amiro-os / modules / DiWheelDrive_1-1 / module.h @ 0128be0f
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _AMIROOS_MODULE_H_
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#define _AMIROOS_MODULE_H_
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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#include <hal.h> |
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#include <hal_qei.h> |
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#include <aos_interrupts.h> |
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/**
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* @brief CAN driver to use.
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*/
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#define MODULE_HAL_CAN CAND1
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/**
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* @brief Configuration for the CAN driver.
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*/
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extern CANConfig moduleHalCanConfig;
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/**
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* @brief Interrupt driver (PAL).
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*/
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extern aos_interrupt_driver_t moduleIntDriver;
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/**
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* @brief Interrupt driver config.
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*/
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extern aos_interrupt_cfg_t moduleIntConfig[10]; |
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/**
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* @brief I2C driver to access the compass.
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*/
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#define MODULE_HAL_I2C_COMPASS I2CD1
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/**
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* @brief Configuration for the compass I2C driver.
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*/
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extern I2CConfig moduleHalI2cCompassConfig;
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/**
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* @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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*/
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#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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/**
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* @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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*/
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extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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/**
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* @brief PWM driver to use.
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*/
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#define MODULE_HAL_PWM_DRIVE PWMD2
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/**
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* @brief Configuration for the PWM driver.
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*/
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extern PWMConfig moduleHalPwmDriveConfig;
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/**
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* @brief Drive PWM channel for the left wheel forward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD 0 |
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/**
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* @brief Drive PWM channel for the left wheel backward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD 1 |
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/**
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* @brief Drive PWM channel for the right wheel forward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD 2 |
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/**
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* @brief Drive PWM channel for the right wheel backward direction.
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*/
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD 3 |
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/**
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* @brief Quadrature encooder for the left wheel.
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*/
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#define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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/**
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* @brief Quadrature encooder for the right wheel.
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*/
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#define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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/**
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* @brief Configuration for both quadrature encoders.
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*/
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extern QEIConfig moduleHalQeiConfig;
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/**
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* @brief QEI increments per wheel revolution.
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* @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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*/
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#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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/**
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* @brief Serial driver of the programmer interface.
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*/
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#define MODULE_HAL_PROGIF SD1
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/**
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* @brief Configuration for the programmer serial interface driver.
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*/
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extern SerialConfig moduleHalProgIfConfig;
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/**
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* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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*/
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#define MODULE_HAL_SPI_MOTION SPID1
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/**
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* @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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*/
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extern SPIConfig moduleHalSpiAccelerometerConfig;
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/**
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* @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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*/
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extern SPIConfig moduleHalSpiGyroscopeConfig;
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/**
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* @brief Real-Time Clock driver.
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*/
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#define MODULE_HAL_RTC RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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#include <amiro-lld.h> |
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/**
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* @brief Interrupt channel for the SYS_SYNC signal.
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*/
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#define MODULE_GPIO_INT_SYSSYNC ((uint8_t)1) |
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/**
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* @brief Interrupt channel for the SYS_WARMRST signal.
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*/
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#define MODULE_GPIO_INT_SYSWARMRST ((uint8_t)2) |
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/**
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* @brief Interrupt channel for the PATH_DCSTAT signal.
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*/
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#define MODULE_GPIO_INT_PATHDCSTAT ((uint8_t)3) |
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/**
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* @brief Interrupt channel for the COMPASS_DRDY signal.
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*/
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#define MODULE_GPIO_INT_COMPASSDRDY ((uint8_t)4) |
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/**
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* @brief Interrupt channel for the SYS_PD signal.
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*/
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#define MODULE_GPIO_INT_SYSPD ((uint8_t)5) |
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/**
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* @brief Interrupt channel for the SYS_REG_EN signal.
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*/
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#define MODULE_GPIO_INT_SYSREGEN ((uint8_t)6) |
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/**
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* @brief Interrupt channel for the IR_INT signal.
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*/
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#define MODULE_GPIO_INT_IRINT ((uint8_t)7) |
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/**
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* @brief Interrupt channel for the GYRO_DRDY signal.
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*/
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#define MODULE_GPIO_INT_GYRODRDY ((uint8_t)8) |
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/**
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* @brief Interrupt channel for the SYS_UART_UP signal.
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*/
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#define MODULE_GPIO_INT_SYSUARTUP ((uint8_t)9) |
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/**
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* @brief Interrupt channel for the ACCEL_INT signal.
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*/
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#define MODULE_GPIO_INT_ACCELINT ((uint8_t)10) |
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/**
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* @brief LED output signal GPIO.
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*/
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extern apalGpio_t moduleGpioLed;
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/**
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* @brief POWER_EN output signal GPIO.
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*/
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extern apalGpio_t moduleGpioPowerEn;
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/**
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* @brief COMPASS_DRDY input signal GPIO.
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*/
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extern apalGpio_t moduleGpioCompassDrdy;
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/**
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* @brief IR_INT input signal GPIO.
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*/
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extern apalGpio_t moduleGpioIrInt;
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/**
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* @brief GYRO_DRDY input signal GPIO.
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*/
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extern apalGpio_t moduleGpioGyroDrdy;
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysUartUp;
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/**
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* @brief ACCEL_INT input signal GPIO.
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*/
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extern apalGpio_t moduleGpioAccelInt;
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/**
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* @brief SYS_SNYC bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysSync;
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/**
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* @brief PATH_DCSTAT input signal GPIO.
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*/
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extern apalGpio_t moduleGpioPathDcStat;
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/**
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* @brief PATH_DCEN output signal GPIO.
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*/
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extern apalGpio_t moduleGpioPathDcEn;
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysPd;
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/**
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* @brief SYS_REG_EN input signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysRegEn;
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/**
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* @brief SYS_WARMRST bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysWarmrst;
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Event flag to be set on a SYS_SYNC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_INT_SYSSYNC)) |
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/**
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* @brief Event flag to be set on a SYS_WARMRST interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)(1 << MODULE_GPIO_INT_SYSWARMRST)) |
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/**
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* @brief Event flag to be set on a PATH_DCSTAT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)(1 << MODULE_GPIO_INT_PATHDCSTAT)) |
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/**
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* @brief Event flag to be set on a COMPASS_DRDY interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)(1 << MODULE_GPIO_INT_COMPASSDRDY)) |
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/**
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* @brief Event flag to be set on a SYS_PD interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)(1 << MODULE_GPIO_INT_SYSPD)) |
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/**
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* @brief Event flag to be set on a SYS_REG_EN interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)(1 << MODULE_GPIO_INT_SYSREGEN)) |
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/**
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* @brief Event flag to be set on a IR_INT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)(1 << MODULE_GPIO_INT_IRINT)) |
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/**
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* @brief Event flag to be set on a GYRO_DRDY interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)(1 << MODULE_GPIO_INT_GYRODRDY)) |
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/**
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* @brief Event flag to be set on a SYS_UART_UP interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)(1 << MODULE_GPIO_INT_SYSUARTUP)) |
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/**
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* @brief Event flag to be set on a ACCEL_INT interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)(1 << MODULE_GPIO_INT_ACCELINT)) |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell prompt text.
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*/
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extern const char* moduleShellPrompt; |
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#endif
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/**
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* @brief Additional HAL initialization hook.
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*/
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#define MODULE_INIT_HAL_EXTRA() { \
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qeiInit(); \ |
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} |
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/**
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* @brief Unit test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \
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aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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} |
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/**
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* @brief Periphery communication interfaces initialization hook.
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*/
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#define MODULE_INIT_PERIPHERY_COMM() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* I2C */ \
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moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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/* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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/* PWM */ \
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pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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/* QEI */ \
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qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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} |
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/**
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* @brief Periphery communication interface deinitialization hook.
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*/
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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/* PWM */ \
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pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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/* QEI */ \
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qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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/* I2C */ \
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i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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/* don't stop the serial driver so messages can still be printed */ \
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} |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief PD signal GPIO.
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*/
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extern apalControlGpio_t moduleSsspGpioPd;
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/**
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* @brief SYNC signal GPIO.
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*/
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extern apalControlGpio_t moduleSsspGpioSync;
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/**
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* @brief UP signal GPIO.
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*/
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extern apalControlGpio_t moduleSsspGpioUp;
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/**
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* @brief Event flags for PD signal events.
|
| 448 |
*/
|
| 449 |
#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
|
| 450 |
|
| 451 |
/**
|
| 452 |
* @brief Event flags for SYNC signal events.
|
| 453 |
*/
|
| 454 |
#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
|
| 455 |
|
| 456 |
/**
|
| 457 |
* @brief Event flags for UP signal events.
|
| 458 |
*/
|
| 459 |
#define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
|
| 460 |
|
| 461 |
/** @} */
|
| 462 |
|
| 463 |
/*===========================================================================*/
|
| 464 |
/**
|
| 465 |
* @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_ */ |