amiro-os / modules / LightRing_1-0 / module.h @ 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 | #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 | |||
39 | /**
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40 | * @brief CAN driver to use.
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41 | */
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42 | #define MODULE_HAL_CAN CAND1
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43 | |||
44 | /**
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45 | * @brief Configuration for the CAN driver.
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46 | */
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47 | extern CANConfig moduleHalCanConfig;
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48 | |||
49 | /**
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50 | * @brief I2C driver to access the EEPROM.
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51 | */
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52 | #define MODULE_HAL_I2C_EEPROM I2CD2
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53 | |||
54 | /**
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55 | * @brief Configuration for the EEPROM I2C driver.
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56 | */
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57 | extern I2CConfig moduleHalI2cEepromConfig;
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58 | |||
59 | /**
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60 | * @brief Serial driver of the programmer interface.
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61 | */
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62 | #define MODULE_HAL_PROGIF SD1
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63 | |||
64 | /**
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65 | * @brief Configuration for the programmer serial interface driver.
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66 | */
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67 | extern SerialConfig moduleHalProgIfConfig;
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68 | |||
69 | /**
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70 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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71 | */
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72 | #define MODULE_HAL_SPI_LIGHT SPID1
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73 | |||
74 | /**
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75 | 02c29a8f | Thomas Schöpping | * @brief SPI interface driver for the wireless transceiver.
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76 | e545e620 | Thomas Schöpping | */
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77 | 02c29a8f | Thomas Schöpping | #define MODULE_HAL_SPI_WL SPID2
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78 | e545e620 | Thomas Schöpping | |
79 | 8399aeae | Thomas Schöpping | /**
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80 | e05848a6 | Robin Ewers | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
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81 | 22be62dc | Thomas Schöpping | */
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82 | e05848a6 | Robin Ewers | extern SPIConfig moduleHalSpiLightConfig;
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83 | 22be62dc | Thomas Schöpping | |
84 | /**
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85 | 02c29a8f | Thomas Schöpping | * @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
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86 | 22be62dc | Thomas Schöpping | */
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87 | 02c29a8f | Thomas Schöpping | extern SPIConfig moduleHalSpiWlConfig;
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88 | 22be62dc | Thomas Schöpping | |
89 | /**
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90 | 8399aeae | Thomas Schöpping | * @brief Real-Time Clock driver.
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91 | */
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92 | #define MODULE_HAL_RTC RTCD1
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93 | |||
94 | e545e620 | Thomas Schöpping | /** @} */
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95 | |||
96 | /*===========================================================================*/
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97 | /**
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98 | * @name GPIO definitions
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99 | * @{
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100 | */
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101 | /*===========================================================================*/
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102 | #include <amiro-lld.h> |
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103 | |||
104 | /**
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105 | * @brief LIGHT_BANK output signal GPIO.
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106 | */
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107 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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108 | e545e620 | Thomas Schöpping | |
109 | /**
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110 | * @brief LASER_EN output signal GPIO.
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111 | */
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112 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
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113 | e545e620 | Thomas Schöpping | |
114 | /**
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115 | * @brief LASER_OC input signal GPIO.
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116 | */
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117 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
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118 | e545e620 | Thomas Schöpping | |
119 | /**
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120 | * @brief SYS_UART_DN bidirectional signal GPIO.
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121 | */
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122 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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123 | e545e620 | Thomas Schöpping | |
124 | /**
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125 | * @brief WL_GDO2 input signal GPIO.
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126 | */
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127 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
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128 | e545e620 | Thomas Schöpping | |
129 | /**
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130 | * @brief WL_GDO0 input signal GPIO.
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131 | */
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132 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
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133 | e545e620 | Thomas Schöpping | |
134 | /**
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135 | * @brief LIGHT_XLAT output signal GPIO.
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136 | */
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137 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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138 | e545e620 | Thomas Schöpping | |
139 | /**
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140 | * @brief SYS_PD bidirectional signal GPIO.
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141 | */
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142 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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143 | e545e620 | Thomas Schöpping | |
144 | /**
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145 | * @brief SYS_SYNC bidirectional signal GPIO.
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146 | */
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147 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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148 | e545e620 | Thomas Schöpping | |
149 | /** @} */
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150 | |||
151 | /*===========================================================================*/
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152 | /**
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153 | * @name AMiRo-OS core configurations
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154 | * @{
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155 | */
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156 | /*===========================================================================*/
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157 | |||
158 | /**
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159 | * @brief Event flag to be set on a LASER_OC interrupt.
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160 | */
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161 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_LASEROC ((eventflags_t)1 << GPIOB_LASER_OC_N) |
162 | e545e620 | Thomas Schöpping | |
163 | /**
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164 | * @brief Event flag to be set on a SYS_UART_DN interrupt.
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165 | */
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166 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTDN ((eventflags_t)1 << GPIOB_SYS_UART_DN) |
167 | e545e620 | Thomas Schöpping | |
168 | /**
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169 | * @brief Event flag to be set on a WL_GDO2 interrupt.
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170 | */
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171 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO2 ((eventflags_t)1 << GPIOB_WL_GDO2) |
172 | e545e620 | Thomas Schöpping | |
173 | /**
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174 | * @brief Event flag to be set on a WL_GDO0 interrupt.
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175 | */
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176 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO0 ((eventflags_t)1 << GPIOB_WL_GDO0) |
177 | e545e620 | Thomas Schöpping | |
178 | /**
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179 | * @brief Event flag to be set on a SYS_PD interrupt.
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180 | */
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181 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
182 | e545e620 | Thomas Schöpping | |
183 | /**
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184 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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185 | */
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186 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOD_SYS_INT_N) |
187 | e545e620 | Thomas Schöpping | |
188 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
189 | e545e620 | Thomas Schöpping | /**
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190 | * @brief Shell prompt text.
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191 | */
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192 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
193 | 6b53f6bf | Thomas Schöpping | #endif
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194 | e545e620 | Thomas Schöpping | |
195 | /**
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196 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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197 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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198 | */
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199 | #define MODULE_INIT_INTERRUPTS() { \
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200 | /* LASER_OC */ \
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201 | palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \ |
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202 | palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \ |
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203 | /* WL_GDO2 */ \
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204 | 02c29a8f | Thomas Schöpping | palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad); \ |
205 | 1e5f7648 | Thomas Schöpping | palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge)); \ |
206 | /* WL_GDO0 */ \
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207 | 02c29a8f | Thomas Schöpping | palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad); \ |
208 | 1e5f7648 | Thomas Schöpping | /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/ \
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209 | } |
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210 | |||
211 | /**
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212 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
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213 | */
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214 | #define MODULE_INIT_TESTS() { \
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215 | /* add unit-test shell commands */ \
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216 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
217 | aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
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218 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
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219 | e545e620 | Thomas Schöpping | } |
220 | |||
221 | /**
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222 | * @brief Periphery communication interfaces initialization hook.
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223 | */
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224 | #define MODULE_INIT_PERIPHERY_COMM() { \
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225 | /* serial driver */ \
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226 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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227 | /* I2C */ \
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228 | moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
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229 | moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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230 | i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
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231 | /* SPI */ \
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232 | spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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233 | 02c29a8f | Thomas Schöpping | spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig); \ |
234 | e545e620 | Thomas Schöpping | } |
235 | |||
236 | /**
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237 | * @brief Periphery communication interface deinitialization hook.
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238 | */
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239 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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240 | /* SPI */ \
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241 | spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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242 | 02c29a8f | Thomas Schöpping | spiStop(&MODULE_HAL_SPI_WL); \ |
243 | e545e620 | Thomas Schöpping | /* I2C */ \
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244 | i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
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245 | /* don't stop the serial driver so messages can still be printed */ \
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246 | } |
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247 | |||
248 | /** @} */
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249 | |||
250 | /*===========================================================================*/
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251 | /**
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252 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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253 | * @{
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254 | */
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255 | /*===========================================================================*/
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256 | |||
257 | /**
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258 | * @brief PD signal GPIO.
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259 | */
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260 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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261 | 6b53f6bf | Thomas Schöpping | |
262 | /**
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263 | * @brief SYNC signal GPIO.
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264 | */
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265 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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266 | 6b53f6bf | Thomas Schöpping | |
267 | /**
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268 | 933df08e | Thomas Schöpping | * @brief DN signal GPIO.
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269 | */
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270 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioDn moduleGpioSysUartDn
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271 | 933df08e | Thomas Schöpping | |
272 | /**
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273 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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274 | */
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275 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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276 | |||
277 | /**
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278 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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279 | 6b53f6bf | Thomas Schöpping | */
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280 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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281 | |||
282 | /**
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283 | 933df08e | Thomas Schöpping | * @brief Event flags for DN signal events.
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284 | */
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285 | #define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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286 | |||
287 | 6b53f6bf | Thomas Schöpping | /** @} */
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288 | |||
289 | /*===========================================================================*/
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290 | /**
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291 | e545e620 | Thomas Schöpping | * @name Low-level drivers
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292 | * @{
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293 | */
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294 | /*===========================================================================*/
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295 | #include <alld_at24c01bn-sh-b.h> |
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296 | #include <alld_tlc5947.h> |
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297 | #include <alld_tps2051bdbv.h> |
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298 | |||
299 | /**
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300 | * @brief EEPROM driver.
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301 | */
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302 | extern AT24C01BNDriver moduleLldEeprom;
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303 | |||
304 | /**
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305 | * @brief LED PWM driver.
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306 | */
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307 | extern TLC5947Driver moduleLldLedPwm;
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308 | |||
309 | /**
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310 | * @brief Power switch driver for the laser supply power.
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311 | */
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312 | extern TPS2051BDriver moduleLldPowerSwitchLaser;
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313 | |||
314 | /** @} */
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315 | |||
316 | /*===========================================================================*/
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317 | /**
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318 | * @name Unit tests (UT)
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319 | * @{
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320 | */
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321 | /*===========================================================================*/
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322 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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323 | #include <ut_alld_at24c01bn-sh-b.h> |
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324 | #include <ut_alld_tlc5947.h> |
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325 | #include <ut_alld_tps2051bdbv.h> |
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326 | e05848a6 | Robin Ewers | #include <ut_alld_dw1000.h> |
327 | e545e620 | Thomas Schöpping | |
328 | /**
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329 | * @brief EEPROM unit test object.
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330 | */
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331 | extern aos_unittest_t moduleUtAlldAt24c01bn;
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332 | |||
333 | /**
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334 | * @brief LED PWM driver unit test object.
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335 | */
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336 | extern aos_unittest_t moduleUtAlldTlc5947;
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337 | |||
338 | /**
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339 | * @brief Current-limited power switch (Laser output)
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340 | */
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341 | extern aos_unittest_t moduleUtAlldTps2051bdbv;
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342 | |||
343 | e05848a6 | Robin Ewers | |
344 | e545e620 | Thomas Schöpping | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
345 | |||
346 | /** @} */
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347 | |||
348 | #endif /* _AMIROOS_MODULE_H_ */ |