amiro-os / modules / LightRing_1-0 / module.h @ 21e5be0b
History | View | Annotate | Download (10.471 KB)
1 | e545e620 | Thomas Schöpping | /*
|
---|---|---|---|
2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
|
||
6 | it under the terms of the GNU General Public License as published by
|
||
7 | the Free Software Foundation, either version 3 of the License, or
|
||
8 | (at your option) any later version.
|
||
9 | |||
10 | This program is distributed in the hope that it will be useful,
|
||
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
13 | GNU General Public License for more details.
|
||
14 | |||
15 | You should have received a copy of the GNU General Public License
|
||
16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
17 | */
|
||
18 | |||
19 | 7da800ab | Thomas Schöpping | /**
|
20 | * @file
|
||
21 | * @brief Structures and constant for the LightRing module.
|
||
22 | *
|
||
23 | * @addtogroup lightring_module
|
||
24 | * @{
|
||
25 | */
|
||
26 | |||
27 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_MODULE_H
|
28 | #define AMIROOS_MODULE_H
|
||
29 | e545e620 | Thomas Schöpping | |
30 | e2d7143f | Thomas Schöpping | #include <amiroos.h> |
31 | |||
32 | e545e620 | Thomas Schöpping | /*===========================================================================*/
|
33 | /**
|
||
34 | * @name Module specific functions
|
||
35 | * @{
|
||
36 | */
|
||
37 | /*===========================================================================*/
|
||
38 | |||
39 | /** @} */
|
||
40 | |||
41 | /*===========================================================================*/
|
||
42 | /**
|
||
43 | * @name ChibiOS/HAL configuration
|
||
44 | * @{
|
||
45 | */
|
||
46 | /*===========================================================================*/
|
||
47 | |||
48 | /**
|
||
49 | * @brief CAN driver to use.
|
||
50 | */
|
||
51 | #define MODULE_HAL_CAN CAND1
|
||
52 | |||
53 | /**
|
||
54 | * @brief Configuration for the CAN driver.
|
||
55 | */
|
||
56 | extern CANConfig moduleHalCanConfig;
|
||
57 | |||
58 | /**
|
||
59 | * @brief I2C driver to access the EEPROM.
|
||
60 | */
|
||
61 | #define MODULE_HAL_I2C_EEPROM I2CD2
|
||
62 | |||
63 | /**
|
||
64 | * @brief Configuration for the EEPROM I2C driver.
|
||
65 | */
|
||
66 | extern I2CConfig moduleHalI2cEepromConfig;
|
||
67 | |||
68 | /**
|
||
69 | * @brief Serial driver of the programmer interface.
|
||
70 | */
|
||
71 | #define MODULE_HAL_PROGIF SD1
|
||
72 | |||
73 | /**
|
||
74 | * @brief Configuration for the programmer serial interface driver.
|
||
75 | */
|
||
76 | extern SerialConfig moduleHalProgIfConfig;
|
||
77 | |||
78 | /**
|
||
79 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
|
||
80 | */
|
||
81 | #define MODULE_HAL_SPI_LIGHT SPID1
|
||
82 | |||
83 | /**
|
||
84 | 02c29a8f | Thomas Schöpping | * @brief SPI interface driver for the wireless transceiver.
|
85 | e545e620 | Thomas Schöpping | */
|
86 | 02c29a8f | Thomas Schöpping | #define MODULE_HAL_SPI_WL SPID2
|
87 | e545e620 | Thomas Schöpping | |
88 | 8399aeae | Thomas Schöpping | /**
|
89 | e05848a6 | Robin Ewers | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
|
90 | 22be62dc | Thomas Schöpping | */
|
91 | e05848a6 | Robin Ewers | extern SPIConfig moduleHalSpiLightConfig;
|
92 | 22be62dc | Thomas Schöpping | |
93 | /**
|
||
94 | 02c29a8f | Thomas Schöpping | * @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
|
95 | 22be62dc | Thomas Schöpping | */
|
96 | 02c29a8f | Thomas Schöpping | extern SPIConfig moduleHalSpiWlConfig;
|
97 | 22be62dc | Thomas Schöpping | |
98 | /**
|
||
99 | 8399aeae | Thomas Schöpping | * @brief Real-Time Clock driver.
|
100 | */
|
||
101 | #define MODULE_HAL_RTC RTCD1
|
||
102 | |||
103 | e545e620 | Thomas Schöpping | /** @} */
|
104 | |||
105 | /*===========================================================================*/
|
||
106 | /**
|
||
107 | * @name GPIO definitions
|
||
108 | * @{
|
||
109 | */
|
||
110 | /*===========================================================================*/
|
||
111 | |||
112 | /**
|
||
113 | * @brief LIGHT_BANK output signal GPIO.
|
||
114 | */
|
||
115 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
|
116 | e545e620 | Thomas Schöpping | |
117 | /**
|
||
118 | * @brief LASER_EN output signal GPIO.
|
||
119 | */
|
||
120 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
|
121 | e545e620 | Thomas Schöpping | |
122 | /**
|
||
123 | * @brief LASER_OC input signal GPIO.
|
||
124 | */
|
||
125 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
|
126 | e545e620 | Thomas Schöpping | |
127 | /**
|
||
128 | * @brief SYS_UART_DN bidirectional signal GPIO.
|
||
129 | */
|
||
130 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
|
131 | e545e620 | Thomas Schöpping | |
132 | /**
|
||
133 | * @brief WL_GDO2 input signal GPIO.
|
||
134 | */
|
||
135 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
|
136 | e545e620 | Thomas Schöpping | |
137 | /**
|
||
138 | * @brief WL_GDO0 input signal GPIO.
|
||
139 | */
|
||
140 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
|
141 | e545e620 | Thomas Schöpping | |
142 | /**
|
||
143 | * @brief SYS_PD bidirectional signal GPIO.
|
||
144 | */
|
||
145 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
|
146 | e545e620 | Thomas Schöpping | |
147 | /**
|
||
148 | * @brief SYS_SYNC bidirectional signal GPIO.
|
||
149 | */
|
||
150 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
|
151 | e545e620 | Thomas Schöpping | |
152 | /** @} */
|
||
153 | |||
154 | /*===========================================================================*/
|
||
155 | /**
|
||
156 | * @name AMiRo-OS core configurations
|
||
157 | * @{
|
||
158 | */
|
||
159 | /*===========================================================================*/
|
||
160 | |||
161 | /**
|
||
162 | * @brief Event flag to be set on a LASER_OC interrupt.
|
||
163 | */
|
||
164 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_LASEROC AOS_IOEVENT_FLAG(PAL_PAD(LINE_LASER_OC_N))
|
165 | e545e620 | Thomas Schöpping | |
166 | /**
|
||
167 | * @brief Event flag to be set on a SYS_UART_DN interrupt.
|
||
168 | */
|
||
169 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTDN AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
|
170 | e545e620 | Thomas Schöpping | |
171 | /**
|
||
172 | * @brief Event flag to be set on a WL_GDO2 interrupt.
|
||
173 | */
|
||
174 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO2 AOS_IOEVENT_FLAG(PAL_PAD(LINE_WL_GDO2))
|
175 | e545e620 | Thomas Schöpping | |
176 | /**
|
||
177 | * @brief Event flag to be set on a WL_GDO0 interrupt.
|
||
178 | */
|
||
179 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO0 AOS_IOEVENT_FLAG(PAL_PAD(LINE_WL_GDO0))
|
180 | e545e620 | Thomas Schöpping | |
181 | /**
|
||
182 | * @brief Event flag to be set on a SYS_PD interrupt.
|
||
183 | */
|
||
184 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
|
185 | e545e620 | Thomas Schöpping | |
186 | /**
|
||
187 | * @brief Event flag to be set on a SYS_SYNC interrupt.
|
||
188 | */
|
||
189 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
|
190 | e545e620 | Thomas Schöpping | |
191 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
192 | e545e620 | Thomas Schöpping | /**
|
193 | * @brief Shell prompt text.
|
||
194 | */
|
||
195 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
196 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
197 | e545e620 | Thomas Schöpping | |
198 | /**
|
||
199 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
|
200 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
|
||
201 | */
|
||
202 | #define MODULE_INIT_INTERRUPTS() { \
|
||
203 | /* LASER_OC */ \
|
||
204 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioLaserOc.gpio->line, aosSysGetStdIntCallback(), &moduleGpioLaserOc.gpio->line); \ |
205 | palEnableLineEvent(moduleGpioLaserOc.gpio->line, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \ |
||
206 | 1e5f7648 | Thomas Schöpping | /* WL_GDO2 */ \
|
207 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioWlGdo2.gpio->line, aosSysGetStdIntCallback(), &moduleGpioWlGdo2.gpio->line); \ |
208 | palEnableLineEvent(moduleGpioWlGdo2.gpio->line, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge)); \ |
||
209 | 1e5f7648 | Thomas Schöpping | /* WL_GDO0 */ \
|
210 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioWlGdo0.gpio->line, aosSysGetStdIntCallback(), &moduleGpioWlGdo0.gpio->line); \ |
211 | palEnableLineEvent(moduleGpioWlGdo0.gpio->line, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); \ |
||
212 | 1e5f7648 | Thomas Schöpping | } |
213 | |||
214 | /**
|
||
215 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
|
216 | */
|
||
217 | #define MODULE_INIT_TESTS() { \
|
||
218 | /* add unit-test shell commands */ \
|
||
219 | 7de0cc90 | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd); \ |
220 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
221 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
||
222 | e545e620 | Thomas Schöpping | } |
223 | |||
224 | /**
|
||
225 | * @brief Periphery communication interfaces initialization hook.
|
||
226 | */
|
||
227 | #define MODULE_INIT_PERIPHERY_COMM() { \
|
||
228 | /* serial driver */ \
|
||
229 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
||
230 | /* I2C */ \
|
||
231 | ddf34c3d | Thomas Schöpping | moduleHalI2cEepromConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
232 | e545e620 | Thomas Schöpping | moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
233 | i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
||
234 | /* SPI */ \
|
||
235 | spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
||
236 | 02c29a8f | Thomas Schöpping | spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig); \ |
237 | e545e620 | Thomas Schöpping | } |
238 | |||
239 | /**
|
||
240 | * @brief Periphery communication interface deinitialization hook.
|
||
241 | */
|
||
242 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
||
243 | /* SPI */ \
|
||
244 | spiStop(&MODULE_HAL_SPI_LIGHT); \ |
||
245 | 02c29a8f | Thomas Schöpping | spiStop(&MODULE_HAL_SPI_WL); \ |
246 | e545e620 | Thomas Schöpping | /* I2C */ \
|
247 | i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
||
248 | /* don't stop the serial driver so messages can still be printed */ \
|
||
249 | } |
||
250 | |||
251 | /** @} */
|
||
252 | |||
253 | /*===========================================================================*/
|
||
254 | /**
|
||
255 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
256 | * @{
|
||
257 | */
|
||
258 | /*===========================================================================*/
|
||
259 | |||
260 | /**
|
||
261 | * @brief PD signal GPIO.
|
||
262 | */
|
||
263 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
|
264 | 6b53f6bf | Thomas Schöpping | |
265 | /**
|
||
266 | * @brief SYNC signal GPIO.
|
||
267 | */
|
||
268 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
|
269 | 6b53f6bf | Thomas Schöpping | |
270 | /**
|
||
271 | 933df08e | Thomas Schöpping | * @brief DN signal GPIO.
|
272 | */
|
||
273 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioDn moduleGpioSysUartDn
|
274 | 933df08e | Thomas Schöpping | |
275 | /**
|
||
276 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
|
277 | */
|
||
278 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
|
||
279 | |||
280 | /**
|
||
281 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
|
282 | 6b53f6bf | Thomas Schöpping | */
|
283 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
|
||
284 | |||
285 | /**
|
||
286 | 933df08e | Thomas Schöpping | * @brief Event flags for DN signal events.
|
287 | */
|
||
288 | #define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
|
||
289 | |||
290 | 6b53f6bf | Thomas Schöpping | /** @} */
|
291 | |||
292 | /*===========================================================================*/
|
||
293 | /**
|
||
294 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
295 | * @{
|
||
296 | */
|
||
297 | /*===========================================================================*/
|
||
298 | ddf34c3d | Thomas Schöpping | #include <alld_AT24C01B.h> |
299 | #include <alld_TLC5947.h> |
||
300 | #include <alld_TPS20xxB.h> |
||
301 | e545e620 | Thomas Schöpping | |
302 | /**
|
||
303 | * @brief EEPROM driver.
|
||
304 | */
|
||
305 | ddf34c3d | Thomas Schöpping | extern AT24C01BDriver moduleLldEeprom;
|
306 | e545e620 | Thomas Schöpping | |
307 | /**
|
||
308 | * @brief LED PWM driver.
|
||
309 | */
|
||
310 | extern TLC5947Driver moduleLldLedPwm;
|
||
311 | |||
312 | /**
|
||
313 | * @brief Power switch driver for the laser supply power.
|
||
314 | */
|
||
315 | ddf34c3d | Thomas Schöpping | extern TPS20xxBDriver moduleLldPowerSwitchLaser;
|
316 | e545e620 | Thomas Schöpping | |
317 | /** @} */
|
||
318 | |||
319 | /*===========================================================================*/
|
||
320 | /**
|
||
321 | * @name Unit tests (UT)
|
||
322 | * @{
|
||
323 | */
|
||
324 | /*===========================================================================*/
|
||
325 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
326 | ddf34c3d | Thomas Schöpping | #include <ut_alld_AT24C01B_v1.h> |
327 | #include <ut_alld_TLC5947_v1.h> |
||
328 | #include <ut_alld_TPS20xxB_v1.h> |
||
329 | e545e620 | Thomas Schöpping | |
330 | /**
|
||
331 | * @brief EEPROM unit test object.
|
||
332 | */
|
||
333 | ddf34c3d | Thomas Schöpping | extern aos_unittest_t moduleUtAlldAt24c01b;
|
334 | e545e620 | Thomas Schöpping | |
335 | /**
|
||
336 | * @brief LED PWM driver unit test object.
|
||
337 | */
|
||
338 | extern aos_unittest_t moduleUtAlldTlc5947;
|
||
339 | |||
340 | /**
|
||
341 | * @brief Current-limited power switch (Laser output)
|
||
342 | */
|
||
343 | extern aos_unittest_t moduleUtAlldTps2051bdbv;
|
||
344 | |||
345 | e05848a6 | Robin Ewers | |
346 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
347 | e545e620 | Thomas Schöpping | |
348 | /** @} */
|
||
349 | |||
350 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_MODULE_H */ |
351 | 7da800ab | Thomas Schöpping | |
352 | /** @} */ |