrupt.
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| 329 | */
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| 330 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)(1 << MODULE_GPIO_INT_IRINT)) |
| 331 | e545e620 | Thomas Schöpping | |
| 332 | /**
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| 333 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
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| 334 | */
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| 335 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)(1 << MODULE_GPIO_INT_GYRODRDY)) |
| 336 | e545e620 | Thomas Schöpping | |
| 337 | /**
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| 338 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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| 339 | */
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| 340 | 0128be0f | Marc Rothmann | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)(1 << MODULE_GPIO_INT_SYSUARTUP)) |
| 341 | e545e620 | Thomas Schöpping | |
| 342 | /**
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| 343 | * @brief Event flag to be set on a ACCEL_INT interrupt.
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| 344 | */
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| 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 | /**
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| 349 | * @brief Shell prompt text.
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| 350 | */
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| 351 | extern const char* moduleShellPrompt; |
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| 352 | 6b53f6bf | Thomas Schöpping | #endif
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| 353 | e545e620 | Thomas Schöpping | |
| 354 | /**
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| 355 | * @brief Additional HAL initialization hook.
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| 356 | */
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| 357 | #define MODULE_INIT_HAL_EXTRA() { \
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| 358 | qeiInit(); \ |
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| 359 | } |
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| 360 | |||
| 361 | /**
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| 362 | * @brief Unit test initialization hook.
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| 363 | */
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| 364 | #define MODULE_INIT_TESTS() { \
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| 365 | /* add unit-test shell commands */ \
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| 366 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
| 367 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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| 368 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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| 369 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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| 370 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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| 371 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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| 372 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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| 373 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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| 374 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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| 375 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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| 376 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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| 377 | e545e620 | Thomas Schöpping | } |
| 378 | |||
| 379 | /**
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| 380 | * @brief Periphery communication interfaces initialization hook.
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| 381 | */
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| 382 | #define MODULE_INIT_PERIPHERY_COMM() { \
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| 383 | /* serial driver */ \
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| 384 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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| 385 | /* I2C */ \
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| 386 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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| 387 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 388 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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| 389 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 390 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 391 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 392 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 393 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 394 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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| 395 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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| 396 | /* PWM */ \
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| 397 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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| 398 | /* QEI */ \
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| 399 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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| 400 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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| 401 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 402 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 403 | } |
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| 404 | |||
| 405 | /**
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| 406 | * @brief Periphery communication interface deinitialization hook.
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| 407 | */
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| 408 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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| 409 | /* PWM */ \
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| 410 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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| 411 | /* QEI */ \
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| 412 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 413 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 414 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 415 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 416 | /* I2C */ \
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| 417 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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| 418 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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| 419 | /* don't stop the serial driver so messages can still be printed */ \
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| 420 | } |
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| 421 | |||
| 422 | /** @} */
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| 423 | |||
| 424 | /*===========================================================================*/
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| 425 | /**
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| 426 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 427 | * @{
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| 428 | */
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| 429 | /*===========================================================================*/
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| 430 | |||
| 431 | /**
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| 432 | * @brief PD signal GPIO.
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| 433 | */
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| 434 | extern apalControlGpio_t moduleSsspGpioPd;
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| 435 | |||
| 436 | /**
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| 437 | * @brief SYNC signal GPIO.
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| 438 | */
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| 439 | extern apalControlGpio_t moduleSsspGpioSync;
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| 440 | |||
| 441 | /**
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| 442 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
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| 443 | */
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| 444 | extern apalControlGpio_t moduleSsspGpioUp;
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| 445 | |||
| 446 | /**
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| 447 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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| 448 | */
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| 449 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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| 450 | |||
| 451 | /**
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| 452 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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| 453 | 6b53f6bf | Thomas Schöpping | */
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| 454 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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| 455 | |||
| 456 | /**
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| 457 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
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| 458 | */
|
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| 459 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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| 460 | |||
| 461 | 6b53f6bf | Thomas Schöpping | /** @} */
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| 462 | |||
| 463 | /*===========================================================================*/
|
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| 464 | /**
|
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| 465 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
| 466 | * @{
|
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| 467 | */
|
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| 468 | /*===========================================================================*/
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| 469 | #include <alld_a3906.h> |
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| 470 | #include <alld_at24c01bn-sh-b.h> |
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| 471 | #include <alld_hmc5883l.h> |
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| 472 | #include <alld_ina219.h> |
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| 473 | #include <alld_l3g4200d.h> |
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| 474 | #include <alld_led.h> |
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| 475 | #include <alld_lis331dlh.h> |
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| 476 | #include <alld_ltc4412.h> |
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| 477 | #include <alld_pca9544a.h> |
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| 478 | #include <alld_tps62113.h> |
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| 479 | #include <alld_vcnl4020.h> |
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| 480 | |||
| 481 | /**
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| 482 | * @brief Motor driver.
|
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| 483 | */
|
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| 484 | extern A3906Driver moduleLldMotors;
|
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| 485 | |||
| 486 | /**
|
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| 487 | * @brief EEPROM driver.
|
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| 488 | */
|
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| 489 | extern AT24C01BNDriver moduleLldEeprom;
|
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| 490 | |||
| 491 | /**
|
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| 492 | * @brief Compass driver.
|
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| 493 | */
|
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| 494 | extern HMC5883LDriver moduleLldCompass;
|
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| 495 | |||
| 496 | /**
|
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| 497 | * @brief Power monitor (VDD) driver.
|
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| 498 | */
|
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| 499 | extern INA219Driver moduleLldPowerMonitorVdd;
|
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| 500 | |||
| 501 | /**
|
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| 502 | * @brief Gyroscope driver.
|
||
| 503 | */
|
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| 504 | extern L3G4200DDriver moduleLldGyroscope;
|
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| 505 | |||
| 506 | /**
|
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| 507 | * @brief Status LED driver.
|
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| 508 | */
|
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| 509 | extern LEDDriver moduleLldStatusLed;
|
||
| 510 | |||
| 511 | /**
|
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| 512 | * @brief Accelerometer driver.
|
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| 513 | */
|
||
| 514 | extern LIS331DLHDriver moduleLldAccelerometer;
|
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| 515 | |||
| 516 | /**
|
||
| 517 | * @brief Power path controler (charging pins) driver.
|
||
| 518 | */
|
||
| 519 | extern LTC4412Driver moduleLldPowerPathController;
|
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| 520 | |||
| 521 | /**
|
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| 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_ */ |