AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  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/>.

*/

/**

 * @file

 * @brief   Structures and constant for the NUCLEO-F103RB module.

 *

 * @addtogroup NUCLEO-F103RB_module

 * @{

 */

#ifndef AMIROOS_MODULE_H

#define AMIROOS_MODULE_H

#include <amiroos.h>

/*===========================================================================*/

/**

 * @name Module specific functions

 * @{

 */

/*===========================================================================*/

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

#if (BOARD_DW1000_CONNECTED == true)

void dw1000_spi_init(void);

void process_deca_irq(void);

apalGpioState_t port_CheckEXT_IRQ(void) ;

#endif /* (BOARD_DW1000_CONNECTED == true) */

void set_SPI_chip_select(void);

void clear_SPI_chip_select(void);

void reset_DW1000(void);

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

/** @} */

/*===========================================================================*/

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Serial driver of the programmer interface.

 */

#define MODULE_HAL_PROGIF                       SD2

/**

 * @brief   Configuration for the programmer serial interface driver.

 */

extern SerialConfig moduleHalProgIfConfig;

/**

 * @brief   Real-Time Clock driver.

 */

#define MODULE_HAL_RTC                          RTCD1

#if (BOARD_DW1000_CONNECTED == true)

/**

 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).

 */

#define MODULE_HAL_SPI_UWB                      SPID2

/**

 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.

 */

extern SPIConfig moduleHalSpiUwbHsConfig;

/**

 * @brief   Configuration for the SPI interface driver to communicate with the wireless transceiver.

 */

extern SPIConfig moduleHalSpiUwbLsConfig;

#endif /* (BOARD_DW1000_CONNECTED == true) */

/** @} */

/*===========================================================================*/

/**

 * @name GPIO definitions

 * @{

 */

/*===========================================================================*/

/**

 * @brief   LED output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed;

//#if (BOARD_DW1000_CONNECTED == true)

/**

 * @brief   DW1000 reset output signal

 * @note    the reset pin should be drived as low by MCU to activate.

 *          Then, put back the reset pin as input to MCU (tri-state float on the air

 *          is not supported in AMiRo)

 */

extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;

/**

 * @brief   DW1000 interrupt IRQn input signal.

 */

extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;

/**

 * @brief   DW1000 SPI chip select  output signal.

 */

extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;

//#endif /* (BOARD_DW1000_CONNECTED == true) */

/**

 * @brief   User button input signal.

 */

extern ROMCONST apalControlGpio_t moduleGpioUserButton;

/** @} */

/*===========================================================================*/

/**

 * @name AMiRo-OS core configurations

 * @{

 */

/*===========================================================================*/

//#if (BOARD_DW1000_CONNECTED == true)

/**

 * @brief   Event flag to be call dwt_isr() interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn      AOS_IOEVENT_FLAG(PAL_PAD(LINE_ARD_D14))

//#endif /* (BOARD_DW1000_CONNECTED == true) */

/**

 * @brief   Event flag to be set on a USER_BUTTON interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_USERBUTTON       AOS_IOEVENT_FLAG(PAL_PAD(LINE_BUTTON))

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell prompt text.

 */

extern ROMCONST char* moduleShellPrompt;

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

/**

 * @brief   Interrupt initialization macro.

 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.

 */

#define MODULE_INIT_INTERRUPTS() {                                            \

  /* user button */                                                           \

  palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioUserButton.gpio->line);  \

  palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge));                  \

  MODULE_INIT_INTERRUPTS_DW1000();                                            \

}

#if (BOARD_DW1000_CONNECTED == true)

  #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \

    palSetLineCallback(moduleGpioDw1000Irqn.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioDw1000Irqn.gpio->line);  \

    palEnableLineEvent(moduleGpioDw1000Irqn.gpio->line, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge));                  \

  }

#else /* (BOARD_DW1000_CONNECTED == true) */

  #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \

  }

#endif /* (BOARD_DW1000_CONNECTED == true) */

/**

 * @brief   Test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* initialize tests and add to shell */                                     \

  aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd);                     \

  aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd);                  \

  MODULE_INIT_TESTS_DW1000();                                                 \

  aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd);                     \

}

#if (BOARD_DW1000_CONNECTED == true)

  #define MODULE_INIT_TESTS_DW1000() {                                        \

    aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd);                \

  }

#else /* (BOARD_DW1000_CONNECTED == true) */

  #define MODULE_INIT_TESTS_DW1000() {                                        \

  }

#endif /* (BOARD_DW1000_CONNECTED == true) */

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_IF() {                                          \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  MODULE_INIT_PERIPHERY_IF_DW1000();                                          \

}

#if (BOARD_DW1000_CONNECTED == true)

  #define MODULE_INIT_PERIPHERY_IF_DW1000() {                                 \

    /* SPI init */                                                            \

    dw1000_spi_init();                                                        \

    spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig);                  \

  }

#else /* (BOARD_DW1000_CONNECTED == true) */

  #define MODULE_INIT_PERIPHERY_IF_DW1000() {                                 \

  }

#endif /* (BOARD_DW1000_CONNECTED == true) */

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_IF() {                                      \

  MODULE_SHUTDOWN_PERIPHERY_IF_DW1000();                                      \

}

#if (BOARD_DW1000_CONNECTED == true)

#define MODULE_SHUTDOWN_PERIPHERY_IF_DW1000() {                               \

  /* SPI */                                                                   \

  spiStop(&MODULE_HAL_SPI_UWB);                                               \

}

#else /* (BOARD_DW1000_CONNECTED == true) */

  #define MODULE_SHUTDOWN_PERIPHERY_IF_DW1000() {                             \

  }

#endif /* (BOARD_DW1000_CONNECTED == true) */

/**

 * @brief   HOOK to toggle the LEDs when the user button is pressed.

 */

#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) {                               \

  if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) {                       \

    apalControlGpioState_t buttonstate;                                       \

    apalControlGpioGet(&moduleGpioUserButton, &buttonstate);                  \

    apalControlGpioSet(&moduleGpioLed, buttonstate);                          \

  }                                                                           \

  MODULE_MAIN_LOOP_IO_EVENT_DW1000();                                         \

}

#if (BOARD_DW1000_CONNECTED == true)

  /**

   * @brief   HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.

   */

  #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \

    if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000_IRQn) {                     \

      /*apalGpioToggle(moduleGpioLed.gpio);*/ /* just for debug*/             \

      process_deca_irq();                                                     \

    }                                                                         \

  }

#else /* (BOARD_DW1000_CONNECTED == true) */

  #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \

  }

#endif /* (BOARD_DW1000_CONNECTED == true) */

/** @} */

/*===========================================================================*/

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name Low-level drivers

 * @{

 */

/*===========================================================================*/

#include <alld_LED.h>

#include <alld_button.h>

/**

 * @brief   LED driver.

 */

extern LEDDriver moduleLldLed;

/**

 * @brief   Button driver.

 */

extern ButtonDriver moduleLldUserButton;

/**

 * @brief   DW1000 driver.

 */

#include <alld_DW1000.h>

void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv);

#if (BOARD_DW1000_CONNECTED == true)

extern DW1000Driver moduleLldDw1000;

#endif /* (BOARD_DW1000_CONNECTED == true) */

/** @} */

/*===========================================================================*/

/**

 * @name Tests

 * @{

 */

/*===========================================================================*/

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   LED test command.

 */

extern aos_shellcommand_t moduleTestLedShellCmd;

/**

 * @brief   User button test command.

 */

extern aos_shellcommand_t moduleTestButtonShellCmd;

#if (BOARD_DW1000_CONNECTED == true)

/**

 * @brief   DW1000 (UWB transmitter) test command.

 */

extern aos_shellcommand_t moduleTestDw1000ShellCmd;

#endif /* (BOARD_DW1000_CONNECTED == true) */

/**

 * @brief   Entire module test command.

 */

extern aos_shellcommand_t moduleTestAllShellCmd;

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */