amiro-os / modules / NUCLEO-F103RB / module.c @ 47e89ebf
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1 | f4da707a | 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 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | |||
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 | /**
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20 | * @file
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21 | * @brief Structures and constant for the NUCLEO-F103RB module.
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22 | *
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23 | * @addtogroup NUCLEO-F103RB_module
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24 | * @{
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25 | */
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26 | |||
27 | 4c72a54c | Thomas Schöpping | #include <amiroos.h> |
28 | f4da707a | Thomas Schöpping | |
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 | SerialConfig moduleHalProgIfConfig = { |
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46 | /* bit rate */ 115200, |
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47 | /* CR1 */ 0, |
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48 | /* CR1 */ 0, |
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49 | /* CR1 */ 0, |
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50 | }; |
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51 | |||
52 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
53 | deaaa47e | Cung Sang | /*! SPI (high and low speed) configuration for DW1000 */
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54 | SPIConfig moduleHalSpiUwbHsConfig = { |
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55 | /* circular buffer mode */ false, |
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56 | /* callback function pointer */ NULL, |
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57 | /* chip select line port */ GPIOB,
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58 | /* chip select line pad number */ GPIOB_PIN12,
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59 | /* CR1 */ 0, |
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60 | /* CR2 */ 0, |
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61 | }; |
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62 | |||
63 | SPIConfig moduleHalSpiUwbLsConfig = { |
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64 | /* circular buffer mode */ false, |
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65 | /* callback function pointer */ NULL, |
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66 | /* chip select line port */ GPIOB,
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67 | /* chip select line pad number */ GPIOB_PIN12,
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68 | /* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0,
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69 | /* CR2 */ 0, |
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70 | }; |
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71 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
72 | deaaa47e | Cung Sang | |
73 | f4da707a | Thomas Schöpping | /** @} */
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74 | |||
75 | /*===========================================================================*/
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76 | /**
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77 | * @name GPIO definitions
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78 | * @{
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79 | */
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80 | /*===========================================================================*/
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81 | |||
82 | /**
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83 | * @brief LED output signal GPIO.
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84 | */
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85 | static apalGpio_t _gpioLed = {
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86 | 4c72a54c | Thomas Schöpping | /* line */ LINE_LED_GREEN,
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87 | f4da707a | Thomas Schöpping | }; |
88 | ROMCONST apalControlGpio_t moduleGpioLed = { |
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89 | /* GPIO */ &_gpioLed,
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90 | /* meta */ {
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91 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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92 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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93 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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94 | }, |
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95 | }; |
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96 | |||
97 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
98 | deaaa47e | Cung Sang | /**
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99 | * @brief DW1000 reset output signal GPIO.
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100 | */
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101 | static apalGpio_t _gpioDw1000Reset = {
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102 | 8d4d058e | Cung Sang | /* line */ LINE_ARD_D15, //PAL_LINE(GPIOA, GPIOA_ARD_A0) |
103 | deaaa47e | Cung Sang | }; |
104 | ROMCONST apalControlGpio_t moduleGpioDw1000Reset = { |
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105 | /* GPIO */ &_gpioDw1000Reset,
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106 | /* meta */ {
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107 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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108 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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109 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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110 | }, |
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111 | }; |
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112 | |||
113 | |||
114 | /**
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115 | * @brief DW1000 interrrupt input signal GPIO.
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116 | */
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117 | static apalGpio_t _gpioDw1000Irqn = {
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118 | 8d4d058e | Cung Sang | /* line */ LINE_ARD_D14, // PAL_LINE(GPIOB, GPIOB_ARD_D6) |
119 | deaaa47e | Cung Sang | }; |
120 | ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = { |
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121 | /* GPIO */ &_gpioDw1000Irqn,
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122 | /* meta */ {
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123 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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124 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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125 | /* interrupt edge */ APAL_GPIO_EDGE_RISING,
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126 | }, |
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127 | }; |
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128 | |||
129 | |||
130 | /**
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131 | * @brief DW1000 SPI chip select output signal GPIO.
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132 | */
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133 | static apalGpio_t _gpioSpiChipSelect = {
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134 | 3106e8cc | Thomas Schöpping | /* line */ PAL_LINE(GPIOB, GPIOB_PIN12),
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135 | deaaa47e | Cung Sang | }; |
136 | ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = { |
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137 | /* GPIO */ &_gpioSpiChipSelect,
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138 | /* meta */ {
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139 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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140 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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141 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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142 | }, |
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143 | }; |
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144 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
145 | deaaa47e | Cung Sang | |
146 | f4da707a | Thomas Schöpping | /**
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147 | * @brief User button input signal GPIO.
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148 | */
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149 | static apalGpio_t _gpioUserButton = {
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150 | 4c72a54c | Thomas Schöpping | /* line */ LINE_BUTTON,
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151 | f4da707a | Thomas Schöpping | }; |
152 | ROMCONST apalControlGpio_t moduleGpioUserButton = { |
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153 | /* GPIO */ &_gpioUserButton,
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154 | /* meta */ {
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155 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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156 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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157 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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158 | }, |
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159 | }; |
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160 | |||
161 | /** @} */
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162 | |||
163 | /*===========================================================================*/
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164 | /**
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165 | * @name AMiRo-OS core configurations
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166 | * @{
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167 | */
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168 | /*===========================================================================*/
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169 | |||
170 | 47e89ebf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
171 | f4da707a | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "NUCLEO-F103RB"; |
172 | 47e89ebf | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
173 | f4da707a | Thomas Schöpping | |
174 | /** @} */
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175 | |||
176 | /*===========================================================================*/
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177 | /**
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178 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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179 | * @{
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180 | */
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181 | /*===========================================================================*/
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182 | |||
183 | 4c72a54c | Thomas Schöpping | /** @} */
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184 | deaaa47e | Cung Sang | |
185 | /*===========================================================================*/
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186 | /**
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187 | * @name Hardware specific wrappers Functions
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188 | * @{
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189 | */
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190 | /*===========================================================================*/
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191 | |||
192 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
193 | deaaa47e | Cung Sang | /*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB */
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194 | void dw1000_spi_init(void){ |
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195 | palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL); |
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196 | palSetPadMode(GPIOB, GPIOB_PIN14, PAL_MODE_STM32_ALTERNATE_PUSHPULL); |
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197 | palSetPadMode(GPIOB, GPIOB_PIN15, PAL_MODE_STM32_ALTERNATE_PUSHPULL); |
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198 | 3106e8cc | Thomas Schöpping | palSetLineMode(moduleGpioSpiChipSelect.gpio->line, PAL_MODE_OUTPUT_PUSHPULL); |
199 | deaaa47e | Cung Sang | apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
200 | } |
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201 | |||
202 | 3cee92c7 | Cung Sang | /*! @brief Manually reset the DW1000 module */
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203 | void reset_DW1000(void){ |
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204 | |||
205 | // Set the pin as output
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206 | palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT); |
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207 | |||
208 | //drive the RSTn pin low
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209 | apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW); |
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210 | |||
211 | //put the pin back to tri-state ... as input
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212 | // palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO:
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213 | |||
214 | aosThdMSleep(2);
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215 | } |
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216 | |||
217 | 8d4d058e | Cung Sang | /*! @brief entry point to the IRQn event in DW1000 module
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218 | *
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219 | * */
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220 | void process_deca_irq(void){ |
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221 | do{
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222 | dwt_isr(); |
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223 | //while IRS line active (ARM can only do edge sensitive interrupts)
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224 | }while(port_CheckEXT_IRQ() == 1); |
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225 | } |
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226 | |||
227 | /*! @brief Check the current value of GPIO pin and return the value */
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228 | apalGpioState_t port_CheckEXT_IRQ(void) {
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229 | apalGpioState_t val; |
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230 | apalGpioRead(moduleGpioDw1000Irqn.gpio, &val); |
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231 | return val;
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232 | } |
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233 | |||
234 | /*! @brief Manually set the chip select pin of the SPI */
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235 | void set_SPI_chip_select(void){ |
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236 | apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH); |
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237 | } |
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238 | |||
239 | /*! @brief Manually reset the chip select pin of the SPI */
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240 | void clear_SPI_chip_select(void){ |
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241 | apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
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242 | } |
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243 | |||
244 | /*! @brief Change the SPI speed configuration on the fly */
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245 | void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){ |
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246 | |||
247 | spiStop(drv->spid); |
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248 | |||
249 | if (speedValue == FALSE){
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250 | spiStart(drv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration
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251 | } |
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252 | else{
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253 | spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
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254 | } |
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255 | } |
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256 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
257 | f4da707a | Thomas Schöpping | /** @} */
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258 | |||
259 | /*===========================================================================*/
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260 | /**
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261 | * @name Low-level drivers
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262 | * @{
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263 | */
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264 | /*===========================================================================*/
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265 | |||
266 | 4c72a54c | Thomas Schöpping | LEDDriver moduleLldLed = { |
267 | /* LED enable Gpio */ &moduleGpioLed,
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268 | }; |
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269 | |||
270 | ButtonDriver moduleLldUserButton = { |
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271 | /* Button Gpio */ &moduleGpioUserButton,
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272 | }; |
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273 | |||
274 | #if (BOARD_DW1000_CONNECTED == true) |
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275 | deaaa47e | Cung Sang | DW1000Driver moduleLldDw1000 = { |
276 | /* SPI driver */ &MODULE_HAL_SPI_UWB,
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277 | /* ext interrupt */ &moduleGpioDw1000Irqn,
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278 | /* RESET DW1000 */ &moduleGpioDw1000Reset,
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279 | }; |
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280 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
281 | |||
282 | f4da707a | Thomas Schöpping | /** @} */
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283 | |||
284 | /*===========================================================================*/
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285 | /**
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286 | 4c72a54c | Thomas Schöpping | * @name Tests
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287 | f4da707a | Thomas Schöpping | * @{
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288 | */
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289 | /*===========================================================================*/
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290 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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291 | |||
292 | 4c72a54c | Thomas Schöpping | /*
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293 | * LED
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294 | */
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295 | #include <module_test_LED.h> |
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296 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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297 | { |
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298 | return moduleTestLedShellCb(stream, argc, argv, NULL); |
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299 | } |
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300 | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
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301 | |||
302 | /*
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303 | * User button
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304 | */
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305 | #include <module_test_button.h> |
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306 | static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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307 | { |
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308 | return moduleTestButtonShellCb(stream, argc, argv, NULL); |
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309 | } |
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310 | AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
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311 | |||
312 | #if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
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313 | deaaa47e | Cung Sang | /*
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314 | * UwB Driver (DW1000)
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315 | */
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316 | 8d4d058e | Cung Sang | #include <module_test_DW1000.h> |
317 | static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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318 | deaaa47e | Cung Sang | { |
319 | 8d4d058e | Cung Sang | return moduleTestDw1000ShellCb(stream, argc, argv, NULL); |
320 | deaaa47e | Cung Sang | } |
321 | 8d4d058e | Cung Sang | AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb);
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322 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
323 | |||
324 | /*
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325 | * entire module
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326 | */
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327 | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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328 | { |
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329 | (void)argc;
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330 | (void)argv;
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331 | |||
332 | int status = AOS_OK;
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333 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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334 | aos_testresult_t result_test = {0, 0}; |
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335 | aos_testresult_t result_total = {0, 0}; |
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336 | |||
337 | /* LED */
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338 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
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339 | result_total = aosTestResultAdd(result_total, result_test); |
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340 | |||
341 | /* User button */
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342 | status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
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343 | result_total = aosTestResultAdd(result_total, result_test); |
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344 | |||
345 | 8d4d058e | Cung Sang | #if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
346 | 4c72a54c | Thomas Schöpping | /* DW1000 */
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347 | 8d4d058e | Cung Sang | status |= moduleTestDw1000ShellCb(stream, 0, targv, &result_test);
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348 | result_total = aosTestResultAdd(result_total, result_test); |
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349 | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
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350 | 4c72a54c | Thomas Schöpping | |
351 | // print total result
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352 | chprintf(stream, "\n");
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353 | aosTestResultPrintSummary(stream, &result_total, "entire module");
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354 | |||
355 | return status;
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356 | } |
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357 | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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358 | deaaa47e | Cung Sang | |
359 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
360 | f4da707a | Thomas Schöpping | |
361 | /** @} */
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362 | /** @} */ |