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amiro-os / modules / LightRing_1-0 / module.h @ 3940ba8a

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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..2019  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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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_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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/**
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 * @brief   CAN driver to use.
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 */
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#define MODULE_HAL_CAN                          CAND1
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/**
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 * @brief   Configuration for the CAN driver.
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 */
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extern CANConfig moduleHalCanConfig;
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/**
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 * @brief   I2C driver to access the EEPROM.
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 */
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#define MODULE_HAL_I2C_EEPROM                   I2CD2
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/**
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 * @brief   Configuration for the EEPROM I2C driver.
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 */
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extern I2CConfig moduleHalI2cEepromConfig;
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/**
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 * @brief   Serial driver of the programmer interface.
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 */
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#define MODULE_HAL_PROGIF                       SD1
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/**
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 * @brief   Configuration for the programmer serial interface driver.
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 */
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extern SerialConfig moduleHalProgIfConfig;
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/**
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 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
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 */
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#define MODULE_HAL_SPI_LIGHT                    SPID1
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/**
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 * @brief   SPI interface driver for the wireless transceiver.
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 */
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#define MODULE_HAL_SPI_WL                       SPID2
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/**
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 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
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 */
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extern SPIConfig moduleHalSpiLightConfig;
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/**
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 * @brief   Configuration for the SPI interface driver to communicate with the wireless transceiver.
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 */
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extern SPIConfig moduleHalSpiWlConfig;
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/**
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 * @brief   Real-Time Clock driver.
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 */
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#define MODULE_HAL_RTC                          RTCD1
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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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extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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/**
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 * @brief   LASER_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
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/**
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 * @brief   LASER_OC input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
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/**
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 * @brief   SYS_UART_DN bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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/**
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 * @brief   WL_GDO2 input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
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/**
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 * @brief   WL_GDO0 input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
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/**
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 * @brief   LIGHT_XLAT output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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/**
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 * @brief   SYS_SYNC bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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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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/**
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 * @brief   Event flag to be set on a LASER_OC interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_LASEROC          AOS_IOEVENT_FLAG(GPIOB_LASER_OC_N)
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/**
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 * @brief   Event flag to be set on a SYS_UART_DN interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        AOS_IOEVENT_FLAG(GPIOB_SYS_UART_DN)
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/**
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 * @brief   Event flag to be set on a WL_GDO2 interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_WLGDO2           AOS_IOEVENT_FLAG(GPIOB_WL_GDO2)
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/**
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 * @brief   Event flag to be set on a WL_GDO0 interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_WLGDO0           AOS_IOEVENT_FLAG(GPIOB_WL_GDO0)
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/**
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 * @brief   Event flag to be set on a SYS_PD interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
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/**
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 * @brief   Event flag to be set on a SYS_SYNC interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(GPIOD_SYS_INT_N)
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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/**
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 * @brief   Shell prompt text.
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 */
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extern ROMCONST char* moduleShellPrompt;
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#endif
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/**
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 * @brief   Interrupt initialization macro.
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 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
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 */
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#define MODULE_INIT_INTERRUPTS() {                                            \
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  /* LASER_OC */                                                              \
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  palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \
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  palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge));  \
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  /* WL_GDO2 */                                                               \
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  palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad);  \
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  palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge));   \
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  /* WL_GDO0 */                                                               \
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  palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad);  \
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  /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/   \
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}
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/**
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 * @brief   Unit test initialization hook.
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 */
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#define MODULE_INIT_TESTS() {                                                 \
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  /* add unit-test shell commands */                                          \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd);            \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd);          \
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}
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/**
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 * @brief   Periphery communication interfaces initialization hook.
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 */
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#define MODULE_INIT_PERIPHERY_COMM() {                                        \
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  /* serial driver */                                                         \
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  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
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  /* I2C */                                                                   \
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  moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \
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  moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \
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  /* SPI */                                                                   \
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  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
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  spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig);                        \
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}
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/**
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 * @brief   Periphery communication interface deinitialization hook.
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 */
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
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  /* SPI */                                                                   \
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  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
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  spiStop(&MODULE_HAL_SPI_WL);                                                \
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  /* I2C */                                                                   \
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  i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \
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  /* don't stop the serial driver so messages can still be printed */         \
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}
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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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 * @brief   PD signal GPIO.
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 */
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#define moduleSsspGpioPd                        moduleGpioSysPd
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/**
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 * @brief   SYNC signal GPIO.
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 */
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#define moduleSsspGpioSync                      moduleGpioSysSync
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/**
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 * @brief   DN signal GPIO.
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 */
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#define moduleSsspGpioDn                        moduleGpioSysUartDn
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/**
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 * @brief   Event flags for PD signal events.
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 */
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#define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
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/**
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 * @brief   Event flags for SYNC signal events.
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 */
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#define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
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/**
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 * @brief   Event flags for DN signal events.
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 */
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#define MODULE_SSSP_EVENTFLAGS_DN               MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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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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#include <alld_at24c01bn-sh-b.h>
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#include <alld_tlc5947.h>
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#include <alld_tps2051bdbv.h>
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/**
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 * @brief   EEPROM driver.
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 */
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extern AT24C01BNDriver moduleLldEeprom;
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/**
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 * @brief   LED PWM driver.
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 */
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extern TLC5947Driver moduleLldLedPwm;
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/**
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 * @brief   Power switch driver for the laser supply power.
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 */
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extern TPS2051BDriver moduleLldPowerSwitchLaser;
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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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#include <ut_alld_at24c01bn-sh-b.h>
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#include <ut_alld_tlc5947.h>
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#include <ut_alld_tps2051bdbv.h>
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/**
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 * @brief   EEPROM unit test object.
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 */
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extern aos_unittest_t moduleUtAlldAt24c01bn;
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/**
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 * @brief   LED PWM driver unit test object.
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 */
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extern aos_unittest_t moduleUtAlldTlc5947;
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/**
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 * @brief   Current-limited power switch (Laser output)
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 */
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extern aos_unittest_t moduleUtAlldTps2051bdbv;
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
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/** @} */
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#endif /* AMIROOS_MODULE_H */