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amiro-os / modules / DiWheelDrive_1-2 / module.c @ 510b93cc

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1 abb8b3f4 Thomas Schöpping
/*
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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 DiWheelDrive module.
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 *
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 * @addtogroup diwheeldrive_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 moduleHalI2cImuConfig = {
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  /* I²C mode   */ OPMODE_I2C,
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  /* frequency  */ 400000,
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  /* duty cycle */ FAST_DUTY_CYCLE_2,
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};
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I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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  /* I²C mode   */ OPMODE_I2C,
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  /* frequency  */ 400000,
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  /* duty cycle */ FAST_DUTY_CYCLE_2,
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};
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PWMConfig moduleHalPwmDriveConfig = {
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  /* frequency              */ 7200000,
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  /* period                 */ 360,
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  /* callback               */ NULL,
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  /* channel configurations */ {
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    /* channel 0              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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    /* channel 1              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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    /* channel 2              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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    /* channel 3              */ {
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      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
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      /* callback               */ NULL
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    },
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  },
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  /* TIM CR2 register       */ 0,
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#if (STM32_PWM_USE_ADVANCED == TRUE)
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  /* TIM BDTR register      */ 0,
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#endif /* (STM32_PWM_USE_ADVANCED == TRUE) */
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  /* TIM DIER register      */ 0
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};
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QEIConfig moduleHalQeiConfig = {
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  /* mode           */ QEI_COUNT_BOTH,
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  /* channel config */ {
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    /* channel 0 */ {
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      /* input mode */ QEI_INPUT_NONINVERTED,
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    },
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    /* channel 1 */ {
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      /* input mode */ QEI_INPUT_NONINVERTED,
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    },
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  },
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  /* encoder range  */  0x10000u,
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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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/** @} */
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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   LED output signal GPIO.
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 */
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static apalGpio_t _gpioLed = {
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  /* line */ LINE_LED,
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};
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ROMCONST apalControlGpio_t moduleGpioLed = {
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  /* GPIO */ &_gpioLed,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ 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   POWER_EN output signal GPIO.
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 */
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static apalGpio_t _gpioPowerEn = {
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  /* line */ LINE_POWER_EN,
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};
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ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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  /* GPIO */ &_gpioPowerEn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
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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   IR_INT input signal GPIO.
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 */
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static apalGpio_t _gpioIrInt = {
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  /* line */ LINE_IR_INT,
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};
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ROMCONST apalControlGpio_t moduleGpioIrInt = {
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  /* GPIO */ &_gpioIrInt,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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    /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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  },
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};
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/**
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 * @brief   SYS_UART_UP bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysUartUp = {
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  /* line */ LINE_SYS_UART_UP,
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};
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ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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  /* GPIO */ &_gpioSysUartUp,
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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   IMU_INT input signal GPIO.
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 */
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static apalGpio_t _gpioImuInt = {
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  /* line */ LINE_IMU_INT,
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};
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ROMCONST apalControlGpio_t moduleGpioImuInt = {
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  /* GPIO */ &_gpioImuInt,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH, // TODO
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    /* interrupt edge */ APAL_GPIO_EDGE_RISING, // TODO
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  },
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};
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/**
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 * @brief   SYS_SNYC 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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 * @brief   IMU_RESET output signal GPIO.
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 */
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static apalGpio_t _gpioImuReset = {
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  /* line */ LINE_IMU_RESET_N,
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};
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ROMCONST apalControlGpio_t  moduleGpioImuReset = {
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  /* GPIO */ &_gpioImuReset,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW, // TODO
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO
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  },
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};
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/**
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 * @brief   PATH_DCSTAT input signal GPIO.
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 */
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static apalGpio_t _gpioPathDcStat = {
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  /* line */ LINE_PATH_DCSTAT,
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};
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ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
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  /* GPIO */ &_gpioPathDcStat,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ LTC4412_LLD_STAT_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   PATH_DCEN output signal GPIO.
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 */
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static apalGpio_t _gpioPathDcEn = {
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  /* line */ LINE_PATH_DCEN,
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};
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ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
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  /* GPIO */ &_gpioPathDcEn,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ LTC4412_LLD_CTRL_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   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_REG_EN input signal GPIO.
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 */
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static apalGpio_t _gpioSysRegEn = {
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  /* line */ LINE_SYS_REG_EN,
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};
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ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
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  /* GPIO */ &_gpioSysRegEn,
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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   IMU_BOOT_LOAD output signal GPIO.
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 */
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static apalGpio_t _gpioImuBootLoad = {
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  /* line */ LINE_IMU_BOOT_LOAD_N,
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};
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ROMCONST apalControlGpio_t moduleGpioImuBootLoad = {
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  /* GPIO */ &_gpioImuBootLoad,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_LOW, // TODO
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO
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  },
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};
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/**
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 * @brief   IMU_BL_IND input signal GPIO.
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 */
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static apalGpio_t _gpioImuBlInd = {
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  /* line */ LINE_IMU_BL_IND,
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};
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ROMCONST apalControlGpio_t moduleGpioImuBlInd = {
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  /* GPIO */ &_gpioImuBlInd,
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  /* meta */ {
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    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
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    /* active state   */ APAL_GPIO_ACTIVE_HIGH, // TODO
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    /* interrupt edge */ APAL_GPIO_EDGE_NONE, // TODO
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  },
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};
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/**
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 * @brief   SYS_WARMRST bidirectional signal GPIO.
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 */
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static apalGpio_t _gpioSysWarmrst = {
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  /* line */ LINE_SYS_WARMRST_N,
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};
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ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
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  /* GPIO */ &_gpioSysWarmrst,
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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 = "DiWheelDrive";
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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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A3906Driver moduleLldMotors = {
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  /* power enable GPIO  */ &moduleGpioPowerEn,
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};
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AT24C01BDriver moduleLldEeprom = {
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  /* I2C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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  /* I²C address  */ AT24C01B_LLD_I2C_ADDR_FIXED,
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};
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// TODO: BNO055
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INA219Driver moduleLldPowerMonitorVdd = {
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  /* I2C Driver       */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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  /* I²C address      */ INA219_LLD_I2C_ADDR_FIXED,
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  /* current LSB (uA) */ 0x00u,
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  /* configuration    */ NULL,
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};
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LEDDriver moduleLldStatusLed = {
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  /* LED enable Gpio */ &moduleGpioLed,
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};
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LTC4412Driver moduleLldPowerPathController = {
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  /* Control GPIO */ &moduleGpioPathDcEn,
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  /* Status GPIO  */ &moduleGpioPathDcStat,
386
};
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PCA9544ADriver moduleLldI2cMultiplexer = {
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  /* I²C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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  /* I²C address  */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
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};
392
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TPS6211xDriver moduleLldStepDownConverterVdrive = {
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  /* Power enable Gpio */ &moduleGpioPowerEn,
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};
396
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VCNL4020Driver moduleLldProximity = {
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  /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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};
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/** @} */
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403
/*===========================================================================*/
404
/**
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 * @name Tests
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 * @{
407
 */
408
/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
410
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/*
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 * A3906 (motor driver)
413
 */
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#include <module_test_A3906.h>
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static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestA3906ShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);
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421
/*
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 * AT24C01BN-SH-B (EEPROM)
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 */
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#include <module_test_AT24C01B.h>
425
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);
430
431
// TODO: BNO055
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433
/*
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 * INA219 (power monitor)
435
 */
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#include <module_test_INA219.h>
437
static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestIna219ShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
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443
/*
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 * Status LED
445
 */
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#include <module_test_LED.h>
447
static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestLedShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
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453
/*
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 * LTC4412 (power path controller)
455
 */
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#include <module_test_LTC4412.h>
457
static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestLtc4412ShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);
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463
/*
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 * PCA9544A (I2C multiplexer)
465
 */
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#include <module_test_PCA9544A.h>
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static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestPca9544aShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);
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473
/*
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 * TPS62113 (step-down converter)
475
 */
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#include <module_test_TPS6211x.h>
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static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestTps6211xShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);
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483
/*
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 * VCNL4020 (proximity sensor)
485
 */
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#include <module_test_VCNL4020.h>
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static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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  return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL);
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}
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AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);
492
493
/*
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 * entire module
495
 */
496
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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  /* A3906 (motor driver) */
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  status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);
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  result_total = aosTestResultAdd(result_total, result_test);
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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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  // TODO: BNO055
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  /* INA219 (power monitor) */
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  status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
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  result_total = aosTestResultAdd(result_total, result_test);
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  /* Status LED */
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  status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
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  result_total = aosTestResultAdd(result_total, result_test);
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  /* LTC4412 (power path controller) */
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  status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);
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  result_total = aosTestResultAdd(result_total, result_test);
527
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  /* PCA9544A (I2C multiplexer) */
529
  status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);
530
  result_total = aosTestResultAdd(result_total, result_test);
531
532
  /* TPS62113 (step-down converter) */
533
  status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);
534
  result_total = aosTestResultAdd(result_total, result_test);
535
536
  /* VCNL4020 (proximity sensor) */
537
  // wheel left
538
  targv[1] = "-wl";
539
  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
540
  result_total = aosTestResultAdd(result_total, result_test);
541
  // front left
542
  targv[1] = "-fl";
543
  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
544
  result_total = aosTestResultAdd(result_total, result_test);
545
  // front right
546
  targv[1] = "-fr";
547
  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
548
  result_total = aosTestResultAdd(result_total, result_test);
549
  // wheel right
550
  targv[1] = "-wr";
551
  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);
552
  result_total = aosTestResultAdd(result_total, result_test);
553
  targv[1] = "";
554
555
  // print total result
556
  chprintf(stream, "\n");
557
  aosTestResultPrintSummary(stream, &result_total, "entire module");
558
559
  return status;
560 abb8b3f4 Thomas Schöpping
}
561 4c72a54c Thomas Schöpping
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
562 abb8b3f4 Thomas Schöpping
563
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
564
565
/** @} */
566
/** @} */