amiro-os / modules / LightRing_1-0 / module.c @ 20a4e01c
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "module.h" |
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#include <amiroos.h> |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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CANConfig moduleHalCanConfig = {
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/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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}; |
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I2CConfig moduleHalI2cEepromConfig = {
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/* I²C mode */ OPMODE_I2C,
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/* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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/* duty cycle */ FAST_DUTY_CYCLE_2,
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}; |
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SerialConfig moduleHalProgIfConfig = {
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/* bit rate */ 115200, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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}; |
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SPIConfig moduleHalSpiLightConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ GPIOC,
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/* chip select line pad number */ GPIOC_LIGHT_XLAT,
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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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}; |
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SPIConfig moduleHalSpiUWBConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ GPIOB,
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/* 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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}; |
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LIGHT_BANK output signal GPIO.
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*/
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static apalGpio_t _gpioLightBlank = {
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/* port */ GPIOA,
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/* pad */ GPIOA_LIGHT_BLANK,
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}; |
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apalControlGpio_t moduleGpioLightBlank = {
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/* GPIO */ &_gpioLightBlank,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief LASER_EN output signal GPIO.
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*/
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static apalGpio_t _gpioLaserEn = {
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/* port */ GPIOB,
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/* pad */ GPIOB_LASER_EN,
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}; |
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apalControlGpio_t moduleGpioLaserEn = {
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/* GPIO */ &_gpioLaserEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ TPS2051B_LLD_ENABLE_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief LASER_OC input signal GPIO.
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*/
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static apalGpio_t _gpioLaserOc = {
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/* port */ GPIOB,
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/* pad */ GPIOB_LASER_OC_N,
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}; |
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apalControlGpio_t moduleGpioLaserOc = {
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/* GPIO */ &_gpioLaserOc,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ TPS2051B_LLD_OVERCURRENT_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_UART_DN bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysUartDn = {
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/* port */ GPIOB,
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/* pad */ GPIOB_SYS_UART_DN,
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}; |
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apalControlGpio_t moduleGpioSysUartDn = {
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/* GPIO */ &_gpioSysUartDn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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//INFO WL_GDO2,WL_GDO0 / -> UWB EXTI config.
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/**
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* @brief WL_GDO2 input signal GPIO.
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*/
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static apalGpio_t _gpioWlGdo2 = {
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/* port */ GPIOB,
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/* pad */ GPIOB_WL_GDO2,
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}; |
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apalControlGpio_t moduleGpioWlGdo2 = {
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/* GPIO */ &_gpioWlGdo2,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief WL_GDO0 input signal GPIO.
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*/
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static apalGpio_t _gpioWlGdo0= {
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/* port */ GPIOB,
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/* pad */ GPIOB_WL_GDO0,
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}; |
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apalControlGpio_t moduleGpioWlGdo0 = {
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/* GPIO */ &_gpioWlGdo0,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief LIGHT_XLAT output signal GPIO.
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*/
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static apalGpio_t _gpioLightXlat = {
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/* port */ GPIOC,
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/* pad */ GPIOC_LIGHT_XLAT,
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}; |
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apalControlGpio_t moduleGpioLightXlat = {
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/* GPIO */ &_gpioLightXlat,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ TLC5947_LLD_XLAT_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysPd = {
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/* port */ GPIOC,
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/* pad */ GPIOC_SYS_PD_N,
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}; |
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apalControlGpio_t moduleGpioSysPd = {
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/* GPIO */ &_gpioSysPd,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_SYNC bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysSync = {
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/* port */ GPIOD,
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/* pad */ GPIOD_SYS_INT_N,
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}; |
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apalControlGpio_t moduleGpioSysSync = {
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/* GPIO */ &_gpioSysSync,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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const char* moduleShellPrompt = "LightRing"; |
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#endif
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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AT24C01BNDriver moduleLldEeprom = {
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/* I2C driver */ &MODULE_HAL_I2C_EEPROM,
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/* I2C address */ 0x00u, |
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}; |
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TLC5947Driver moduleLldLedPwm = {
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/* SPI driver */ &MODULE_HAL_SPI_LIGHT,
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/* BLANK signal GPIO */ &moduleGpioLightBlank,
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/* XLAT signal GPIO */ &moduleGpioLightXlat,
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}; |
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TPS2051BDriver moduleLldPowerSwitchLaser = {
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/* laser enable GPIO */ &moduleGpioLaserEn,
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/* laser overcurrent GPIO */ &moduleGpioLaserOc,
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}; |
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DW1000Driver moduleLldDW1000 = {
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/* SPI driver */ &MODULE_HAL_SPI_UWB,
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/* EXTI GPIO */ &_gpioWlGdo2,
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/* RESET GPIO */ &_gpioWlGdo2,
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/* EEPROM (AT24C01BN) */
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static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
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return AOS_OK;
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} |
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static ut_at24c01bndata_t _utAt24c01bnData = {
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/* driver */ &moduleLldEeprom,
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/* timeout */ MICROSECONDS_PER_SECOND,
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}; |
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aos_unittest_t moduleUtAlldAt24c01bn = {
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/* name */ "AT24C01BN-SH-B", |
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/* info */ "1kbit EEPROM", |
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/* test function */ utAlldAt24c01bnFunc,
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/* shell command */ {
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/* name */ "unittest:EEPROM", |
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/* callback */ _utShellCmdCb_AlldAt24c01bn,
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/* next */ NULL, |
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}, |
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/* data */ &_utAt24c01bnData,
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}; |
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/* LED PWM driver (TLD5947) */
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static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
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return AOS_OK;
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} |
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aos_unittest_t moduleUtAlldTlc5947 = {
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/* info */ "TLC5947", |
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/* name */ "LED PWM driver", |
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/* test function */ utAlldTlc5947Func,
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/* shell command */ {
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/* name */ "unittest:Lights", |
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/* callback */ _utShellCmdCb_Tlc5947,
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/* next */ NULL, |
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}, |
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/* data */ &moduleLldLedPwm,
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}; |
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/* power switch (Laser) */
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static int _utShellCmdCb_Tps2051bdbv(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream,&moduleUtAlldTps2051bdbv, NULL);
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return AOS_OK;
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} |
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aos_unittest_t moduleUtAlldTps2051bdbv = {
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/* info */ "TPS2051BDBV", |
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/* name */ "current-limited power switch", |
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/* test function */ utAlldTps2051bdbvFunc,
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/* shell command */ {
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/* name */ "unittest:PowerSwitch", |
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/* callback */ _utShellCmdCb_Tps2051bdbv,
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/* next */ NULL, |
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}, |
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/* data */ &moduleLldPowerSwitchLaser,
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}; |
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/* UWB Module */
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static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream,&moduleUtAlldDw1000, NULL);
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return AOS_OK;
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} |
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aos_unittest_t moduleUtAlldDw1000 = {
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/* info */ "DW1000", |
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/* name */ "UWB Module", |
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/* test function */ utAlldDw1000Func,
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/* shell command */ {
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/* name */ "unittest:UWB", |
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/* callback */ _utShellCmdCb_Dw1000,
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/* next */ NULL, |
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}, |
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/* data */ &moduleLldDW1000,
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}; |
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/** @} */
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