/modules/LightRing_1-0/module.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / LightRing_1-0 / module.c @ 20a4e01c

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2018  Thomas Schöpping et al.
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 #include "module.h"
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+#include <amiroos.h>
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+/*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
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+            Robin Ewers
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+/** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 CANConfig moduleHalCanConfig = {
   /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
   /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
 };
 I2CConfig moduleHalI2cEepromConfig = {
   /* I²C mode   */ OPMODE_I2C,
   /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)
   /* duty cycle */ FAST_DUTY_CYCLE_2,
 };
 SerialConfig moduleHalProgIfConfig = {
   /* bit rate */ 115200,
   /* CR1      */ 0,
   /* CR1      */ 0,
   /* CR1      */ 0,
 };
 SPIConfig moduleHalSpiLightConfig = {
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+  /* circular buffer mode        */ false,
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+  /* callback function pointer   */ NULL,
   /* chip select line port       */ GPIOC,
   /* chip select line pad number */ GPIOC_LIGHT_XLAT,
   /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
   /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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+};
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+SPIConfig moduleHalSpiUWBConfig = {
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+  /* circular buffer mode        */ false,
   /* callback function pointer   */ NULL,
   /* chip select line port       */ GPIOB,
   /* chip select line pad number */ GPIOB_WL_SS_N,
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+  /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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+  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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+};
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
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+/**
  * @brief   LIGHT_BANK output signal GPIO.
  */
 static apalGpio_t _gpioLightBlank = {
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+  /* port */ GPIOA,
   /* pad  */ GPIOA_LIGHT_BLANK,
 };
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+apalControlGpio_t moduleGpioLightBlank = {
   /* GPIO */ &_gpioLightBlank,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ TLC5947_LLD_BLANK_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   LASER_EN output signal GPIO.
  */
 static apalGpio_t _gpioLaserEn = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_LASER_EN,
 };
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+apalControlGpio_t moduleGpioLaserEn = {
   /* GPIO */ &_gpioLaserEn,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ TPS2051B_LLD_ENABLE_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   LASER_OC input signal GPIO.
  */
 static apalGpio_t _gpioLaserOc = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_LASER_OC_N,
 };
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+apalControlGpio_t moduleGpioLaserOc = {
   /* GPIO */ &_gpioLaserOc,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ TPS2051B_LLD_OVERCURRENT_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   SYS_UART_DN bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysUartDn = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_SYS_UART_DN,
 };
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+apalControlGpio_t moduleGpioSysUartDn = {
   /* GPIO */ &_gpioSysUartDn,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
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+            Thomas Schöpping
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+//INFO WL_GDO2,WL_GDO0 /  -> UWB EXTI config.
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+/**
  * @brief   WL_GDO2 input signal GPIO.
  */
 static apalGpio_t _gpioWlGdo2 = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_WL_GDO2,
 };
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+apalControlGpio_t moduleGpioWlGdo2 = {
   /* GPIO */ &_gpioWlGdo2,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   WL_GDO0 input signal GPIO.
  */
 static apalGpio_t _gpioWlGdo0= {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_WL_GDO0,
 };
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+apalControlGpio_t moduleGpioWlGdo0 = {
   /* GPIO */ &_gpioWlGdo0,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   LIGHT_XLAT output signal GPIO.
  */
 static apalGpio_t _gpioLightXlat = {
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+  /* port */ GPIOC,
   /* pad  */ GPIOC_LIGHT_XLAT,
 };
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+apalControlGpio_t moduleGpioLightXlat = {
   /* GPIO */ &_gpioLightXlat,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ TLC5947_LLD_XLAT_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   SYS_PD bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysPd = {
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+  /* port */ GPIOC,
   /* pad  */ GPIOC_SYS_PD_N,
 };
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+apalControlGpio_t moduleGpioSysPd = {
   /* GPIO */ &_gpioSysPd,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   SYS_SYNC bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysSync = {
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+  /* port */ GPIOD,
   /* pad  */ GPIOD_SYS_INT_N,
 };
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+apalControlGpio_t moduleGpioSysSync = {
   /* GPIO */ &_gpioSysSync,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
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+            Thomas Schöpping
 /** @} */
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
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+#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
 const char* moduleShellPrompt = "LightRing";
 #endif
 /** @} */
 /*===========================================================================*/
 /**
  * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
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+/** @} */
 /*===========================================================================*/
 /**
  * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
 AT24C01BNDriver moduleLldEeprom = {
   /* I2C driver   */ &MODULE_HAL_I2C_EEPROM,
   /* I2C address  */ 0x00u,
 };
 TLC5947Driver moduleLldLedPwm = {
   /* SPI driver         */ &MODULE_HAL_SPI_LIGHT,
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+  /* BLANK signal GPIO  */ &moduleGpioLightBlank,
   /* XLAT signal GPIO   */ &moduleGpioLightXlat,
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+};
 TPS2051BDriver moduleLldPowerSwitchLaser = {
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+  /* laser enable GPIO      */ &moduleGpioLaserEn,
   /* laser overcurrent GPIO */ &moduleGpioLaserOc,
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+};
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+            Robin Ewers
 DW1000Driver moduleLldDW1000 = {
   /* SPI driver */ &MODULE_HAL_SPI_UWB,
   /* EXTI GPIO  */ &_gpioWlGdo2,
   /* RESET GPIO */ &_gpioWlGdo2,
 };
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+/** @} */
 /*===========================================================================*/
 /**
  * @name Unit tests (UT)
  * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 /* EEPROM (AT24C01BN) */
 static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
   return AOS_OK;
+}
 static ut_at24c01bndata_t _utAt24c01bnData = {
   /* driver   */ &moduleLldEeprom,
   /* timeout  */ MICROSECONDS_PER_SECOND,
 };
 aos_unittest_t moduleUtAlldAt24c01bn = {
   /* name           */ "AT24C01BN-SH-B",
   /* info           */ "1kbit EEPROM",
   /* test function  */ utAlldAt24c01bnFunc,
   /* shell command  */ {
     /* name     */ "unittest:EEPROM",
     /* callback */ _utShellCmdCb_AlldAt24c01bn,
     /* next     */ NULL,
   },
   /* data           */ &_utAt24c01bnData,
 };
 /* LED PWM driver (TLD5947) */
 static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
   return AOS_OK;
+}
 aos_unittest_t moduleUtAlldTlc5947 = {
   /* info           */ "TLC5947",
   /* name           */ "LED PWM driver",
   /* test function  */ utAlldTlc5947Func,
   /* shell command  */ {
     /* name     */ "unittest:Lights",
     /* callback */ _utShellCmdCb_Tlc5947,
     /* next     */ NULL,
   },
   /* data           */ &moduleLldLedPwm,
 };
 /* power switch (Laser) */
 static int _utShellCmdCb_Tps2051bdbv(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream,&moduleUtAlldTps2051bdbv, NULL);
   return AOS_OK;
+}
 aos_unittest_t moduleUtAlldTps2051bdbv = {
   /* info           */ "TPS2051BDBV",
   /* name           */ "current-limited power switch",
   /* test function  */ utAlldTps2051bdbvFunc,
   /* shell command  */ {
     /* name     */ "unittest:PowerSwitch",
     /* callback */ _utShellCmdCb_Tps2051bdbv,
     /* next     */ NULL,
   },
   /* data           */ &moduleLldPowerSwitchLaser,
 };
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+/* UWB Module */
 static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream,&moduleUtAlldDw1000, NULL);
   return AOS_OK;
+}
 aos_unittest_t moduleUtAlldDw1000 = {
   /* info           */ "DW1000",
   /* name           */ "UWB Module",
   /* test function  */ utAlldDw1000Func,
   /* shell command  */ {
     /* name     */ "unittest:UWB",
     /* callback */ _utShellCmdCb_Dw1000,
     /* next     */ NULL,
   },
   /* data           */ &moduleLldDW1000,
 };
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+#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
 /** @} */