amiro-os / modules / LightRing_1-0 / module.c @ 07ff44a7
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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 | #include "module.h" |
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20 | |||
21 | 1e5f7648 | Thomas Schöpping | #include <amiroos.h> |
22 | |||
23 | e545e620 | Thomas Schöpping | /*===========================================================================*/
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24 | /**
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25 | * @name Module specific functions
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26 | * @{
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27 | */
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28 | /*===========================================================================*/
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29 | |||
30 | /** @} */
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31 | |||
32 | /*===========================================================================*/
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33 | /**
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34 | * @name ChibiOS/HAL configuration
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35 | * @{
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36 | */
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37 | /*===========================================================================*/
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38 | |||
39 | CANConfig moduleHalCanConfig = { |
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40 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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41 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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42 | }; |
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43 | |||
44 | I2CConfig moduleHalI2cEepromConfig = { |
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45 | /* I²C mode */ OPMODE_I2C,
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46 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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47 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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48 | }; |
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49 | |||
50 | SerialConfig moduleHalProgIfConfig = { |
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51 | /* bit rate */ 115200, |
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52 | /* CR1 */ 0, |
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53 | /* CR1 */ 0, |
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54 | /* CR1 */ 0, |
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55 | }; |
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56 | |||
57 | SPIConfig moduleHalSpiLightConfig = { |
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58 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
59 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
60 | /* chip select line port */ GPIOC,
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61 | /* chip select line pad number */ GPIOC_LIGHT_XLAT,
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62 | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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63 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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64 | 22be62dc | Thomas Schöpping | }; |
65 | |||
66 | 02c29a8f | Thomas Schöpping | SPIConfig moduleHalSpiWlConfig = { |
67 | 22be62dc | Thomas Schöpping | /* circular buffer mode */ false, |
68 | /* callback function pointer */ NULL, |
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69 | /* chip select line port */ GPIOB,
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70 | /* chip select line pad number */ GPIOB_WL_SS_N,
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71 | 02c29a8f | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0,
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72 | 22be62dc | Thomas Schöpping | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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73 | e545e620 | Thomas Schöpping | }; |
74 | |||
75 | /*===========================================================================*/
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76 | /**
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77 | * @name GPIO definitions
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78 | * @{
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79 | */
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80 | /*===========================================================================*/
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81 | |||
82 | 1e5f7648 | Thomas Schöpping | /**
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83 | * @brief LIGHT_BANK output signal GPIO.
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84 | */
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85 | static apalGpio_t _gpioLightBlank = {
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86 | e545e620 | Thomas Schöpping | /* port */ GPIOA,
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87 | /* pad */ GPIOA_LIGHT_BLANK,
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88 | }; |
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89 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLightBlank = { |
90 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLightBlank,
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91 | /* meta */ {
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92 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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93 | /* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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94 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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95 | }, |
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96 | }; |
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97 | e545e620 | Thomas Schöpping | |
98 | 1e5f7648 | Thomas Schöpping | /**
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99 | * @brief LASER_EN output signal GPIO.
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100 | */
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101 | static apalGpio_t _gpioLaserEn = {
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102 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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103 | /* pad */ GPIOB_LASER_EN,
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104 | }; |
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105 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLaserEn = { |
106 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLaserEn,
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107 | /* meta */ {
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108 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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109 | /* active state */ TPS2051B_LLD_ENABLE_ACTIVE_STATE,
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110 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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111 | }, |
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112 | }; |
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113 | e545e620 | Thomas Schöpping | |
114 | 1e5f7648 | Thomas Schöpping | /**
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115 | * @brief LASER_OC input signal GPIO.
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116 | */
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117 | static apalGpio_t _gpioLaserOc = {
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118 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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119 | /* pad */ GPIOB_LASER_OC_N,
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120 | }; |
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121 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLaserOc = { |
122 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLaserOc,
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123 | /* meta */ {
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124 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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125 | /* active state */ TPS2051B_LLD_OVERCURRENT_ACTIVE_STATE,
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126 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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127 | }, |
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128 | }; |
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129 | e545e620 | Thomas Schöpping | |
130 | 1e5f7648 | Thomas Schöpping | /**
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131 | * @brief SYS_UART_DN bidirectional signal GPIO.
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132 | */
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133 | static apalGpio_t _gpioSysUartDn = {
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134 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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135 | /* pad */ GPIOB_SYS_UART_DN,
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136 | }; |
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137 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartDn = { |
138 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysUartDn,
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139 | /* meta */ {
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140 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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141 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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142 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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143 | }, |
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144 | }; |
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145 | e545e620 | Thomas Schöpping | |
146 | 1e5f7648 | Thomas Schöpping | /**
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147 | * @brief WL_GDO2 input signal GPIO.
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148 | */
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149 | static apalGpio_t _gpioWlGdo2 = {
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150 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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151 | /* pad */ GPIOB_WL_GDO2,
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152 | }; |
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153 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioWlGdo2 = { |
154 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioWlGdo2,
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155 | /* meta */ {
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156 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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157 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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158 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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159 | }, |
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160 | }; |
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161 | e545e620 | Thomas Schöpping | |
162 | 1e5f7648 | Thomas Schöpping | /**
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163 | * @brief WL_GDO0 input signal GPIO.
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164 | */
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165 | static apalGpio_t _gpioWlGdo0= {
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166 | e545e620 | Thomas Schöpping | /* port */ GPIOB,
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167 | /* pad */ GPIOB_WL_GDO0,
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168 | }; |
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169 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioWlGdo0 = { |
170 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioWlGdo0,
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171 | /* meta */ {
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172 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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173 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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174 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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175 | }, |
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176 | }; |
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177 | e545e620 | Thomas Schöpping | |
178 | 1e5f7648 | Thomas Schöpping | /**
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179 | * @brief LIGHT_XLAT output signal GPIO.
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180 | */
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181 | static apalGpio_t _gpioLightXlat = {
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182 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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183 | /* pad */ GPIOC_LIGHT_XLAT,
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184 | }; |
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185 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLightXlat = { |
186 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLightXlat,
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187 | /* meta */ {
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188 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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189 | /* active state */ TLC5947_LLD_XLAT_ACTIVE_STATE,
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190 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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191 | }, |
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192 | }; |
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193 | e545e620 | Thomas Schöpping | |
194 | 1e5f7648 | Thomas Schöpping | /**
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195 | * @brief SYS_PD bidirectional signal GPIO.
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196 | */
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197 | static apalGpio_t _gpioSysPd = {
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198 | e545e620 | Thomas Schöpping | /* port */ GPIOC,
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199 | /* pad */ GPIOC_SYS_PD_N,
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200 | }; |
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201 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysPd = { |
202 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysPd,
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203 | /* meta */ {
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204 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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205 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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206 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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207 | }, |
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208 | }; |
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209 | e545e620 | Thomas Schöpping | |
210 | 1e5f7648 | Thomas Schöpping | /**
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211 | * @brief SYS_SYNC bidirectional signal GPIO.
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212 | */
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213 | static apalGpio_t _gpioSysSync = {
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214 | e545e620 | Thomas Schöpping | /* port */ GPIOD,
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215 | /* pad */ GPIOD_SYS_INT_N,
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216 | }; |
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217 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysSync = { |
218 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysSync,
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219 | /* meta */ {
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220 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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221 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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222 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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223 | }, |
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224 | }; |
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225 | e545e620 | Thomas Schöpping | |
226 | /** @} */
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227 | |||
228 | /*===========================================================================*/
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229 | /**
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230 | * @name AMiRo-OS core configurations
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231 | * @{
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232 | */
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233 | /*===========================================================================*/
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234 | |||
235 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
236 | acc97cbf | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "LightRing"; |
237 | 6b53f6bf | Thomas Schöpping | #endif
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238 | |||
239 | /** @} */
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240 | |||
241 | /*===========================================================================*/
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242 | /**
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243 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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244 | * @{
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245 | */
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246 | /*===========================================================================*/
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247 | |||
248 | e545e620 | Thomas Schöpping | /** @} */
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249 | |||
250 | /*===========================================================================*/
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251 | /**
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252 | * @name Low-level drivers
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253 | * @{
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254 | */
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255 | /*===========================================================================*/
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256 | |||
257 | AT24C01BNDriver moduleLldEeprom = { |
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258 | /* I2C driver */ &MODULE_HAL_I2C_EEPROM,
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259 | /* I2C address */ 0x00u, |
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260 | }; |
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261 | |||
262 | TLC5947Driver moduleLldLedPwm = { |
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263 | /* SPI driver */ &MODULE_HAL_SPI_LIGHT,
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264 | 1e5f7648 | Thomas Schöpping | /* BLANK signal GPIO */ &moduleGpioLightBlank,
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265 | /* XLAT signal GPIO */ &moduleGpioLightXlat,
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266 | e545e620 | Thomas Schöpping | }; |
267 | |||
268 | TPS2051BDriver moduleLldPowerSwitchLaser = { |
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269 | 1e5f7648 | Thomas Schöpping | /* laser enable GPIO */ &moduleGpioLaserEn,
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270 | /* laser overcurrent GPIO */ &moduleGpioLaserOc,
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271 | e545e620 | Thomas Schöpping | }; |
272 | |||
273 | /** @} */
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274 | |||
275 | /*===========================================================================*/
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276 | /**
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277 | * @name Unit tests (UT)
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278 | * @{
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279 | */
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280 | /*===========================================================================*/
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281 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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282 | |||
283 | /* EEPROM (AT24C01BN) */
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284 | static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
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285 | { |
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286 | (void)argc;
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287 | (void)argv;
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288 | aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
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289 | return AOS_OK;
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290 | } |
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291 | static ut_at24c01bndata_t _utAt24c01bnData = {
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292 | /* driver */ &moduleLldEeprom,
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293 | /* timeout */ MICROSECONDS_PER_SECOND,
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294 | }; |
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295 | aos_unittest_t moduleUtAlldAt24c01bn = { |
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296 | /* name */ "AT24C01BN-SH-B", |
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297 | /* info */ "1kbit EEPROM", |
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298 | /* test function */ utAlldAt24c01bnFunc,
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299 | /* shell command */ {
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300 | /* name */ "unittest:EEPROM", |
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301 | /* callback */ _utShellCmdCb_AlldAt24c01bn,
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302 | /* next */ NULL, |
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303 | }, |
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304 | /* data */ &_utAt24c01bnData,
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305 | }; |
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306 | |||
307 | /* LED PWM driver (TLD5947) */
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308 | static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[]) |
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309 | { |
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310 | (void)argc;
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311 | (void)argv;
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312 | aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
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313 | return AOS_OK;
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314 | } |
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315 | aos_unittest_t moduleUtAlldTlc5947 = { |
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316 | /* info */ "TLC5947", |
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317 | /* name */ "LED PWM driver", |
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318 | /* test function */ utAlldTlc5947Func,
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319 | /* shell command */ {
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320 | /* name */ "unittest:Lights", |
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321 | /* callback */ _utShellCmdCb_Tlc5947,
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322 | /* next */ NULL, |
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323 | }, |
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324 | /* data */ &moduleLldLedPwm,
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325 | }; |
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326 | |||
327 | /* power switch (Laser) */
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328 | static int _utShellCmdCb_Tps2051bdbv(BaseSequentialStream* stream, int argc, char* argv[]) |
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329 | { |
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330 | (void)argc;
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331 | (void)argv;
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332 | aosUtRun(stream,&moduleUtAlldTps2051bdbv, NULL);
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333 | return AOS_OK;
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334 | } |
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335 | aos_unittest_t moduleUtAlldTps2051bdbv = { |
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336 | /* info */ "TPS2051BDBV", |
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337 | /* name */ "current-limited power switch", |
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338 | /* test function */ utAlldTps2051bdbvFunc,
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339 | /* shell command */ {
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340 | /* name */ "unittest:PowerSwitch", |
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341 | /* callback */ _utShellCmdCb_Tps2051bdbv,
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342 | /* next */ NULL, |
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343 | }, |
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344 | /* data */ &moduleLldPowerSwitchLaser,
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345 | }; |
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346 | |||
347 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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348 | |||
349 | /** @} */ |