amiro-os / modules / LightRing_1-0 / module.c @ 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 | 27286ba5 | Thomas Schöpping | /**
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20 | * @file
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21 | * @brief Structures and constant for the LightRing v1.0 module.
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22 | *
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23 | * @addtogroup lightring_module
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24 | * @{
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25 | */
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26 | |||
27 | e545e620 | Thomas Schöpping | #include "module.h" |
28 | |||
29 | /*===========================================================================*/
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30 | /**
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31 | * @name Module specific functions
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32 | * @{
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33 | */
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34 | /*===========================================================================*/
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35 | |||
36 | /** @} */
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37 | |||
38 | /*===========================================================================*/
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39 | /**
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40 | * @name ChibiOS/HAL configuration
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41 | * @{
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42 | */
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43 | /*===========================================================================*/
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44 | |||
45 | CANConfig moduleHalCanConfig = { |
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46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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48 | }; |
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49 | |||
50 | I2CConfig moduleHalI2cEepromConfig = { |
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51 | /* I²C mode */ OPMODE_I2C,
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52 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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54 | }; |
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55 | |||
56 | SerialConfig moduleHalProgIfConfig = { |
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57 | /* bit rate */ 115200, |
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58 | /* CR1 */ 0, |
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59 | /* CR1 */ 0, |
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60 | /* CR1 */ 0, |
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61 | }; |
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62 | |||
63 | SPIConfig moduleHalSpiLightConfig = { |
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64 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
65 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
66 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
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67 | /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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68 | e545e620 | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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69 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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70 | 22be62dc | Thomas Schöpping | }; |
71 | |||
72 | 02c29a8f | Thomas Schöpping | SPIConfig moduleHalSpiWlConfig = { |
73 | 22be62dc | Thomas Schöpping | /* circular buffer mode */ false, |
74 | /* callback function pointer */ NULL, |
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75 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_WL_SS_N),
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76 | /* chip select line pad number */ PAL_PAD(LINE_WL_SS_N),
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77 | 02c29a8f | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0,
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78 | 22be62dc | Thomas Schöpping | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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79 | e545e620 | Thomas Schöpping | }; |
80 | |||
81 | 4c72a54c | Thomas Schöpping | /** @} */
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82 | |||
83 | e545e620 | Thomas Schöpping | /*===========================================================================*/
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84 | /**
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85 | * @name GPIO definitions
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86 | * @{
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87 | */
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88 | /*===========================================================================*/
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89 | |||
90 | 1e5f7648 | Thomas Schöpping | /**
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91 | * @brief LIGHT_BANK output signal GPIO.
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92 | */
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93 | static apalGpio_t _gpioLightBlank = {
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94 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LIGHT_BLANK,
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95 | e545e620 | Thomas Schöpping | }; |
96 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLightBlank = { |
97 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLightBlank,
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98 | /* meta */ {
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99 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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100 | /* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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101 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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102 | }, |
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103 | }; |
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104 | e545e620 | Thomas Schöpping | |
105 | 1e5f7648 | Thomas Schöpping | /**
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106 | * @brief LASER_EN output signal GPIO.
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107 | */
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108 | static apalGpio_t _gpioLaserEn = {
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109 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LASER_EN,
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110 | e545e620 | Thomas Schöpping | }; |
111 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLaserEn = { |
112 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLaserEn,
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113 | /* meta */ {
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114 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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115 | ddf34c3d | Thomas Schöpping | /* active state */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,
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116 | 1e5f7648 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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117 | }, |
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118 | }; |
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119 | e545e620 | Thomas Schöpping | |
120 | 1e5f7648 | Thomas Schöpping | /**
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121 | * @brief LASER_OC input signal GPIO.
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122 | */
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123 | static apalGpio_t _gpioLaserOc = {
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124 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LASER_OC_N,
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125 | e545e620 | Thomas Schöpping | }; |
126 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLaserOc = { |
127 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLaserOc,
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128 | /* meta */ {
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129 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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130 | ddf34c3d | Thomas Schöpping | /* active state */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,
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131 | 1e5f7648 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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132 | }, |
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133 | }; |
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134 | e545e620 | Thomas Schöpping | |
135 | 1e5f7648 | Thomas Schöpping | /**
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136 | * @brief SYS_UART_DN bidirectional signal GPIO.
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137 | */
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138 | static apalGpio_t _gpioSysUartDn = {
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139 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_DN,
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140 | e545e620 | Thomas Schöpping | }; |
141 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartDn = { |
142 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysUartDn,
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143 | /* meta */ {
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144 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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145 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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146 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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147 | }, |
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148 | }; |
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149 | e545e620 | Thomas Schöpping | |
150 | 1e5f7648 | Thomas Schöpping | /**
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151 | * @brief WL_GDO2 input signal GPIO.
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152 | */
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153 | static apalGpio_t _gpioWlGdo2 = {
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154 | 3106e8cc | Thomas Schöpping | /* line */ LINE_WL_GDO2,
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155 | e545e620 | Thomas Schöpping | }; |
156 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioWlGdo2 = { |
157 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioWlGdo2,
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158 | /* meta */ {
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159 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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160 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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161 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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162 | }, |
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163 | }; |
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164 | e545e620 | Thomas Schöpping | |
165 | 1e5f7648 | Thomas Schöpping | /**
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166 | * @brief WL_GDO0 input signal GPIO.
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167 | */
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168 | static apalGpio_t _gpioWlGdo0= {
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169 | 3106e8cc | Thomas Schöpping | /* line */ LINE_WL_GDO0,
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170 | e545e620 | Thomas Schöpping | }; |
171 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioWlGdo0 = { |
172 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioWlGdo0,
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173 | /* meta */ {
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174 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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175 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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176 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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177 | }, |
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178 | }; |
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179 | e545e620 | Thomas Schöpping | |
180 | 1e5f7648 | Thomas Schöpping | /**
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181 | c930aa01 | Thomas Schöpping | * @brief LIGHT_XLAT output signal GPIO.
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182 | */
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183 | static apalGpio_t _gpioLightXlat = {
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184 | /* line */ LINE_LIGHT_XLAT,
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185 | }; |
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186 | ROMCONST apalControlGpio_t moduleGpioLightXlat = { |
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187 | /* GPIO */ &_gpioLightXlat,
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188 | /* meta */ {
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189 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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190 | /* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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191 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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192 | }, |
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193 | }; |
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194 | |||
195 | /**
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196 | 1e5f7648 | Thomas Schöpping | * @brief SYS_PD bidirectional signal GPIO.
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197 | */
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198 | static apalGpio_t _gpioSysPd = {
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199 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
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200 | e545e620 | Thomas Schöpping | }; |
201 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysPd = { |
202 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysPd,
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203 | /* meta */ {
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204 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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205 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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206 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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207 | }, |
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208 | }; |
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209 | e545e620 | Thomas Schöpping | |
210 | 1e5f7648 | Thomas Schöpping | /**
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211 | * @brief SYS_SYNC bidirectional signal GPIO.
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212 | */
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213 | static apalGpio_t _gpioSysSync = {
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214 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
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215 | e545e620 | Thomas Schöpping | }; |
216 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysSync = { |
217 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysSync,
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218 | /* meta */ {
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219 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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220 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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221 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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222 | }, |
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223 | }; |
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224 | e545e620 | Thomas Schöpping | |
225 | /** @} */
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226 | |||
227 | /*===========================================================================*/
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228 | /**
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229 | * @name AMiRo-OS core configurations
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230 | * @{
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231 | */
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232 | /*===========================================================================*/
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233 | |||
234 | 47e89ebf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
235 | acc97cbf | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "LightRing"; |
236 | 47e89ebf | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
237 | 6b53f6bf | Thomas Schöpping | |
238 | /** @} */
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239 | |||
240 | /*===========================================================================*/
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241 | /**
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242 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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243 | * @{
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244 | */
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245 | /*===========================================================================*/
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246 | |||
247 | e545e620 | Thomas Schöpping | /** @} */
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248 | |||
249 | /*===========================================================================*/
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250 | /**
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251 | * @name Low-level drivers
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252 | * @{
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253 | */
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254 | /*===========================================================================*/
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255 | |||
256 | ddf34c3d | Thomas Schöpping | AT24C01BDriver moduleLldEeprom = { |
257 | e545e620 | Thomas Schöpping | /* I2C driver */ &MODULE_HAL_I2C_EEPROM,
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258 | /* I2C address */ 0x00u, |
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259 | }; |
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260 | |||
261 | TLC5947Driver moduleLldLedPwm = { |
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262 | /* SPI driver */ &MODULE_HAL_SPI_LIGHT,
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263 | 1e5f7648 | Thomas Schöpping | /* BLANK signal GPIO */ &moduleGpioLightBlank,
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264 | c930aa01 | Thomas Schöpping | /* XLAT signal GPIO */ &moduleGpioLightXlat,
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265 | e545e620 | Thomas Schöpping | }; |
266 | |||
267 | ddf34c3d | Thomas Schöpping | TPS20xxBDriver moduleLldPowerSwitchLaser = { |
268 | 1e5f7648 | Thomas Schöpping | /* laser enable GPIO */ &moduleGpioLaserEn,
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269 | /* laser overcurrent GPIO */ &moduleGpioLaserOc,
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270 | e545e620 | Thomas Schöpping | }; |
271 | |||
272 | /** @} */
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273 | |||
274 | /*===========================================================================*/
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275 | /**
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276 | 4c72a54c | Thomas Schöpping | * @name Tests
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277 | e545e620 | Thomas Schöpping | * @{
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278 | */
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279 | /*===========================================================================*/
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280 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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281 | |||
282 | 8be006e0 | Thomas Schöpping | /*
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283 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
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284 | 8be006e0 | Thomas Schöpping | */
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285 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
286 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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287 | e545e620 | Thomas Schöpping | { |
288 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
289 | e545e620 | Thomas Schöpping | } |
290 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
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291 | e545e620 | Thomas Schöpping | |
292 | 8be006e0 | Thomas Schöpping | /*
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293 | 4c72a54c | Thomas Schöpping | * TLC5947 (24 channel PWM LED driver)
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294 | 8be006e0 | Thomas Schöpping | */
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295 | 4c72a54c | Thomas Schöpping | #include <module_test_TLC5947.h> |
296 | static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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297 | e545e620 | Thomas Schöpping | { |
298 | 4c72a54c | Thomas Schöpping | return moduleTestTlc5947ShellCb(stream, argc, argv, NULL); |
299 | e545e620 | Thomas Schöpping | } |
300 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
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301 | |||
302 | /*
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303 | * TPS2051BDBV (Current-limited power switch)
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304 | */
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305 | #include <module_test_TPS20xxB.h> |
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306 | static int _testTps2051bdbvShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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307 | { |
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308 | return moduleTestTps20xxbShellCb(stream, argc, argv, NULL); |
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309 | } |
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310 | AOS_SHELL_COMMAND(moduleTestTps2051bdbvShellCmd, "test:PowerSwitch", _testTps2051bdbvShellCmdCb);
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311 | e545e620 | Thomas Schöpping | |
312 | 8be006e0 | Thomas Schöpping | /*
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313 | 4c72a54c | Thomas Schöpping | * entire module
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314 | 8be006e0 | Thomas Schöpping | */
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315 | 4c72a54c | Thomas Schöpping | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
316 | e545e620 | Thomas Schöpping | { |
317 | (void)argc;
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318 | (void)argv;
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319 | 4c72a54c | Thomas Schöpping | |
320 | int status = AOS_OK;
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321 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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322 | aos_testresult_t result_test = {0, 0}; |
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323 | aos_testresult_t result_total = {0, 0}; |
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324 | |||
325 | /* AT24C01B (EEPROM) */
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326 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
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327 | result_total = aosTestResultAdd(result_total, result_test); |
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328 | |||
329 | /* TLC5947 (24 channel LED PWM driver) */
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330 | status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
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331 | result_total = aosTestResultAdd(result_total, result_test); |
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332 | |||
333 | /* TPS2051BDBV (Current-limited power switch) */
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334 | status |= moduleTestTps20xxbShellCb(stream, 0, targv, &result_test);
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335 | result_total = aosTestResultAdd(result_total, result_test); |
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336 | |||
337 | // print total result
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338 | chprintf(stream, "\n");
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339 | aosTestResultPrintSummary(stream, &result_total, "entire module");
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340 | |||
341 | return status;
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342 | e545e620 | Thomas Schöpping | } |
343 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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344 | e545e620 | Thomas Schöpping | |
345 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
346 | e545e620 | Thomas Schöpping | |
347 | /** @} */
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348 | 3940ba8a | Thomas Schöpping | /** @} */ |