amiro-os / modules / NUCLEO-F103RB / module.c @ 0ecf4119
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| 1 | f4da707a | 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..2019 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 | /**
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| 20 | * @file
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| 21 | * @brief Structures and constant for the NUCLEO-F103RB module.
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| 22 | *
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| 23 | * @addtogroup NUCLEO-F103RB_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | #include "module.h" |
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| 28 | |||
| 29 | /*===========================================================================*/
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| 30 | /**
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| 31 | * @name Module specific functions
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| 32 | * @{
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| 33 | */
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| 34 | /*===========================================================================*/
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| 35 | |||
| 36 | /** @} */
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| 37 | |||
| 38 | /*===========================================================================*/
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| 39 | /**
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| 40 | * @name ChibiOS/HAL configuration
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| 41 | * @{
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| 42 | */
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| 43 | /*===========================================================================*/
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| 44 | |||
| 45 | SerialConfig moduleHalProgIfConfig = {
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| 46 | /* bit rate */ 115200, |
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| 47 | /* CR1 */ 0, |
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| 48 | /* CR1 */ 0, |
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| 49 | /* CR1 */ 0, |
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| 50 | }; |
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| 51 | |||
| 52 | 7de0cc90 | Thomas Schöpping | #if defined(AMIROLLD_CFG_DW1000)
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| 53 | deaaa47e | Cung Sang | |
| 54 | 0ecf4119 | Cung Sang | /*! SPI (high speed) configuration for DW1000 */
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| 55 | deaaa47e | Cung Sang | SPIConfig moduleHalSpiUwbHsConfig = {
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| 56 | /* circular buffer mode */ false, |
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| 57 | /* callback function pointer */ NULL, |
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| 58 | /* chip select line port */ GPIOB,
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| 59 | /* chip select line pad number */ GPIOB_PIN12,
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| 60 | 0ecf4119 | Cung Sang | /* CR1 */ 0, // 32/2 Mbps |
| 61 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 62 | deaaa47e | Cung Sang | }; |
| 63 | |||
| 64 | 0ecf4119 | Cung Sang | /*! SPI (low speed) configuration for DW1000 */
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| 65 | deaaa47e | Cung Sang | SPIConfig moduleHalSpiUwbLsConfig = {
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| 66 | /* circular buffer mode */ false, |
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| 67 | /* callback function pointer */ NULL, |
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| 68 | /* chip select line port */ GPIOB,
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| 69 | /* chip select line pad number */ GPIOB_PIN12,
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| 70 | 0ecf4119 | Cung Sang | /* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, // 32/16 Mbps |
| 71 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 72 | deaaa47e | Cung Sang | }; |
| 73 | |||
| 74 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
| 75 | deaaa47e | Cung Sang | |
| 76 | f4da707a | Thomas Schöpping | /** @} */
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| 77 | |||
| 78 | /*===========================================================================*/
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| 79 | /**
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| 80 | * @name GPIO definitions
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| 81 | * @{
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| 82 | */
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| 83 | /*===========================================================================*/
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| 84 | |||
| 85 | /**
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| 86 | * @brief LED output signal GPIO.
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| 87 | */
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| 88 | static apalGpio_t _gpioLed = {
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| 89 | 3106e8cc | Thomas Schöpping | /* line */ PAL_LINE(GPIOA, GPIOA_LED_GREEN),
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| 90 | f4da707a | Thomas Schöpping | }; |
| 91 | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 92 | /* GPIO */ &_gpioLed,
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| 93 | /* meta */ {
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| 94 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 95 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 96 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 97 | }, |
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| 98 | }; |
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| 99 | |||
| 100 | 7de0cc90 | Thomas Schöpping | #if defined(AMIROLLD_CFG_DW1000)
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| 101 | deaaa47e | Cung Sang | /**
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| 102 | * @brief DW1000 reset output signal GPIO.
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| 103 | */
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| 104 | static apalGpio_t _gpioDw1000Reset = {
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| 105 | 0ecf4119 | Cung Sang | /* line */ LINE_ARD_D15, // PAL_LINE(GPIOB, GPIOB_ARD_D15) |
| 106 | deaaa47e | Cung Sang | }; |
| 107 | ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
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| 108 | /* GPIO */ &_gpioDw1000Reset,
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| 109 | /* meta */ {
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| 110 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 111 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 112 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 113 | }, |
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| 114 | }; |
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| 115 | |||
| 116 | /**
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| 117 | * @brief DW1000 interrrupt input signal GPIO.
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| 118 | */
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| 119 | static apalGpio_t _gpioDw1000Irqn = {
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| 120 | 0ecf4119 | Cung Sang | /* line */ LINE_ARD_D14, // PAL_LINE(GPIOB, GPIOB_ARD_D14) |
| 121 | deaaa47e | Cung Sang | }; |
| 122 | ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
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| 123 | /* GPIO */ &_gpioDw1000Irqn,
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| 124 | /* meta */ {
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| 125 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 126 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 127 | /* interrupt edge */ APAL_GPIO_EDGE_RISING,
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| 128 | }, |
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| 129 | }; |
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| 130 | |||
| 131 | /**
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| 132 | * @brief DW1000 SPI chip select output signal GPIO.
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| 133 | */
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| 134 | static apalGpio_t _gpioSpiChipSelect = {
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| 135 | 3106e8cc | Thomas Schöpping | /* line */ PAL_LINE(GPIOB, GPIOB_PIN12),
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| 136 | deaaa47e | Cung Sang | }; |
| 137 | ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
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| 138 | /* GPIO */ &_gpioSpiChipSelect,
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| 139 | /* meta */ {
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| 140 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 141 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 142 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 143 | }, |
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| 144 | }; |
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| 145 | |||
| 146 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
| 147 | deaaa47e | Cung Sang | |
| 148 | f4da707a | Thomas Schöpping | /**
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| 149 | * @brief User button input signal GPIO.
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| 150 | */
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| 151 | static apalGpio_t _gpioUserButton = {
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| 152 | 3106e8cc | Thomas Schöpping | /* line */ PAL_LINE(GPIOC, GPIOC_BUTTON),
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| 153 | f4da707a | Thomas Schöpping | }; |
| 154 | ROMCONST apalControlGpio_t moduleGpioUserButton = {
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| 155 | /* GPIO */ &_gpioUserButton,
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| 156 | /* meta */ {
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| 157 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 158 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 159 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 160 | }, |
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| 161 | }; |
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| 162 | |||
| 163 | /** @} */
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| 164 | |||
| 165 | /*===========================================================================*/
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| 166 | /**
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| 167 | * @name AMiRo-OS core configurations
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| 168 | * @{
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| 169 | */
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| 170 | /*===========================================================================*/
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| 171 | |||
| 172 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 173 | ROMCONST char* moduleShellPrompt = "NUCLEO-F103RB"; |
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| 174 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 175 | f4da707a | Thomas Schöpping | |
| 176 | /** @} */
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| 177 | |||
| 178 | /*===========================================================================*/
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| 179 | /**
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| 180 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 181 | * @{
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| 182 | */
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| 183 | /*===========================================================================*/
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| 184 | |||
| 185 | deaaa47e | Cung Sang | |
| 186 | /*===========================================================================*/
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| 187 | /**
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| 188 | * @name Hardware specific wrappers Functions
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| 189 | * @{
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| 190 | */
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| 191 | /*===========================================================================*/
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| 192 | |||
| 193 | 7de0cc90 | Thomas Schöpping | #if defined(AMIROLLD_CFG_DW1000)
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| 194 | deaaa47e | Cung Sang | |
| 195 | /*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB */
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| 196 | void dw1000_spi_init(void){ |
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| 197 | palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL); |
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| 198 | palSetPadMode(GPIOB, GPIOB_PIN14, PAL_MODE_STM32_ALTERNATE_PUSHPULL); |
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| 199 | palSetPadMode(GPIOB, GPIOB_PIN15, PAL_MODE_STM32_ALTERNATE_PUSHPULL); |
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| 200 | 3106e8cc | Thomas Schöpping | palSetLineMode(moduleGpioSpiChipSelect.gpio->line, PAL_MODE_OUTPUT_PUSHPULL); |
| 201 | deaaa47e | Cung Sang | apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
| 202 | } |
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| 203 | |||
| 204 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
| 205 | f4da707a | Thomas Schöpping | /** @} */
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| 206 | |||
| 207 | /*===========================================================================*/
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| 208 | /**
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| 209 | * @name Low-level drivers
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| 210 | * @{
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| 211 | */
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| 212 | /*===========================================================================*/
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| 213 | |||
| 214 | 7de0cc90 | Thomas Schöpping | #if defined(AMIROLLD_CFG_DW1000)
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| 215 | deaaa47e | Cung Sang | |
| 216 | DW1000Driver moduleLldDw1000 = {
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| 217 | /* SPI driver */ &MODULE_HAL_SPI_UWB,
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| 218 | /* ext interrupt */ &moduleGpioDw1000Irqn,
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| 219 | /* RESET DW1000 */ &moduleGpioDw1000Reset,
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| 220 | }; |
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| 221 | |||
| 222 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
| 223 | f4da707a | Thomas Schöpping | /** @} */
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| 224 | |||
| 225 | /*===========================================================================*/
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| 226 | /**
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| 227 | * @name Unit tests (UT)
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| 228 | * @{
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| 229 | */
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| 230 | /*===========================================================================*/
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| 231 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 232 | |||
| 233 | 7de0cc90 | Thomas Schöpping | #if defined(AMIROLLD_CFG_DW1000)
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| 234 | deaaa47e | Cung Sang | |
| 235 | /*
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| 236 | * UwB Driver (DW1000)
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| 237 | */
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| 238 | static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 239 | {
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| 240 | (void)argc;
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| 241 | (void)argv;
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| 242 | 0ecf4119 | Cung Sang | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->dw1000d = &moduleLldDw1000; |
| 243 | deaaa47e | Cung Sang | aosUtRun(stream, &moduleUtAlldDw1000, NULL);
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| 244 | return AOS_OK;
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| 245 | } |
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| 246 | 0ecf4119 | Cung Sang | static ut_dw1000data_t _utAlldDw1000Data = {
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| 247 | /* dw1000d */ NULL, |
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| 248 | }; |
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| 249 | deaaa47e | Cung Sang | aos_unittest_t moduleUtAlldDw1000 = {
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| 250 | /* info */ "DW1000", |
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| 251 | /* name */ "UWB System", |
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| 252 | /* test function */ utAlldDw1000Func,
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| 253 | /* shell command */ {
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| 254 | /* name */ "unittest:Uwb", |
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| 255 | /* callback */ _utShellCmdCb_Dw1000,
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| 256 | /* next */ NULL, |
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| 257 | }, |
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| 258 | 0ecf4119 | Cung Sang | /* data */ &_utAlldDw1000Data, // TODO: &moduleLldDw1000 |
| 259 | deaaa47e | Cung Sang | }; |
| 260 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
| 261 | deaaa47e | Cung Sang | |
| 262 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 263 | f4da707a | Thomas Schöpping | |
| 264 | /** @} */
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| 265 | /** @} */ |