/modules/LightRing_1-0/module.h - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / LightRing_1-0 / module.h @ 0128be0f

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-            e545e620
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2018  Thomas Schöpping et al.
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 #ifndef _AMIROOS_MODULE_H_
 #define _AMIROOS_MODULE_H_
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 #include <hal.h>
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+#include <aos_interrupts.h>
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+            Thomas Schöpping
 /**
  * @brief   CAN driver to use.
  */
 #define MODULE_HAL_CAN                          CAND1
 /**
  * @brief   Configuration for the CAN driver.
  */
 extern CANConfig moduleHalCanConfig;
 /**
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+ * @brief   Interrupt driver (PAL).
-            e545e620
+ */
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+            Marc Rothmann
 extern aos_interrupt_driver_t moduleIntDriver;
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+            Thomas Schöpping
 /**
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+ * @brief   Interrupt driver config.
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+ */
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+extern aos_interrupt_cfg_t moduleIntConfig[6];
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+            Thomas Schöpping
 /**
  * @brief   I2C driver to access the EEPROM.
  */
 #define MODULE_HAL_I2C_EEPROM                   I2CD2
 /**
  * @brief   Configuration for the EEPROM I2C driver.
  */
 extern I2CConfig moduleHalI2cEepromConfig;
 /**
  * @brief   Serial driver of the programmer interface.
  */
 #define MODULE_HAL_PROGIF                       SD1
 /**
  * @brief   Configuration for the programmer serial interface driver.
  */
 extern SerialConfig moduleHalProgIfConfig;
 /**
  * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
  */
 #define MODULE_HAL_SPI_LIGHT                    SPID1
 /**
  * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
  */
 extern SPIConfig moduleHalSpiLightConfig;
-aeae
+/**
  * @brief   Real-Time Clock driver.
  */
 #define MODULE_HAL_RTC                          RTCD1
-            e545e620
+/** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
 #include <amiro-lld.h>
 /**
  * @brief   Interrupt channel for the SYS_SYNC signal.
  */
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+#define MODULE_GPIO_INT_SYSSYNC          ((uint8_t)1)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Interrupt channel for the LASER_OC signal.
  */
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+#define MODULE_GPIO_INT_LASEROC          ((uint8_t)2)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Interrupt channel for the SYS_UART_DN signal.
  */
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+#define MODULE_GPIO_INT_SYSUARTDN        ((uint8_t)3)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Interrupt channel for the WL_GDO2 signal.
  */
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+#define MODULE_GPIO_INT_WLGDO2           ((uint8_t)4)
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+            Thomas Schöpping
 /**
  * @brief   Interrupt channel for the WL_GDO0 signal.
  */
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+#define MODULE_GPIO_INT_WLGDO0           ((uint8_t)5)
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+            Thomas Schöpping
 /**
  * @brief   Interrupt channel for the SYS_PD signal.
  */
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+#define MODULE_GPIO_INT_SYSPD            ((uint8_t)6)
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+            Thomas Schöpping
 /**
  * @brief   LIGHT_BANK output signal GPIO.
  */
 extern apalGpio_t moduleGpioLightBlank;
 /**
  * @brief   LASER_EN output signal GPIO.
  */
 extern apalGpio_t moduleGpioLaserEn;
 /**
  * @brief   LASER_OC input signal GPIO.
  */
 extern apalGpio_t moduleGpioLaserOc;
 /**
  * @brief   SYS_UART_DN bidirectional signal GPIO.
  */
 extern apalGpio_t moduleGpioSysUartDn;
 /**
  * @brief   WL_GDO2 input signal GPIO.
  */
 extern apalGpio_t moduleGpioWlGdo2;
 /**
  * @brief   WL_GDO0 input signal GPIO.
  */
 extern apalGpio_t moduleGpioWlGdo0;
 /**
  * @brief   LIGHT_XLAT output signal GPIO.
  */
 extern apalGpio_t moduleGpioLightXlat;
 /**
  * @brief   SYS_PD bidirectional signal GPIO.
  */
 extern apalGpio_t moduleGpioSysPd;
 /**
  * @brief   SYS_SYNC bidirectional signal GPIO.
  */
 extern apalGpio_t moduleGpioSysSync;
 /** @} */
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   Event flag to be set on a LASER_OC interrupt.
  */
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+#define MODULE_OS_IOEVENTFLAGS_LASEROC          ((eventflags_t)(1 << MODULE_GPIO_INT_LASEROC))
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+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_UART_DN interrupt.
  */
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+#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        ((eventflags_t)(1 << MODULE_GPIO_INT_SYSUARTDN))
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+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a WL_GDO2 interrupt.
  */
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+#define MODULE_OS_IOEVENTFLAGS_WLGDO2           ((eventflags_t)(1 << MODULE_GPIO_INT_WLGDO2))
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a WL_GDO0 interrupt.
  */
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+#define MODULE_OS_IOEVENTFLAGS_WLGDO0           ((eventflags_t)(1 << MODULE_GPIO_INT_WLGDO0))
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_PD interrupt.
  */
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+#define MODULE_OS_IOEVENTFLAGS_SYSPD            ((eventflags_t)(1 << MODULE_GPIO_INT_SYSPD))
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_SYNC interrupt.
  */
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+#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          ((eventflags_t)(1 << MODULE_GPIO_INT_SYSSYNC))
-            e545e620
+            Thomas Schöpping
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+#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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+/**
  * @brief   Shell prompt text.
  */
 extern const char* moduleShellPrompt;
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+#endif
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+            Thomas Schöpping
 /**
  * @brief   Unit test initialization hook.
  */
 #define MODULE_INIT_TESTS() {                                                 \
   /* add unit-test shell commands */                                          \
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+  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd);            \
   aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \
   aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd);          \
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Periphery communication interfaces initialization hook.
  */
 #define MODULE_INIT_PERIPHERY_COMM() {                                        \
   /* serial driver */                                                         \
   sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
   /* I2C */                                                                   \
   moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \
   moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
   i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \
   /* SPI */                                                                   \
   spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
+}
 /**
  * @brief   Periphery communication interface deinitialization hook.
  */
 #define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
   /* SPI */                                                                   \
   spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
   /* I2C */                                                                   \
   i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \
   /* don't stop the serial driver so messages can still be printed */         \
+}
 /** @} */
 /*===========================================================================*/
 /**
-b53f6bf
+ * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   PD signal GPIO.
  */
 extern apalControlGpio_t moduleSsspGpioPd;
 /**
  * @brief   SYNC signal GPIO.
  */
 extern apalControlGpio_t moduleSsspGpioSync;
 /**
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+ * @brief   DN signal GPIO.
  */
 extern apalControlGpio_t moduleSsspGpioDn;
 /**
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+ * @brief   Event flags for PD signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
 /**
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+ * @brief   Event flags for SYNC signal events.
-b53f6bf
+ */
 #define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
 /**
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+ * @brief   Event flags for DN signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_DN               MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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+/** @} */
 /*===========================================================================*/
 /**
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+ * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
 #include <alld_at24c01bn-sh-b.h>
 #include <alld_tlc5947.h>
 #include <alld_tps2051bdbv.h>
 /**
  * @brief   EEPROM driver.
  */
 extern AT24C01BNDriver moduleLldEeprom;
 /**
  * @brief   LED PWM driver.
  */
 extern TLC5947Driver moduleLldLedPwm;
 /**
  * @brief   Power switch driver for the laser supply power.
  */
 extern TPS2051BDriver moduleLldPowerSwitchLaser;
 /** @} */
 /*===========================================================================*/
 /**
  * @name Unit tests (UT)
  * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 #include <ut_alld_at24c01bn-sh-b.h>
 #include <ut_alld_tlc5947.h>
 #include <ut_alld_tps2051bdbv.h>
 /**
  * @brief   EEPROM unit test object.
  */
 extern aos_unittest_t moduleUtAlldAt24c01bn;
 /**
  * @brief   LED PWM driver unit test object.
  */
 extern aos_unittest_t moduleUtAlldTlc5947;
 /**
  * @brief   Current-limited power switch (Laser output)
  */
 extern aos_unittest_t moduleUtAlldTps2051bdbv;
 #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
 /** @} */
 #endif /* _AMIROOS_MODULE_H_ */