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amiro-os / modules / LightRing_1-0 / module.c @ 47e89ebf

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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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/**
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 * @file
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 * @brief   Structures and constant for the LightRing v1.0 module.
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 *
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 * @addtogroup lightring_module
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 * @{
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 */
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#include "module.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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CANConfig moduleHalCanConfig = {
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  /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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  /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
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};
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I2CConfig moduleHalI2cEepromConfig = {
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  /* I²C mode   */ OPMODE_I2C,
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  /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)
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  /* duty cycle */ FAST_DUTY_CYCLE_2,
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};
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SerialConfig moduleHalProgIfConfig = {
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  /* bit rate */ 115200,
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  /* CR1      */ 0,
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  /* CR1      */ 0,
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  /* CR1      */ 0,
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};
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SPIConfig moduleHalSpiLightConfig = {
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  /* circular buffer mode        */ false,
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  /* callback function pointer   */ NULL,
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  /* chip select line port       */ PAL_PORT(LINE_LIGHT_XLAT),
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  /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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  /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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};
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SPIConfig moduleHalSpiWlConfig = {
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  /* circular buffer mode        */ false,
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  /* callback function pointer   */ NULL,
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  /* chip select line port       */ PAL_PORT(LINE_WL_SS_N),
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  /* chip select line pad number */ PAL_PAD(LINE_WL_SS_N),
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  /* CR1                         */ SPI_CR1_BR_0,
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  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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};
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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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static apalGpio_t _gpioLightBlank = {
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  /* line */ LINE_LIGHT_BLANK,
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};
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ROMCONST apalControlGpio_t moduleGpioLightBlank = {
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  /* GPIO */ &_gpioLightBlank,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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/**
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 * @brief   LASER_EN output signal GPIO.
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 */
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static apalGpio_t _gpioLaserEn = {
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  /* line */ LINE_LASER_EN,
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};
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ROMCONST apalControlGpio_t moduleGpioLaserEn = {
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  /* GPIO */ &_gpioLaserEn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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/**
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 * @brief   LASER_OC input signal GPIO.
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 */
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static apalGpio_t _gpioLaserOc = {
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  /* line */ LINE_LASER_OC_N,
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};
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ROMCONST apalControlGpio_t moduleGpioLaserOc = {
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  /* GPIO */ &_gpioLaserOc,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   SYS_UART_DN bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysUartDn = {
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  /* line */ LINE_SYS_UART_DN,
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};
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ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
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  /* GPIO */ &_gpioSysUartDn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   WL_GDO2 input signal GPIO.
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 */
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static apalGpio_t _gpioWlGdo2 = {
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  /* line */ LINE_WL_GDO2,
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};
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ROMCONST apalControlGpio_t moduleGpioWlGdo2 = {
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  /* GPIO */ &_gpioWlGdo2,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   WL_GDO0 input signal GPIO.
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 */
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static apalGpio_t _gpioWlGdo0= {
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  /* line */ LINE_WL_GDO0,
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};
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ROMCONST apalControlGpio_t moduleGpioWlGdo0 = {
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  /* GPIO */ &_gpioWlGdo0,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   LIGHT_XLAT output signal GPIO.
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 */
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static apalGpio_t _gpioLightXlat = {
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  /* line */ LINE_LIGHT_XLAT,
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};
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ROMCONST apalControlGpio_t moduleGpioLightXlat = {
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  /* GPIO */ &_gpioLightXlat,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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  },
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};
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysPd = {
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  /* line */ LINE_SYS_PD_N,
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};
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ROMCONST apalControlGpio_t moduleGpioSysPd = {
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  /* GPIO */ &_gpioSysPd,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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  },
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};
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/**
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 * @brief   SYS_SYNC bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysSync = {
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  /* line */ LINE_SYS_INT_N,
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};
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ROMCONST apalControlGpio_t moduleGpioSysSync = {
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  /* GPIO */ &_gpioSysSync,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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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 AMiRo-OS core configurations
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 * @{
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 */
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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ROMCONST char* moduleShellPrompt = "LightRing";
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
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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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/*===========================================================================*/
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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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AT24C01BDriver moduleLldEeprom = {
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  /* I2C driver   */ &MODULE_HAL_I2C_EEPROM,
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  /* I2C address  */ 0x00u,
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};
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TLC5947Driver moduleLldLedPwm = {
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  /* SPI driver         */ &MODULE_HAL_SPI_LIGHT,
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  /* BLANK signal GPIO  */ &moduleGpioLightBlank,
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  /* XLAT signal GPIO   */ &moduleGpioLightXlat,
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};
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TPS20xxBDriver moduleLldPowerSwitchLaser = {
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  /* laser enable GPIO      */ &moduleGpioLaserEn,
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  /* laser overcurrent GPIO */ &moduleGpioLaserOc,
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};
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Tests
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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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/*
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 * AT24C01BN-SH-B (EEPROM)
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 */
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#include <module_test_AT24C01B.h>
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static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestAt24c01bShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
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/*
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 * TLC5947 (24 channel PWM LED driver)
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 */
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#include <module_test_TLC5947.h>
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static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestTlc5947ShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
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/*
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 * TPS2051BDBV (Current-limited power switch)
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 */
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#include <module_test_TPS20xxB.h>
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static int _testTps2051bdbvShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestTps20xxbShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestTps2051bdbvShellCmd, "test:PowerSwitch", _testTps2051bdbvShellCmdCb);
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/*
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 * entire module
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 */
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static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  (void)argc;
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  (void)argv;
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  int status = AOS_OK;
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  char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};
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  aos_testresult_t result_test = {0, 0};
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  aos_testresult_t result_total = {0, 0};
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  /* AT24C01B (EEPROM) */
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  status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
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  result_total = aosTestResultAdd(result_total, result_test);
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  /* TLC5947 (24 channel LED PWM driver) */
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  status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
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  result_total = aosTestResultAdd(result_total, result_test);
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  /* TPS2051BDBV (Current-limited power switch) */
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  status |= moduleTestTps20xxbShellCb(stream, 0, targv, &result_test);
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  result_total = aosTestResultAdd(result_total, result_test);
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  // print total result
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  chprintf(stream, "\n");
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  aosTestResultPrintSummary(stream, &result_total, "entire module");
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  return status;
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}
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AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
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/** @} */