Statistics
| Branch: | Tag: | Revision:

amiro-os / modules / LightRing_1-0 / module.h @ 7da800ab

History | View | Annotate | Download (10.6 KB)

1 e545e620 Thomas Schöpping
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3 84f0ce9e Thomas Schöpping
Copyright (C) 2016..2019  Thomas Schöpping et al.
4 e545e620 Thomas Schöpping

5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU General Public License as published by
7
the Free Software Foundation, either version 3 of the License, or
8
(at your option) any later version.
9

10
This program is distributed in the hope that it will be useful,
11
but WITHOUT ANY WARRANTY; without even the implied warranty of
12
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13
GNU General Public License for more details.
14

15
You should have received a copy of the GNU General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18
19 7da800ab Thomas Schöpping
/**
20
 * @file
21
 * @brief   Structures and constant for the LightRing module.
22
 *
23
 * @addtogroup lightring_module
24
 * @{
25
 */
26
27 6ff06bbf Thomas Schöpping
#ifndef AMIROOS_MODULE_H
28
#define AMIROOS_MODULE_H
29 e545e620 Thomas Schöpping
30 e2d7143f Thomas Schöpping
#include <amiroos.h>
31
32 e545e620 Thomas Schöpping
/*===========================================================================*/
33
/**
34
 * @name Module specific functions
35
 * @{
36
 */
37
/*===========================================================================*/
38
39
/** @} */
40
41
/*===========================================================================*/
42
/**
43
 * @name ChibiOS/HAL configuration
44
 * @{
45
 */
46
/*===========================================================================*/
47
48
/**
49
 * @brief   CAN driver to use.
50
 */
51
#define MODULE_HAL_CAN                          CAND1
52
53
/**
54
 * @brief   Configuration for the CAN driver.
55
 */
56
extern CANConfig moduleHalCanConfig;
57
58
/**
59
 * @brief   I2C driver to access the EEPROM.
60
 */
61
#define MODULE_HAL_I2C_EEPROM                   I2CD2
62
63
/**
64
 * @brief   Configuration for the EEPROM I2C driver.
65
 */
66
extern I2CConfig moduleHalI2cEepromConfig;
67
68
/**
69
 * @brief   Serial driver of the programmer interface.
70
 */
71
#define MODULE_HAL_PROGIF                       SD1
72
73
/**
74
 * @brief   Configuration for the programmer serial interface driver.
75
 */
76
extern SerialConfig moduleHalProgIfConfig;
77
78
/**
79
 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
80
 */
81
#define MODULE_HAL_SPI_LIGHT                    SPID1
82
83
/**
84 02c29a8f Thomas Schöpping
 * @brief   SPI interface driver for the wireless transceiver.
85 e545e620 Thomas Schöpping
 */
86 02c29a8f Thomas Schöpping
#define MODULE_HAL_SPI_WL                       SPID2
87 e545e620 Thomas Schöpping
88 8399aeae Thomas Schöpping
/**
89 e05848a6 Robin Ewers
 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
90 22be62dc Thomas Schöpping
 */
91 e05848a6 Robin Ewers
extern SPIConfig moduleHalSpiLightConfig;
92 22be62dc Thomas Schöpping
93
/**
94 02c29a8f Thomas Schöpping
 * @brief   Configuration for the SPI interface driver to communicate with the wireless transceiver.
95 22be62dc Thomas Schöpping
 */
96 02c29a8f Thomas Schöpping
extern SPIConfig moduleHalSpiWlConfig;
97 22be62dc Thomas Schöpping
98
/**
99 8399aeae Thomas Schöpping
 * @brief   Real-Time Clock driver.
100
 */
101
#define MODULE_HAL_RTC                          RTCD1
102
103 e545e620 Thomas Schöpping
/** @} */
104
105
/*===========================================================================*/
106
/**
107
 * @name GPIO definitions
108
 * @{
109
 */
110
/*===========================================================================*/
111
112
/**
113
 * @brief   LIGHT_BANK output signal GPIO.
114
 */
115 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
116 e545e620 Thomas Schöpping
117
/**
118
 * @brief   LASER_EN output signal GPIO.
119
 */
120 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
121 e545e620 Thomas Schöpping
122
/**
123
 * @brief   LASER_OC input signal GPIO.
124
 */
125 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
126 e545e620 Thomas Schöpping
127
/**
128
 * @brief   SYS_UART_DN bidirectional signal GPIO.
129
 */
130 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
131 e545e620 Thomas Schöpping
132
/**
133
 * @brief   WL_GDO2 input signal GPIO.
134
 */
135 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
136 e545e620 Thomas Schöpping
137
/**
138
 * @brief   WL_GDO0 input signal GPIO.
139
 */
140 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
141 e545e620 Thomas Schöpping
142
/**
143
 * @brief   LIGHT_XLAT output signal GPIO.
144
 */
145 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
146 e545e620 Thomas Schöpping
147
/**
148
 * @brief   SYS_PD bidirectional signal GPIO.
149
 */
150 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioSysPd;
151 e545e620 Thomas Schöpping
152
/**
153
 * @brief   SYS_SYNC bidirectional signal GPIO.
154
 */
155 acc97cbf Thomas Schöpping
extern ROMCONST apalControlGpio_t moduleGpioSysSync;
156 e545e620 Thomas Schöpping
157
/** @} */
158
159
/*===========================================================================*/
160
/**
161
 * @name AMiRo-OS core configurations
162
 * @{
163
 */
164
/*===========================================================================*/
165
166
/**
167
 * @brief   Event flag to be set on a LASER_OC interrupt.
168
 */
169 dada2194 Thomas Schöpping
#define MODULE_OS_IOEVENTFLAGS_LASEROC          AOS_IOEVENT_FLAG(GPIOB_LASER_OC_N)
170 e545e620 Thomas Schöpping
171
/**
172
 * @brief   Event flag to be set on a SYS_UART_DN interrupt.
173
 */
174 dada2194 Thomas Schöpping
#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        AOS_IOEVENT_FLAG(GPIOB_SYS_UART_DN)
175 e545e620 Thomas Schöpping
176
/**
177
 * @brief   Event flag to be set on a WL_GDO2 interrupt.
178
 */
179 dada2194 Thomas Schöpping
#define MODULE_OS_IOEVENTFLAGS_WLGDO2           AOS_IOEVENT_FLAG(GPIOB_WL_GDO2)
180 e545e620 Thomas Schöpping
181
/**
182
 * @brief   Event flag to be set on a WL_GDO0 interrupt.
183
 */
184 dada2194 Thomas Schöpping
#define MODULE_OS_IOEVENTFLAGS_WLGDO0           AOS_IOEVENT_FLAG(GPIOB_WL_GDO0)
185 e545e620 Thomas Schöpping
186
/**
187
 * @brief   Event flag to be set on a SYS_PD interrupt.
188
 */
189 dada2194 Thomas Schöpping
#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
190 e545e620 Thomas Schöpping
191
/**
192
 * @brief   Event flag to be set on a SYS_SYNC interrupt.
193
 */
194 dada2194 Thomas Schöpping
#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(GPIOD_SYS_INT_N)
195 e545e620 Thomas Schöpping
196 2dd2e257 Thomas Schöpping
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
197 e545e620 Thomas Schöpping
/**
198
 * @brief   Shell prompt text.
199
 */
200 acc97cbf Thomas Schöpping
extern ROMCONST char* moduleShellPrompt;
201 6b53f6bf Thomas Schöpping
#endif
202 e545e620 Thomas Schöpping
203
/**
204 1e5f7648 Thomas Schöpping
 * @brief   Interrupt initialization macro.
205
 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
206
 */
207
#define MODULE_INIT_INTERRUPTS() {                                            \
208
  /* LASER_OC */                                                              \
209
  palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \
210
  palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge));  \
211
  /* WL_GDO2 */                                                               \
212 02c29a8f Thomas Schöpping
  palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad);  \
213 1e5f7648 Thomas Schöpping
  palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge));   \
214
  /* WL_GDO0 */                                                               \
215 02c29a8f Thomas Schöpping
  palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad);  \
216 1e5f7648 Thomas Schöpping
  /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/   \
217
}
218
219
/**
220 e545e620 Thomas Schöpping
 * @brief   Unit test initialization hook.
221
 */
222
#define MODULE_INIT_TESTS() {                                                 \
223
  /* add unit-test shell commands */                                          \
224 6b53f6bf Thomas Schöpping
  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd);            \
225
  aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \
226
  aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd);          \
227 e545e620 Thomas Schöpping
}
228
229
/**
230
 * @brief   Periphery communication interfaces initialization hook.
231
 */
232
#define MODULE_INIT_PERIPHERY_COMM() {                                        \
233
  /* serial driver */                                                         \
234
  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
235
  /* I2C */                                                                   \
236
  moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \
237
  moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
238
  i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \
239
  /* SPI */                                                                   \
240
  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
241 02c29a8f Thomas Schöpping
  spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig);                        \
242 e545e620 Thomas Schöpping
}
243
244
/**
245
 * @brief   Periphery communication interface deinitialization hook.
246
 */
247
#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
248
  /* SPI */                                                                   \
249
  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
250 02c29a8f Thomas Schöpping
  spiStop(&MODULE_HAL_SPI_WL);                                                \
251 e545e620 Thomas Schöpping
  /* I2C */                                                                   \
252
  i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \
253
  /* don't stop the serial driver so messages can still be printed */         \
254
}
255
256
/** @} */
257
258
/*===========================================================================*/
259
/**
260 6b53f6bf Thomas Schöpping
 * @name Startup Shutdown Synchronization Protocol (SSSP)
261
 * @{
262
 */
263
/*===========================================================================*/
264
265
/**
266
 * @brief   PD signal GPIO.
267
 */
268 1e5f7648 Thomas Schöpping
#define moduleSsspGpioPd                        moduleGpioSysPd
269 6b53f6bf Thomas Schöpping
270
/**
271
 * @brief   SYNC signal GPIO.
272
 */
273 1e5f7648 Thomas Schöpping
#define moduleSsspGpioSync                      moduleGpioSysSync
274 6b53f6bf Thomas Schöpping
275
/**
276 933df08e Thomas Schöpping
 * @brief   DN signal GPIO.
277
 */
278 1e5f7648 Thomas Schöpping
#define moduleSsspGpioDn                        moduleGpioSysUartDn
279 933df08e Thomas Schöpping
280
/**
281 6b53f6bf Thomas Schöpping
 * @brief   Event flags for PD signal events.
282
 */
283
#define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
284
285
/**
286 933df08e Thomas Schöpping
 * @brief   Event flags for SYNC signal events.
287 6b53f6bf Thomas Schöpping
 */
288
#define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
289
290
/**
291 933df08e Thomas Schöpping
 * @brief   Event flags for DN signal events.
292
 */
293
#define MODULE_SSSP_EVENTFLAGS_DN               MODULE_OS_IOEVENTFLAGS_SYSUARTDN
294
295 6b53f6bf Thomas Schöpping
/** @} */
296
297
/*===========================================================================*/
298
/**
299 e545e620 Thomas Schöpping
 * @name Low-level drivers
300
 * @{
301
 */
302
/*===========================================================================*/
303
#include <alld_at24c01bn-sh-b.h>
304
#include <alld_tlc5947.h>
305
#include <alld_tps2051bdbv.h>
306
307
/**
308
 * @brief   EEPROM driver.
309
 */
310
extern AT24C01BNDriver moduleLldEeprom;
311
312
/**
313
 * @brief   LED PWM driver.
314
 */
315
extern TLC5947Driver moduleLldLedPwm;
316
317
/**
318
 * @brief   Power switch driver for the laser supply power.
319
 */
320
extern TPS2051BDriver moduleLldPowerSwitchLaser;
321
322
/** @} */
323
324
/*===========================================================================*/
325
/**
326
 * @name Unit tests (UT)
327
 * @{
328
 */
329
/*===========================================================================*/
330
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
331
#include <ut_alld_at24c01bn-sh-b.h>
332
#include <ut_alld_tlc5947.h>
333
#include <ut_alld_tps2051bdbv.h>
334
335
/**
336
 * @brief   EEPROM unit test object.
337
 */
338
extern aos_unittest_t moduleUtAlldAt24c01bn;
339
340
/**
341
 * @brief   LED PWM driver unit test object.
342
 */
343
extern aos_unittest_t moduleUtAlldTlc5947;
344
345
/**
346
 * @brief   Current-limited power switch (Laser output)
347
 */
348
extern aos_unittest_t moduleUtAlldTps2051bdbv;
349
350 e05848a6 Robin Ewers
351 e545e620 Thomas Schöpping
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
352
353
/** @} */
354
355 6ff06bbf Thomas Schöpping
#endif /* AMIROOS_MODULE_H */
356 7da800ab Thomas Schöpping
357
/** @} */