Revision 6b53f6bf
| modules/DiWheelDrive_1-1/aosconf.h | ||
|---|---|---|
| 28 | 28 |
|
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#include <stdbool.h> |
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/*===========================================================================*/ |
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/** |
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* @name Kernel parameters and options |
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* @{
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*/ |
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/*===========================================================================*/ |
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|
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/* |
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* Include an external configuration file to override the following default settings only if required. |
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*/ |
| ... | ... | |
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#include <osconf.h> |
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#endif |
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|
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/*===========================================================================*/ |
|
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/** |
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* @brief Flag to set the module as SSSP master. |
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*/ |
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#if !defined(OS_CFG_SSSP_MASTER) |
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#define AMIROOS_CFG_SSSP_MASTER false |
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#else |
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#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
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#endif |
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|
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/** |
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* @brief Time boundary for robot wide clock synchronization in microseconds. |
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* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
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* All modules need to align their local uptime to the nearest multiple of this value. |
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* @name Kernel parameters and options |
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* @{
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*/ |
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#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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#else |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
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#endif |
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/*===========================================================================*/ |
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/** |
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* @brief Flag to enable/disable debug API. |
| ... | ... | |
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/*===========================================================================*/ |
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/** |
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* @name SSSP (Startup Shutdown Synchronization Protocol) configuration. |
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* @{
|
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*/ |
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/*===========================================================================*/ |
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|
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/** |
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* @brief Flag to set the module as SSSP master. |
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* @details There must be only one module with this flag set to true in a system. |
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*/ |
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#if !defined(OS_CFG_SSSP_MASTER) |
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#define AMIROOS_CFG_SSSP_MASTER false |
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#else |
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#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
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#endif |
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|
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/** |
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* @brief Time boundary for robot wide clock synchronization in microseconds. |
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* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
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* All modules need to align their local uptime to the nearest multiple of this value. |
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*/ |
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#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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#else |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
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#endif |
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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 System shell options |
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* @{
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*/ |
| modules/DiWheelDrive_1-1/module.c | ||
|---|---|---|
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(void)extp; |
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chSysLockFromISR(); |
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chEvtBroadcastFlagsI(&aos.events.io.source, (1 << channel));
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chEvtBroadcastFlagsI(&aos.events.io, (1 << channel)); |
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chSysUnlockFromISR(); |
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return; |
| ... | ... | |
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*/ |
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/*===========================================================================*/ |
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apalControlGpio_t moduleSsspPd = {
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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const char* moduleShellPrompt = "DiWheelDrive"; |
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#endif |
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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 Startup Shutdown Synchronization Protocol (SSSP) |
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* @{
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*/ |
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/*===========================================================================*/ |
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apalControlGpio_t moduleSsspGpioPd = {
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/* GPIO */ &moduleGpioSysPd, |
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/* meta */ {
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
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}, |
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}; |
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apalControlGpio_t moduleSsspSync = {
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apalControlGpio_t moduleSsspGpioSync = {
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/* GPIO */ &moduleGpioSysSync, |
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/* meta */ {
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
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}, |
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}; |
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const char* moduleShellPrompt = "DiWheelDrive"; |
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/** @} */ |
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/*===========================================================================*/ |
| ... | ... | |
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} |
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static ut_hmc5883ldata_t _utHmc5883lData = {
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/* HMC driver */ &moduleLldCompass, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_COMPASSDRDY), |
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/* timeout */ MICROSECONDS_PER_SECOND, |
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}; |
| ... | ... | |
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static ut_l3g4200ddata_t _utL3g4200dData = {
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/* driver */ &moduleLldGyroscope, |
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/* SPI configuration */ &moduleHalSpiGyroscopeConfig, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_GYRODRDY), |
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}; |
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aos_unittest_t moduleUtAlldL3g4200d = {
|
| ... | ... | |
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static ut_lis331dlhdata_t _utLis331dlhData = {
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/* driver */ &moduleLldAccelerometer, |
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/* SPI configuration */ &moduleHalSpiAccelerometerConfig, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_ACCELINT), |
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}; |
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aos_unittest_t moduleUtAlldLis331dlh = {
|
| ... | ... | |
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static ut_vcnl4020data_t _utVcnl4020Data = {
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/* driver */ &moduleLldProximity, |
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/* timeout */ MICROSECONDS_PER_SECOND, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_IRINT), |
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}; |
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aos_unittest_t moduleUtAlldVcnl4020 = {
|
| modules/DiWheelDrive_1-1/module.h | ||
|---|---|---|
| 342 | 342 |
*/ |
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#define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_ACCELINT)) |
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/** |
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* @brief PD signal for SSSP. |
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*/ |
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extern apalControlGpio_t moduleSsspPd; |
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|
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/** |
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* @brief SYNC signal for SSSP. |
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*/ |
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extern apalControlGpio_t moduleSsspSync; |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/** |
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* @brief Shell prompt text. |
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*/ |
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extern const char* moduleShellPrompt; |
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#endif |
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|
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/** |
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* @brief Additional HAL initialization hook. |
| ... | ... | |
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*/ |
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldA3906.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldHmc5883l.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldIna219.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldL3g4200d.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldLed.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldLis331dlh.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldLtc4412.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldPca9544a.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldTps62113.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldVcnl4020.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \
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} |
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|
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/** |
| ... | ... | |
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} |
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|
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/** |
| 412 |
* @brief Hook to handle IO events during SSSP startup synchronization. |
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*/ |
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#define MODULE_SSP_STARTUP_OUTRO_IO_EVENT(mask, flags) { \
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/* ignore all events */ \ |
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(void)mask; \ |
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(void)flags; \ |
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} |
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|
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/** |
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* @brief Periphery communication interface deinitialization hook. |
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*/ |
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| ... | ... | |
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|
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/*===========================================================================*/ |
| 440 | 423 |
/** |
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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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* @brief PD signal GPIO. |
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*/ |
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extern apalControlGpio_t moduleSsspGpioPd; |
|
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|
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/** |
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* @brief SYNC signal GPIO. |
|
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*/ |
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extern apalControlGpio_t moduleSsspGpioSync; |
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|
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/** |
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* @brief Event flags for PD signal events. |
|
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*/ |
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#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD |
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|
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/** |
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* @brief Event flags for Sync signal events. |
|
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*/ |
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#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC |
|
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|
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/** |
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* @brief Hook to handle IO events during SSSP startup synchronization. |
|
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*/ |
|
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#define MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK(mask, flags) { \
|
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/* ignore all events */ \ |
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(void)mask; \ |
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(void)flags; \ |
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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 |
| 442 | 463 |
* @{
|
| 443 | 464 |
*/ |
| modules/LightRing_1-0/aosconf.h | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#include <stdbool.h> |
| 30 | 30 |
|
| 31 |
/*===========================================================================*/ |
|
| 32 |
/** |
|
| 33 |
* @name Kernel parameters and options |
|
| 34 |
* @{
|
|
| 35 |
*/ |
|
| 36 |
/*===========================================================================*/ |
|
| 37 |
|
|
| 38 | 31 |
/* |
| 39 | 32 |
* Include an external configuration file to override the following default settings only if required. |
| 40 | 33 |
*/ |
| ... | ... | |
| 42 | 35 |
#include <osconf.h> |
| 43 | 36 |
#endif |
| 44 | 37 |
|
| 38 |
/*===========================================================================*/ |
|
| 45 | 39 |
/** |
| 46 |
* @brief Flag to set the module as SSSP master. |
|
| 47 |
*/ |
|
| 48 |
#if !defined(OS_CFG_SSSP_MASTER) |
|
| 49 |
#define AMIROOS_CFG_SSSP_MASTER false |
|
| 50 |
#else |
|
| 51 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
|
| 52 |
#endif |
|
| 53 |
|
|
| 54 |
/** |
|
| 55 |
* @brief Time boundary for robot wide clock synchronization in microseconds. |
|
| 56 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
|
| 57 |
* All modules need to align their local uptime to the nearest multiple of this value. |
|
| 40 |
* @name Kernel parameters and options |
|
| 41 |
* @{
|
|
| 58 | 42 |
*/ |
| 59 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
|
| 60 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
|
| 61 |
#else |
|
| 62 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
|
| 63 |
#endif |
|
| 43 |
/*===========================================================================*/ |
|
| 64 | 44 |
|
| 65 | 45 |
/** |
| 66 | 46 |
* @brief Flag to enable/disable debug API. |
| ... | ... | |
| 103 | 83 |
|
| 104 | 84 |
/*===========================================================================*/ |
| 105 | 85 |
/** |
| 86 |
* @name SSSP (Startup Shutdown Synchronization Protocol) configuration. |
|
| 87 |
* @{
|
|
| 88 |
*/ |
|
| 89 |
/*===========================================================================*/ |
|
| 90 |
|
|
| 91 |
/** |
|
| 92 |
* @brief Flag to set the module as SSSP master. |
|
| 93 |
* @details There must be only one module with this flag set to true in a system. |
|
| 94 |
*/ |
|
| 95 |
#if !defined(OS_CFG_SSSP_MASTER) |
|
| 96 |
#define AMIROOS_CFG_SSSP_MASTER false |
|
| 97 |
#else |
|
| 98 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
|
| 99 |
#endif |
|
| 100 |
|
|
| 101 |
/** |
|
| 102 |
* @brief Time boundary for robot wide clock synchronization in microseconds. |
|
| 103 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
|
| 104 |
* All modules need to align their local uptime to the nearest multiple of this value. |
|
| 105 |
*/ |
|
| 106 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
|
| 107 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
|
| 108 |
#else |
|
| 109 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
|
| 110 |
#endif |
|
| 111 |
|
|
| 112 |
/** @} */ |
|
| 113 |
|
|
| 114 |
/*===========================================================================*/ |
|
| 115 |
/** |
|
| 106 | 116 |
* @name System shell options |
| 107 | 117 |
* @{
|
| 108 | 118 |
*/ |
| modules/LightRing_1-0/module.c | ||
|---|---|---|
| 36 | 36 |
(void)extp; |
| 37 | 37 |
|
| 38 | 38 |
chSysLockFromISR(); |
| 39 |
chEvtBroadcastFlagsI(&aos.events.io.source, (1 << channel));
|
|
| 39 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel)); |
|
| 40 | 40 |
chSysUnlockFromISR(); |
| 41 | 41 |
|
| 42 | 42 |
return; |
| ... | ... | |
| 219 | 219 |
*/ |
| 220 | 220 |
/*===========================================================================*/ |
| 221 | 221 |
|
| 222 |
apalControlGpio_t moduleSsspPd = {
|
|
| 222 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 223 |
const char* moduleShellPrompt = "LightRing"; |
|
| 224 |
#endif |
|
| 225 |
|
|
| 226 |
/** @} */ |
|
| 227 |
|
|
| 228 |
/*===========================================================================*/ |
|
| 229 |
/** |
|
| 230 |
* @name Startup Shutdown Synchronization Protocol (SSSP) |
|
| 231 |
* @{
|
|
| 232 |
*/ |
|
| 233 |
/*===========================================================================*/ |
|
| 234 |
|
|
| 235 |
apalControlGpio_t moduleSsspGpioPd = {
|
|
| 223 | 236 |
/* GPIO */ &moduleGpioSysPd, |
| 224 | 237 |
/* meta */ {
|
| 225 | 238 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
| 228 | 241 |
}, |
| 229 | 242 |
}; |
| 230 | 243 |
|
| 231 |
apalControlGpio_t moduleSsspSync = {
|
|
| 244 |
apalControlGpio_t moduleSsspGpioSync = {
|
|
| 232 | 245 |
/* GPIO */ &moduleGpioSysSync, |
| 233 | 246 |
/* meta */ {
|
| 234 | 247 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
| 237 | 250 |
}, |
| 238 | 251 |
}; |
| 239 | 252 |
|
| 240 |
const char* moduleShellPrompt = "LightRing"; |
|
| 241 |
|
|
| 242 | 253 |
/** @} */ |
| 243 | 254 |
|
| 244 | 255 |
/*===========================================================================*/ |
| modules/LightRing_1-0/module.h | ||
|---|---|---|
| 215 | 215 |
*/ |
| 216 | 216 |
#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSSYNC)) |
| 217 | 217 |
|
| 218 |
/** |
|
| 219 |
* @brief PD signal for SSSP. |
|
| 220 |
*/ |
|
| 221 |
extern apalControlGpio_t moduleSsspPd; |
|
| 222 |
|
|
| 223 |
/** |
|
| 224 |
* @brief SYNC signal for SSSP. |
|
| 225 |
*/ |
|
| 226 |
extern apalControlGpio_t moduleSsspSync; |
|
| 227 |
|
|
| 218 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 228 | 219 |
/** |
| 229 | 220 |
* @brief Shell prompt text. |
| 230 | 221 |
*/ |
| 231 | 222 |
extern const char* moduleShellPrompt; |
| 223 |
#endif |
|
| 232 | 224 |
|
| 233 | 225 |
/** |
| 234 | 226 |
* @brief Unit test initialization hook. |
| 235 | 227 |
*/ |
| 236 | 228 |
#define MODULE_INIT_TESTS() { \
|
| 237 | 229 |
/* add unit-test shell commands */ \ |
| 238 |
aosShellAddCommand(aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
|
|
| 239 |
aosShellAddCommand(aos.shell, &moduleUtAlldTlc5947.shellcmd); \
|
|
| 240 |
aosShellAddCommand(aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \
|
|
| 230 |
aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
|
|
| 231 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \
|
|
| 232 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \
|
|
| 241 | 233 |
} |
| 242 | 234 |
|
| 243 | 235 |
/** |
| ... | ... | |
| 255 | 247 |
} |
| 256 | 248 |
|
| 257 | 249 |
/** |
| 258 |
* @brief Hook to handle IO events during SSSP startup synchronization. |
|
| 259 |
*/ |
|
| 260 |
#define MODULE_SSP_STARTUP_OUTRO_IO_EVENT(mask, flags) { \
|
|
| 261 |
/* ignore all events */ \ |
|
| 262 |
(void)mask; \ |
|
| 263 |
(void)flags; \ |
|
| 264 |
} |
|
| 265 |
|
|
| 266 |
/** |
|
| 267 | 250 |
* @brief Periphery communication interface deinitialization hook. |
| 268 | 251 |
*/ |
| 269 | 252 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| ... | ... | |
| 278 | 261 |
|
| 279 | 262 |
/*===========================================================================*/ |
| 280 | 263 |
/** |
| 264 |
* @name Startup Shutdown Synchronization Protocol (SSSP) |
|
| 265 |
* @{
|
|
| 266 |
*/ |
|
| 267 |
/*===========================================================================*/ |
|
| 268 |
|
|
| 269 |
/** |
|
| 270 |
* @brief PD signal GPIO. |
|
| 271 |
*/ |
|
| 272 |
extern apalControlGpio_t moduleSsspGpioPd; |
|
| 273 |
|
|
| 274 |
/** |
|
| 275 |
* @brief SYNC signal GPIO. |
|
| 276 |
*/ |
|
| 277 |
extern apalControlGpio_t moduleSsspGpioSync; |
|
| 278 | ||