/modules/LightRing_1-0/module.h - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / LightRing_1-0 / module.h @ 53710ca3

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-            e545e620
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2018  Thomas Schöpping et al.
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
-ca3
+/**
  * @file
  * @brief   Structures and constant for the LightRing module.
+ *
  * @addtogroup lightring_module
  * @{
  */
-            e545e620
+#ifndef _AMIROOS_MODULE_H_
 #define _AMIROOS_MODULE_H_
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 #include <hal.h>
 /**
  * @brief   CAN driver to use.
  */
 #define MODULE_HAL_CAN                          CAND1
 /**
  * @brief   Configuration for the CAN driver.
  */
 extern CANConfig moduleHalCanConfig;
 /**
  * @brief   I2C driver to access the EEPROM.
  */
 #define MODULE_HAL_I2C_EEPROM                   I2CD2
 /**
  * @brief   Configuration for the EEPROM I2C driver.
  */
 extern I2CConfig moduleHalI2cEepromConfig;
 /**
  * @brief   Serial driver of the programmer interface.
  */
 #define MODULE_HAL_PROGIF                       SD1
 /**
  * @brief   Configuration for the programmer serial interface driver.
  */
 extern SerialConfig moduleHalProgIfConfig;
 /**
  * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
  */
 #define MODULE_HAL_SPI_LIGHT                    SPID1
 /**
  * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
  */
 extern SPIConfig moduleHalSpiLightConfig;
-aeae
+/**
  * @brief   Real-Time Clock driver.
  */
 #define MODULE_HAL_RTC                          RTCD1
-            e545e620
+/** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
 #include <amiro-lld.h>
 /**
  * @brief   LIGHT_BANK output signal GPIO.
  */
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+extern apalControlGpio_t moduleGpioLightBlank;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   LASER_EN output signal GPIO.
  */
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+extern apalControlGpio_t moduleGpioLaserEn;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   LASER_OC input signal GPIO.
  */
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+extern apalControlGpio_t moduleGpioLaserOc;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   SYS_UART_DN bidirectional signal GPIO.
  */
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+extern apalControlGpio_t moduleGpioSysUartDn;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   WL_GDO2 input signal GPIO.
  */
-e5f7648
+extern apalControlGpio_t moduleGpioWlGdo2;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   WL_GDO0 input signal GPIO.
  */
-e5f7648
+extern apalControlGpio_t moduleGpioWlGdo0;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   LIGHT_XLAT output signal GPIO.
  */
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+extern apalControlGpio_t moduleGpioLightXlat;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   SYS_PD bidirectional signal GPIO.
  */
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+extern apalControlGpio_t moduleGpioSysPd;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   SYS_SYNC bidirectional signal GPIO.
  */
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+extern apalControlGpio_t moduleGpioSysSync;
-            e545e620
+            Thomas Schöpping
 /** @} */
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   Event flag to be set on a LASER_OC interrupt.
  */
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+#define MODULE_OS_IOEVENTFLAGS_LASEROC          ((eventflags_t)1 << GPIOB_LASER_OC_N)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_UART_DN interrupt.
  */
-e5f7648
+#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        ((eventflags_t)1 << GPIOB_SYS_UART_DN)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a WL_GDO2 interrupt.
  */
-e5f7648
+#define MODULE_OS_IOEVENTFLAGS_WLGDO2           ((eventflags_t)1 << GPIOB_WL_GDO2)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a WL_GDO0 interrupt.
  */
-e5f7648
+#define MODULE_OS_IOEVENTFLAGS_WLGDO0           ((eventflags_t)1 << GPIOB_WL_GDO0)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_PD interrupt.
  */
-e5f7648
+#define MODULE_OS_IOEVENTFLAGS_SYSPD            ((eventflags_t)1 << GPIOC_SYS_PD_N)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_SYNC interrupt.
  */
-e5f7648
+#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          ((eventflags_t)1 << GPIOD_SYS_INT_N)
-            e545e620
+            Thomas Schöpping
-b53f6bf
+#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
-            e545e620
+/**
  * @brief   Shell prompt text.
  */
 extern const char* moduleShellPrompt;
-b53f6bf
+#endif
-            e545e620
+            Thomas Schöpping
 /**
-e5f7648
+ * @brief   Interrupt initialization macro.
  * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
  */
 #define MODULE_INIT_INTERRUPTS() {                                            \
   /* LASER_OC */                                                              \
   palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \
   palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge));  \
   /* WL_GDO2 */                                                               \
   palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad);  \
   palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge));   \
   /* WL_GDO0 */                                                               \
   palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad);  \
   /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/   \
+}
 /**
-            e545e620
+ * @brief   Unit test initialization hook.
  */
 #define MODULE_INIT_TESTS() {                                                 \
   /* add unit-test shell commands */                                          \
-b53f6bf
+  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd);            \
   aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \
   aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd);          \
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Periphery communication interfaces initialization hook.
  */
 #define MODULE_INIT_PERIPHERY_COMM() {                                        \
   /* serial driver */                                                         \
   sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
   /* I2C */                                                                   \
   moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \
   moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
   i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \
   /* SPI */                                                                   \
   spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
+}
 /**
  * @brief   Periphery communication interface deinitialization hook.
  */
 #define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
   /* SPI */                                                                   \
   spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
   /* I2C */                                                                   \
   i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \
   /* don't stop the serial driver so messages can still be printed */         \
+}
 /** @} */
 /*===========================================================================*/
 /**
-b53f6bf
+ * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   PD signal GPIO.
  */
-e5f7648
+#define moduleSsspGpioPd                        moduleGpioSysPd
-b53f6bf
+            Thomas Schöpping
 /**
  * @brief   SYNC signal GPIO.
  */
-e5f7648
+#define moduleSsspGpioSync                      moduleGpioSysSync
-b53f6bf
+            Thomas Schöpping
 /**
-df08e
+ * @brief   DN signal GPIO.
  */
-e5f7648
+#define moduleSsspGpioDn                        moduleGpioSysUartDn
-df08e
+            Thomas Schöpping
 /**
-b53f6bf
+ * @brief   Event flags for PD signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
 /**
-df08e
+ * @brief   Event flags for SYNC signal events.
-b53f6bf
+ */
 #define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
 /**
-df08e
+ * @brief   Event flags for DN signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_DN               MODULE_OS_IOEVENTFLAGS_SYSUARTDN
-b53f6bf
+/** @} */
 /*===========================================================================*/
 /**
-            e545e620
+ * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
 #include <alld_at24c01bn-sh-b.h>
 #include <alld_tlc5947.h>
 #include <alld_tps2051bdbv.h>
 /**
  * @brief   EEPROM driver.
  */
 extern AT24C01BNDriver moduleLldEeprom;
 /**
  * @brief   LED PWM driver.
  */
 extern TLC5947Driver moduleLldLedPwm;
 /**
  * @brief   Power switch driver for the laser supply power.
  */
 extern TPS2051BDriver moduleLldPowerSwitchLaser;
 /** @} */
 /*===========================================================================*/
 /**
  * @name Unit tests (UT)
  * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 #include <ut_alld_at24c01bn-sh-b.h>
 #include <ut_alld_tlc5947.h>
 #include <ut_alld_tps2051bdbv.h>
 /**
  * @brief   EEPROM unit test object.
  */
 extern aos_unittest_t moduleUtAlldAt24c01bn;
 /**
  * @brief   LED PWM driver unit test object.
  */
 extern aos_unittest_t moduleUtAlldTlc5947;
 /**
  * @brief   Current-limited power switch (Laser output)
  */
 extern aos_unittest_t moduleUtAlldTps2051bdbv;
 #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
 /** @} */
 #endif /* _AMIROOS_MODULE_H_ */
-ca3
+            Marc Rothmann
 /** @} */