amiro-os / modules / NUCLEO-L476RG / module.h @ 33de2690
History | View | Annotate | Download (9.935 KB)
1 | 27d0378b | Simon Welzel | /*
|
---|---|---|---|
2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
|
4 | 27d0378b | Simon Welzel | |
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 | /**
|
||
20 | * @file
|
||
21 | 126ace3c | Thomas Schöpping | * @brief Structures and constant for the NUCLEO-L476RG module.
|
22 | 27d0378b | Simon Welzel | *
|
23 | 126ace3c | Thomas Schöpping | * @addtogroup NUCLEO-L476RG_module
|
24 | 27d0378b | Simon Welzel | * @{
|
25 | */
|
||
26 | |||
27 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_MODULE_H
|
28 | #define AMIROOS_MODULE_H
|
||
29 | 27d0378b | Simon Welzel | |
30 | 8543d0d9 | Thomas Schöpping | #include <amiroos.h> |
31 | |||
32 | 33de2690 | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) |
33 | #include <math.h> |
||
34 | #endif /* BOARD_MPU6050_CONNECTED == true */ |
||
35 | |||
36 | 27d0378b | Simon Welzel | /*===========================================================================*/
|
37 | /**
|
||
38 | * @name Module specific functions
|
||
39 | * @{
|
||
40 | */
|
||
41 | /*===========================================================================*/
|
||
42 | |||
43 | /** @} */
|
||
44 | |||
45 | /*===========================================================================*/
|
||
46 | /**
|
||
47 | * @name ChibiOS/HAL configuration
|
||
48 | * @{
|
||
49 | */
|
||
50 | /*===========================================================================*/
|
||
51 | |||
52 | /**
|
||
53 | 8543d0d9 | Thomas Schöpping | * @brief Serial driver of the programmer interface.
|
54 | 27d0378b | Simon Welzel | */
|
55 | 8543d0d9 | Thomas Schöpping | #define MODULE_HAL_PROGIF SD2
|
56 | 27d0378b | Simon Welzel | |
57 | /**
|
||
58 | 8543d0d9 | Thomas Schöpping | * @brief Configuration for the programmer serial interface driver.
|
59 | 27d0378b | Simon Welzel | */
|
60 | 8543d0d9 | Thomas Schöpping | extern SerialConfig moduleHalProgIfConfig;
|
61 | 27d0378b | Simon Welzel | |
62 | /**
|
||
63 | * @brief Real-Time Clock driver.
|
||
64 | */
|
||
65 | #define MODULE_HAL_RTC RTCD1
|
||
66 | |||
67 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
68 | 126ace3c | Thomas Schöpping | |
69 | /**
|
||
70 | * @brief I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery).
|
||
71 | */
|
||
72 | #define MODULE_HAL_I2C3 I2CD3
|
||
73 | |||
74 | /**
|
||
75 | * @brief Configuration for the I2C driver #3.
|
||
76 | */
|
||
77 | extern I2CConfig moduleHalI2c3Config;
|
||
78 | |||
79 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
80 | 126ace3c | Thomas Schöpping | |
81 | 27d0378b | Simon Welzel | /** @} */
|
82 | |||
83 | /*===========================================================================*/
|
||
84 | /**
|
||
85 | * @name GPIO definitions
|
||
86 | * @{
|
||
87 | */
|
||
88 | /*===========================================================================*/
|
||
89 | |||
90 | /**
|
||
91 | * @brief LED output signal GPIO.
|
||
92 | */
|
||
93 | extern ROMCONST apalControlGpio_t moduleGpioLed;
|
||
94 | |||
95 | /**
|
||
96 | 8543d0d9 | Thomas Schöpping | * @brief User button input signal.
|
97 | 27d0378b | Simon Welzel | */
|
98 | 8543d0d9 | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioUserButton;
|
99 | 27d0378b | Simon Welzel | |
100 | 8543d0d9 | Thomas Schöpping | /** @} */
|
101 | 27d0378b | Simon Welzel | |
102 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
|
103 | 27d0378b | Simon Welzel | /**
|
104 | 8543d0d9 | Thomas Schöpping | * @name AMiRo-OS core configurations
|
105 | * @{
|
||
106 | 27d0378b | Simon Welzel | */
|
107 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
|
108 | 27d0378b | Simon Welzel | |
109 | /**
|
||
110 | 8543d0d9 | Thomas Schöpping | * @brief Event flag to be set on a USER_BUTTON interrupt.
|
111 | 27d0378b | Simon Welzel | */
|
112 | cda14729 | Thomas Schöpping | #define MODULE_OS_GPIOEVENTFLAG_USERBUTTON AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_BUTTON))
|
113 | 27d0378b | Simon Welzel | |
114 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
115 | 27d0378b | Simon Welzel | /**
|
116 | 8543d0d9 | Thomas Schöpping | * @brief Shell prompt text.
|
117 | 27d0378b | Simon Welzel | */
|
118 | 8543d0d9 | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
119 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
120 | 27d0378b | Simon Welzel | |
121 | /**
|
||
122 | 8543d0d9 | Thomas Schöpping | * @brief Interrupt initialization macro.
|
123 | 27d0378b | Simon Welzel | */
|
124 | 8543d0d9 | Thomas Schöpping | #define MODULE_INIT_INTERRUPTS() { \
|
125 | /* user button */ \
|
||
126 | cda14729 | Thomas Schöpping | palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioUserButton.gpio->line); \ |
127 | 56dc4779 | Thomas Schöpping | palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
128 | 8543d0d9 | Thomas Schöpping | } |
129 | 27d0378b | Simon Welzel | |
130 | /**
|
||
131 | 4c72a54c | Thomas Schöpping | * @brief Test initialization hook.
|
132 | 27d0378b | Simon Welzel | */
|
133 | 8543d0d9 | Thomas Schöpping | #define MODULE_INIT_TESTS() { \
|
134 | cda14729 | Thomas Schöpping | /* add test commands to shell */ \
|
135 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
136 | aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd); \ |
||
137 | 126ace3c | Thomas Schöpping | MODULE_INIT_TEST_MPU6050(); \ |
138 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
139 | 8543d0d9 | Thomas Schöpping | } |
140 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) |
141 | 126ace3c | Thomas Schöpping | #define MODULE_INIT_TEST_MPU6050() { \
|
142 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestMpu6050ShellCmd); \ |
143 | 126ace3c | Thomas Schöpping | } |
144 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_MPU6050_CONNECTED == true) */ |
145 | 126ace3c | Thomas Schöpping | #define MODULE_INIT_TEST_MPU6050() {}
|
146 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
147 | 27d0378b | Simon Welzel | |
148 | /**
|
||
149 | 8543d0d9 | Thomas Schöpping | * @brief Periphery communication interfaces initialization hook.
|
150 | 27d0378b | Simon Welzel | */
|
151 | 4c72a54c | Thomas Schöpping | #define MODULE_INIT_PERIPHERY_IF() { \
|
152 | 8543d0d9 | Thomas Schöpping | /* serial driver */ \
|
153 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
||
154 | 126ace3c | Thomas Schöpping | /* MPU6050 demo */ \
|
155 | 4c72a54c | Thomas Schöpping | MODULE_INIT_PERIPHERY_IF_MPU6050(); \ |
156 | 8543d0d9 | Thomas Schöpping | } |
157 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) |
158 | #define MODULE_INIT_PERIPHERY_IF_MPU6050() { \
|
||
159 | 126ace3c | Thomas Schöpping | /* maximum I2C frequency is 1MHz for this MCU */ \
|
160 | uint32_t i2c3_freq = 1000000; \
|
||
161 | /* find minimum amon all devices connected to this bus */ \
|
||
162 | i2c3_freq = (MPU6050_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
||
163 | /* calculate PRESC (prescaler): \
|
||
164 | * target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \
|
||
165 | */ \
|
||
166 | moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
||
167 | /* SCL shall be low half of the time. */ \
|
||
168 | moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
||
169 | /* SCL shall be high half the time of low or slightly longer. */ \
|
||
170 | moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \
|
||
171 | /* SDA shall be delayed 1/10 of SCL low, or shorter */ \
|
||
172 | moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
||
173 | /* SCL shall be delyed twice as long as SDA, but longer than 0. */ \
|
||
174 | moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
||
175 | /* now we can start the I2C driver */ \
|
||
176 | 97017dbb | Thomas Schöpping | chSysLock(); \ |
177 | 4c72a54c | Thomas Schöpping | palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \
|
178 | palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \
|
||
179 | 97017dbb | Thomas Schöpping | chSysUnlock(); \ |
180 | 126ace3c | Thomas Schöpping | i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
181 | } |
||
182 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_MPU6050_CONNECTED == true) */ |
183 | #define MODULE_INIT_PERIPHERY_IF_MPU6050() {}
|
||
184 | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
||
185 | 27d0378b | Simon Welzel | |
186 | /**
|
||
187 | 8543d0d9 | Thomas Schöpping | * @brief Periphery communication interface deinitialization hook.
|
188 | 27d0378b | Simon Welzel | */
|
189 | 4c72a54c | Thomas Schöpping | #define MODULE_SHUTDOWN_PERIPHERY_IF() { \
|
190 | cda14729 | Thomas Schöpping | /* don't stop the serial driver so messages can still be printed */ \
|
191 | 8543d0d9 | Thomas Schöpping | } |
192 | 27d0378b | Simon Welzel | |
193 | /**
|
||
194 | 8543d0d9 | Thomas Schöpping | * @brief HOOK to toggle the LEDs when the user button is pressed.
|
195 | 27d0378b | Simon Welzel | */
|
196 | cda14729 | Thomas Schöpping | #define MODULE_MAIN_LOOP_GPIOEVENT(eventflags) { \
|
197 | if (eventflags & MODULE_OS_GPIOEVENTFLAG_USERBUTTON) { \
|
||
198 | 4c72a54c | Thomas Schöpping | button_lld_state_t buttonstate; \ |
199 | button_lld_get(&moduleLldUserButton, &buttonstate); \ |
||
200 | led_lld_set(&moduleLldLed, (buttonstate == BUTTON_LLD_STATE_PRESSED) ? LED_LLD_STATE_ON : LED_LLD_STATE_OFF); \ |
||
201 | 8543d0d9 | Thomas Schöpping | } \ |
202 | } |
||
203 | 27d0378b | Simon Welzel | |
204 | /** @} */
|
||
205 | |||
206 | /*===========================================================================*/
|
||
207 | /**
|
||
208 | 8543d0d9 | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
209 | 27d0378b | Simon Welzel | * @{
|
210 | */
|
||
211 | /*===========================================================================*/
|
||
212 | |||
213 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
214 | c53ef0b1 | Thomas Schöpping | #error "SSSP is not supported on this module." |
215 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
216 | |||
217 | 8543d0d9 | Thomas Schöpping | /** @} */
|
218 | 27d0378b | Simon Welzel | |
219 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
|
220 | 27d0378b | Simon Welzel | /**
|
221 | 8543d0d9 | Thomas Schöpping | * @name Low-level drivers
|
222 | * @{
|
||
223 | 27d0378b | Simon Welzel | */
|
224 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
|
225 | 4c72a54c | Thomas Schöpping | #include <alld_LED.h> |
226 | #include <alld_button.h> |
||
227 | 27d0378b | Simon Welzel | |
228 | 4c72a54c | Thomas Schöpping | /**
|
229 | * @brief LED driver.
|
||
230 | */
|
||
231 | extern LEDDriver moduleLldLed;
|
||
232 | |||
233 | /**
|
||
234 | * @brief Button driver.
|
||
235 | */
|
||
236 | extern ButtonDriver moduleLldUserButton;
|
||
237 | |||
238 | #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
||
239 | 126ace3c | Thomas Schöpping | |
240 | #include <alld_MPU6050.h> |
||
241 | |||
242 | /**
|
||
243 | * @brief Accelerometer (MPU6050) driver.
|
||
244 | */
|
||
245 | extern MPU6050Driver moduleLldMpu6050;
|
||
246 | |||
247 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
248 | 126ace3c | Thomas Schöpping | |
249 | 8543d0d9 | Thomas Schöpping | /** @} */
|
250 | 1678f270 | Simon Welzel | |
251 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
|
252 | 1678f270 | Simon Welzel | /**
|
253 | 4c72a54c | Thomas Schöpping | * @name Tests
|
254 | 8543d0d9 | Thomas Schöpping | * @{
|
255 | 1678f270 | Simon Welzel | */
|
256 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
|
257 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
258 | 1678f270 | Simon Welzel | |
259 | 4c72a54c | Thomas Schöpping | /**
|
260 | * @brief LED test command.
|
||
261 | */
|
||
262 | extern aos_shellcommand_t moduleTestLedShellCmd;
|
||
263 | |||
264 | /**
|
||
265 | * @brief User button test command.
|
||
266 | */
|
||
267 | extern aos_shellcommand_t moduleTestButtonShellCmd;
|
||
268 | 126ace3c | Thomas Schöpping | |
269 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
270 | 126ace3c | Thomas Schöpping | |
271 | /**
|
||
272 | 4c72a54c | Thomas Schöpping | * @brief MPU6050 (Accelerometer & Gyroscope) test command.
|
273 | 126ace3c | Thomas Schöpping | */
|
274 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestMpu6050ShellCmd;
|
275 | 126ace3c | Thomas Schöpping | |
276 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
277 | |||
278 | /**
|
||
279 | * @brief Entire module test command.
|
||
280 | */
|
||
281 | extern aos_shellcommand_t moduleTestAllShellCmd;
|
||
282 | 126ace3c | Thomas Schöpping | |
283 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
284 | 8543d0d9 | Thomas Schöpping | |
285 | /** @} */
|
||
286 | |||
287 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_MODULE_H */ |
288 | 27d0378b | Simon Welzel | |
289 | /** @} */ |