Revision 0b989911
| modules/LightRing_1-2/Makefile | ||
|---|---|---|
| 145 | 145 |
$(AMIROLLD)/drivers/INA219/v1 \ |
| 146 | 146 |
$(AMIROLLD)/drivers/LED/v1 \ |
| 147 | 147 |
$(AMIROLLD)/drivers/MIC9404x/v1 \ |
| 148 |
$(AMIROLLD)/drivers/TLC5947/v1 |
|
| 148 |
$(AMIROLLD)/drivers/TLC5947/v1 \ |
|
| 149 |
$(AMIROLLD)/drivers/DW1000/v1 |
|
| 149 | 150 |
|
| 150 | 151 |
# Tests. |
| 151 | 152 |
AMIROOS_TEST_INC += $(AMIROOS_TEST_DIR)periphery-lld/AT24C01B_v1 \ |
| 152 | 153 |
$(AMIROOS_TEST_DIR)periphery-lld/INA219_v1 \ |
| 153 | 154 |
$(AMIROOS_TEST_DIR)periphery-lld/LED_v1 \ |
| 154 | 155 |
$(AMIROOS_TEST_DIR)periphery-lld/MIC9404x_v1 \ |
| 155 |
$(AMIROOS_TEST_DIR)periphery-lld/TLC5947_v1 |
|
| 156 |
$(AMIROOS_TEST_DIR)periphery-lld/TLC5947_v1 \ |
|
| 157 |
$(AMIROOS_TEST_DIR)periphery-lld/DW1000_v1 |
|
| 156 | 158 |
|
| 157 | 159 |
# Module specific inclusion directories |
| 158 | 160 |
MODULE_INC = $(MODULEDIR) \ |
| modules/LightRing_1-2/aosconf.h | ||
|---|---|---|
| 84 | 84 |
* @note Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration. |
| 85 | 85 |
*/ |
| 86 | 86 |
#if !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK) |
| 87 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK 0 |
|
| 87 |
// #define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK 0 |
|
| 88 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK MODULE_OS_IOEVENTFLAGS_DW1000 |
|
| 88 | 89 |
#else /* !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK) */ |
| 89 | 90 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK OS_CFG_MAIN_LOOP_IOEVENT_MASK |
| 90 | 91 |
#endif /* !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK) */ |
| modules/LightRing_1-2/board.h | ||
|---|---|---|
| 61 | 61 |
#define STM32F103xE |
| 62 | 62 |
|
| 63 | 63 |
/* |
| 64 |
* Identifiers for optional peripherals. |
|
| 65 |
*/ |
|
| 66 |
#define BOARD_DW1000_CONNECTED false |
|
| 67 |
#define BOARD_MIC9404x_CONNECTED true /* Power supply for DW1000 in Light ring */ |
|
| 68 |
|
|
| 69 |
/* |
|
| 64 | 70 |
* IO pins assignments. |
| 65 | 71 |
*/ |
| 66 | 72 |
#define GPIOA_USART_CTS 0U |
| modules/LightRing_1-2/module.c | ||
|---|---|---|
| 69 | 69 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, |
| 70 | 70 |
}; |
| 71 | 71 |
|
| 72 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 73 |
|
|
| 74 |
/*! SPI (high speed) configuration for DW1000 */ |
|
| 75 |
SPIConfig moduleHalSpiUwbHsConfig = {
|
|
| 76 |
/* circular buffer mode */ false, |
|
| 77 |
/* callback function pointer */ NULL, |
|
| 78 |
/* chip select line port */ PAL_PORT(LINE_SPI_SS_N), |
|
| 79 |
/* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N), |
|
| 80 |
/* CR1 */ 0, // 36/2 Mbps |
|
| 81 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
|
| 82 |
}; |
|
| 83 |
/*! SPI (low speed) configuration for DW1000 */ |
|
| 84 |
SPIConfig moduleHalSpiUwbLsConfig = {
|
|
| 85 |
/* circular buffer mode */ false, |
|
| 86 |
/* callback function pointer */ NULL, |
|
| 87 |
/* chip select line port */ PAL_PORT(LINE_SPI_SS_N), |
|
| 88 |
/* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N), |
|
| 89 |
/* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, // 36/16 Mbps |
|
| 90 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
|
| 91 |
}; |
|
| 92 |
|
|
| 93 |
#endif /* BOARD_DW1000_CONNECTED == true */ |
|
| 94 |
|
|
| 72 | 95 |
|
| 73 | 96 |
/*===========================================================================*/ |
| 74 | 97 |
/** |
| ... | ... | |
| 213 | 236 |
}, |
| 214 | 237 |
}; |
| 215 | 238 |
|
| 239 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 216 | 240 |
/** |
| 217 |
* @brief IO_7 breakout signal GPIO.
|
|
| 241 |
* @brief DW1000 interrrupt input signal GPIO.
|
|
| 218 | 242 |
*/ |
| 219 |
static apalGpio_t _gpioBreakoutIo7 = {
|
|
| 243 |
static apalGpio_t _gpioDw1000Irqn = {
|
|
| 244 |
/* line */ LINE_IO_8, // (GPIOB, GPIOB_IO_8), |
|
| 245 |
}; |
|
| 246 |
ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
|
|
| 247 |
/* GPIO */ &_gpioDw1000Irqn, |
|
| 248 |
/* meta */ {
|
|
| 249 |
/* direction */ APAL_GPIO_DIRECTION_INPUT, |
|
| 250 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
|
| 251 |
/* interrupt edge */ APAL_GPIO_EDGE_RISING, |
|
| 252 |
}, |
|
| 253 |
}; |
|
| 254 |
|
|
| 255 |
/** |
|
| 256 |
* @brief DW1000 reset output signal GPIO. |
|
| 257 |
*/ |
|
| 258 |
static apalGpio_t _gpioDw1000Reset = {
|
|
| 220 | 259 |
/* line */ LINE_IO_7, |
| 221 | 260 |
}; |
| 222 |
apalControlGpio_t moduleGpioBreakoutIo7 = {
|
|
| 223 |
/* GPIO */ &_gpioBreakoutIo7,
|
|
| 261 |
ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
|
|
| 262 |
/* GPIO */ &_gpioDw1000Reset,
|
|
| 224 | 263 |
/* meta */ {
|
| 225 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
|
| 264 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
|
| 226 | 265 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
| 227 | 266 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
| 228 | 267 |
}, |
| 229 | 268 |
}; |
| 230 | 269 |
|
| 231 | 270 |
/** |
| 271 |
* @brief IO_2 breakout signal GPIO. |
|
| 272 |
*/ |
|
| 273 |
static apalGpio_t _gpioDw1000WakeUp = {
|
|
| 274 |
/* line */ LINE_IO_2, |
|
| 275 |
}; |
|
| 276 |
ROMCONST apalControlGpio_t moduleGpioDw1000WakeUp = {
|
|
| 277 |
/* GPIO */ &_gpioDw1000WakeUp, |
|
| 278 |
/* meta */ {
|
|
| 279 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
|
| 280 |
/* active state */ APAL_GPIO_ACTIVE_HIGH, |
|
| 281 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
|
| 282 |
}, |
|
| 283 |
}; |
|
| 284 |
|
|
| 285 |
/** |
|
| 286 |
* @brief DW1000 SPI chip select output signal GPIO. |
|
| 287 |
*/ |
|
| 288 |
static apalGpio_t _gpioSpiChipSelect = {
|
|
| 289 |
/* line */ LINE_SPI_SS_N, |
|
| 290 |
}; |
|
| 291 |
ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
|
|
| 292 |
/* GPIO */ &_gpioSpiChipSelect, |
|
| 293 |
/* meta */ {
|
|
| 294 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT, |
|
| 295 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
|
| 296 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
|
| 297 |
}, |
|
| 298 |
}; |
|
| 299 |
#else |
|
| 300 |
/** |
|
| 232 | 301 |
* @brief IO_8 breakout signal GPIO. |
| 233 | 302 |
*/ |
| 234 | 303 |
static apalGpio_t _gpioBreakoutIo8 = {
|
| ... | ... | |
| 244 | 313 |
}; |
| 245 | 314 |
|
| 246 | 315 |
/** |
| 316 |
* @brief IO_7 breakout signal GPIO. |
|
| 317 |
*/ |
|
| 318 |
static apalGpio_t _gpioBreakoutIo7 = {
|
|
| 319 |
/* line */ LINE_IO_7, |
|
| 320 |
}; |
|
| 321 |
apalControlGpio_t moduleGpioBreakoutIo7 = {
|
|
| 322 |
/* GPIO */ &_gpioBreakoutIo7, |
|
| 323 |
/* meta */ {
|
|
| 324 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED, |
|
| 325 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
|
| 326 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
|
| 327 |
}, |
|
| 328 |
}; |
|
| 329 |
|
|
| 330 |
/** |
|
| 331 |
* @brief IO_2 breakout signal GPIO. |
|
| 332 |
*/ |
|
| 333 |
static apalGpio_t _gpioBreakoutIo2 = {
|
|
| 334 |
/* line */ LINE_IO_2, |
|
| 335 |
}; |
|
| 336 |
apalControlGpio_t moduleGpioBreakoutIo2 = {
|
|
| 337 |
/* GPIO */ &_gpioBreakoutIo2, |
|
| 338 |
/* meta */ {
|
|
| 339 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED, |
|
| 340 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
|
| 341 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
|
| 342 |
}, |
|
| 343 |
}; |
|
| 344 |
#endif /* BOARD_DW1000_CONNECTED == true */ |
|
| 345 |
|
|
| 346 |
|
|
| 347 |
/** |
|
| 247 | 348 |
* @brief IO_4 breakout signal GPIO. |
| 248 | 349 |
*/ |
| 249 | 350 |
static apalGpio_t _gpioBreakoutIo4 = {
|
| ... | ... | |
| 273 | 374 |
}, |
| 274 | 375 |
}; |
| 275 | 376 |
|
| 276 |
/** |
|
| 277 |
* @brief IO_2 breakout signal GPIO. |
|
| 278 |
*/ |
|
| 279 |
static apalGpio_t _gpioBreakoutIo2 = {
|
|
| 280 |
/* line */ LINE_IO_2, |
|
| 281 |
}; |
|
| 282 |
apalControlGpio_t moduleGpioBreakoutIo2 = {
|
|
| 283 |
/* GPIO */ &_gpioBreakoutIo2, |
|
| 284 |
/* meta */ {
|
|
| 285 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED, |
|
| 286 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
|
| 287 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
|
| 288 |
}, |
|
| 289 |
}; |
|
| 290 | 377 |
|
| 291 | 378 |
/** |
| 292 | 379 |
* @brief LED output signal GPIO. |
| ... | ... | |
| 419 | 506 |
|
| 420 | 507 |
/*===========================================================================*/ |
| 421 | 508 |
/** |
| 509 |
* @name Hardware specific wrappers Functions |
|
| 510 |
* @{
|
|
| 511 |
*/ |
|
| 512 |
/*===========================================================================*/ |
|
| 513 |
|
|
| 514 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 515 |
/*! @brief Manually reset the DW1000 module */ |
|
| 516 |
void reset_DW1000(void){
|
|
| 517 |
|
|
| 518 |
// Set the pin as output |
|
| 519 |
palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT); |
|
| 520 |
|
|
| 521 |
//drive the RSTn pin low |
|
| 522 |
apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW); |
|
| 523 |
|
|
| 524 |
//put the pin back to tri-state ... as input |
|
| 525 |
// palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO: |
|
| 526 |
|
|
| 527 |
aosThdMSleep(2); |
|
| 528 |
} |
|
| 529 |
|
|
| 530 |
/*! @brief entry point to the IRQn event in DW1000 module |
|
| 531 |
* |
|
| 532 |
* */ |
|
| 533 |
void process_deca_irq(void){
|
|
| 534 |
do{
|
|
| 535 |
dwt_isr(); |
|
| 536 |
//while IRS line active (ARM can only do edge sensitive interrupts) |
|
| 537 |
}while(port_CheckEXT_IRQ() == 1); |
|
| 538 |
} |
|
| 539 |
|
|
| 540 |
/*! @brief Check the current value of GPIO pin and return the value */ |
|
| 541 |
apalGpioState_t port_CheckEXT_IRQ(void) {
|
|
| 542 |
apalGpioState_t val; |
|
| 543 |
apalGpioRead(moduleGpioDw1000Irqn.gpio, &val); |
|
| 544 |
return val; |
|
| 545 |
} |
|
| 546 |
|
|
| 547 |
/*! @brief Manually set the chip select pin of the SPI */ |
|
| 548 |
void set_SPI_chip_select(void){
|
|
| 549 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH); |
|
| 550 |
} |
|
| 551 |
|
|
| 552 |
/*! @brief Manually reset the chip select pin of the SPI */ |
|
| 553 |
void clear_SPI_chip_select(void){
|
|
| 554 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
|
| 555 |
} |
|
| 556 |
|
|
| 557 |
/*! @brief Change the SPI speed configuration on the fly */ |
|
| 558 |
void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){
|
|
| 559 |
|
|
| 560 |
spiStop(drv->spid); |
|
| 561 |
|
|
| 562 |
if (speedValue == FALSE){
|
|
| 563 |
spiStart(drv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration |
|
| 564 |
} |
|
| 565 |
else{
|
|
| 566 |
spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration |
|
| 567 |
} |
|
| 568 |
} |
|
| 569 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 570 |
/** @} */ |
|
| 571 |
|
|
| 572 |
|
|
| 573 |
/*===========================================================================*/ |
|
| 574 |
/** |
|
| 422 | 575 |
* @name Low-level drivers |
| 423 | 576 |
* @{
|
| 424 | 577 |
*/ |
| ... | ... | |
| 469 | 622 |
/* XLAT signal GPIO */ &moduleGpioLightXlat, |
| 470 | 623 |
}; |
| 471 | 624 |
|
| 625 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 626 |
DW1000Driver moduleLldDw1000 = {
|
|
| 627 |
/* SPI driver */ &MODULE_HAL_SPI_UWB, |
|
| 628 |
/* ext interrupt */ &moduleGpioDw1000Irqn, |
|
| 629 |
/* RESET DW1000 */ &moduleGpioDw1000Reset, |
|
| 630 |
}; |
|
| 631 |
|
|
| 632 |
MIC9404xDriver moduleLldPowerSwitchDw1000 = {
|
|
| 633 |
/* power enable GPIO */ &moduleGpioSwVsysEn, |
|
| 634 |
}; |
|
| 635 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 636 |
|
|
| 472 | 637 |
/** @} */ |
| 473 | 638 |
|
| 474 | 639 |
/*===========================================================================*/ |
| ... | ... | |
| 531 | 696 |
} |
| 532 | 697 |
AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb); |
| 533 | 698 |
|
| 699 |
#if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 700 |
/* |
|
| 701 |
* UwB Driver (DW1000) |
|
| 702 |
*/ |
|
| 703 |
#include <module_test_DW1000.h> |
|
| 704 |
static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
| 705 |
{
|
|
| 706 |
return moduleTestDw1000ShellCb(stream, argc, argv, NULL); |
|
| 707 |
} |
|
| 708 |
AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb); |
|
| 709 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 710 |
|
|
| 534 | 711 |
/* |
| 535 | 712 |
* entire module |
| 536 | 713 |
*/ |
| modules/LightRing_1-2/module.h | ||
|---|---|---|
| 36 | 36 |
*/ |
| 37 | 37 |
/*===========================================================================*/ |
| 38 | 38 |
|
| 39 |
|
|
| 40 |
#if defined(__cplusplus) |
|
| 41 |
extern "C" {
|
|
| 42 |
#endif /* defined(__cplusplus) */ |
|
| 43 |
|
|
| 44 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 45 |
void process_deca_irq(void); |
|
| 46 |
apalGpioState_t port_CheckEXT_IRQ(void) ; |
|
| 47 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 48 |
|
|
| 49 |
void set_SPI_chip_select(void); |
|
| 50 |
void clear_SPI_chip_select(void); |
|
| 51 |
void reset_DW1000(void); |
|
| 52 |
|
|
| 53 |
#if defined(__cplusplus) |
|
| 54 |
} |
|
| 55 |
#endif /* defined(__cplusplus) */ |
|
| 56 |
|
|
| 39 | 57 |
/** @} */ |
| 40 | 58 |
|
| 41 | 59 |
/*===========================================================================*/ |
| ... | ... | |
| 85 | 103 |
*/ |
| 86 | 104 |
extern SPIConfig moduleHalSpiLightConfig; |
| 87 | 105 |
|
| 106 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 107 |
/** |
|
| 108 |
* @brief SPI interface driver for UWB DW1000 module. |
|
| 109 |
*/ |
|
| 110 |
#define MODULE_HAL_SPI_UWB SPID2 |
|
| 111 |
|
|
| 112 |
/** |
|
| 113 |
* @brief Configuration for the high-speed SPI interface driver of DW1000 module. |
|
| 114 |
*/ |
|
| 115 |
extern SPIConfig moduleHalSpiUwbHsConfig; |
|
| 116 |
|
|
| 117 |
/** |
|
| 118 |
* @brief Configuration for the low-speed SPI interface driver of DW1000 module. |
|
| 119 |
*/ |
|
| 120 |
extern SPIConfig moduleHalSpiUwbLsConfig; |
|
| 121 |
|
|
| 122 |
#else |
|
| 123 |
|
|
| 88 | 124 |
/** |
| 89 | 125 |
* @brief SPI interface driver for the breakout header. |
| 90 | 126 |
*/ |
| 91 | 127 |
#define MODULE_HAL_SPI_BREAKOUT SPID2 |
| 92 | 128 |
|
| 129 |
#endif /* BOARD_DW1000_CONNECTED == true*/ |
|
| 130 |
|
|
| 131 |
|
|
| 93 | 132 |
/** |
| 94 | 133 |
* @brief UART interface driver for the breakout header (alternative to serial). |
| 95 | 134 |
*/ |
| ... | ... | |
| 156 | 195 |
extern ROMCONST apalControlGpio_t moduleGpioSysUartDn; |
| 157 | 196 |
|
| 158 | 197 |
/** |
| 159 |
* @brief IO_7 breakout signal GPIO. |
|
| 160 |
*/ |
|
| 161 |
extern apalControlGpio_t moduleGpioBreakoutIo7; |
|
| 162 |
|
|
| 163 |
/** |
|
| 164 |
* @brief IO_8 breakout signal GPIO. |
|
| 165 |
*/ |
|
| 166 |
extern apalControlGpio_t moduleGpioBreakoutIo8; |
|
| 167 |
|
|
| 168 |
/** |
|
| 169 | 198 |
* @brief IO_4 breakout signal GPIO. |
| 170 | 199 |
*/ |
| 171 | 200 |
extern apalControlGpio_t moduleGpioBreakoutIo4; |
| ... | ... | |
| 176 | 205 |
extern apalControlGpio_t moduleGpioBreakoutIo1; |
| 177 | 206 |
|
| 178 | 207 |
/** |
| 179 |
* @brief IO_2 breakout signal GPIO. |
|
| 180 |
*/ |
|
| 181 |
extern apalControlGpio_t moduleGpioBreakoutIo2; |
|
| 182 |
|
|
| 183 |
/** |
|
| 184 | 208 |
* @brief LED output signal GPIO. |
| 185 | 209 |
*/ |
| 186 | 210 |
extern ROMCONST apalControlGpio_t moduleGpioLed; |
| ... | ... | |
| 215 | 239 |
*/ |
| 216 | 240 |
extern ROMCONST apalControlGpio_t moduleGpioSysSync; |
| 217 | 241 |
|
| 242 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 243 |
/** |
|
| 244 |
* @brief DW1000 reset output signal |
|
| 245 |
* @note the reset pin should be drived as low by MCU to activate. |
|
| 246 |
* Then, put back the reset pin as input to MCU (tri-state float on the air |
|
| 247 |
* is not supported in AMiRo) |
|
| 248 |
*/ |
|
| 249 |
extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset; |
|
| 250 |
|
|
| 251 |
/** |
|
| 252 |
* @brief DW1000 wakeup signal |
|
| 253 |
*/ |
|
| 254 |
extern ROMCONST apalControlGpio_t moduleGpioDw1000WakeUp; |
|
| 255 |
|
|
| 256 |
/** |
|
| 257 |
* @brief DW1000 interrupt IRQn input signal. |
|
| 258 |
*/ |
|
| 259 |
extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn; |
|
| 260 |
|
|
| 261 |
/** |
|
| 262 |
* @brief DW1000 SPI chip select output signal. |
|
| 263 |
*/ |
|
| 264 |
extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ; |
|
| 265 |
|
|
| 266 |
#else |
|
| 267 |
/** |
|
| 268 |
* @brief IO_2 breakout signal GPIO. |
|
| 269 |
*/ |
|
| 270 |
extern apalControlGpio_t moduleGpioBreakoutIo2; |
|
| 271 |
|
|
| 272 |
/** |
|
| 273 |
* @brief IO_7 breakout signal GPIO. |
|
| 274 |
*/ |
|
| 275 |
extern apalControlGpio_t moduleGpioBreakoutIo7; |
|
| 276 |
|
|
| 277 |
/** |
|
| 278 |
* @brief IO_8 breakout signal GPIO. |
|
| 279 |
*/ |
|
| 280 |
extern apalControlGpio_t moduleGpioBreakoutIo8; |
|
| 281 |
|
|
| 282 |
#endif /* BOARD_DW1000_CONNECTED == true */ |
|
| 283 |
|
|
| 218 | 284 |
/** @} */ |
| 219 | 285 |
|
| 220 | 286 |
/*===========================================================================*/ |
| ... | ... | |
| 275 | 341 |
#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO8 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8)) |
| 276 | 342 |
|
| 277 | 343 |
/** |
| 344 |
* @brief Event flag to be set on a DW1000 interrupt. |
|
| 345 |
*/ |
|
| 346 |
#define MODULE_OS_IOEVENTFLAGS_DW1000 AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8)) |
|
| 347 |
|
|
| 348 |
/** |
|
| 278 | 349 |
* @brief Event flag to be set on a SYS_PD interrupt. |
| 279 | 350 |
*/ |
| 280 | 351 |
#define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N)) |
| ... | ... | |
| 292 | 363 |
*/ |
| 293 | 364 |
#define MODULE_INIT_INTERRUPTS() { \
|
| 294 | 365 |
/* breakout interrupts must be enabled explicitely */ \ |
| 366 |
MODULE_INIT_INTERRUPTS_DW1000(); \ |
|
| 295 | 367 |
} |
| 368 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 369 |
#define MODULE_INIT_INTERRUPTS_DW1000() { \
|
|
| 370 |
palSetLineCallback(moduleGpioDw1000Irqn.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioDw1000Irqn.gpio->line); \ |
|
| 371 |
palEnableLineEvent(moduleGpioDw1000Irqn.gpio->line, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge)); \ |
|
| 372 |
} |
|
| 373 |
#else /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 374 |
#define MODULE_INIT_INTERRUPTS_DW1000() { \
|
|
| 375 |
} |
|
| 376 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 296 | 377 |
|
| 297 | 378 |
/** |
| 298 | 379 |
* @brief Unit test initialization hook. |
| ... | ... | |
| 305 | 386 |
aosShellAddCommand(&aos.shell, &moduleTestMic9404xShellCmd); \ |
| 306 | 387 |
aosShellAddCommand(&aos.shell, &moduleTestTlc5947ShellCmd); \ |
| 307 | 388 |
aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
| 389 |
MODULE_INIT_TESTS_DW1000(); \ |
|
| 308 | 390 |
} |
| 391 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 392 |
#define MODULE_INIT_TESTS_DW1000() { \
|
|
| 393 |
aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd); \ |
|
| 394 |
} |
|
| 395 |
#else /* defined(AMIROLLD_CFG_DW1000) */ |
|
| 396 |
#define MODULE_INIT_TESTS_DW1000() { \
|
|
| 397 |
} |
|
| 398 |
#endif /* BOARD_DW1000_CONNECTED == true */ |
|
| 309 | 399 |
|
| 310 | 400 |
/** |
| 311 | 401 |
* @brief Periphery communication interfaces initialization hook. |
| ... | ... | |
| 320 | 410 |
i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig); \ |
| 321 | 411 |
/* SPI */ \ |
| 322 | 412 |
spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
| 413 |
MODULE_INIT_PERIPHERY_COMM_DW1000(); \ |
|
| 323 | 414 |
} |
| 415 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 416 |
#define MODULE_INIT_PERIPHERY_COMM_DW1000() { \
|
|
| 417 |
spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig); \ |
|
| 418 |
} |
|
| 419 |
#else /* defined(AMIROLLD_CFG_DW1000) */ |
|
| 420 |
#define MODULE_INIT_PERIPHERY_COMM_DW1000() { \
|
|
| 421 |
} |
|
| 422 |
#endif /* BOARD_DW1000_CONNECTED == true */ |
|
| 324 | 423 |
|
| 325 | 424 |
/** |
| 326 | 425 |
* @brief Periphery communication interface deinitialization hook. |
| ... | ... | |
| 330 | 429 |
spiStop(&MODULE_HAL_SPI_LIGHT); \ |
| 331 | 430 |
/* I2C */ \ |
| 332 | 431 |
i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT); \ |
| 432 |
MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000(); \ |
|
| 333 | 433 |
/* don't stop the serial driver so messages can still be printed */ \ |
| 334 | 434 |
} |
| 435 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 436 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() { \
|
|
| 437 |
/* SPI */ \ |
|
| 438 |
spiStop(&MODULE_HAL_SPI_UWB); \ |
|
| 439 |
} |
|
| 440 |
#else /* defined(AMIROLLD_CFG_DW1000) */ |
|
| 441 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() { \
|
|
| 442 |
} |
|
| 443 |
#endif /* BOARD_DW1000_CONNECTED == true */ |
|
| 444 |
|
|
| 445 |
|
|
| 446 |
/** |
|
| 447 |
* @brief HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated. |
|
| 448 |
*/ |
|
| 449 |
#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) { \
|
|
| 450 |
MODULE_MAIN_LOOP_IO_EVENT_DW1000(); \ |
|
| 451 |
} |
|
| 452 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 453 |
#define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
|
|
| 454 |
if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000) { \
|
|
| 455 |
process_deca_irq(); \ |
|
| 456 |
} \ |
|
| 457 |
} |
|
| 458 |
#else /* defined(AMIROLLD_CFG_DW1000) */ |
|
| 459 |
#define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
|
|
| 460 |
} |
|
| 461 |
#endif /* BOARD_DW1000_CONNECTED == true */ |
|
| 335 | 462 |
|
| 336 | 463 |
/** @} */ |
| 337 | 464 |
|
| ... | ... | |
| 396 | 523 |
#include <alld_MIC9404x.h> |
| 397 | 524 |
// TODO: add SNx5C3221E |
| 398 | 525 |
#include <alld_TLC5947.h> |
| 526 |
#include <alld_DW1000.h> |
|
| 399 | 527 |
|
| 400 | 528 |
/** |
| 401 | 529 |
* @brief EEPROM driver. |
| ... | ... | |
| 445 | 573 |
*/ |
| 446 | 574 |
extern TLC5947Driver moduleLldLedPwm; |
| 447 | 575 |
|
| 576 |
/** |
|
| 577 |
* @brief DW1000 driver. |
|
| 578 |
*/ |
|
| 579 |
void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv); |
|
| 580 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 581 |
extern DW1000Driver moduleLldDw1000; |
|
| 582 |
extern MIC9404xDriver moduleLldPowerSwitchDw1000; |
|
| 583 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 584 |
|
|
| 448 | 585 |
/** @} */ |
| 449 | 586 |
|
| 450 | 587 |
/*===========================================================================*/ |
| ... | ... | |
| 487 | 624 |
*/ |
| 488 | 625 |
extern aos_shellcommand_t moduleTestAllShellCmd; |
| 489 | 626 |
|
| 627 |
|
|
| 628 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 629 |
/** |
|
| 630 |
* @brief DW1000 (UWB transmitter) test command. |
|
| 631 |
*/ |
|
| 632 |
extern aos_shellcommand_t moduleTestDw1000ShellCmd; |
|
| 633 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 634 |
|
|
| 490 | 635 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 491 | 636 |
|
| 492 | 637 |
/** @} */ |
| modules/LightRing_1-2/test/DW1000/module_test_DW1000.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
#include <amiroos.h> |
|
| 20 |
|
|
| 21 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) && (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 22 |
|
|
| 23 |
|
|
| 24 |
#include <module_test_DW1000.h> |
|
| 25 |
#include <aos_test_DW1000.h> |
|
| 26 |
//#include <aos_test_MIC9404x.h> |
|
| 27 |
#include <module_test_MIC9404x.h> |
|
| 28 |
|
|
| 29 |
/******************************************************************************/ |
|
| 30 |
/* LOCAL DEFINITIONS */ |
|
| 31 |
/******************************************************************************/ |
|
| 32 |
|
|
| 33 |
/******************************************************************************/ |
|
| 34 |
/* EXPORTED VARIABLES */ |
|
| 35 |
/******************************************************************************/ |
|
| 36 |
|
|
| 37 |
/******************************************************************************/ |
|
| 38 |
/* LOCAL TYPES */ |
|
| 39 |
/******************************************************************************/ |
|
| 40 |
|
|
| 41 |
/******************************************************************************/ |
|
| 42 |
/* LOCAL VARIABLES */ |
|
| 43 |
/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
static aos_test_dw1000data_t _data = {
|
|
| 46 |
/* UWB data */ &moduleLldDw1000, |
|
| 47 |
/* event source */ &aos.events.io, |
|
| 48 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_DW1000, |
|
| 49 |
/* Power supply */ &moduleLldPowerSwitchDw1000, |
|
| 50 |
}; |
|
| 51 |
|
|
| 52 |
static AOS_TEST(_test, "DW1000", NULL, moduleTestDw1000ShellCb, aosTestDw1000Func, &_data); |
|
| 53 |
|
|
| 54 |
/******************************************************************************/ |
|
| 55 |
/* LOCAL FUNCTIONS */ |
|
| 56 |
/******************************************************************************/ |
|
| 57 |
|
|
| 58 |
/******************************************************************************/ |
|
| 59 |
/* EXPORTED FUNCTIONS */ |
|
| 60 |
/******************************************************************************/ |
|
| 61 |
|
|
| 62 |
int moduleTestDw1000ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result) |
|
| 63 |
{
|
|
| 64 |
(void)argc; |
|
| 65 |
(void)argv; |
|
| 66 |
|
|
| 67 |
/* MIC9404x (power switch) */ |
|
| 68 |
// Enable 1.8V for DW1000 module on Light Ring |
|
| 69 |
_data.mic9404xd = &moduleLldPowerSwitchV18; |
|
| 70 |
aosTestRun(stream, &_test, "1.8V"); |
|
| 71 |
_data.mic9404xd = NULL; |
|
| 72 |
|
|
| 73 |
// Enable 3.3V for DW1000 module on Light Ring |
|
| 74 |
_data.mic9404xd = &moduleLldPowerSwitchV33; |
|
| 75 |
aosTestRun(stream, &_test, "3.3V"); |
|
| 76 |
_data.mic9404xd = NULL; |
|
| 77 |
|
|
| 78 |
|
|
| 79 |
/* DW1000 (test) */ |
|
| 80 |
if (result != NULL) {
|
|
| 81 |
*result = aosTestRun(stream, &_test, NULL); |
|
| 82 |
|
|
| 83 |
} else {
|
|
| 84 |
aosTestRun(stream, &_test, NULL); |
|
| 85 |
} |
|
| 86 |
return AOS_OK; |
|
| 87 |
} |
|
| 88 |
|
|
| 89 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
|
| modules/LightRing_1-2/test/DW1000/module_test_DW1000.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
|
|
| 20 |
#ifndef MODULE_TEST_DW1000_H |
|
| 21 |
#define MODULE_TEST_DW1000_H |
|
| 22 |
|
|
| 23 |
#include <amiroos.h> |
|
| 24 |
|
|
| 25 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) && (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 26 |
|
|
| 27 |
/******************************************************************************/ |
|
| 28 |
/* CONSTANTS */ |
|
| 29 |
/******************************************************************************/ |
|
| 30 |
|
|
| 31 |
/******************************************************************************/ |
|
| 32 |
/* SETTINGS */ |
|
| 33 |
/******************************************************************************/ |
|
| 34 |
|
|
| 35 |
/******************************************************************************/ |
|
| 36 |
/* CHECKS */ |
|
| 37 |
/******************************************************************************/ |
|
| 38 |
|
|
| 39 |
/******************************************************************************/ |
|
| 40 |
/* DATA STRUCTURES AND TYPES */ |
|
| 41 |
/******************************************************************************/ |
|
| 42 |
|
|
| 43 |
/******************************************************************************/ |
|
| 44 |
/* MACROS */ |
|
| 45 |
/******************************************************************************/ |
|
| 46 |
|
|
| 47 |
/******************************************************************************/ |
|
| 48 |
/* EXTERN DECLARATIONS */ |
|
| 49 |
/******************************************************************************/ |
|
| 50 |
|
|
| 51 |
#if defined(__cplusplus) |
|
| 52 |
extern "C" {
|
|
| 53 |
#endif /* defined(__cplusplus) */ |
|
| 54 |
int moduleTestDw1000ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result); |
|
| 55 |
#if defined(__cplusplus) |
|
| 56 |
} |
|
| 57 |
#endif /* defined(__cplusplus) */ |
|
| 58 |
|
|
| 59 |
/******************************************************************************/ |
|
| 60 |
/* INLINE FUNCTIONS */ |
|
| 61 |
/******************************************************************************/ |
|
| 62 |
|
|
| 63 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
|
| 64 |
|
|
| 65 |
#endif /* MODULE_TEST_DW1000_H */ |
|
| 66 |
|
|
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