amiro-os / modules / LightRing_1-0 / module.h @ 75d6970a
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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..2018 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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#ifndef _AMIROOS_MODULE_H_
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#define _AMIROOS_MODULE_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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/** @} */
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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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#include <hal.h> |
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/**
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* @brief CAN driver to use.
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*/
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#define MODULE_HAL_CAN CAND1
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/**
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* @brief Configuration for the CAN driver.
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*/
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extern CANConfig moduleHalCanConfig;
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/**
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* @brief Interrupt driver to use.
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*/
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#define MODULE_HAL_EXT EXTD1
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/**
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* @brief Interrupt driver configuration.
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*/
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extern EXTConfig moduleHalExtConfig;
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/**
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* @brief I2C driver to access the EEPROM.
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*/
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#define MODULE_HAL_I2C_EEPROM I2CD2
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/**
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* @brief Configuration for the EEPROM I2C driver.
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*/
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extern I2CConfig moduleHalI2cEepromConfig;
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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 SD1
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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 SPI interface driver for the motion sensors (gyroscope and accelerometer).
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*/
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#define MODULE_HAL_SPI_LIGHT SPID1
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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 moduleHalSpiLightConfig;
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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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/** @} */
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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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#include <amiro-lld.h> |
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/**
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* @brief Interrupt channel for the SYS_SYNC signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSSYNC ((expchannel_t)2) |
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/**
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* @brief Interrupt channel for the LASER_OC signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_LASEROC ((expchannel_t)5) |
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/**
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* @brief Interrupt channel for the SYS_UART_DN signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSUARTDN ((expchannel_t)6) |
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/**
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* @brief Interrupt channel for the WL_GDO2 signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_WLGDO2 ((expchannel_t)8) |
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/**
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* @brief Interrupt channel for the WL_GDO0 signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_WLGDO0 ((expchannel_t)9) |
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/**
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* @brief Interrupt channel for the SYS_PD signal.
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*/
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#define MODULE_GPIO_EXTCHANNEL_SYSPD ((expchannel_t)14) |
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/**
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* @brief LIGHT_BANK output signal GPIO.
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*/
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extern apalGpio_t moduleGpioLightBlank;
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/**
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* @brief LASER_EN output signal GPIO.
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*/
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extern apalGpio_t moduleGpioLaserEn;
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/**
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* @brief LASER_OC input signal GPIO.
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*/
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extern apalGpio_t moduleGpioLaserOc;
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/**
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* @brief SYS_UART_DN bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysUartDn;
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/**
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* @brief WL_GDO2 input signal GPIO.
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*/
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extern apalGpio_t moduleGpioWlGdo2;
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/**
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* @brief WL_GDO0 input signal GPIO.
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*/
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extern apalGpio_t moduleGpioWlGdo0;
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/**
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* @brief LIGHT_XLAT output signal GPIO.
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*/
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extern apalGpio_t moduleGpioLightXlat;
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysPd;
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/**
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* @brief SYS_SYNC bidirectional signal GPIO.
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*/
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extern apalGpio_t moduleGpioSysSync;
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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 set on a LASER_OC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_LASEROC ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_LASEROC)) |
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/**
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* @brief Event flag to be set on a SYS_UART_DN interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSUARTDN)) |
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/**
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* @brief Event flag to be set on a WL_GDO2 interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_WLGDO2 ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_WLGDO2)) |
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/**
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* @brief Event flag to be set on a WL_GDO0 interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_WLGDO0 ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_WLGDO0)) |
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/**
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* @brief Event flag to be set on a SYS_PD interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSPD)) |
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/**
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* @brief Event flag to be set on a SYS_SYNC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSSYNC)) |
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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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* @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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aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
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} |
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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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/* I2C */ \
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moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
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moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
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/* SPI */ \
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spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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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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/* SPI */ \
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spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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/* I2C */ \
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i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
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/* don't stop the serial driver so messages can still be printed */ \
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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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/**
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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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* @brief SYNC signal GPIO.
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*/
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extern apalControlGpio_t moduleSsspGpioSync;
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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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* @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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* @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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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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#include <alld_at24c01bn-sh-b.h> |
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#include <alld_tlc5947.h> |
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#include <alld_tps2051bdbv.h> |
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/**
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* @brief EEPROM driver.
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*/
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extern AT24C01BNDriver moduleLldEeprom;
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/**
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* @brief LED PWM driver.
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*/
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extern TLC5947Driver moduleLldLedPwm;
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/**
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* @brief Power switch driver for the laser supply power.
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*/
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extern TPS2051BDriver moduleLldPowerSwitchLaser;
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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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#include <ut_alld_at24c01bn-sh-b.h> |
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#include <ut_alld_tlc5947.h> |
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#include <ut_alld_tps2051bdbv.h> |
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/**
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* @brief EEPROM unit test object.
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*/
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extern aos_unittest_t moduleUtAlldAt24c01bn;
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/**
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* @brief LED PWM driver unit test object.
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*/
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extern aos_unittest_t moduleUtAlldTlc5947;
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/**
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* @brief Current-limited power switch (Laser output)
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*/
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extern aos_unittest_t moduleUtAlldTps2051bdbv;
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/** @} */
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#endif /* _AMIROOS_MODULE_H_ */ |