amiro-os / modules / DiWheelDrive_1-1 / module.h @ 1e5f7648
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #ifndef _AMIROOS_MODULE_H_
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| 20 | #define _AMIROOS_MODULE_H_
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| 21 | |||
| 22 | /*===========================================================================*/
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| 23 | /**
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| 24 | * @name Module specific functions
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| 25 | * @{
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| 26 | */
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| 27 | /*===========================================================================*/
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| 28 | |||
| 29 | /** @} */
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| 30 | |||
| 31 | /*===========================================================================*/
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| 32 | /**
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| 33 | * @name ChibiOS/HAL configuration
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| 34 | * @{
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| 35 | */
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| 36 | /*===========================================================================*/
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| 37 | #include <hal.h> |
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| 38 | #include <hal_qei.h> |
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| 39 | |||
| 40 | /**
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| 41 | * @brief CAN driver to use.
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| 42 | */
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| 43 | #define MODULE_HAL_CAN CAND1
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| 44 | |||
| 45 | /**
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| 46 | * @brief Configuration for the CAN driver.
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| 47 | */
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| 48 | extern CANConfig moduleHalCanConfig;
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| 49 | |||
| 50 | /**
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| 51 | * @brief I2C driver to access the compass.
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| 52 | */
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| 53 | #define MODULE_HAL_I2C_COMPASS I2CD1
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| 54 | |||
| 55 | /**
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| 56 | * @brief Configuration for the compass I2C driver.
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| 57 | */
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| 58 | extern I2CConfig moduleHalI2cCompassConfig;
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| 59 | |||
| 60 | /**
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| 61 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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| 62 | */
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| 63 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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| 64 | |||
| 65 | /**
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| 66 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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| 67 | */
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| 68 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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| 69 | |||
| 70 | /**
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| 71 | * @brief PWM driver to use.
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| 72 | */
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| 73 | #define MODULE_HAL_PWM_DRIVE PWMD2
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| 74 | |||
| 75 | /**
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| 76 | * @brief Configuration for the PWM driver.
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| 77 | */
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| 78 | extern PWMConfig moduleHalPwmDriveConfig;
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| 79 | |||
| 80 | /**
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| 81 | * @brief Drive PWM channel for the left wheel forward direction.
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| 82 | */
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| 83 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
| 84 | e545e620 | Thomas Schöpping | |
| 85 | /**
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| 86 | * @brief Drive PWM channel for the left wheel backward direction.
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| 87 | */
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| 88 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
| 89 | e545e620 | Thomas Schöpping | |
| 90 | /**
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| 91 | * @brief Drive PWM channel for the right wheel forward direction.
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| 92 | */
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| 93 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
| 94 | e545e620 | Thomas Schöpping | |
| 95 | /**
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| 96 | * @brief Drive PWM channel for the right wheel backward direction.
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| 97 | */
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| 98 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
| 99 | e545e620 | Thomas Schöpping | |
| 100 | /**
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| 101 | * @brief Quadrature encooder for the left wheel.
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| 102 | */
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| 103 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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| 104 | |||
| 105 | /**
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| 106 | * @brief Quadrature encooder for the right wheel.
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| 107 | */
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| 108 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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| 109 | |||
| 110 | /**
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| 111 | * @brief Configuration for both quadrature encoders.
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| 112 | */
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| 113 | extern QEIConfig moduleHalQeiConfig;
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| 114 | |||
| 115 | /**
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| 116 | * @brief QEI increments per wheel revolution.
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| 117 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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| 118 | */
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| 119 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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| 120 | |||
| 121 | /**
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| 122 | * @brief Serial driver of the programmer interface.
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| 123 | */
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| 124 | #define MODULE_HAL_PROGIF SD1
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| 125 | |||
| 126 | /**
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| 127 | * @brief Configuration for the programmer serial interface driver.
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| 128 | */
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| 129 | extern SerialConfig moduleHalProgIfConfig;
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| 130 | |||
| 131 | /**
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| 132 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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| 133 | */
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| 134 | #define MODULE_HAL_SPI_MOTION SPID1
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| 135 | |||
| 136 | /**
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| 137 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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| 138 | */
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| 139 | extern SPIConfig moduleHalSpiAccelerometerConfig;
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| 140 | |||
| 141 | /**
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| 142 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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| 143 | */
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| 144 | extern SPIConfig moduleHalSpiGyroscopeConfig;
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| 145 | |||
| 146 | 8399aeae | Thomas Schöpping | /**
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| 147 | * @brief Real-Time Clock driver.
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| 148 | */
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| 149 | #define MODULE_HAL_RTC RTCD1
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| 150 | |||
| 151 | e545e620 | Thomas Schöpping | /** @} */
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| 152 | |||
| 153 | /*===========================================================================*/
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| 154 | /**
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| 155 | * @name GPIO definitions
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| 156 | * @{
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| 157 | */
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| 158 | /*===========================================================================*/
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| 159 | #include <amiro-lld.h> |
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| 160 | |||
| 161 | /**
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| 162 | * @brief LED output signal GPIO.
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| 163 | */
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| 164 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioLed;
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| 165 | e545e620 | Thomas Schöpping | |
| 166 | /**
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| 167 | * @brief POWER_EN output signal GPIO.
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| 168 | */
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| 169 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioPowerEn;
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| 170 | e545e620 | Thomas Schöpping | |
| 171 | /**
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| 172 | * @brief COMPASS_DRDY input signal GPIO.
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| 173 | */
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| 174 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioCompassDrdy;
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| 175 | e545e620 | Thomas Schöpping | |
| 176 | /**
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| 177 | * @brief IR_INT input signal GPIO.
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| 178 | */
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| 179 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioIrInt;
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| 180 | e545e620 | Thomas Schöpping | |
| 181 | /**
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| 182 | * @brief GYRO_DRDY input signal GPIO.
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| 183 | */
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| 184 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioGyroDrdy;
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| 185 | e545e620 | Thomas Schöpping | |
| 186 | /**
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| 187 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 188 | */
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| 189 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysUartUp;
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| 190 | e545e620 | Thomas Schöpping | |
| 191 | /**
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| 192 | * @brief ACCEL_INT input signal GPIO.
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| 193 | */
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| 194 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioAccelInt;
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| 195 | e545e620 | Thomas Schöpping | |
| 196 | /**
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| 197 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 198 | */
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| 199 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysSync;
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| 200 | e545e620 | Thomas Schöpping | |
| 201 | /**
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| 202 | * @brief PATH_DCSTAT input signal GPIO.
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| 203 | */
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| 204 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioPathDcStat;
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| 205 | e545e620 | Thomas Schöpping | |
| 206 | /**
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| 207 | * @brief PATH_DCEN output signal GPIO.
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| 208 | */
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| 209 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioPathDcEn;
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| 210 | e545e620 | Thomas Schöpping | |
| 211 | /**
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| 212 | * @brief SYS_PD bidirectional signal GPIO.
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| 213 | */
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| 214 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysPd;
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| 215 | e545e620 | Thomas Schöpping | |
| 216 | /**
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| 217 | * @brief SYS_REG_EN input signal GPIO.
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| 218 | */
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| 219 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysRegEn;
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| 220 | e545e620 | Thomas Schöpping | |
| 221 | /**
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| 222 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 223 | */
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| 224 | 1e5f7648 | Thomas Schöpping | extern apalControlGpio_t moduleGpioSysWarmrst;
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| 225 | e545e620 | Thomas Schöpping | |
| 226 | /** @} */
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| 227 | |||
| 228 | /*===========================================================================*/
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| 229 | /**
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| 230 | * @name AMiRo-OS core configurations
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| 231 | * @{
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| 232 | */
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| 233 | /*===========================================================================*/
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| 234 | |||
| 235 | /**
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| 236 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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| 237 | */
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| 238 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOC_SYS_INT_N) |
| 239 | e545e620 | Thomas Schöpping | |
| 240 | /**
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| 241 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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| 242 | */
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| 243 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)1 << GPIOD_SYS_WARMRST_N) |
| 244 | e545e620 | Thomas Schöpping | |
| 245 | /**
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| 246 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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| 247 | */
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| 248 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)1 << GPIOC_PATH_DCEN) |
| 249 | e545e620 | Thomas Schöpping | |
| 250 | /**
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| 251 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
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| 252 | */
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| 253 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)1 << GPIOB_COMPASS_DRDY) |
| 254 | e545e620 | Thomas Schöpping | |
| 255 | /**
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| 256 | * @brief Event flag to be set on a SYS_PD interrupt.
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| 257 | */
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| 258 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
| 259 | e545e620 | Thomas Schöpping | |
| 260 | /**
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| 261 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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| 262 | */
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| 263 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)1 << GPIOC_SYS_REG_EN) |
| 264 | e545e620 | Thomas Schöpping | |
| 265 | /**
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| 266 | * @brief Event flag to be set on a IR_INT interrupt.
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| 267 | */
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| 268 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)1 << GPIOB_IR_INT) |
| 269 | e545e620 | Thomas Schöpping | |
| 270 | /**
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| 271 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
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| 272 | */
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| 273 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)1 << GPIOB_GYRO_DRDY) |
| 274 | e545e620 | Thomas Schöpping | |
| 275 | /**
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| 276 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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| 277 | */
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| 278 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)1 << GPIOB_SYS_UART_UP) |
| 279 | e545e620 | Thomas Schöpping | |
| 280 | /**
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| 281 | * @brief Event flag to be set on a ACCEL_INT interrupt.
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| 282 | */
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| 283 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)1 << GPIOB_ACCEL_INT_N) |
| 284 | e545e620 | Thomas Schöpping | |
| 285 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 286 | e545e620 | Thomas Schöpping | /**
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| 287 | * @brief Shell prompt text.
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| 288 | */
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| 289 | extern const char* moduleShellPrompt; |
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| 290 | 6b53f6bf | Thomas Schöpping | #endif
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| 291 | e545e620 | Thomas Schöpping | |
| 292 | /**
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| 293 | * @brief Additional HAL initialization hook.
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| 294 | */
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| 295 | #define MODULE_INIT_HAL_EXTRA() { \
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| 296 | qeiInit(); \ |
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| 297 | } |
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| 298 | |||
| 299 | /**
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| 300 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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| 301 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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| 302 | */
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| 303 | #define MODULE_INIT_INTERRUPTS() { \
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| 304 | /* COMPASS_DRDY */ \
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| 305 | palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \ |
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| 306 | palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge)); \ |
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| 307 | /* IR_INT */ \
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| 308 | palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \ |
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| 309 | palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
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| 310 | /* GYRO_DRDY */ \
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| 311 | palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad); \ |
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| 312 | palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge)); \ |
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| 313 | /* ACCEL_INT */ \
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| 314 | palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad); \ |
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| 315 | palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge)); \ |
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| 316 | /* PATH_DCSTAT */ \
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| 317 | palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad); \ |
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| 318 | palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
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| 319 | /* SYS_REG_EN */ \
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| 320 | palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad); \ |
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| 321 | palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
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| 322 | /* SYS_WARMRST */ \
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| 323 | palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad); \ |
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| 324 | palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
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| 325 | } |
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| 326 | |||
| 327 | /**
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| 328 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
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| 329 | */
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| 330 | #define MODULE_INIT_TESTS() { \
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| 331 | /* add unit-test shell commands */ \
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| 332 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
| 333 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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| 334 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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| 335 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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| 336 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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| 337 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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| 338 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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| 339 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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| 340 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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| 341 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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| 342 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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| 343 | e545e620 | Thomas Schöpping | } |
| 344 | |||
| 345 | /**
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| 346 | * @brief Periphery communication interfaces initialization hook.
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| 347 | */
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| 348 | #define MODULE_INIT_PERIPHERY_COMM() { \
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| 349 | /* serial driver */ \
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| 350 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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| 351 | /* I2C */ \
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| 352 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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| 353 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 354 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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| 355 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 356 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 357 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 358 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 359 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 360 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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| 361 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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| 362 | /* PWM */ \
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| 363 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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| 364 | /* QEI */ \
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| 365 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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| 366 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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| 367 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 368 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 369 | } |
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| 370 | |||
| 371 | /**
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| 372 | * @brief Periphery communication interface deinitialization hook.
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| 373 | */
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| 374 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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| 375 | /* PWM */ \
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| 376 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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| 377 | /* QEI */ \
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| 378 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 379 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 380 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 381 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 382 | /* I2C */ \
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| 383 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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| 384 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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| 385 | /* don't stop the serial driver so messages can still be printed */ \
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| 386 | } |
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| 387 | |||
| 388 | /** @} */
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| 389 | |||
| 390 | /*===========================================================================*/
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| 391 | /**
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| 392 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 393 | * @{
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| 394 | */
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| 395 | /*===========================================================================*/
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| 396 | |||
| 397 | /**
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| 398 | * @brief PD signal GPIO.
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| 399 | */
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| 400 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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| 401 | 6b53f6bf | Thomas Schöpping | |
| 402 | /**
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| 403 | * @brief SYNC signal GPIO.
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| 404 | */
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| 405 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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| 406 | 6b53f6bf | Thomas Schöpping | |
| 407 | /**
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| 408 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
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| 409 | */
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| 410 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioUp moduleGpioSysUartUp
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| 411 | 933df08e | Thomas Schöpping | |
| 412 | /**
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| 413 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
|
| 414 | */
|
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| 415 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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| 416 | |||
| 417 | /**
|
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| 418 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
|
| 419 | 6b53f6bf | Thomas Schöpping | */
|
| 420 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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| 421 | |||
| 422 | /**
|
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| 423 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
|
| 424 | */
|
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| 425 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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| 426 | |||
| 427 | 6b53f6bf | Thomas Schöpping | /** @} */
|
| 428 | |||
| 429 | /*===========================================================================*/
|
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| 430 | /**
|
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| 431 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
| 432 | * @{
|
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| 433 | */
|
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| 434 | /*===========================================================================*/
|
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| 435 | #include <alld_a3906.h> |
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| 436 | #include <alld_at24c01bn-sh-b.h> |
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| 437 | #include <alld_hmc5883l.h> |
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| 438 | #include <alld_ina219.h> |
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| 439 | #include <alld_l3g4200d.h> |
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| 440 | #include <alld_led.h> |
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| 441 | #include <alld_lis331dlh.h> |
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| 442 | #include <alld_ltc4412.h> |
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| 443 | #include <alld_pca9544a.h> |
||
| 444 | #include <alld_tps62113.h> |
||
| 445 | #include <alld_vcnl4020.h> |
||
| 446 | |||
| 447 | /**
|
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| 448 | * @brief Motor driver.
|
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| 449 | */
|
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| 450 | extern A3906Driver moduleLldMotors;
|
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| 451 | |||
| 452 | /**
|
||
| 453 | * @brief EEPROM driver.
|
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| 454 | */
|
||
| 455 | extern AT24C01BNDriver moduleLldEeprom;
|
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| 456 | |||
| 457 | /**
|
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| 458 | * @brief Compass driver.
|
||
| 459 | */
|
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| 460 | extern HMC5883LDriver moduleLldCompass;
|
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| 461 | |||
| 462 | /**
|
||
| 463 | * @brief Power monitor (VDD) driver.
|
||
| 464 | */
|
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| 465 | extern INA219Driver moduleLldPowerMonitorVdd;
|
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| 466 | |||
| 467 | /**
|
||
| 468 | * @brief Gyroscope driver.
|
||
| 469 | */
|
||
| 470 | extern L3G4200DDriver moduleLldGyroscope;
|
||
| 471 | |||
| 472 | /**
|
||
| 473 | * @brief Status LED driver.
|
||
| 474 | */
|
||
| 475 | extern LEDDriver moduleLldStatusLed;
|
||
| 476 | |||
| 477 | /**
|
||
| 478 | * @brief Accelerometer driver.
|
||
| 479 | */
|
||
| 480 | extern LIS331DLHDriver moduleLldAccelerometer;
|
||
| 481 | |||
| 482 | /**
|
||
| 483 | * @brief Power path controler (charging pins) driver.
|
||
| 484 | */
|
||
| 485 | extern LTC4412Driver moduleLldPowerPathController;
|
||
| 486 | |||
| 487 | /**
|
||
| 488 | * @brief I2C multiplexer driver.
|
||
| 489 | */
|
||
| 490 | extern PCA9544ADriver moduleLldI2cMultiplexer;
|
||
| 491 | |||
| 492 | /**
|
||
| 493 | * @brief Step down converter (VDRIVE) driver.
|
||
| 494 | */
|
||
| 495 | extern TPS62113Driver moduleLldStepDownConverterVdrive;
|
||
| 496 | |||
| 497 | /**
|
||
| 498 | * @brief Proximity sensor driver.
|
||
| 499 | */
|
||
| 500 | extern VCNL4020Driver moduleLldProximity;
|
||
| 501 | |||
| 502 | /** @} */
|
||
| 503 | |||
| 504 | /*===========================================================================*/
|
||
| 505 | /**
|
||
| 506 | * @name Unit tests (UT)
|
||
| 507 | * @{
|
||
| 508 | */
|
||
| 509 | /*===========================================================================*/
|
||
| 510 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 511 | #include <ut_alld_a3906.h> |
||
| 512 | #include <ut_alld_at24c01bn-sh-b.h> |
||
| 513 | #include <ut_alld_hmc5883l.h> |
||
| 514 | #include <ut_alld_ina219.h> |
||
| 515 | #include <ut_alld_l3g4200d.h> |
||
| 516 | #include <ut_alld_led.h> |
||
| 517 | #include <ut_alld_lis331dlh.h> |
||
| 518 | #include <ut_alld_ltc4412.h> |
||
| 519 | #include <ut_alld_pca9544a.h> |
||
| 520 | #include <ut_alld_tps62113.h> |
||
| 521 | #include <ut_alld_vcnl4020.h> |
||
| 522 | |||
| 523 | /**
|
||
| 524 | * @brief A3906 (motor driver) unit test object.
|
||
| 525 | */
|
||
| 526 | extern aos_unittest_t moduleUtAlldA3906;
|
||
| 527 | |||
| 528 | /**
|
||
| 529 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
||
| 530 | */
|
||
| 531 | extern aos_unittest_t moduleUtAlldAt24c01bn;
|
||
| 532 | |||
| 533 | /**
|
||
| 534 | * @brief HMC5883L (compass) unit test object.
|
||
| 535 | */
|
||
| 536 | extern aos_unittest_t moduleUtAlldHmc5883l;
|
||
| 537 | |||
| 538 | /**
|
||
| 539 | * @brief INA219 (power monitor) unit test object.
|
||
| 540 | */
|
||
| 541 | extern aos_unittest_t moduleUtAlldIna219;
|
||
| 542 | |||
| 543 | /**
|
||
| 544 | * @brief L3G4200D (gyroscope) unit test object.
|
||
| 545 | */
|
||
| 546 | extern aos_unittest_t moduleUtAlldL3g4200d;
|
||
| 547 | |||
| 548 | /**
|
||
| 549 | * @brief Status LED unit test object.
|
||
| 550 | */
|
||
| 551 | extern aos_unittest_t moduleUtAlldLed;
|
||
| 552 | |||
| 553 | /**
|
||
| 554 | * @brief LIS331DLH (accelerometer) unit test object.
|
||
| 555 | */
|
||
| 556 | extern aos_unittest_t moduleUtAlldLis331dlh;
|
||
| 557 | |||
| 558 | /**
|
||
| 559 | * @brief LTC4412 (power path controller) unit test object.
|
||
| 560 | */
|
||
| 561 | extern aos_unittest_t moduleUtAlldLtc4412;
|
||
| 562 | |||
| 563 | /**
|
||
| 564 | * @brief PCA9544A (I2C multiplexer) unit test object.
|
||
| 565 | */
|
||
| 566 | extern aos_unittest_t moduleUtAlldPca9544a;
|
||
| 567 | |||
| 568 | /**
|
||
| 569 | * @brief TPS62113 (step-down converter) unit test object.
|
||
| 570 | */
|
||
| 571 | extern aos_unittest_t moduleUtAlldTps62113;
|
||
| 572 | |||
| 573 | /**
|
||
| 574 | * @brief VCNL4020 (proximity sensor) unit test object.
|
||
| 575 | */
|
||
| 576 | extern aos_unittest_t moduleUtAlldVcnl4020;
|
||
| 577 | |||
| 578 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
| 579 | |||
| 580 | /** @} */
|
||
| 581 | |||
| 582 | #endif /* _AMIROOS_MODULE_H_ */ |