amiro-os / modules / DiWheelDrive_1-1 / module.h @ 47e89ebf
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | 37bacabf | Thomas Schöpping | * @file
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21 | 53710ca3 | Marc Rothmann | * @brief Structures and constant for the DiWheelDrive module.
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22 | *
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23 | * @addtogroup diwheeldrive_module
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24 | * @{
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25 | */
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26 | |||
27 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_MODULE_H
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28 | #define AMIROOS_MODULE_H
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29 | e545e620 | Thomas Schöpping | |
30 | e2d7143f | Thomas Schöpping | #include <amiroos.h> |
31 | |||
32 | e545e620 | Thomas Schöpping | /*===========================================================================*/
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33 | /**
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34 | * @name Module specific functions
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35 | * @{
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36 | */
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37 | /*===========================================================================*/
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38 | |||
39 | /** @} */
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40 | |||
41 | /*===========================================================================*/
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42 | /**
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43 | * @name ChibiOS/HAL configuration
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44 | * @{
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45 | */
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46 | /*===========================================================================*/
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47 | |||
48 | /**
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49 | * @brief CAN driver to use.
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50 | */
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51 | #define MODULE_HAL_CAN CAND1
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52 | |||
53 | /**
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54 | * @brief Configuration for the CAN driver.
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55 | */
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56 | extern CANConfig moduleHalCanConfig;
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57 | |||
58 | /**
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59 | * @brief I2C driver to access the compass.
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60 | */
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61 | #define MODULE_HAL_I2C_COMPASS I2CD1
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62 | |||
63 | /**
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64 | * @brief Configuration for the compass I2C driver.
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65 | */
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66 | extern I2CConfig moduleHalI2cCompassConfig;
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67 | |||
68 | /**
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69 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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70 | */
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71 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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72 | |||
73 | /**
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74 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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75 | */
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76 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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77 | |||
78 | /**
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79 | * @brief PWM driver to use.
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80 | */
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81 | #define MODULE_HAL_PWM_DRIVE PWMD2
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82 | |||
83 | /**
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84 | * @brief Configuration for the PWM driver.
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85 | */
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86 | extern PWMConfig moduleHalPwmDriveConfig;
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87 | |||
88 | /**
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89 | * @brief Drive PWM channel for the left wheel forward direction.
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90 | */
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91 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
92 | e545e620 | Thomas Schöpping | |
93 | /**
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94 | * @brief Drive PWM channel for the left wheel backward direction.
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95 | */
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96 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
97 | e545e620 | Thomas Schöpping | |
98 | /**
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99 | * @brief Drive PWM channel for the right wheel forward direction.
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100 | */
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101 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
102 | e545e620 | Thomas Schöpping | |
103 | /**
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104 | * @brief Drive PWM channel for the right wheel backward direction.
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105 | */
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106 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
107 | e545e620 | Thomas Schöpping | |
108 | /**
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109 | * @brief Quadrature encooder for the left wheel.
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110 | */
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111 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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112 | |||
113 | /**
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114 | * @brief Quadrature encooder for the right wheel.
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115 | */
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116 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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117 | |||
118 | /**
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119 | * @brief Configuration for both quadrature encoders.
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120 | */
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121 | extern QEIConfig moduleHalQeiConfig;
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122 | |||
123 | /**
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124 | * @brief QEI increments per wheel revolution.
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125 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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126 | */
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127 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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128 | |||
129 | /**
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130 | * @brief Serial driver of the programmer interface.
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131 | */
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132 | #define MODULE_HAL_PROGIF SD1
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133 | |||
134 | /**
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135 | * @brief Configuration for the programmer serial interface driver.
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136 | */
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137 | extern SerialConfig moduleHalProgIfConfig;
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138 | |||
139 | /**
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140 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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141 | */
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142 | #define MODULE_HAL_SPI_MOTION SPID1
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143 | |||
144 | /**
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145 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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146 | */
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147 | extern SPIConfig moduleHalSpiAccelerometerConfig;
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148 | |||
149 | /**
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150 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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151 | */
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152 | extern SPIConfig moduleHalSpiGyroscopeConfig;
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153 | |||
154 | 8399aeae | Thomas Schöpping | /**
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155 | * @brief Real-Time Clock driver.
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156 | */
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157 | #define MODULE_HAL_RTC RTCD1
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158 | |||
159 | e545e620 | Thomas Schöpping | /** @} */
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160 | |||
161 | /*===========================================================================*/
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162 | /**
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163 | * @name GPIO definitions
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164 | * @{
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165 | */
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166 | /*===========================================================================*/
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167 | |||
168 | /**
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169 | * @brief LED output signal GPIO.
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170 | */
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171 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLed;
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172 | e545e620 | Thomas Schöpping | |
173 | /**
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174 | * @brief POWER_EN output signal GPIO.
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175 | */
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176 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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177 | e545e620 | Thomas Schöpping | |
178 | /**
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179 | * @brief COMPASS_DRDY input signal GPIO.
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180 | */
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181 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;
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182 | e545e620 | Thomas Schöpping | |
183 | /**
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184 | * @brief IR_INT input signal GPIO.
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185 | */
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186 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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187 | e545e620 | Thomas Schöpping | |
188 | /**
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189 | * @brief GYRO_DRDY input signal GPIO.
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190 | */
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191 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;
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192 | e545e620 | Thomas Schöpping | |
193 | /**
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194 | * @brief SYS_UART_UP bidirectional signal GPIO.
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195 | */
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196 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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197 | e545e620 | Thomas Schöpping | |
198 | /**
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199 | * @brief ACCEL_INT input signal GPIO.
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200 | */
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201 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioAccelInt;
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202 | e545e620 | Thomas Schöpping | |
203 | /**
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204 | * @brief SYS_SNYC bidirectional signal GPIO.
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205 | */
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206 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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207 | e545e620 | Thomas Schöpping | |
208 | /**
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209 | * @brief PATH_DCSTAT input signal GPIO.
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210 | */
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211 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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212 | e545e620 | Thomas Schöpping | |
213 | /**
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214 | * @brief PATH_DCEN output signal GPIO.
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215 | */
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216 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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217 | e545e620 | Thomas Schöpping | |
218 | /**
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219 | * @brief SYS_PD bidirectional signal GPIO.
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220 | */
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221 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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222 | e545e620 | Thomas Schöpping | |
223 | /**
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224 | * @brief SYS_REG_EN input signal GPIO.
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225 | */
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226 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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227 | e545e620 | Thomas Schöpping | |
228 | /**
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229 | * @brief SYS_WARMRST bidirectional signal GPIO.
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230 | */
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231 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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232 | e545e620 | Thomas Schöpping | |
233 | /** @} */
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234 | |||
235 | /*===========================================================================*/
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236 | /**
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237 | * @name AMiRo-OS core configurations
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238 | * @{
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239 | */
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240 | /*===========================================================================*/
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241 | |||
242 | /**
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243 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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244 | */
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245 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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246 | e545e620 | Thomas Schöpping | |
247 | /**
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248 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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249 | */
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250 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_WARMRST_N))
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251 | e545e620 | Thomas Schöpping | |
252 | /**
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253 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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254 | */
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255 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT AOS_IOEVENT_FLAG(PAL_PAD(LINE_PATH_DCEN))
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256 | e545e620 | Thomas Schöpping | |
257 | /**
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258 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
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259 | */
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260 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY AOS_IOEVENT_FLAG(PAL_PAD(LINE_COMPASS_DRDY))
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261 | e545e620 | Thomas Schöpping | |
262 | /**
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263 | * @brief Event flag to be set on a SYS_PD interrupt.
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264 | */
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265 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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266 | e545e620 | Thomas Schöpping | |
267 | /**
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268 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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269 | */
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270 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_REG_EN))
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271 | e545e620 | Thomas Schöpping | |
272 | /**
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273 | * @brief Event flag to be set on a IR_INT interrupt.
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274 | */
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275 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IRINT AOS_IOEVENT_FLAG(PAL_PAD(LINE_IR_INT))
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276 | e545e620 | Thomas Schöpping | |
277 | /**
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278 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
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279 | */
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280 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY AOS_IOEVENT_FLAG(PAL_PAD(LINE_GYRO_DRDY))
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281 | e545e620 | Thomas Schöpping | |
282 | /**
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283 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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284 | */
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285 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
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286 | e545e620 | Thomas Schöpping | |
287 | /**
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288 | * @brief Event flag to be set on a ACCEL_INT interrupt.
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289 | */
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290 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_ACCELINT AOS_IOEVENT_FLAG(PAL_PAD(LINE_ACCEL_INT_N))
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291 | e545e620 | Thomas Schöpping | |
292 | 47e89ebf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
293 | e545e620 | Thomas Schöpping | /**
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294 | * @brief Shell prompt text.
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295 | */
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296 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
297 | 47e89ebf | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
298 | e545e620 | Thomas Schöpping | |
299 | /**
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300 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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301 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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302 | */
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303 | #define MODULE_INIT_INTERRUPTS() { \
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304 | /* COMPASS_DRDY */ \
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305 | 56dc4779 | Thomas Schöpping | palSetLineCallback(moduleGpioCompassDrdy.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioCompassDrdy.gpio->line); \ |
306 | palEnableLineEvent(moduleGpioCompassDrdy.gpio->line, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge)); \ |
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307 | 1e5f7648 | Thomas Schöpping | /* IR_INT */ \
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308 | 56dc4779 | Thomas Schöpping | palSetLineCallback(moduleGpioIrInt.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioIrInt.gpio->line); \ |
309 | palEnableLineEvent(moduleGpioIrInt.gpio->line, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
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310 | 1e5f7648 | Thomas Schöpping | /* GYRO_DRDY */ \
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311 | 56dc4779 | Thomas Schöpping | palSetLineCallback(moduleGpioGyroDrdy.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioGyroDrdy.gpio->line); \ |
312 | palEnableLineEvent(moduleGpioGyroDrdy.gpio->line, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge)); \ |
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313 | 1e5f7648 | Thomas Schöpping | /* ACCEL_INT */ \
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314 | 56dc4779 | Thomas Schöpping | palSetLineCallback(moduleGpioAccelInt.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioAccelInt.gpio->line); \ |
315 | palEnableLineEvent(moduleGpioAccelInt.gpio->line, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge)); \ |
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316 | 1e5f7648 | Thomas Schöpping | /* PATH_DCSTAT */ \
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317 | 56dc4779 | Thomas Schöpping | palSetLineCallback(moduleGpioPathDcStat.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioPathDcStat.gpio->line); \ |
318 | palEnableLineEvent(moduleGpioPathDcStat.gpio->line, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
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319 | 1e5f7648 | Thomas Schöpping | /* SYS_REG_EN */ \
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320 | 56dc4779 | Thomas Schöpping | palSetLineCallback(moduleGpioSysRegEn.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioSysRegEn.gpio->line); \ |
321 | palEnableLineEvent(moduleGpioSysRegEn.gpio->line, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
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322 | 1e5f7648 | Thomas Schöpping | /* SYS_WARMRST */ \
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323 | 56dc4779 | Thomas Schöpping | palSetLineCallback(moduleGpioSysWarmrst.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioSysWarmrst.gpio->line); \ |
324 | palEnableLineEvent(moduleGpioSysWarmrst.gpio->line, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
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325 | 1e5f7648 | Thomas Schöpping | } |
326 | |||
327 | /**
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328 | 4c72a54c | Thomas Schöpping | * @brief Test initialization hook.
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329 | e545e620 | Thomas Schöpping | */
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330 | #define MODULE_INIT_TESTS() { \
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331 | 4c72a54c | Thomas Schöpping | /* initialize tests and add to shell */ \
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332 | aosShellAddCommand(&aos.shell, &moduleTestA3906ShellCmd); \ |
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333 | aosShellAddCommand(&aos.shell, &moduleTestAt24c01bShellCmd); \ |
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334 | aosShellAddCommand(&aos.shell, &moduleTestHmc5883lShellCmd); \ |
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335 | aosShellAddCommand(&aos.shell, &moduleTestIna219ShellCmd); \ |
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336 | aosShellAddCommand(&aos.shell, &moduleTestL3g4200dShellCmd); \ |
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337 | aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
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338 | aosShellAddCommand(&aos.shell, &moduleTestLis331dlhShellCmd); \ |
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339 | aosShellAddCommand(&aos.shell, &moduleTestLtc4412ShellCmd); \ |
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340 | aosShellAddCommand(&aos.shell, &moduleTestPca9544aShellCmd); \ |
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341 | aosShellAddCommand(&aos.shell, &moduleTestTps62113ShellCmd); \ |
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342 | aosShellAddCommand(&aos.shell, &moduleTestVcnl4020ShellCmd); \ |
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343 | aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
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344 | e545e620 | Thomas Schöpping | } |
345 | |||
346 | /**
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347 | * @brief Periphery communication interfaces initialization hook.
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348 | */
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349 | 4c72a54c | Thomas Schöpping | #define MODULE_INIT_PERIPHERY_IF() { \
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350 | e545e620 | Thomas Schöpping | /* serial driver */ \
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351 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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352 | /* I2C */ \
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353 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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354 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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355 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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356 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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357 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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358 | ddf34c3d | Thomas Schöpping | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
359 | e545e620 | Thomas Schöpping | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
360 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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361 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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362 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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363 | /* PWM */ \
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364 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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365 | /* QEI */ \
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366 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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367 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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368 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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369 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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370 | } |
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371 | |||
372 | /**
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373 | * @brief Periphery communication interface deinitialization hook.
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374 | */
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375 | 4c72a54c | Thomas Schöpping | #define MODULE_SHUTDOWN_PERIPHERY_IF() { \
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376 | e545e620 | Thomas Schöpping | /* PWM */ \
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377 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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378 | /* QEI */ \
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379 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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380 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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381 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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382 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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383 | /* I2C */ \
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384 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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385 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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386 | /* don't stop the serial driver so messages can still be printed */ \
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387 | } |
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388 | |||
389 | /** @} */
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390 | |||
391 | /*===========================================================================*/
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392 | /**
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393 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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394 | * @{
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395 | */
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396 | /*===========================================================================*/
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397 | |||
398 | /**
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399 | * @brief PD signal GPIO.
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400 | */
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401 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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402 | 6b53f6bf | Thomas Schöpping | |
403 | /**
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404 | * @brief SYNC signal GPIO.
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405 | */
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406 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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407 | 6b53f6bf | Thomas Schöpping | |
408 | /**
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409 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
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410 | */
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411 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioUp moduleGpioSysUartUp
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412 | 933df08e | Thomas Schöpping | |
413 | /**
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414 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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415 | */
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416 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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417 | |||
418 | /**
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419 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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420 | 6b53f6bf | Thomas Schöpping | */
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421 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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422 | |||
423 | /**
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424 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
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425 | */
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426 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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427 | |||
428 | 6b53f6bf | Thomas Schöpping | /** @} */
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429 | |||
430 | /*===========================================================================*/
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431 | /**
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432 | e545e620 | Thomas Schöpping | * @name Low-level drivers
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433 | * @{
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434 | */
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435 | /*===========================================================================*/
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436 | ddf34c3d | Thomas Schöpping | #include <alld_A3906.h> |
437 | #include <alld_AT24C01B.h> |
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438 | #include <alld_HMC5883L.h> |
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439 | #include <alld_INA219.h> |
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440 | #include <alld_L3G4200D.h> |
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441 | #include <alld_LED.h> |
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442 | #include <alld_LIS331DLH.h> |
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443 | #include <alld_LTC4412.h> |
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444 | #include <alld_PCA9544A.h> |
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445 | #include <alld_TPS6211x.h> |
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446 | #include <alld_VCNL4020.h> |
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447 | e545e620 | Thomas Schöpping | |
448 | /**
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449 | * @brief Motor driver.
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450 | */
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451 | extern A3906Driver moduleLldMotors;
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452 | |||
453 | /**
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454 | * @brief EEPROM driver.
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455 | */
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456 | ddf34c3d | Thomas Schöpping | extern AT24C01BDriver moduleLldEeprom;
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457 | e545e620 | Thomas Schöpping | |
458 | /**
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459 | * @brief Compass driver.
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460 | */
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461 | extern HMC5883LDriver moduleLldCompass;
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462 | |||
463 | /**
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464 | * @brief Power monitor (VDD) driver.
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465 | */
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466 | extern INA219Driver moduleLldPowerMonitorVdd;
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467 | |||
468 | /**
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469 | * @brief Gyroscope driver.
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470 | */
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471 | extern L3G4200DDriver moduleLldGyroscope;
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472 | |||
473 | /**
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474 | * @brief Status LED driver.
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475 | */
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476 | extern LEDDriver moduleLldStatusLed;
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477 | |||
478 | /**
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479 | * @brief Accelerometer driver.
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480 | */
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481 | extern LIS331DLHDriver moduleLldAccelerometer;
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482 | |||
483 | /**
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484 | * @brief Power path controler (charging pins) driver.
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485 | */
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486 | extern LTC4412Driver moduleLldPowerPathController;
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487 | |||
488 | /**
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489 | * @brief I2C multiplexer driver.
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490 | */
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491 | extern PCA9544ADriver moduleLldI2cMultiplexer;
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492 | |||
493 | /**
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494 | * @brief Step down converter (VDRIVE) driver.
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495 | */
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496 | ddf34c3d | Thomas Schöpping | extern TPS6211xDriver moduleLldStepDownConverterVdrive;
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497 | e545e620 | Thomas Schöpping | |
498 | /**
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499 | * @brief Proximity sensor driver.
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500 | */
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501 | extern VCNL4020Driver moduleLldProximity;
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502 | |||
503 | /** @} */
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504 | |||
505 | /*===========================================================================*/
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506 | /**
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507 | 4c72a54c | Thomas Schöpping | * @name Tests
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508 | e545e620 | Thomas Schöpping | * @{
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509 | */
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510 | /*===========================================================================*/
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511 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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512 | |||
513 | /**
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514 | 4c72a54c | Thomas Schöpping | * @brief A3906 (motor driver) test command.
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515 | e545e620 | Thomas Schöpping | */
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516 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestA3906ShellCmd;
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517 | e545e620 | Thomas Schöpping | |
518 | /**
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519 | 4c72a54c | Thomas Schöpping | * @brief AT24C01BN-SH-B (EEPROM) test command.
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520 | e545e620 | Thomas Schöpping | */
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521 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestAt24c01bShellCmd;
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522 | e545e620 | Thomas Schöpping | |
523 | /**
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524 | 4c72a54c | Thomas Schöpping | * @brief HMC5883L (compass) test command.
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525 | e545e620 | Thomas Schöpping | */
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526 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestHmc5883lShellCmd;
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527 | e545e620 | Thomas Schöpping | |
528 | /**
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529 | 4c72a54c | Thomas Schöpping | * @brief INA219 (power monitor) test command.
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530 | e545e620 | Thomas Schöpping | */
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531 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestIna219ShellCmd;
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532 | e545e620 | Thomas Schöpping | |
533 | /**
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534 | 4c72a54c | Thomas Schöpping | * @brief L3G4200D (gyroscope) test command.
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535 | e545e620 | Thomas Schöpping | */
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536 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestL3g4200dShellCmd;
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537 | e545e620 | Thomas Schöpping | |
538 | /**
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539 | 4c72a54c | Thomas Schöpping | * @brief Status LED test command.
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540 | e545e620 | Thomas Schöpping | */
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541 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestLedShellCmd;
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542 | e545e620 | Thomas Schöpping | |
543 | /**
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544 | 4c72a54c | Thomas Schöpping | * @brief LIS331DLH (accelerometer) test command.
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545 | e545e620 | Thomas Schöpping | */
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546 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestLis331dlhShellCmd;
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547 | e545e620 | Thomas Schöpping | |
548 | /**
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549 | 4c72a54c | Thomas Schöpping | * @brief LTC4412 (power path controller) test command.
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550 | e545e620 | Thomas Schöpping | */
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551 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestLtc4412ShellCmd;
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552 | e545e620 | Thomas Schöpping | |
553 | /**
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554 | 4c72a54c | Thomas Schöpping | * @brief PCA9544A (I2C multiplexer) test command.
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555 | e545e620 | Thomas Schöpping | */
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556 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestPca9544aShellCmd;
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557 | e545e620 | Thomas Schöpping | |
558 | /**
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559 | 4c72a54c | Thomas Schöpping | * @brief TPS62113 (step-down converter) test command.
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560 | e545e620 | Thomas Schöpping | */
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561 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestTps62113ShellCmd;
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562 | e545e620 | Thomas Schöpping | |
563 | /**
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564 | 4c72a54c | Thomas Schöpping | * @brief VCNL4020 (proximity sensor) test command.
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565 | e545e620 | Thomas Schöpping | */
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566 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestVcnl4020ShellCmd;
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567 | |||
568 | /**
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569 | * @brief Entire module test command.
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570 | */
|
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571 | extern aos_shellcommand_t moduleTestAllShellCmd;
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572 | e545e620 | Thomas Schöpping | |
573 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
574 | e545e620 | Thomas Schöpping | |
575 | /** @} */
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576 | |||
577 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_MODULE_H */ |
578 | 53710ca3 | Marc Rothmann | |
579 | /** @} */ |