amiro-os / modules / LightRing_1-0 / module.c @ 57d411d6
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #include "module.h" |
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| 20 | |||
| 21 | /*===========================================================================*/
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| 22 | /**
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| 23 | * @name Module specific functions
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| 24 | * @{
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| 25 | */
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| 26 | /*===========================================================================*/
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| 27 | #include <amiroos.h> |
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| 28 | |||
| 29 | /**
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| 30 | * @brief Interrupt service routine callback for I/O interrupt signals.
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| 31 | *
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| 32 | 0128be0f | Marc Rothmann | * @param args Channel on which the interrupt was encountered.
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| 33 | e545e620 | Thomas Schöpping | */
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| 34 | 0128be0f | Marc Rothmann | static void _modulePalIsrCallback(void *args) { |
| 35 | e545e620 | Thomas Schöpping | chSysLockFromISR(); |
| 36 | 0128be0f | Marc Rothmann | chEvtBroadcastFlagsI(&aos.events.io, (1 << (*(uint16_t*)args)));
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| 37 | e545e620 | Thomas Schöpping | chSysUnlockFromISR(); |
| 38 | |||
| 39 | return;
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| 40 | } |
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| 41 | |||
| 42 | /** @} */
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| 43 | |||
| 44 | /*===========================================================================*/
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| 45 | /**
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| 46 | * @name ChibiOS/HAL configuration
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| 47 | * @{
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| 48 | */
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| 49 | /*===========================================================================*/
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| 50 | |||
| 51 | CANConfig moduleHalCanConfig = {
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| 52 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 53 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 54 | }; |
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| 55 | |||
| 56 | 0128be0f | Marc Rothmann | aos_interrupt_cfg_t moduleIntConfig[6] = {
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| 57 | /* channel 1 */ { // SYS_INT_N/SYS_SYNC_N: automatic interrupt on event |
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| 58 | /* port */ GPIOD,
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| 59 | /* pad */ GPIOD_SYS_INT_N,
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| 60 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 61 | /* mode */ PAL_EVENT_MODE_BOTH_EDGES,
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| 62 | /* callback */ _modulePalIsrCallback,
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| 63 | /* cb arg */ 1, |
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| 64 | }, |
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| 65 | /* channel 2 */ { // LASER_OC_N: must be enabled explicitely |
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| 66 | /* port */ GPIOB,
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| 67 | /* pad */ GPIOB_LASER_OC_N,
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| 68 | /* flags */ 0, |
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| 69 | /* mode */ PAL_EVENT_MODE_FALLING_EDGE,
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| 70 | /* callback */ _modulePalIsrCallback,
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| 71 | /* cb arg */ 2, |
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| 72 | }, |
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| 73 | /* channel 3 */ { // SYS_UART_DN: automatic interrupt on event |
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| 74 | /* port */ GPIOB,
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| 75 | /* pad */ GPIOB_SYS_UART_DN,
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| 76 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 77 | /* mode */ PAL_EVENT_MODE_BOTH_EDGES,
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| 78 | /* callback */ _modulePalIsrCallback,
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| 79 | /* cb arg */ 3, |
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| 80 | }, |
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| 81 | /* channel 4 */ { // WL_GDO0: must be enabled explicitely |
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| 82 | /* port */ GPIOB,
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| 83 | /* pad */ GPIOB_WL_GDO0,
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| 84 | /* flags */ 0, |
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| 85 | /* mode */ PAL_EVENT_MODE_BOTH_EDGES,
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| 86 | /* callback */ _modulePalIsrCallback,
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| 87 | /* cb arg */ 4, |
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| 88 | }, |
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| 89 | /* channel 5 */ { // WL_GDO2: must be enabled explicitely |
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| 90 | /* port */ GPIOB,
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| 91 | /* pad */ GPIOB_WL_GDO2,
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| 92 | /* flags */ 0, |
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| 93 | /* mode */ PAL_EVENT_MODE_BOTH_EDGES,
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| 94 | /* callback */ _modulePalIsrCallback,
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| 95 | /* cb arg */ 5, |
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| 96 | }, |
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| 97 | /* channel 6 */ { // SYS_PD_N: automatic interrupt on event |
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| 98 | /* port */ GPIOC,
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| 99 | /* pad */ GPIOC_SYS_PD_N,
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| 100 | /* flags */ AOS_INTERRUPT_AUTOSTART,
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| 101 | /* mode */ PAL_EVENT_MODE_FALLING_EDGE,
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| 102 | /* callback */ _modulePalIsrCallback,
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| 103 | /* cb arg */ 6, |
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| 104 | e545e620 | Thomas Schöpping | }, |
| 105 | 0128be0f | Marc Rothmann | }; |
| 106 | |||
| 107 | aos_interrupt_driver_t moduleIntDriver = {
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| 108 | /* config */ NULL, |
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| 109 | /* interrupts */ 6, |
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| 110 | e545e620 | Thomas Schöpping | }; |
| 111 | |||
| 112 | I2CConfig moduleHalI2cEepromConfig = {
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| 113 | /* I²C mode */ OPMODE_I2C,
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| 114 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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| 115 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 116 | }; |
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| 117 | |||
| 118 | SerialConfig moduleHalProgIfConfig = {
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| 119 | /* bit rate */ 115200, |
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| 120 | /* CR1 */ 0, |
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| 121 | /* CR1 */ 0, |
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| 122 | /* CR1 */ 0, |
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| 123 | }; |
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| 124 | |||
| 125 | SPIConfig moduleHalSpiLightConfig = {
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| 126 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 127 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 128 | /* chip select line port */ GPIOC,
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| 129 | /* chip select line pad number */ GPIOC_LIGHT_XLAT,
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| 130 | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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| 131 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 132 | }; |
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| 133 | |||
| 134 | /*===========================================================================*/
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| 135 | /**
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| 136 | * @name GPIO definitions
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| 137 | * @{
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| 138 | */
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| 139 | /*===========================================================================*/
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| 140 | |||
| 141 | apalGpio_t moduleGpioLightBlank = {
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| 142 | /* port */ GPIOA,
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| 143 | /* pad */ GPIOA_LIGHT_BLANK,
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| 144 | }; |
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| 145 | |||
| 146 | apalGpio_t moduleGpioLaserEn = {
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| 147 | /* port */ GPIOB,
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| 148 | /* pad */ GPIOB_LASER_EN,
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| 149 | }; |
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| 150 | |||
| 151 | apalGpio_t moduleGpioLaserOc = {
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| 152 | /* port */ GPIOB,
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| 153 | /* pad */ GPIOB_LASER_OC_N,
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| 154 | }; |
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| 155 | |||
| 156 | apalGpio_t moduleGpioSysUartDn = {
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| 157 | /* port */ GPIOB,
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| 158 | /* pad */ GPIOB_SYS_UART_DN,
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| 159 | }; |
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| 160 | |||
| 161 | apalGpio_t moduleGpioWlGdo2 = {
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| 162 | /* port */ GPIOB,
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| 163 | /* pad */ GPIOB_WL_GDO2,
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| 164 | }; |
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| 165 | |||
| 166 | apalGpio_t moduleGpioWlGdo0= {
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| 167 | /* port */ GPIOB,
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| 168 | /* pad */ GPIOB_WL_GDO0,
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| 169 | }; |
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| 170 | |||
| 171 | apalGpio_t moduleGpioLightXlat = {
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| 172 | /* port */ GPIOC,
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| 173 | /* pad */ GPIOC_LIGHT_XLAT,
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| 174 | }; |
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| 175 | |||
| 176 | apalGpio_t moduleGpioSysPd = {
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| 177 | /* port */ GPIOC,
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| 178 | /* pad */ GPIOC_SYS_PD_N,
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| 179 | }; |
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| 180 | |||
| 181 | apalGpio_t moduleGpioSysSync = {
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| 182 | /* port */ GPIOD,
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| 183 | /* pad */ GPIOD_SYS_INT_N,
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| 184 | }; |
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| 185 | |||
| 186 | /** @} */
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| 187 | |||
| 188 | /*===========================================================================*/
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| 189 | /**
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| 190 | * @name AMiRo-OS core configurations
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| 191 | * @{
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| 192 | */
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| 193 | /*===========================================================================*/
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| 194 | |||
| 195 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 196 | const char* moduleShellPrompt = "LightRing"; |
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| 197 | #endif
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| 198 | |||
| 199 | /** @} */
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| 200 | |||
| 201 | /*===========================================================================*/
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| 202 | /**
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| 203 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 204 | * @{
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| 205 | */
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| 206 | /*===========================================================================*/
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| 207 | |||
| 208 | apalControlGpio_t moduleSsspGpioPd = {
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| 209 | e545e620 | Thomas Schöpping | /* GPIO */ &moduleGpioSysPd,
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| 210 | /* meta */ {
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| 211 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 212 | /* edge */ APAL_GPIO_EDGE_FALLING,
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| 213 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 214 | }, |
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| 215 | }; |
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| 216 | |||
| 217 | 6b53f6bf | Thomas Schöpping | apalControlGpio_t moduleSsspGpioSync = {
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| 218 | e545e620 | Thomas Schöpping | /* GPIO */ &moduleGpioSysSync,
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| 219 | /* meta */ {
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| 220 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 221 | /* edge */ APAL_GPIO_EDGE_FALLING,
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| 222 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 223 | }, |
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| 224 | }; |
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| 225 | |||
| 226 | 933df08e | Thomas Schöpping | apalControlGpio_t moduleSsspGpioDn = {
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| 227 | /* GPIO */ &moduleGpioSysUartDn,
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| 228 | /* meta */ {
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| 229 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 230 | /* edge */ APAL_GPIO_EDGE_FALLING,
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| 231 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 232 | }, |
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| 233 | }; |
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| 234 | |||
| 235 | e545e620 | Thomas Schöpping | /** @} */
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| 236 | |||
| 237 | /*===========================================================================*/
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| 238 | /**
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| 239 | * @name Low-level drivers
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| 240 | * @{
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| 241 | */
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| 242 | /*===========================================================================*/
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| 243 | |||
| 244 | AT24C01BNDriver moduleLldEeprom = {
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| 245 | /* I2C driver */ &MODULE_HAL_I2C_EEPROM,
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| 246 | /* I2C address */ 0x00u, |
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| 247 | }; |
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| 248 | |||
| 249 | TLC5947Driver moduleLldLedPwm = {
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| 250 | /* SPI driver */ &MODULE_HAL_SPI_LIGHT,
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| 251 | /* BLANK signal GPIO */ {
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| 252 | /* GPIO */ &moduleGpioLightBlank,
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| 253 | /* meta */ {
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| 254 | /* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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| 255 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 256 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 257 | }, |
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| 258 | }, |
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| 259 | /* XLAT signal GPIO */ {
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| 260 | /* GPIO */ &moduleGpioLightXlat,
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| 261 | /* meta */ {
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| 262 | /* active state */ TLC5947_LLD_XLAT_ACTIVE_STATE,
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| 263 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 264 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 265 | }, |
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| 266 | }, |
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| 267 | }; |
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| 268 | |||
| 269 | TPS2051BDriver moduleLldPowerSwitchLaser = {
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| 270 | /* laser enable gpio */ {
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| 271 | /* GPIO */ &moduleGpioLaserEn,
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| 272 | /* meta */ {
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| 273 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 274 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 275 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 276 | }, |
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| 277 | }, |
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| 278 | /* laser overcurrent gpio */ {
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| 279 | /* GPIO */ &moduleGpioLaserOc,
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| 280 | /* meta */ {
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| 281 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 282 | /* edge */ APAL_GPIO_EDGE_NONE,
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| 283 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 284 | }, |
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| 285 | }, |
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| 286 | }; |
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| 287 | |||
| 288 | /** @} */
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| 289 | |||
| 290 | /*===========================================================================*/
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| 291 | /**
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| 292 | * @name Unit tests (UT)
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| 293 | * @{
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| 294 | */
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| 295 | /*===========================================================================*/
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| 296 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 297 | |||
| 298 | /* EEPROM (AT24C01BN) */
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| 299 | static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 300 | {
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| 301 | (void)argc;
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| 302 | (void)argv;
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| 303 | aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
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| 304 | return AOS_OK;
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| 305 | } |
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| 306 | static ut_at24c01bndata_t _utAt24c01bnData = {
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| 307 | /* driver */ &moduleLldEeprom,
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| 308 | /* timeout */ MICROSECONDS_PER_SECOND,
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| 309 | }; |
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| 310 | aos_unittest_t moduleUtAlldAt24c01bn = {
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| 311 | /* name */ "AT24C01BN-SH-B", |
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| 312 | /* info */ "1kbit EEPROM", |
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| 313 | /* test function */ utAlldAt24c01bnFunc,
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| 314 | /* shell command */ {
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| 315 | /* name */ "unittest:EEPROM", |
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| 316 | /* callback */ _utShellCmdCb_AlldAt24c01bn,
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| 317 | /* next */ NULL, |
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| 318 | }, |
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| 319 | /* data */ &_utAt24c01bnData,
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| 320 | }; |
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| 321 | |||
| 322 | /* LED PWM driver (TLD5947) */
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| 323 | static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 324 | {
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| 325 | (void)argc;
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| 326 | (void)argv;
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| 327 | aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
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| 328 | return AOS_OK;
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| 329 | } |
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| 330 | aos_unittest_t moduleUtAlldTlc5947 = {
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| 331 | /* info */ "TLC5947", |
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| 332 | /* name */ "LED PWM driver", |
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| 333 | /* test function */ utAlldTlc5947Func,
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| 334 | /* shell command */ {
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| 335 | /* name */ "unittest:Lights", |
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| 336 | /* callback */ _utShellCmdCb_Tlc5947,
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| 337 | /* next */ NULL, |
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| 338 | }, |
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| 339 | /* data */ &moduleLldLedPwm,
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| 340 | }; |
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| 341 | |||
| 342 | /* power switch (Laser) */
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| 343 | static int _utShellCmdCb_Tps2051bdbv(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 344 | {
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| 345 | (void)argc;
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| 346 | (void)argv;
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| 347 | aosUtRun(stream,&moduleUtAlldTps2051bdbv, NULL);
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| 348 | return AOS_OK;
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| 349 | } |
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| 350 | aos_unittest_t moduleUtAlldTps2051bdbv = {
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| 351 | /* info */ "TPS2051BDBV", |
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| 352 | /* name */ "current-limited power switch", |
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| 353 | /* test function */ utAlldTps2051bdbvFunc,
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| 354 | /* shell command */ {
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| 355 | /* name */ "unittest:PowerSwitch", |
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| 356 | /* callback */ _utShellCmdCb_Tps2051bdbv,
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| 357 | /* next */ NULL, |
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| 358 | }, |
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| 359 | /* data */ &moduleLldPowerSwitchLaser,
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| 360 | }; |
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| 361 | |||
| 362 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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| 363 | |||
| 364 | /** @} */ |