/modules/NUCLEO-F103RB/module.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / NUCLEO-F103RB / module.c @ 0c28913b

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       /*
       AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2020  Thomas Schöpping et al.
       This program is free software: you can redistribute it and/or modify
       it under the terms of the GNU General Public License as published by
       the Free Software Foundation, either version 3 of the License, or
       (at your option) any later version.
       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU General Public License for more details.
       You should have received a copy of the GNU General Public License
       along with this program.  If not, see <http://www.gnu.org/licenses/>.
       */
       /**
        * @file
        * @brief   Structures and constant for the NUCLEO-F103RB module.
+       *
        * @addtogroup NUCLEO-F103RB_module
        * @{
        */
       #include <amiroos.h>
       /*===========================================================================*/
       /**
        * @name Module specific functions
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name ChibiOS/HAL configuration
        * @{
        */
       /*===========================================================================*/
       SerialConfig moduleHalProgIfConfig = {
         /* bit rate */ 115200,
         /* CR1      */ 0,
         /* CR1      */ 0,
         /* CR1      */ 0,
       };
       #if (BOARD_DW1000_CONNECTED == true)
       /*! SPI (high and low speed) configuration for DW1000 */
       SPIConfig moduleHalSpiUwbHsConfig = {
         /* circular buffer mode        */ false,
         /* callback function pointer   */ NULL,
         /* chip select line port       */ GPIOB,
         /* chip select line pad number */ GPIOB_PIN12,
         /* CR1                         */ 0,
         /* CR2                         */ 0,
       };
       SPIConfig moduleHalSpiUwbLsConfig = {
         /* circular buffer mode        */ false,
         /* callback function pointer   */ NULL,
         /* chip select line port       */ GPIOB,
         /* chip select line pad number */ GPIOB_PIN12,
         /* CR1                         */ SPI_CR1_BR_1 | SPI_CR1_BR_0,
         /* CR2                         */ 0,
       };
       #endif /* (BOARD_DW1000_CONNECTED == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name GPIO definitions
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   LED output signal GPIO.
        */
       static apalGpio_t _gpioLed = {
         /* line */ LINE_LED_GREEN,
       };
       ROMCONST apalControlGpio_t moduleGpioLed = {
         /* GPIO */ &_gpioLed,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       #if (BOARD_DW1000_CONNECTED == true)
       /**
        * @brief   DW1000 reset output signal GPIO.
        */
       static apalGpio_t _gpioDw1000Reset = {
         /* line */ LINE_ARD_D15, //PAL_LINE(GPIOA, GPIOA_ARD_A0)
       };
       ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
         /* GPIO */ &_gpioDw1000Reset,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   DW1000 interrrupt input signal GPIO.
        */
       static apalGpio_t _gpioDw1000Irqn = {
         /* line */ LINE_ARD_D14,  // PAL_LINE(GPIOB, GPIOB_ARD_D6)
       };
       ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
         /* GPIO */ &_gpioDw1000Irqn,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_RISING,
         },
       };
       /**
        * @brief   DW1000 SPI chip select output signal GPIO.
        */
       static apalGpio_t _gpioSpiChipSelect = {
         /* line */ PAL_LINE(GPIOB, GPIOB_PIN12),
       };
       ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
         /* GPIO */ &_gpioSpiChipSelect,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       #endif /* (BOARD_DW1000_CONNECTED == true) */
       /**
        * @brief   User button input signal GPIO.
        */
       static apalGpio_t _gpioUserButton = {
         /* line */ LINE_BUTTON,
       };
       ROMCONST apalControlGpio_t moduleGpioUserButton = {
         /* GPIO */ &_gpioUserButton,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name AMiRo-OS core configurations
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
       ROMCONST char* moduleShellPrompt = "NUCLEO-F103RB";
       #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Startup Shutdown Synchronization Protocol (SSSP)
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name Hardware specific wrappers Functions
        * @{
        */
       /*===========================================================================*/
       #if (BOARD_DW1000_CONNECTED == true)
       /*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB  */
       void dw1000_spi_init(void){
         palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
         palSetPadMode(GPIOB, GPIOB_PIN14, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
         palSetPadMode(GPIOB, GPIOB_PIN15, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
         palSetLineMode(moduleGpioSpiChipSelect.gpio->line, PAL_MODE_OUTPUT_PUSHPULL);
         apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
+      }
       /*! @brief Manually reset the DW1000 module  */
       void reset_DW1000(void){
         // Set the pin as output
         palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT);
         //drive the RSTn pin low
         apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW);
         //put the pin back to tri-state ... as input
       //  palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO:
         aosThdMSleep(2);
+      }
       /*! @brief entry point to the IRQn event in DW1000 module
+       *
        * */
       void process_deca_irq(void){
         do{
           dwt_isr();
          //while IRS line active (ARM can only do edge sensitive interrupts)
         }while(port_CheckEXT_IRQ() == 1);
+      }
       /*! @brief Check the current value of GPIO pin and return the value */
       apalGpioState_t port_CheckEXT_IRQ(void) {
         apalGpioState_t  val;
         apalGpioRead(moduleGpioDw1000Irqn.gpio, &val);
         return val;
+      }
       /*! @brief Manually set the chip select pin of the SPI */
       void set_SPI_chip_select(void){
         apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH);
+      }
       /*! @brief Manually reset the chip select pin of the SPI */
       void clear_SPI_chip_select(void){
         apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
+      }
       /*! @brief Change the SPI speed configuration on the fly */
       void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){
         spiStop(drv->spid);
         if (speedValue == FALSE){
           spiStart(drv->spid, &moduleHalSpiUwbLsConfig);  // low speed spi configuration
+        }
         else{
           spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
+        }
+      }
       #endif /* (BOARD_DW1000_CONNECTED == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Low-level drivers
        * @{
        */
       /*===========================================================================*/
       LEDDriver moduleLldLed = {
         /* LED enable Gpio */ &moduleGpioLed,
       };
       ButtonDriver moduleLldUserButton = {
         /* Button Gpio  */ &moduleGpioUserButton,
       };
       #if (BOARD_DW1000_CONNECTED == true)
       DW1000Driver moduleLldDw1000 = {
         /* SPI driver         */ &MODULE_HAL_SPI_UWB,
         /* ext interrupt      */ &moduleGpioDw1000Irqn,
         /* RESET DW1000       */ &moduleGpioDw1000Reset,
       };
       #endif /* (BOARD_DW1000_CONNECTED == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Tests
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       /*
        * LED
        */
       #include <module_test_LED.h>
       static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestLedShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
       /*
        * User button
        */
       #include <module_test_button.h>
       static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestButtonShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
       #if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__)
       /*
        * UwB Driver (DW1000)
        */
       #include <module_test_DW1000.h>
       static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestDw1000ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb);
       #endif /* (BOARD_DW1000_CONNECTED == true) */
       /*
        * entire module
        */
       static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         int status = AOS_OK;
         char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};
         aos_testresult_t result_test = {0, 0};
         aos_testresult_t result_total = {0, 0};
         /* LED */
         status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* User button */
         status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
       #if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__)
         /* DW1000 */
         status |= moduleTestDw1000ShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
       #endif /* (BOARD_DW1000_CONNECTED == true) */
         // print total result
         chprintf(stream, "\n");
         aosTestResultPrintSummary(stream, &result_total, "entire module");
         return status;
+      }
       AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
       #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
       /** @} */
       /** @} */