/modules/DiWheelDrive_1-1/module.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / DiWheelDrive_1-1 / module.c @ 542939ea

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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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+            Thomas Schöpping
 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/>.
 */
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+/**
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+ * @file
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+ * @brief   Structures and constant for the DiWheelDrive module.
+ *
  * @addtogroup diwheeldrive_module
  * @{
  */
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+#include "module.h"
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 CANConfig moduleHalCanConfig = {
   /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
   /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
 };
 I2CConfig moduleHalI2cCompassConfig = {
   /* I²C mode   */ OPMODE_I2C,
   /* frequency  */ 400000,
   /* duty cycle */ FAST_DUTY_CYCLE_2,
 };
 I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
   /* I²C mode   */ OPMODE_I2C,
   /* frequency  */ 400000,
   /* duty cycle */ FAST_DUTY_CYCLE_2,
 };
 PWMConfig moduleHalPwmDriveConfig = {
   /* frequency              */ 7200000,
   /* period                 */ 360,
   /* callback               */ NULL,
   /* channel configurations */ {
     /* channel 0              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
     /* channel 1              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
     /* channel 2              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
     /* channel 3              */ {
       /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,
       /* callback               */ NULL
     },
   },
   /* 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
 };
 QEIConfig moduleHalQeiConfig = {
   /* mode           */ QEI_COUNT_BOTH,
   /* channel config */ {
     /* channel 0 */ {
       /* input mode */ QEI_INPUT_NONINVERTED,
     },
     /* channel 1 */ {
       /* input mode */ QEI_INPUT_NONINVERTED,
     },
   },
   /* encoder range  */  0x10000u,
 };
 SerialConfig moduleHalProgIfConfig = {
   /* bit rate */ 115200,
   /* CR1      */ 0,
   /* CR1      */ 0,
   /* CR1      */ 0,
 };
 SPIConfig moduleHalSpiAccelerometerConfig = {
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+  /* circular buffer mode         */ false,
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+  /* callback function pointer    */ NULL,
   /* chip select line port        */ GPIOC,
   /* chip select line pad number  */ GPIOC_ACCEL_SS_N,
   /* CR1                          */ SPI_CR1_BR_0,
   /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
 };
 SPIConfig moduleHalSpiGyroscopeConfig = {
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+  /* circular buffer mode         */ false,
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+  /* callback function pointer    */ NULL,
   /* chip select line port        */ GPIOC,
   /* chip select line pad number  */ GPIOC_GYRO_SS_N,
   /* CR1                          */ SPI_CR1_BR_0,
   /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
 };
 /** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
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+/**
  * @brief   LED output signal GPIO.
  */
 static apalGpio_t _gpioLed = {
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+  /* port */ GPIOA,
   /* pad  */ GPIOA_LED,
 };
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+ROMCONST apalControlGpio_t moduleGpioLed = {
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+  /* GPIO */ &_gpioLed,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ LED_LLD_GPIO_ACTIVE_STATE,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   POWER_EN output signal GPIO.
  */
 static apalGpio_t _gpioPowerEn = {
   /* port */ GPIOB,
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+  /* pad  */ GPIOB_POWER_EN,
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+};
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+ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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+  /* GPIO */ &_gpioPowerEn,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   COMPASS_DRDY output signal GPIO.
  */
 static apalGpio_t _gpioCompassDrdy = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_COMPASS_DRDY,
 };
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+ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {
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+  /* GPIO */ &_gpioCompassDrdy,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   IR_INT input signal GPIO.
  */
 static apalGpio_t _gpioIrInt = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_IR_INT,
 };
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+ROMCONST apalControlGpio_t moduleGpioIrInt = {
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+  /* GPIO */ &_gpioIrInt,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   GYRO_DRDY input signal GPIO.
  */
 static apalGpio_t _gpioGyroDrdy = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_GYRO_DRDY,
 };
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+ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {
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+  /* GPIO */ &_gpioGyroDrdy,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
   },
 };
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+            Thomas Schöpping
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+/**
  * @brief   SYS_UART_UP bidirectional signal GPIO.
  */
 static apalGpio_t _gpioSysUartUp = {
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+  /* port */ GPIOB,
   /* pad  */ GPIOB_SYS_UART_UP,
 };
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+ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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+  /* GPIO */ &_gpioSysUartUp,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,