amiro-os / modules / LightRing_1-0 / module.h @ 1703dfdf
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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 | 53710ca3 | Marc Rothmann | /**
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| 20 | * @file
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| 21 | * @brief Structures and constant for the LightRing module.
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| 22 | *
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| 23 | * @addtogroup lightring_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | e545e620 | Thomas Schöpping | #ifndef _AMIROOS_MODULE_H_
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| 28 | #define _AMIROOS_MODULE_H_
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| 29 | |||
| 30 | /*===========================================================================*/
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| 31 | /**
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| 32 | * @name Module specific functions
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| 33 | * @{
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| 34 | */
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| 35 | /*===========================================================================*/
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| 36 | |||
| 37 | /** @} */
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| 38 | |||
| 39 | /*===========================================================================*/
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| 40 | /**
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| 41 | * @name ChibiOS/HAL configuration
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| 42 | * @{
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| 43 | */
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| 44 | /*===========================================================================*/
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| 45 | #include <hal.h> |
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| 46 | |||
| 47 | /**
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| 48 | * @brief CAN driver to use.
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| 49 | */
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| 50 | #define MODULE_HAL_CAN CAND1
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| 51 | |||
| 52 | /**
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| 53 | * @brief Configuration for the CAN driver.
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| 54 | */
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| 55 | extern CANConfig moduleHalCanConfig;
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| 56 | |||
| 57 | /**
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| 58 | * @brief I2C driver to access the EEPROM.
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| 59 | */
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| 60 | #define MODULE_HAL_I2C_EEPROM I2CD2
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| 61 | |||
| 62 | /**
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| 63 | * @brief Configuration for the EEPROM I2C driver.
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| 64 | */
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| 65 | extern I2CConfig moduleHalI2cEepromConfig;
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| 66 | |||
| 67 | /**
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| 68 | * @brief Serial driver of the programmer interface.
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| 69 | */
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| 70 | #define MODULE_HAL_PROGIF SD1
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| 71 | |||
| 72 | /**
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| 73 | * @brief Configuration for the programmer serial interface driver.
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| 74 | */
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| 75 | extern SerialConfig moduleHalProgIfConfig;
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| 76 | |||
| 77 | /**
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| 78 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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| 79 | */
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| 80 | #define MODULE_HAL_SPI_LIGHT SPID1
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| 81 | |||
| 82 | /**
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| 83 | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
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| 84 | */
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| 85 | extern SPIConfig moduleHalSpiLightConfig;
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| 86 | |||
| 87 | 8399aeae | Thomas Schöpping | /**
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| 88 | 22be62dc | Thomas Schöpping | * @brief SPI interface driver for the wireless transceiver.
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| 89 | */
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| 90 | #define MODULE_HAL_SPI_WL SPID2
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| 91 | |||
| 92 | /**
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| 93 | * @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
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| 94 | */
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| 95 | extern SPIConfig moduleHalSpiWlConfig;
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| 96 | |||
| 97 | /**
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| 98 | 8399aeae | Thomas Schöpping | * @brief Real-Time Clock driver.
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| 99 | */
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| 100 | #define MODULE_HAL_RTC RTCD1
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| 101 | |||
| 102 | e545e620 | Thomas Schöpping | /** @} */
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| 103 | |||
| 104 | /*===========================================================================*/
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| 105 | /**
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| 106 | * @name GPIO definitions
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| 107 | * @{
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| 108 | */
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| 109 | /*===========================================================================*/
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| 110 | #include <amiro-lld.h> |
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| 111 | |||
| 112 | /**
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| 113 | * @brief LIGHT_BANK output signal GPIO.
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| 114 | */
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| 115 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioLightBlank;
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| 116 | e545e620 | Thomas Schöpping | |
| 117 | /**
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| 118 | * @brief LASER_EN output signal GPIO.
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| 119 | */
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| 120 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioLaserEn;
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| 121 | e545e620 | Thomas Schöpping | |
| 122 | /**
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| 123 | * @brief LASER_OC input signal GPIO.
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| 124 | */
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| 125 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioLaserOc;
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| 126 | e545e620 | Thomas Schöpping | |
| 127 | /**
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| 128 | * @brief SYS_UART_DN bidirectional signal GPIO.
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| 129 | */
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| 130 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysUartDn;
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| 131 | e545e620 | Thomas Schöpping | |
| 132 | /**
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| 133 | * @brief WL_GDO2 input signal GPIO.
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| 134 | */
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| 135 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioWlGdo2;
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| 136 | e545e620 | Thomas Schöpping | |
| 137 | /**
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| 138 | * @brief WL_GDO0 input signal GPIO.
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| 139 | */
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| 140 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioWlGdo0;
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| 141 | e545e620 | Thomas Schöpping | |
| 142 | /**
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| 143 | * @brief LIGHT_XLAT output signal GPIO.
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| 144 | */
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| 145 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioLightXlat;
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| 146 | e545e620 | Thomas Schöpping | |
| 147 | /**
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| 148 | * @brief SYS_PD bidirectional signal GPIO.
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| 149 | */
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| 150 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysPd;
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| 151 | e545e620 | Thomas Schöpping | |
| 152 | /**
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| 153 | * @brief SYS_SYNC bidirectional signal GPIO.
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| 154 | */
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| 155 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysSync;
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| 156 | e545e620 | Thomas Schöpping | |
| 157 | /** @} */
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| 158 | |||
| 159 | /*===========================================================================*/
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| 160 | /**
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| 161 | * @name AMiRo-OS core configurations
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| 162 | * @{
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| 163 | */
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| 164 | /*===========================================================================*/
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| 165 | |||
| 166 | /**
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| 167 | * @brief Event flag to be set on a LASER_OC interrupt.
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| 168 | */
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| 169 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_LASEROC ((eventflags_t)1 << GPIOB_LASER_OC_N) |
| 170 | e545e620 | Thomas Schöpping | |
| 171 | /**
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| 172 | * @brief Event flag to be set on a SYS_UART_DN interrupt.
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| 173 | */
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| 174 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTDN ((eventflags_t)1 << GPIOB_SYS_UART_DN) |
| 175 | e545e620 | Thomas Schöpping | |
| 176 | /**
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| 177 | * @brief Event flag to be set on a WL_GDO2 interrupt.
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| 178 | */
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| 179 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO2 ((eventflags_t)1 << GPIOB_WL_GDO2) |
| 180 | e545e620 | Thomas Schöpping | |
| 181 | /**
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| 182 | * @brief Event flag to be set on a WL_GDO0 interrupt.
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| 183 | */
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| 184 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO0 ((eventflags_t)1 << GPIOB_WL_GDO0) |
| 185 | e545e620 | Thomas Schöpping | |
| 186 | /**
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| 187 | * @brief Event flag to be set on a SYS_PD interrupt.
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| 188 | */
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| 189 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
| 190 | e545e620 | Thomas Schöpping | |
| 191 | /**
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| 192 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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| 193 | */
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| 194 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOD_SYS_INT_N) |
| 195 | e545e620 | Thomas Schöpping | |
| 196 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 197 | e545e620 | Thomas Schöpping | /**
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| 198 | * @brief Shell prompt text.
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| 199 | */
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| 200 | extern const char* moduleShellPrompt; |
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| 201 | 6b53f6bf | Thomas Schöpping | #endif
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| 202 | e545e620 | Thomas Schöpping | |
| 203 | /**
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| 204 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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| 205 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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| 206 | */
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| 207 | #define MODULE_INIT_INTERRUPTS() { \
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| 208 | /* LASER_OC */ \
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| 209 | palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \ |
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| 210 | palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \ |
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| 211 | /* WL_GDO2 */ \
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| 212 | palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad); \ |
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| 213 | palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge)); \ |
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| 214 | /* WL_GDO0 */ \
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| 215 | palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad); \ |
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| 216 | /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/ \
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| 217 | } |
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| 218 | |||
| 219 | /**
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| 220 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
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| 221 | */
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| 222 | #define MODULE_INIT_TESTS() { \
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| 223 | /* add unit-test shell commands */ \
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| 224 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
| 225 | aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
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| 226 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
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| 227 | e545e620 | Thomas Schöpping | } |
| 228 | |||
| 229 | /**
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| 230 | * @brief Periphery communication interfaces initialization hook.
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| 231 | */
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| 232 | #define MODULE_INIT_PERIPHERY_COMM() { \
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| 233 | /* serial driver */ \
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| 234 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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| 235 | /* I2C */ \
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| 236 | moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
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| 237 | moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 238 | i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
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| 239 | /* SPI */ \
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| 240 | spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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| 241 | 22be62dc | Thomas Schöpping | spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig); \ |
| 242 | e545e620 | Thomas Schöpping | } |
| 243 | |||
| 244 | /**
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| 245 | * @brief Periphery communication interface deinitialization hook.
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| 246 | */
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| 247 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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| 248 | /* SPI */ \
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| 249 | spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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| 250 | 22be62dc | Thomas Schöpping | spiStop(&MODULE_HAL_SPI_WL); \ |
| 251 | e545e620 | Thomas Schöpping | /* I2C */ \
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| 252 | i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
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| 253 | /* don't stop the serial driver so messages can still be printed */ \
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| 254 | } |
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| 255 | |||
| 256 | /** @} */
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| 257 | |||
| 258 | /*===========================================================================*/
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| 259 | /**
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| 260 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 261 | * @{
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| 262 | */
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| 263 | /*===========================================================================*/
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| 264 | |||
| 265 | /**
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| 266 | * @brief PD signal GPIO.
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| 267 | */
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| 268 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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| 269 | 6b53f6bf | Thomas Schöpping | |
| 270 | /**
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| 271 | * @brief SYNC signal GPIO.
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| 272 | */
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| 273 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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| 274 | 6b53f6bf | Thomas Schöpping | |
| 275 | /**
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| 276 | 933df08e | Thomas Schöpping | * @brief DN signal GPIO.
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| 277 | */
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| 278 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioDn moduleGpioSysUartDn
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| 279 | 933df08e | Thomas Schöpping | |
| 280 | /**
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| 281 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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| 282 | */
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| 283 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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| 284 | |||
| 285 | /**
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| 286 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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| 287 | 6b53f6bf | Thomas Schöpping | */
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| 288 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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| 289 | |||
| 290 | /**
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| 291 | 933df08e | Thomas Schöpping | * @brief Event flags for DN signal events.
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| 292 | */
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| 293 | #define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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| 294 | |||
| 295 | 6b53f6bf | Thomas Schöpping | /** @} */
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| 296 | |||
| 297 | /*===========================================================================*/
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| 298 | /**
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| 299 | e545e620 | Thomas Schöpping | * @name Low-level drivers
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| 300 | * @{
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| 301 | */
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| 302 | /*===========================================================================*/
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| 303 | #include <alld_at24c01bn-sh-b.h> |
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| 304 | #include <alld_tlc5947.h> |
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| 305 | #include <alld_tps2051bdbv.h> |
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| 306 | |||
| 307 | /**
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| 308 | * @brief EEPROM driver.
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| 309 | */
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| 310 | extern AT24C01BNDriver moduleLldEeprom;
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| 311 | |||
| 312 | /**
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| 313 | * @brief LED PWM driver.
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| 314 | */
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| 315 | extern TLC5947Driver moduleLldLedPwm;
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| 316 | |||
| 317 | /**
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| 318 | * @brief Power switch driver for the laser supply power.
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| 319 | */
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| 320 | extern TPS2051BDriver moduleLldPowerSwitchLaser;
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| 321 | |||
| 322 | /** @} */
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| 323 | |||
| 324 | /*===========================================================================*/
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| 325 | /**
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| 326 | * @name Unit tests (UT)
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| 327 | * @{
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| 328 | */
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| 329 | /*===========================================================================*/
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| 330 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 331 | #include <ut_alld_at24c01bn-sh-b.h> |
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| 332 | #include <ut_alld_tlc5947.h> |
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| 333 | #include <ut_alld_tps2051bdbv.h> |
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| 334 | |||
| 335 | /**
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| 336 | * @brief EEPROM unit test object.
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| 337 | */
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| 338 | extern aos_unittest_t moduleUtAlldAt24c01bn;
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| 339 | |||
| 340 | /**
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| 341 | * @brief LED PWM driver unit test object.
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| 342 | */
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| 343 | extern aos_unittest_t moduleUtAlldTlc5947;
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| 344 | |||
| 345 | /**
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| 346 | * @brief Current-limited power switch (Laser output)
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| 347 | */
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| 348 | extern aos_unittest_t moduleUtAlldTps2051bdbv;
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| 349 | |||
| 350 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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| 351 | |||
| 352 | /** @} */
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| 353 | |||
| 354 | #endif /* _AMIROOS_MODULE_H_ */ |
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| 355 | 53710ca3 | Marc Rothmann | |
| 356 | /** @} */ |