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amiro-os / modules / LightRing_1-2 / module.h @ 70dd091e

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-ae7c4f3
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2019  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/>.
 */
 /**
  * @file
  * @brief   Structures and constant for the LightRing module.
+ *
  * @addtogroup lightring_module
  * @{
  */
 #ifndef AMIROOS_MODULE_H
 #define AMIROOS_MODULE_H
 #include <amiroos.h>
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
-b989911
+            Cung Sang
 #if defined(__cplusplus)
 extern "C" {
 #endif /* defined(__cplusplus) */
 #if (BOARD_DW1000_CONNECTED == true)
 void process_deca_irq(void);
 apalGpioState_t port_CheckEXT_IRQ(void) ;
 #endif /* (BOARD_DW1000_CONNECTED == true) */
 void set_SPI_chip_select(void);
 void clear_SPI_chip_select(void);
 void reset_DW1000(void);
 #if defined(__cplusplus)
+}
 #endif /* defined(__cplusplus) */
-ae7c4f3
+/** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   CAN driver to use.
  */
 #define MODULE_HAL_CAN                          CAND1
 /**
  * @brief   Configuration for the CAN driver.
  */
 extern CANConfig moduleHalCanConfig;
 /**
-            ee884101
+ * @brief   I2C driver to access the EEPROM, power monitor and the breakout header.
-ae7c4f3
+ */
-            ee884101
+#define MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT   I2CD2
-ae7c4f3
+            Thomas Schöpping
 /**
-            ee884101
+ * @brief   Configuration for the EEPROM, power monitor and breakout I2C driver.
-ae7c4f3
+ */
-            ee884101
+extern I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig;
-ae7c4f3
+            Thomas Schöpping
 /**
  * @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;
-b989911
+#if (BOARD_DW1000_CONNECTED == true)
 /**
  * @brief   SPI interface driver for UWB DW1000 module.
  */
 #define MODULE_HAL_SPI_UWB                      SPID2
 /**
  * @brief   Configuration for the high-speed SPI interface driver of DW1000 module.
  */
 extern SPIConfig moduleHalSpiUwbHsConfig;
 /**
  * @brief   Configuration for the low-speed SPI interface driver of DW1000 module.
  */
 extern SPIConfig moduleHalSpiUwbLsConfig;
 #else
-ae7c4f3
+/**
  * @brief   SPI interface driver for the breakout header.
  */
 #define MODULE_HAL_SPI_BREAKOUT                 SPID2
-b989911
+#endif /* BOARD_DW1000_CONNECTED == true*/
-ae7c4f3
+/**
  * @brief   UART interface driver for the breakout header (alternative to serial).
  */
 #define MODULE_HAL_UART_BREAKOUT                UARTD2
 /**
  * @brief   Real-Time Clock driver.
  */
 #define MODULE_HAL_RTC                          RTCD1
 /** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   LIGHT_BANK output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
 /**
  * @brief   RS232_R_EN_N output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioRs232En;
 /**
  * @brief   SW_V33_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwV33En;
-acb8326
+// The 4.2V switch is disabled due to a hardware bug.
 ///**
 // * @brief   SW_V42_EN output signal GPIO.
 // */
 //extern ROMCONST apalControlGpio_t moduleGpioSwV42En;
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   SW_V50_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwV50En;
 /**
  * @brief   IO_3 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo3;
 /**
  * @brief   IO_5 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo5;
 /**
  * @brief   IO_6 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo6;
 /**
  * @brief   SYS_UART_DN bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
 /**
  * @brief   IO_4 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo4;
 /**
  * @brief   IO_1 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo1;
 /**
  * @brief   LED output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioLed;
 /**
-            c930aa01
+ * @brief   LIGHT_XLAT output signal.
  */
 extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
 /**
-ae7c4f3
+ * @brief   SW_V18_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwV18En;
 /**
  * @brief   SW_VSYS_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwVsysEn;
 /**
  * @brief   SYS_UART_UP bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
 /**
  * @brief   SYS_PD bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysPd;
 /**
  * @brief   SYS_SYNC bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysSync;
-b989911
+#if (BOARD_DW1000_CONNECTED == true)
 /**
  * @brief   DW1000 reset output signal
  * @note    the reset pin should be drived as low by MCU to activate.
  *          Then, put back the reset pin as input to MCU (tri-state float on the air
  *          is not supported in AMiRo)
  */
 extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;
 /**
  * @brief   DW1000 wakeup signal
  */
 extern ROMCONST apalControlGpio_t moduleGpioDw1000WakeUp;
 /**
  * @brief   DW1000 interrupt IRQn input signal.
  */
 extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;
 /**
  * @brief   DW1000 SPI chip select  output signal.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;
 #else
 /**
  * @brief   IO_2 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo2;
 /**
  * @brief   IO_7 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo7;
 /**
  * @brief   IO_8 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo8;
 #endif /* BOARD_DW1000_CONNECTED == true */
-ae7c4f3
+/** @} */
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   Event flag to be set on a IO_4 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO4      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_4))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_1 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO1      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_1))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_SYNC interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_3 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO3      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_3))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_5 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO5      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_5))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_6 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO6      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_6))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_UART_DN interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_UART_UP interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_7 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO7      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_7))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_8 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO8      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8))
-ae7c4f3
+            Thomas Schöpping
 /**
-b989911
+ * @brief   Event flag to be set on a DW1000 interrupt.
  */
 #define MODULE_OS_IOEVENTFLAGS_DW1000           AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8))
 /**
-ae7c4f3
+ * @brief   Event flag to be set on a SYS_PD interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
-ae7c4f3
+            Thomas Schöpping
 #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 /**
  * @brief   Shell prompt text.
  */
 extern ROMCONST char* moduleShellPrompt;
 #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
 /**
  * @brief   Interrupt initialization macro.
  * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
  */
 #define MODULE_INIT_INTERRUPTS() {                                            \
   /* breakout interrupts must be enabled explicitely */                       \
-b989911
+  MODULE_INIT_INTERRUPTS_DW1000();                                            \
-ae7c4f3
+            Thomas Schöpping
-b989911
+#if (BOARD_DW1000_CONNECTED == true)
   #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \
     palSetLineCallback(moduleGpioDw1000Irqn.gpio->line, aosSysGetStdExtiCallback(), &moduleGpioDw1000Irqn.gpio->line);  \
     palEnableLineEvent(moduleGpioDw1000Irqn.gpio->line, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge));                  \
+  }
 #else /* (BOARD_DW1000_CONNECTED == true) */
   #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \
+  }
 #endif /* (BOARD_DW1000_CONNECTED == true) */
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Unit test initialization hook.
  */
 #define MODULE_INIT_TESTS() {                                                 \
-c72a54c
+  /* initialize tests and add to shell */                                     \
   aosShellAddCommand(&aos.shell, &moduleTestAt24c01bShellCmd);                \
   aosShellAddCommand(&aos.shell, &moduleTestIna219ShellCmd);                  \
   aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd);                     \
   aosShellAddCommand(&aos.shell, &moduleTestMic9404xShellCmd);                \
   aosShellAddCommand(&aos.shell, &moduleTestTlc5947ShellCmd);                 \
   aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd);                     \
-b989911
+  MODULE_INIT_TESTS_DW1000();                                                 \
-ae7c4f3
+            Thomas Schöpping
-b989911
+#if (BOARD_DW1000_CONNECTED == true)
   #define MODULE_INIT_TESTS_DW1000() {                                        \
     aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd);                \
+  }
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_INIT_TESTS_DW1000() {                                        \
+  }
 #endif /* BOARD_DW1000_CONNECTED == true */
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Periphery communication interfaces initialization hook.
  */
-c72a54c
+#define MODULE_INIT_PERIPHERY_IF() {                                          \
-ae7c4f3
+  /* serial driver */                                                         \
   sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
   /* I2C */                                                                   \
-            ee884101
+  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
   moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
   moduleHalI2cEepromPwrmtrBreakoutConfig.duty_cycle = (moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
   i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig);  \
-ae7c4f3
+  /* SPI */                                                                   \
   spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
-b989911
+  MODULE_INIT_PERIPHERY_COMM_DW1000();                                        \
-ae7c4f3
+            Thomas Schöpping
-b989911
+#if (BOARD_DW1000_CONNECTED == true)
   #define MODULE_INIT_PERIPHERY_COMM_DW1000() {                               \
   spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig);                    \
+  }
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_INIT_PERIPHERY_COMM_DW1000() {                               \
+  }
 #endif /* BOARD_DW1000_CONNECTED == true */
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Periphery communication interface deinitialization hook.
  */
-c72a54c
+#define MODULE_SHUTDOWN_PERIPHERY_IF() {                                      \
-ae7c4f3
+  /* SPI */                                                                   \
   spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
   /* I2C */                                                                   \
-            ee884101
+  i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT);                            \
-b989911
+  MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000();                                    \
-ae7c4f3
+  /* don't stop the serial driver so messages can still be printed */         \
+}
-b989911
+#if (BOARD_DW1000_CONNECTED == true)
 #define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() {                             \
   /* SPI */                                                                   \
   spiStop(&MODULE_HAL_SPI_UWB);                                               \
+}
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() {                           \
+  }
 #endif /* BOARD_DW1000_CONNECTED == true */
 /**
  * @brief   HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.
  */
 #define MODULE_MAIN_LOOP_IO_EVENT(eventflags) {                               \
   MODULE_MAIN_LOOP_IO_EVENT_DW1000();                                         \
+}
 #if (BOARD_DW1000_CONNECTED == true)
   #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \
     if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000) {                          \
       process_deca_irq();                                                     \
     }                                                                         \
+  }
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \
+  }
 #endif /* BOARD_DW1000_CONNECTED == true */
-ae7c4f3
+            Thomas Schöpping
 /** @} */
 /*===========================================================================*/
 /**
  * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   PD signal GPIO.
  */
 #define moduleSsspGpioPd                        moduleGpioSysPd
 /**
  * @brief   SYNC signal GPIO.
  */
 #define moduleSsspGpioSync                      moduleGpioSysSync
 /**
  * @brief   UP signal GPIO.
  */
 #define moduleSsspGpioUp                        moduleGpioSysUartUp