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amiro-os / modules / NUCLEO-F103RB / module.h @ 732a4657

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/*
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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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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file
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 * @brief   Structures and constant for the NUCLEO-F103RB module.
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 *
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 * @addtogroup NUCLEO-F103RB_module
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 * @{
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 */
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.h>
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/*===========================================================================*/
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/**
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 * @name Module specific functions
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 * @{
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 */
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/*===========================================================================*/
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#if defined(AMIROLLD_CFG_DW1000)
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#if defined(__cplusplus)
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extern "C" {
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#endif /* defined(__cplusplus) */
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void dw1000_spi_init(void);
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#if defined(__cplusplus)
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}
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#endif /* defined(__cplusplus) */
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name ChibiOS/HAL configuration
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Serial driver of the programmer interface.
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 */
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#define MODULE_HAL_PROGIF                       SD2
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/**
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 * @brief   Configuration for the programmer serial interface driver.
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 */
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extern SerialConfig moduleHalProgIfConfig;
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/**
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 * @brief   Real-Time Clock driver.
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 */
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#define MODULE_HAL_RTC                          RTCD1
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#if defined(AMIROLLD_CFG_DW1000)
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/**
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 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
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 */
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#define MODULE_HAL_SPI_UWB                      SPID2
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/**
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 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
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 */
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extern SPIConfig moduleHalSpiUwbHsConfig;
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/**
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 * @brief   Configuration for the SPI interface driver to communicate with the wireless transceiver.
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 */
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extern SPIConfig moduleHalSpiUwbLsConfig;
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name GPIO definitions
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   LED output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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#if defined(AMIROLLD_CFG_DW1000)
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/**
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 * @brief   DW1000 reset output signal
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 * @note    the reset pin should be drived as low by MCU to activate.
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 *          Then, put back the reset pin as input to MCU (tri-state float on the air
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 *          is not supported in AMiRo)
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 */
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extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;
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/**
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 * @brief   DW1000 interrupt IRQn input signal.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;
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/**
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 * @brief   DW1000 SPI chip select  output signal.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/**
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 * @brief   User button input signal.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioUserButton;
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/** @} */
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/*===========================================================================*/
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/**
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 * @name AMiRo-OS core configurations
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Event flag to be call dwt_isr() interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn      AOS_IOEVENT_FLAG(GPIOB_ARD_D6)
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/**
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 * @brief   Event flag to be set on a USER_BUTTON interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_USERBUTTON       AOS_IOEVENT_FLAG(GPIOC_BUTTON)
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_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 ROMCONST char* moduleShellPrompt;
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
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/**
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 * @brief   Interrupt initialization macro.
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 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
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 */
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#define MODULE_INIT_INTERRUPTS() {                                            \
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  /* user button */                                                           \
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  palSetPadCallback(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, _intCallback, &moduleGpioUserButton.gpio->pad);  \
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  palEnablePadEvent(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, APAL2CH_EDGE(moduleGpioUserButton.meta.edge));   \
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  MODULE_INIT_INTERRUPTS_DW1000();                                            \
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}
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#if defined(AMIROLLD_CFG_DW1000)
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  #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \
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    palSetPadCallback(moduleGpioDw1000Irqn.gpio->port, moduleGpioDw1000Irqn.gpio->pad, _intCallback, &moduleGpioDw1000Irqn.gpio->pad);  \
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    palEnablePadEvent(moduleGpioDw1000Irqn.gpio->port, moduleGpioDw1000Irqn.gpio->pad, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge));   \
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  }
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#else /* defined(AMIROLLD_CFG_DW1000) */
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  #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \
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  }
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/**
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 * @brief   Unit test 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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  MODULE_INIT_TESTS_DW1000();                                                 \
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}
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#if defined(AMIROLLD_CFG_DW1000)
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  #define MODULE_INIT_TESTS_DW1000() {                                        \
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    aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd);             \
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  }
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#else /* defined(AMIROLLD_CFG_DW1000) */
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  #define MODULE_INIT_TESTS_DW1000() {                                        \
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  }
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/**
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 * @brief   Periphery communication interfaces initialization hook.
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 */
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#define MODULE_INIT_PERIPHERY_COMM() {                                        \
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  /* serial driver */                                                         \
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  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
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  MODULE_INIT_PERIPHERY_COMM_DW1000();                                        \
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}
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#if defined(AMIROLLD_CFG_DW1000)
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  #define MODULE_INIT_PERIPHERY_COMM_DW1000() {                               \
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    /* SPI init */                                                            \
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    dw1000_spi_init();                                                        \
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    spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig);                  \
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  }
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#else /* defined(AMIROLLD_CFG_DW1000) */
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  #define MODULE_INIT_PERIPHERY_COMM_DW1000() {                               \
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  }
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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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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  MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000();                                    \
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}
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#if defined(AMIROLLD_CFG_DW1000)
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#define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() {                             \
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  /* SPI */                                                                   \
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  spiStop(&MODULE_HAL_SPI_UWB);                                               \
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}
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#else /* defined(AMIROLLD_CFG_DW1000) */
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  #define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() {                           \
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  }
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/**
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 * @brief   HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.
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 */
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#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) {                               \
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  if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) {                       \
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    apalControlGpioState_t buttonstate;                                       \
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    apalControlGpioGet(&moduleGpioUserButton, &buttonstate);                  \
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    apalControlGpioSet(&moduleGpioLed, buttonstate);                          \
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  }                                                                           \
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  MODULE_MAIN_LOOP_IO_EVENT_DW1000();                                         \
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}
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#if defined(AMIROLLD_CFG_DW1000)
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  #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \
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    if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000_IRQn) {                     \
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      /*apalGpioToggle(moduleGpioLedGreen.gpio); // just for debug  */        \
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      process_deca_irq();                                                     \
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    }                                                                         \
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  }
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#else /* defined(AMIROLLD_CFG_DW1000) */
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  #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \
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  }
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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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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/** @} */
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/*===========================================================================*/
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/**
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 * @name Low-level drivers
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 * @{
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 */
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/*===========================================================================*/
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#if defined(AMIROLLD_CFG_DW1000)
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#include <alld_DW1000.h>
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extern DW1000Driver moduleLldDw1000;
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#endif /* defined(AMIROLLD_CFG_DW1000) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Unit tests (UT)
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 * @{
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 */
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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#if defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)
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#include <ut_alld_dw1000_v1.h>
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/**
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 * @brief   DW1000 unit test object.
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 */
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extern aos_unittest_t moduleUtAlldDw1000;
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#endif /* defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
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#endif /* AMIROOS_MODULE_H */
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/** @} */