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