amiro-os / modules / DiWheelDrive_1-1 / module.h @ 341cc329
History | View | Annotate | Download (19.484 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 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 |
* @brief Structures and constant for the DiWheelDrive module.
|
| 22 |
*
|
| 23 |
* @addtogroup diwheeldrive_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef AMIROOS_MODULE_H
|
| 28 |
#define AMIROOS_MODULE_H
|
| 29 |
|
| 30 |
#include <amiroos.h> |
| 31 |
|
| 32 |
/*===========================================================================*/
|
| 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 compass.
|
| 60 |
*/
|
| 61 |
#define MODULE_HAL_I2C_COMPASS I2CD1
|
| 62 |
|
| 63 |
/**
|
| 64 |
* @brief Configuration for the compass I2C driver.
|
| 65 |
*/
|
| 66 |
extern I2CConfig moduleHalI2cCompassConfig;
|
| 67 |
|
| 68 |
/**
|
| 69 |
* @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
|
| 70 |
*/
|
| 71 |
#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
|
| 72 |
|
| 73 |
/**
|
| 74 |
* @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
|
| 75 |
*/
|
| 76 |
extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
|
| 77 |
|
| 78 |
/**
|
| 79 |
* @brief PWM driver to use.
|
| 80 |
*/
|
| 81 |
#define MODULE_HAL_PWM_DRIVE PWMD2
|
| 82 |
|
| 83 |
/**
|
| 84 |
* @brief Configuration for the PWM driver.
|
| 85 |
*/
|
| 86 |
extern PWMConfig moduleHalPwmDriveConfig;
|
| 87 |
|
| 88 |
/**
|
| 89 |
* @brief Drive PWM channel for the left wheel forward direction.
|
| 90 |
*/
|
| 91 |
#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
| 92 |
|
| 93 |
/**
|
| 94 |
* @brief Drive PWM channel for the left wheel backward direction.
|
| 95 |
*/
|
| 96 |
#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
| 97 |
|
| 98 |
/**
|
| 99 |
* @brief Drive PWM channel for the right wheel forward direction.
|
| 100 |
*/
|
| 101 |
#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
| 102 |
|
| 103 |
/**
|
| 104 |
* @brief Drive PWM channel for the right wheel backward direction.
|
| 105 |
*/
|
| 106 |
#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
| 107 |
|
| 108 |
/**
|
| 109 |
* @brief Quadrature encooder for the left wheel.
|
| 110 |
*/
|
| 111 |
#define MODULE_HAL_QEI_LEFT_WHEEL QEID3
|
| 112 |
|
| 113 |
/**
|
| 114 |
* @brief Quadrature encooder for the right wheel.
|
| 115 |
*/
|
| 116 |
#define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
|
| 117 |
|
| 118 |
/**
|
| 119 |
* @brief Configuration for both quadrature encoders.
|
| 120 |
*/
|
| 121 |
extern QEIConfig moduleHalQeiConfig;
|
| 122 |
|
| 123 |
/**
|
| 124 |
* @brief QEI increments per wheel revolution.
|
| 125 |
* @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
|
| 126 |
*/
|
| 127 |
#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
| 128 |
|
| 129 |
/**
|
| 130 |
* @brief Serial driver of the programmer interface.
|
| 131 |
*/
|
| 132 |
#define MODULE_HAL_PROGIF SD1
|
| 133 |
|
| 134 |
/**
|
| 135 |
* @brief Configuration for the programmer serial interface driver.
|
| 136 |
*/
|
| 137 |
extern SerialConfig moduleHalProgIfConfig;
|
| 138 |
|
| 139 |
/**
|
| 140 |
* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
|
| 141 |
*/
|
| 142 |
#define MODULE_HAL_SPI_MOTION SPID1
|
| 143 |
|
| 144 |
/**
|
| 145 |
* @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
|
| 146 |
*/
|
| 147 |
extern SPIConfig moduleHalSpiAccelerometerConfig;
|
| 148 |
|
| 149 |
/**
|
| 150 |
* @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
|
| 151 |
*/
|
| 152 |
extern SPIConfig moduleHalSpiGyroscopeConfig;
|
| 153 |
|
| 154 |
/**
|
| 155 |
* @brief Real-Time Clock driver.
|
| 156 |
*/
|
| 157 |
#define MODULE_HAL_RTC RTCD1
|
| 158 |
|
| 159 |
/** @} */
|
| 160 |
|
| 161 |
/*===========================================================================*/
|
| 162 |
/**
|
| 163 |
* @name GPIO definitions
|
| 164 |
* @{
|
| 165 |
*/
|
| 166 |
/*===========================================================================*/
|
| 167 |
|
| 168 |
/**
|
| 169 |
* @brief LED output signal GPIO.
|
| 170 |
*/
|
| 171 |
extern ROMCONST apalControlGpio_t moduleGpioLed;
|
| 172 |
|
| 173 |
/**
|
| 174 |
* @brief POWER_EN output signal GPIO.
|
| 175 |
*/
|
| 176 |
extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
|
| 177 |
|
| 178 |
/**
|
| 179 |
* @brief COMPASS_DRDY input signal GPIO.
|
| 180 |
*/
|
| 181 |
extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;
|
| 182 |
|
| 183 |
/**
|
| 184 |
* @brief IR_INT input signal GPIO.
|
| 185 |
*/
|
| 186 |
extern ROMCONST apalControlGpio_t moduleGpioIrInt;
|
| 187 |
|
| 188 |
/**
|
| 189 |
* @brief GYRO_DRDY input signal GPIO.
|
| 190 |
*/
|
| 191 |
extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;
|
| 192 |
|
| 193 |
/**
|
| 194 |
* @brief SYS_UART_UP bidirectional signal GPIO.
|
| 195 |
*/
|
| 196 |
extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
|
| 197 |
|
| 198 |
/**
|
| 199 |
* @brief ACCEL_INT input signal GPIO.
|
| 200 |
*/
|
| 201 |
extern ROMCONST apalControlGpio_t moduleGpioAccelInt;
|
| 202 |
|
| 203 |
/**
|
| 204 |
* @brief SYS_SNYC bidirectional signal GPIO.
|
| 205 |
*/
|
| 206 |
extern ROMCONST apalControlGpio_t moduleGpioSysSync;
|
| 207 |
|
| 208 |
/**
|
| 209 |
* @brief PATH_DCSTAT input signal GPIO.
|
| 210 |
*/
|
| 211 |
extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
|
| 212 |
|
| 213 |
/**
|
| 214 |
* @brief PATH_DCEN output signal GPIO.
|
| 215 |
*/
|
| 216 |
extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
|
| 217 |
|
| 218 |
/**
|
| 219 |
* @brief SYS_PD bidirectional signal GPIO.
|
| 220 |
*/
|
| 221 |
extern ROMCONST apalControlGpio_t moduleGpioSysPd;
|
| 222 |
|
| 223 |
/**
|
| 224 |
* @brief SYS_REG_EN input signal GPIO.
|
| 225 |
*/
|
| 226 |
extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
|
| 227 |
|
| 228 |
/**
|
| 229 |
* @brief SYS_WARMRST bidirectional signal GPIO.
|
| 230 |
*/
|
| 231 |
extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
|
| 232 |
|
| 233 |
/** @} */
|
| 234 |
|
| 235 |
/*===========================================================================*/
|
| 236 |
/**
|
| 237 |
* @name AMiRo-OS core configurations
|
| 238 |
* @{
|
| 239 |
*/
|
| 240 |
/*===========================================================================*/
|
| 241 |
|
| 242 |
/**
|
| 243 |
* @brief Event flag to be set on a SYS_SYNC interrupt.
|
| 244 |
*/
|
| 245 |
#define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(GPIOC_SYS_INT_N)
|
| 246 |
|
| 247 |
/**
|
| 248 |
* @brief Event flag to be set on a SYS_WARMRST interrupt.
|
| 249 |
*/
|
| 250 |
#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST AOS_IOEVENT_FLAG(GPIOD_SYS_WARMRST_N)
|
| 251 |
|
| 252 |
/**
|
| 253 |
* @brief Event flag to be set on a PATH_DCSTAT interrupt.
|
| 254 |
*/
|
| 255 |
#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT AOS_IOEVENT_FLAG(GPIOC_PATH_DCEN)
|
| 256 |
|
| 257 |
/**
|
| 258 |
* @brief Event flag to be set on a COMPASS_DRDY interrupt.
|
| 259 |
*/
|
| 260 |
#define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY AOS_IOEVENT_FLAG(GPIOB_COMPASS_DRDY)
|
| 261 |
|
| 262 |
/**
|
| 263 |
* @brief Event flag to be set on a SYS_PD interrupt.
|
| 264 |
*/
|
| 265 |
#define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
|
| 266 |
|
| 267 |
/**
|
| 268 |
* @brief Event flag to be set on a SYS_REG_EN interrupt.
|
| 269 |
*/
|
| 270 |
#define MODULE_OS_IOEVENTFLAGS_SYSREGEN AOS_IOEVENT_FLAG(GPIOC_SYS_REG_EN)
|
| 271 |
|
| 272 |
/**
|
| 273 |
* @brief Event flag to be set on a IR_INT interrupt.
|
| 274 |
*/
|
| 275 |
#define MODULE_OS_IOEVENTFLAGS_IRINT AOS_IOEVENT_FLAG(GPIOB_IR_INT)
|
| 276 |
|
| 277 |
/**
|
| 278 |
* @brief Event flag to be set on a GYRO_DRDY interrupt.
|
| 279 |
*/
|
| 280 |
#define MODULE_OS_IOEVENTFLAGS_GYRODRDY AOS_IOEVENT_FLAG(GPIOB_GYRO_DRDY)
|
| 281 |
|
| 282 |
/**
|
| 283 |
* @brief Event flag to be set on a SYS_UART_UP interrupt.
|
| 284 |
*/
|
| 285 |
#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP AOS_IOEVENT_FLAG(GPIOB_SYS_UART_UP)
|
| 286 |
|
| 287 |
/**
|
| 288 |
* @brief Event flag to be set on a ACCEL_INT interrupt.
|
| 289 |
*/
|
| 290 |
#define MODULE_OS_IOEVENTFLAGS_ACCELINT AOS_IOEVENT_FLAG(GPIOB_ACCEL_INT_N)
|
| 291 |
|
| 292 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 293 |
/**
|
| 294 |
* @brief Shell prompt text.
|
| 295 |
*/
|
| 296 |
extern ROMCONST char* moduleShellPrompt; |
| 297 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 298 |
|
| 299 |
/**
|
| 300 |
* @brief Additional HAL initialization hook.
|
| 301 |
*/
|
| 302 |
#define MODULE_INIT_HAL_EXTRA() { \
|
| 303 |
qeiInit(); \ |
| 304 |
} |
| 305 |
|
| 306 |
/**
|
| 307 |
* @brief Interrupt initialization macro.
|
| 308 |
* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
|
| 309 |
*/
|
| 310 |
#define MODULE_INIT_INTERRUPTS() { \
|
| 311 |
/* COMPASS_DRDY */ \
|
| 312 |
palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \ |
| 313 |
palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge)); \ |
| 314 |
/* IR_INT */ \
|
| 315 |
palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \ |
| 316 |
palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
| 317 |
/* GYRO_DRDY */ \
|
| 318 |
palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad); \ |
| 319 |
palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge)); \ |
| 320 |
/* ACCEL_INT */ \
|
| 321 |
palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad); \ |
| 322 |
palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge)); \ |
| 323 |
/* PATH_DCSTAT */ \
|
| 324 |
palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad); \ |
| 325 |
palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
| 326 |
/* SYS_REG_EN */ \
|
| 327 |
palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad); \ |
| 328 |
palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
| 329 |
/* SYS_WARMRST */ \
|
| 330 |
palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad); \ |
| 331 |
palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
| 332 |
} |
| 333 |
|
| 334 |
/**
|
| 335 |
* @brief Unit test initialization hook.
|
| 336 |
*/
|
| 337 |
#define MODULE_INIT_TESTS() { \
|
| 338 |
/* add unit-test shell commands */ \
|
| 339 |
aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
| 340 |
aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd); \ |
| 341 |
aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
| 342 |
aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
| 343 |
aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
| 344 |
aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
| 345 |
aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
| 346 |
aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
| 347 |
aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
| 348 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
| 349 |
aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
| 350 |
aosShellAddCommand(&aos.shell, &moduleUtLldRtCan.shellcmd); \ |
| 351 |
} |
| 352 |
|
| 353 |
/**
|
| 354 |
* @brief Periphery communication interfaces initialization hook.
|
| 355 |
*/
|
| 356 |
#define MODULE_INIT_PERIPHERY_COMM() { \
|
| 357 |
/* serial driver */ \
|
| 358 |
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
| 359 |
/* I2C */ \
|
| 360 |
moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
| 361 |
moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
| 362 |
i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
| 363 |
moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
| 364 |
moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
| 365 |
moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
| 366 |
moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
| 367 |
moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
| 368 |
i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
| 369 |
/* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
|
| 370 |
/* PWM */ \
|
| 371 |
pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
| 372 |
/* QEI */ \
|
| 373 |
qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
| 374 |
qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
| 375 |
qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
| 376 |
qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
| 377 |
} |
| 378 |
|
| 379 |
/**
|
| 380 |
* @brief Periphery communication interface deinitialization hook.
|
| 381 |
*/
|
| 382 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| 383 |
/* PWM */ \
|
| 384 |
pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
| 385 |
/* QEI */ \
|
| 386 |
qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
| 387 |
qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
| 388 |
qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
| 389 |
qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
| 390 |
/* I2C */ \
|
| 391 |
i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
| 392 |
i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
| 393 |
/* don't stop the serial driver so messages can still be printed */ \
|
| 394 |
} |
| 395 |
|
| 396 |
/** @} */
|
| 397 |
|
| 398 |
/*===========================================================================*/
|
| 399 |
/**
|
| 400 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 401 |
* @{
|
| 402 |
*/
|
| 403 |
/*===========================================================================*/
|
| 404 |
|
| 405 |
/**
|
| 406 |
* @brief PD signal GPIO.
|
| 407 |
*/
|
| 408 |
#define moduleSsspGpioPd moduleGpioSysPd
|
| 409 |
|
| 410 |
/**
|
| 411 |
* @brief SYNC signal GPIO.
|
| 412 |
*/
|
| 413 |
#define moduleSsspGpioSync moduleGpioSysSync
|
| 414 |
|
| 415 |
/**
|
| 416 |
* @brief UP signal GPIO.
|
| 417 |
*/
|
| 418 |
#define moduleSsspGpioUp moduleGpioSysUartUp
|
| 419 |
|
| 420 |
/**
|
| 421 |
* @brief Event flags for PD signal events.
|
| 422 |
*/
|
| 423 |
#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
|
| 424 |
|
| 425 |
/**
|
| 426 |
* @brief Event flags for SYNC signal events.
|
| 427 |
*/
|
| 428 |
#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
|
| 429 |
|
| 430 |
/**
|
| 431 |
* @brief Event flags for UP signal events.
|
| 432 |
*/
|
| 433 |
#define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
|
| 434 |
|
| 435 |
/** @} */
|
| 436 |
|
| 437 |
/*===========================================================================*/
|
| 438 |
/**
|
| 439 |
* @name Low-level drivers
|
| 440 |
* @{
|
| 441 |
*/
|
| 442 |
/*===========================================================================*/
|
| 443 |
|
| 444 |
#include <alld_A3906.h> |
| 445 |
#include <alld_AT24C01B.h> |
| 446 |
#include <alld_HMC5883L.h> |
| 447 |
#include <alld_INA219.h> |
| 448 |
#include <alld_L3G4200D.h> |
| 449 |
#include <alld_LED.h> |
| 450 |
#include <alld_LIS331DLH.h> |
| 451 |
#include <alld_LTC4412.h> |
| 452 |
#include <alld_PCA9544A.h> |
| 453 |
#include <alld_TPS6211x.h> |
| 454 |
#include <alld_VCNL4020.h> |
| 455 |
#include <ut_lld_rtcan.h> |
| 456 |
|
| 457 |
|
| 458 |
/**
|
| 459 |
* @brief Motor driver.
|
| 460 |
*/
|
| 461 |
extern A3906Driver moduleLldMotors;
|
| 462 |
|
| 463 |
/**
|
| 464 |
* @brief EEPROM driver.
|
| 465 |
*/
|
| 466 |
extern AT24C01BDriver moduleLldEeprom;
|
| 467 |
|
| 468 |
/**
|
| 469 |
* @brief Compass driver.
|
| 470 |
*/
|
| 471 |
extern HMC5883LDriver moduleLldCompass;
|
| 472 |
|
| 473 |
/**
|
| 474 |
* @brief Power monitor (VDD) driver.
|
| 475 |
*/
|
| 476 |
extern INA219Driver moduleLldPowerMonitorVdd;
|
| 477 |
|
| 478 |
/**
|
| 479 |
* @brief Gyroscope driver.
|
| 480 |
*/
|
| 481 |
extern L3G4200DDriver moduleLldGyroscope;
|
| 482 |
|
| 483 |
/**
|
| 484 |
* @brief Status LED driver.
|
| 485 |
*/
|
| 486 |
extern LEDDriver moduleLldStatusLed;
|
| 487 |
|
| 488 |
/**
|
| 489 |
* @brief Accelerometer driver.
|
| 490 |
*/
|
| 491 |
extern LIS331DLHDriver moduleLldAccelerometer;
|
| 492 |
|
| 493 |
/**
|
| 494 |
* @brief Power path controler (charging pins) driver.
|
| 495 |
*/
|
| 496 |
extern LTC4412Driver moduleLldPowerPathController;
|
| 497 |
|
| 498 |
/**
|
| 499 |
* @brief I2C multiplexer driver.
|
| 500 |
*/
|
| 501 |
extern PCA9544ADriver moduleLldI2cMultiplexer;
|
| 502 |
|
| 503 |
/**
|
| 504 |
* @brief Step down converter (VDRIVE) driver.
|
| 505 |
*/
|
| 506 |
extern TPS6211xDriver moduleLldStepDownConverterVdrive;
|
| 507 |
|
| 508 |
/**
|
| 509 |
* @brief Proximity sensor driver.
|
| 510 |
*/
|
| 511 |
extern VCNL4020Driver moduleLldProximity;
|
| 512 |
|
| 513 |
/** @} */
|
| 514 |
|
| 515 |
/*===========================================================================*/
|
| 516 |
/**
|
| 517 |
* @name Unit tests (UT)
|
| 518 |
* @{
|
| 519 |
*/
|
| 520 |
/*===========================================================================*/
|
| 521 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 522 |
#include <ut_alld_A3906_v1.h> |
| 523 |
#include <ut_alld_AT24C01B_v1.h> |
| 524 |
#include <ut_alld_HMC5883L_v1.h> |
| 525 |
#include <ut_alld_INA219_v1.h> |
| 526 |
#include <ut_alld_L3G4200D_v1.h> |
| 527 |
#include <ut_alld_LED_v1.h> |
| 528 |
#include <ut_alld_LIS331DLH_v1.h> |
| 529 |
#include <ut_alld_LTC4412_v1.h> |
| 530 |
#include <ut_alld_PCA9544A_v1.h> |
| 531 |
#include <ut_alld_TPS6211x_v1.h> |
| 532 |
#include <ut_alld_VCNL4020_v1.h> |
| 533 |
|
| 534 |
/**
|
| 535 |
* @brief A3906 (motor driver) unit test object.
|
| 536 |
*/
|
| 537 |
extern aos_unittest_t moduleUtAlldA3906;
|
| 538 |
|
| 539 |
/**
|
| 540 |
* @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
| 541 |
*/
|
| 542 |
extern aos_unittest_t moduleUtAlldAt24c01b;
|
| 543 |
|
| 544 |
/**
|
| 545 |
* @brief HMC5883L (compass) unit test object.
|
| 546 |
*/
|
| 547 |
extern aos_unittest_t moduleUtAlldHmc5883l;
|
| 548 |
|
| 549 |
/**
|
| 550 |
* @brief INA219 (power monitor) unit test object.
|
| 551 |
*/
|
| 552 |
extern aos_unittest_t moduleUtAlldIna219;
|
| 553 |
|
| 554 |
/**
|
| 555 |
* @brief L3G4200D (gyroscope) unit test object.
|
| 556 |
*/
|
| 557 |
extern aos_unittest_t moduleUtAlldL3g4200d;
|
| 558 |
|
| 559 |
/**
|
| 560 |
* @brief Status LED unit test object.
|
| 561 |
*/
|
| 562 |
extern aos_unittest_t moduleUtAlldLed;
|
| 563 |
|
| 564 |
/**
|
| 565 |
* @brief LIS331DLH (accelerometer) unit test object.
|
| 566 |
*/
|
| 567 |
extern aos_unittest_t moduleUtAlldLis331dlh;
|
| 568 |
|
| 569 |
/**
|
| 570 |
* @brief LTC4412 (power path controller) unit test object.
|
| 571 |
*/
|
| 572 |
extern aos_unittest_t moduleUtAlldLtc4412;
|
| 573 |
|
| 574 |
/**
|
| 575 |
* @brief PCA9544A (I2C multiplexer) unit test object.
|
| 576 |
*/
|
| 577 |
extern aos_unittest_t moduleUtAlldPca9544a;
|
| 578 |
|
| 579 |
/**
|
| 580 |
* @brief TPS62113 (step-down converter) unit test object.
|
| 581 |
*/
|
| 582 |
extern aos_unittest_t moduleUtAlldTps62113;
|
| 583 |
|
| 584 |
/**
|
| 585 |
* @brief VCNL4020 (proximity sensor) unit test object.
|
| 586 |
*/
|
| 587 |
extern aos_unittest_t moduleUtAlldVcnl4020;
|
| 588 |
/**
|
| 589 |
* @brief RtCan unit test object.
|
| 590 |
*/
|
| 591 |
extern aos_unittest_t moduleUtLldRtCan;
|
| 592 |
|
| 593 |
|
| 594 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 595 |
|
| 596 |
/** @} */
|
| 597 |
|
| 598 |
#endif /* AMIROOS_MODULE_H */ |
| 599 |
|
| 600 |
/** @} */
|