amiro-os / modules / NUCLEO-F103RB / module.h @ 4d8d8663
History | View | Annotate | Download (10.854 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief Structures and constant for the NUCLEO-F103RB module.
|
| 22 |
*
|
| 23 |
* @addtogroup NUCLEO-F103RB_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef AMIROOS_MODULE_H
|
| 28 |
#define AMIROOS_MODULE_H
|
| 29 |
|
| 30 |
#include <amiroos.h> |
| 31 |
|
| 32 |
/*===========================================================================*/
|
| 33 |
/**
|
| 34 |
* @name Module specific functions
|
| 35 |
* @{
|
| 36 |
*/
|
| 37 |
/*===========================================================================*/
|
| 38 |
|
| 39 |
#if (BOARD_DW1000_CONNECTED == true) |
| 40 |
|
| 41 |
#if defined(__cplusplus)
|
| 42 |
extern "C" { |
| 43 |
#endif /* defined(__cplusplus) */ |
| 44 |
|
| 45 |
void dw1000_spi_init(void); |
| 46 |
|
| 47 |
#if defined(__cplusplus)
|
| 48 |
} |
| 49 |
#endif /* defined(__cplusplus) */ |
| 50 |
|
| 51 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 52 |
|
| 53 |
|
| 54 |
/** @} */
|
| 55 |
|
| 56 |
/*===========================================================================*/
|
| 57 |
/**
|
| 58 |
* @name ChibiOS/HAL configuration
|
| 59 |
* @{
|
| 60 |
*/
|
| 61 |
/*===========================================================================*/
|
| 62 |
|
| 63 |
/**
|
| 64 |
* @brief Serial driver of the programmer interface.
|
| 65 |
*/
|
| 66 |
#define MODULE_HAL_PROGIF SD2
|
| 67 |
|
| 68 |
/**
|
| 69 |
* @brief Configuration for the programmer serial interface driver.
|
| 70 |
*/
|
| 71 |
extern SerialConfig moduleHalProgIfConfig;
|
| 72 |
|
| 73 |
/**
|
| 74 |
* @brief Real-Time Clock driver.
|
| 75 |
*/
|
| 76 |
#define MODULE_HAL_RTC RTCD1
|
| 77 |
|
| 78 |
#if (BOARD_DW1000_CONNECTED == true) |
| 79 |
|
| 80 |
/**
|
| 81 |
* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
|
| 82 |
*/
|
| 83 |
#define MODULE_HAL_SPI_UWB SPID2
|
| 84 |
|
| 85 |
/**
|
| 86 |
* @brief Configuration for the SPI interface driver to communicate with the LED driver.
|
| 87 |
*/
|
| 88 |
extern SPIConfig moduleHalSpiUwbHsConfig;
|
| 89 |
|
| 90 |
/**
|
| 91 |
* @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
|
| 92 |
*/
|
| 93 |
extern SPIConfig moduleHalSpiUwbLsConfig;
|
| 94 |
|
| 95 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 96 |
|
| 97 |
/** @} */
|
| 98 |
|
| 99 |
/*===========================================================================*/
|
| 100 |
/**
|
| 101 |
* @name GPIO definitions
|
| 102 |
* @{
|
| 103 |
*/
|
| 104 |
/*===========================================================================*/
|
| 105 |
|
| 106 |
/**
|
| 107 |
* @brief LED output signal GPIO.
|
| 108 |
*/
|
| 109 |
extern ROMCONST apalControlGpio_t moduleGpioLed;
|
| 110 |
|
| 111 |
#if (BOARD_DW1000_CONNECTED == true) |
| 112 |
|
| 113 |
/**
|
| 114 |
* @brief DW1000 reset output signal
|
| 115 |
* @note the reset pin should be drived as low by MCU to activate.
|
| 116 |
* Then, put back the reset pin as input to MCU (tri-state float on the air
|
| 117 |
* is not supported in AMiRo)
|
| 118 |
*/
|
| 119 |
extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;
|
| 120 |
|
| 121 |
/**
|
| 122 |
* @brief DW1000 interrupt IRQn input signal.
|
| 123 |
*/
|
| 124 |
extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;
|
| 125 |
|
| 126 |
/**
|
| 127 |
* @brief DW1000 SPI chip select output signal.
|
| 128 |
*/
|
| 129 |
extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;
|
| 130 |
|
| 131 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 132 |
|
| 133 |
/**
|
| 134 |
* @brief User button input signal.
|
| 135 |
*/
|
| 136 |
extern ROMCONST apalControlGpio_t moduleGpioUserButton;
|
| 137 |
|
| 138 |
/** @} */
|
| 139 |
|
| 140 |
/*===========================================================================*/
|
| 141 |
/**
|
| 142 |
* @name AMiRo-OS core configurations
|
| 143 |
* @{
|
| 144 |
*/
|
| 145 |
/*===========================================================================*/
|
| 146 |
|
| 147 |
#if (BOARD_DW1000_CONNECTED == true) |
| 148 |
|
| 149 |
/**
|
| 150 |
* @brief Event flag to be call dwt_isr() interrupt.
|
| 151 |
*/
|
| 152 |
#define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn AOS_IOEVENT_FLAG(PAL_PAD(LINE_ARD_D6))
|
| 153 |
|
| 154 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 155 |
|
| 156 |
/**
|
| 157 |
* @brief Event flag to be set on a USER_BUTTON interrupt.
|
| 158 |
*/
|
| 159 |
#define MODULE_OS_IOEVENTFLAGS_USERBUTTON AOS_IOEVENT_FLAG(PAL_PAD(LINE_BUTTON))
|
| 160 |
|
| 161 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 162 |
/**
|
| 163 |
* @brief Shell prompt text.
|
| 164 |
*/
|
| 165 |
extern ROMCONST char* moduleShellPrompt; |
| 166 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 167 |
|
| 168 |
/**
|
| 169 |
* @brief Interrupt initialization macro.
|
| 170 |
* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
|
| 171 |
*/
|
| 172 |
#define MODULE_INIT_INTERRUPTS() { \
|
| 173 |
/* user button */ \
|
| 174 |
palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdIntCallback(), &moduleGpioUserButton.gpio->line); \ |
| 175 |
palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
| 176 |
MODULE_INIT_INTERRUPTS_DW1000(); \ |
| 177 |
} |
| 178 |
#if (BOARD_DW1000_CONNECTED == true) |
| 179 |
#define MODULE_INIT_INTERRUPTS_DW1000() { \
|
| 180 |
palSetLineCallback(moduleGpioDw1000Irqn.gpio->line, aosSysGetStdIntCallback(), &moduleGpioDw1000Irqn.gpio->line); \ |
| 181 |
palEnableLineEvent(moduleGpioDw1000Irqn.gpio->line, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge)); \ |
| 182 |
} |
| 183 |
#else /* (BOARD_DW1000_CONNECTED == true) */ |
| 184 |
#define MODULE_INIT_INTERRUPTS_DW1000() { \
|
| 185 |
} |
| 186 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 187 |
|
| 188 |
|
| 189 |
/**
|
| 190 |
* @brief Test initialization hook.
|
| 191 |
*/
|
| 192 |
#define MODULE_INIT_TESTS() { \
|
| 193 |
/* initialize tests and add to shell */ \
|
| 194 |
aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
| 195 |
aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd); \ |
| 196 |
MODULE_INIT_TESTS_DW1000(); \ |
| 197 |
aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
| 198 |
} |
| 199 |
#if (BOARD_DW1000_CONNECTED == true) |
| 200 |
#define MODULE_INIT_TESTS_DW1000() { \
|
| 201 |
aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd); \ |
| 202 |
} |
| 203 |
#else /* (BOARD_DW1000_CONNECTED == true) */ |
| 204 |
#define MODULE_INIT_TESTS_DW1000() { \
|
| 205 |
} |
| 206 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 207 |
|
| 208 |
|
| 209 |
/**
|
| 210 |
* @brief Periphery communication interfaces initialization hook.
|
| 211 |
*/
|
| 212 |
#define MODULE_INIT_PERIPHERY_IF() { \
|
| 213 |
/* serial driver */ \
|
| 214 |
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
| 215 |
MODULE_INIT_PERIPHERY_IF_DW1000(); \ |
| 216 |
} |
| 217 |
#if (BOARD_DW1000_CONNECTED == true) |
| 218 |
#define MODULE_INIT_PERIPHERY_IF_DW1000() { \
|
| 219 |
/* SPI init */ \
|
| 220 |
dw1000_spi_init(); \ |
| 221 |
spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig); \ |
| 222 |
} |
| 223 |
#else /* (BOARD_DW1000_CONNECTED == true) */ |
| 224 |
#define MODULE_INIT_PERIPHERY_IF_DW1000() { \
|
| 225 |
} |
| 226 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 227 |
|
| 228 |
|
| 229 |
/**
|
| 230 |
* @brief Periphery communication interface deinitialization hook.
|
| 231 |
*/
|
| 232 |
#define MODULE_SHUTDOWN_PERIPHERY_IF() { \
|
| 233 |
MODULE_SHUTDOWN_PERIPHERY_IF_DW1000(); \ |
| 234 |
} |
| 235 |
#if (BOARD_DW1000_CONNECTED == true) |
| 236 |
#define MODULE_SHUTDOWN_PERIPHERY_IF_DW1000() { \
|
| 237 |
/* SPI */ \
|
| 238 |
spiStop(&MODULE_HAL_SPI_UWB); \ |
| 239 |
} |
| 240 |
#else /* (BOARD_DW1000_CONNECTED == true) */ |
| 241 |
#define MODULE_SHUTDOWN_PERIPHERY_IF_DW1000() { \
|
| 242 |
} |
| 243 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 244 |
|
| 245 |
/**
|
| 246 |
* @brief HOOK to toggle the LEDs when the user button is pressed.
|
| 247 |
*/
|
| 248 |
#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) { \
|
| 249 |
if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) { \
|
| 250 |
apalControlGpioState_t buttonstate; \ |
| 251 |
apalControlGpioGet(&moduleGpioUserButton, &buttonstate); \ |
| 252 |
apalControlGpioSet(&moduleGpioLed, buttonstate); \ |
| 253 |
} \ |
| 254 |
MODULE_MAIN_LOOP_IO_EVENT_DW1000(); \ |
| 255 |
} |
| 256 |
#if (BOARD_DW1000_CONNECTED == true) |
| 257 |
/**
|
| 258 |
* @brief HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.
|
| 259 |
*/
|
| 260 |
#define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
|
| 261 |
if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000_IRQn) { \
|
| 262 |
/*apalGpioToggle(moduleGpioLedGreen.gpio); // just for debug */ \
|
| 263 |
process_deca_irq(); \ |
| 264 |
} \ |
| 265 |
} |
| 266 |
#else /* (BOARD_DW1000_CONNECTED == true) */ |
| 267 |
#define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
|
| 268 |
} |
| 269 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 270 |
|
| 271 |
/** @} */
|
| 272 |
|
| 273 |
/*===========================================================================*/
|
| 274 |
/**
|
| 275 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 276 |
* @{
|
| 277 |
*/
|
| 278 |
/*===========================================================================*/
|
| 279 |
|
| 280 |
/** @} */
|
| 281 |
|
| 282 |
/*===========================================================================*/
|
| 283 |
/**
|
| 284 |
* @name Low-level drivers
|
| 285 |
* @{
|
| 286 |
*/
|
| 287 |
/*===========================================================================*/
|
| 288 |
#include <alld_LED.h> |
| 289 |
#include <alld_button.h> |
| 290 |
|
| 291 |
/**
|
| 292 |
* @brief LED driver.
|
| 293 |
*/
|
| 294 |
extern LEDDriver moduleLldLed;
|
| 295 |
|
| 296 |
/**
|
| 297 |
* @brief Button driver.
|
| 298 |
*/
|
| 299 |
extern ButtonDriver moduleLldUserButton;
|
| 300 |
|
| 301 |
#if (BOARD_DW1000_CONNECTED == true) |
| 302 |
|
| 303 |
#include <alld_DW1000.h> |
| 304 |
|
| 305 |
extern DW1000Driver moduleLldDw1000;
|
| 306 |
|
| 307 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 308 |
|
| 309 |
/** @} */
|
| 310 |
|
| 311 |
/*===========================================================================*/
|
| 312 |
/**
|
| 313 |
* @name Tests
|
| 314 |
* @{
|
| 315 |
*/
|
| 316 |
/*===========================================================================*/
|
| 317 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 318 |
|
| 319 |
/**
|
| 320 |
* @brief LED test command.
|
| 321 |
*/
|
| 322 |
extern aos_shellcommand_t moduleTestLedShellCmd;
|
| 323 |
|
| 324 |
/**
|
| 325 |
* @brief User button test command.
|
| 326 |
*/
|
| 327 |
extern aos_shellcommand_t moduleTestButtonShellCmd;
|
| 328 |
|
| 329 |
#if (BOARD_DW1000_CONNECTED == true) |
| 330 |
|
| 331 |
/**
|
| 332 |
* @brief DW1000 (UWB transmitter) test command.
|
| 333 |
*/
|
| 334 |
extern aos_shellcommand_t moduleTestDw1000ShellCmd;
|
| 335 |
|
| 336 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 337 |
|
| 338 |
/**
|
| 339 |
* @brief Entire module test command.
|
| 340 |
*/
|
| 341 |
extern aos_shellcommand_t moduleTestAllShellCmd;
|
| 342 |
|
| 343 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 344 |
|
| 345 |
/** @} */
|
| 346 |
|
| 347 |
#endif /* AMIROOS_MODULE_H */ |
| 348 |
|
| 349 |
/** @} */
|