amiro-os / modules / PowerManagement_1-2 / module.c @ 57a5d1df
History | View | Annotate | Download (33.322 KB)
| 1 | b010278f | Thomas Schöpping | /*
|
|---|---|---|---|
| 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 PowerManagement module.
|
||
| 22 | *
|
||
| 23 | * @addtogroup powermanagement_module
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | #include "module.h" |
||
| 28 | |||
| 29 | /*===========================================================================*/
|
||
| 30 | /**
|
||
| 31 | * @name Module specific functions
|
||
| 32 | * @{
|
||
| 33 | */
|
||
| 34 | /*===========================================================================*/
|
||
| 35 | |||
| 36 | /** @} */
|
||
| 37 | |||
| 38 | /*===========================================================================*/
|
||
| 39 | /**
|
||
| 40 | * @name ChibiOS/HAL configuration
|
||
| 41 | * @{
|
||
| 42 | */
|
||
| 43 | /*===========================================================================*/
|
||
| 44 | |||
| 45 | ADCConversionGroup moduleHalAdcVsysConversionGroup = {
|
||
| 46 | /* buffer type */ true, |
||
| 47 | /* number of channels */ 1, |
||
| 48 | /* callback function */ NULL, |
||
| 49 | /* error callback */ NULL, |
||
| 50 | /* CR1 */ ADC_CR1_AWDEN | ADC_CR1_AWDIE,
|
||
| 51 | /* CR2 */ ADC_CR2_SWSTART | ADC_CR2_CONT,
|
||
| 52 | /* SMPR1 */ 0, |
||
| 53 | /* SMPR2 */ ADC_SMPR2_SMP_AN9(ADC_SAMPLE_480),
|
||
| 54 | /* HTR */ ADC_HTR_HT,
|
||
| 55 | /* LTR */ 0, |
||
| 56 | /* SQR1 */ ADC_SQR1_NUM_CH(1), |
||
| 57 | /* SQR2 */ 0, |
||
| 58 | /* SQR3 */ ADC_SQR3_SQ1_N(ADC_CHANNEL_IN9),
|
||
| 59 | }; |
||
| 60 | |||
| 61 | CANConfig moduleHalCanConfig = {
|
||
| 62 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||
| 63 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(3) | CAN_BTR_TS1(15) | CAN_BTR_BRP(1), |
||
| 64 | }; |
||
| 65 | |||
| 66 | I2CConfig moduleHalI2cSrPm18Pm33GaugeRearConfig = {
|
||
| 67 | /* I²C mode */ OPMODE_I2C,
|
||
| 68 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
||
| 69 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 70 | }; |
||
| 71 | |||
| 72 | I2CConfig moduleHalI2cSrPm42Pm50PmVddEepromGaugeFrontConfig = {
|
||
| 73 | /* I²C mode */ OPMODE_I2C,
|
||
| 74 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
||
| 75 | /* duty cycle */ FAST_DUTY_CYCLE_2,
|
||
| 76 | }; |
||
| 77 | |||
| 78 | PWMConfig moduleHalPwmBuzzerConfig = {
|
||
| 79 | /* frequency */ 1000000, |
||
| 80 | /* period */ 0, |
||
| 81 | /* callback */ NULL, |
||
| 82 | /* channel configurations */ {
|
||
| 83 | /* channel 0 */ {
|
||
| 84 | /* mode */ PWM_OUTPUT_DISABLED,
|
||
| 85 | /* callback */ NULL |
||
| 86 | }, |
||
| 87 | /* channel 1 */ {
|
||
| 88 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
|
||
| 89 | /* callback */ NULL |
||
| 90 | }, |
||
| 91 | /* channel 2 */ {
|
||
| 92 | /* mode */ PWM_OUTPUT_DISABLED,
|
||
| 93 | /* callback */ NULL |
||
| 94 | }, |
||
| 95 | /* channel 3 */ {
|
||
| 96 | /* mode */ PWM_OUTPUT_DISABLED,
|
||
| 97 | /* callback */ NULL |
||
| 98 | }, |
||
| 99 | }, |
||
| 100 | /* TIM CR2 register */ 0, |
||
| 101 | #if (STM32_PWM_USE_ADVANCED == TRUE)
|
||
| 102 | /* TIM BDTR register */ 0, |
||
| 103 | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
||
| 104 | /* TIM DIER register */ 0, |
||
| 105 | }; |
||
| 106 | |||
| 107 | SerialConfig moduleHalProgIfConfig = {
|
||
| 108 | /* bit rate */ 115200, |
||
| 109 | /* CR1 */ 0, |
||
| 110 | /* CR1 */ 0, |
||
| 111 | /* CR1 */ 0, |
||
| 112 | }; |
||
| 113 | |||
| 114 | /** @} */
|
||
| 115 | |||
| 116 | /*===========================================================================*/
|
||
| 117 | /**
|
||
| 118 | * @name GPIO definitions
|
||
| 119 | * @{
|
||
| 120 | */
|
||
| 121 | /*===========================================================================*/
|
||
| 122 | |||
| 123 | /**
|
||
| 124 | * @brief SWITCH_STATUS input signal GPIO.
|
||
| 125 | */
|
||
| 126 | static apalGpio_t _gpioSwitchStatus = {
|
||
| 127 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SWITCH_STATUS_N,
|
| 128 | b010278f | Thomas Schöpping | }; |
| 129 | ROMCONST apalControlGpio_t moduleGpioSwitchStatus = {
|
||
| 130 | /* GPIO */ &_gpioSwitchStatus,
|
||
| 131 | /* meta */ {
|
||
| 132 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 133 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 134 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 135 | }, |
||
| 136 | }; |
||
| 137 | |||
| 138 | /**
|
||
| 139 | * @brief SYS_REG_EN output signal GPIO.
|
||
| 140 | */
|
||
| 141 | static apalGpio_t _gpioSysRegEn = {
|
||
| 142 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_REG_EN,
|
| 143 | b010278f | Thomas Schöpping | }; |
| 144 | ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
|
||
| 145 | /* GPIO */ &_gpioSysRegEn,
|
||
| 146 | /* meta */ {
|
||
| 147 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 148 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 149 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 150 | }, |
||
| 151 | }; |
||
| 152 | |||
| 153 | /**
|
||
| 154 | * @brief IR_INT1 input signal GPIO.
|
||
| 155 | */
|
||
| 156 | static apalGpio_t _gpioIrInt1 = {
|
||
| 157 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT1_N,
|
| 158 | b010278f | Thomas Schöpping | }; |
| 159 | ROMCONST apalControlGpio_t moduleGpioIrInt1 = {
|
||
| 160 | /* GPIO */ &_gpioIrInt1,
|
||
| 161 | /* meta */ {
|
||
| 162 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 163 | #if (BOARD_SENSORRING == BOARD_PROXIMITYSENSOR)
|
||
| 164 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
||
| 165 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
|
||
| 166 | #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L0X)
|
||
| 167 | /* active state */ (PCAL6524_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
||
| 168 | /* interrupt edge */ PCAL6524_LLD_INT_EDGE,
|
||
| 169 | #elif (BOARD_SENSORRING == BOARD_DISTANCESENSOR_VL53L1X)
|
||
| 170 | /* active state */ (PCAL6524_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
||
| 171 | /* interrupt edge */ PCAL6524_LLD_INT_EDGE,
|
||
| 172 | #else /* (BOARD_SENSORRING == ?) */ |
||
| 173 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 174 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 175 | #endif /* (BOARD_SENSORRING == ?) */ |
||
| 176 | }, |
||
| 177 | }; |
||
| 178 | |||
| 179 | /**
|
||
| 180 | * @brief POWER_EN output signal GPIO.
|
||
| 181 | */
|
||
| 182 | static apalGpio_t _gpioPowerEn = {
|
||
| 183 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
|
| 184 | b010278f | Thomas Schöpping | }; |
| 185 | ROMCONST apalControlGpio_t moduleGpioPowerEn = {
|
||
| 186 | /* GPIO */ &_gpioPowerEn,
|
||
| 187 | /* meta */ {
|
||
| 188 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 189 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
||
| 190 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 191 | }, |
||
| 192 | }; |
||
| 193 | |||
| 194 | /**
|
||
| 195 | * @brief SYS_UART_DN bidirectional signal GPIO.
|
||
| 196 | */
|
||
| 197 | static apalGpio_t _gpioSysUartDn = {
|
||
| 198 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_DN,
|
| 199 | b010278f | Thomas Schöpping | }; |
| 200 | ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
|
||
| 201 | /* GPIO */ &_gpioSysUartDn,
|
||
| 202 | /* meta */ {
|
||
| 203 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 204 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 205 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 206 | }, |
||
| 207 | }; |
||
| 208 | |||
| 209 | /**
|
||
| 210 | * @brief CHARGE_STAT2A input signal GPIO.
|
||
| 211 | */
|
||
| 212 | static apalGpio_t _gpioChargeStat2A = {
|
||
| 213 | 3106e8cc | Thomas Schöpping | /* line */ LINE_CHARGE_STAT2A,
|
| 214 | b010278f | Thomas Schöpping | }; |
| 215 | ROMCONST apalControlGpio_t moduleGpioChargeStat2A = {
|
||
| 216 | /* GPIO */ &_gpioChargeStat2A,
|
||
| 217 | /* meta */ {
|
||
| 218 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 219 | /* active state */ BQ241xx_LLD_CHARGE_STATUS_GPIO_ACTIVE_STATE,
|
||
| 220 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
| 221 | }, |
||
| 222 | }; |
||
| 223 | |||
| 224 | /**
|
||
| 225 | * @brief GAUGE_BATLOW2 input signal GPIO.
|
||
| 226 | */
|
||
| 227 | static apalGpio_t _gpioGaugeBatLow2 = {
|
||
| 228 | 3106e8cc | Thomas Schöpping | /* line */ LINE_GAUGE_BATLOW2,
|
| 229 | b010278f | Thomas Schöpping | }; |
| 230 | ROMCONST apalControlGpio_t moduleGpioGaugeBatLow2 = {
|
||
| 231 | /* GPIO */ &_gpioGaugeBatLow2,
|
||
| 232 | /* meta */ {
|
||
| 233 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
||
| 234 | /* active state */ BQ27500_LLD_BATLOW_ACTIVE_STATE,
|
||
| 235 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 236 | }, |
||
| 237 | }; |
||
| 238 | |||
| 239 | /**
|
||
| 240 | * @brief GAUGE_BATGD2 input signal GPIO.
|
||
| 241 | */
|
||
| 242 | static apalGpio_t _gpioGaugeBatGd2 = {
|
||
| 243 | 3106e8cc | Thomas Schöpping | /* line */ LINE_GAUGE_BATGD2_N,
|
| 244 | b010278f | Thomas Schöpping | }; |
| 245 | ROMCONST apalControlGpio_t moduleGpioGaugeBatGd2 = {
|
||
| 246 |