amiro-os / modules / LightRing_1-0 / module.h @ 7da800ab
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 7da800ab | Thomas Schöpping | /**
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20 | * @file
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21 | * @brief Structures and constant for the LightRing module.
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22 | *
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23 | * @addtogroup lightring_module
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24 | * @{
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25 | */
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26 | |||
27 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_MODULE_H
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28 | #define AMIROOS_MODULE_H
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29 | e545e620 | Thomas Schöpping | |
30 | e2d7143f | Thomas Schöpping | #include <amiroos.h> |
31 | |||
32 | e545e620 | Thomas Schöpping | /*===========================================================================*/
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33 | /**
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34 | * @name Module specific functions
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35 | * @{
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36 | */
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37 | /*===========================================================================*/
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38 | |||
39 | /** @} */
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40 | |||
41 | /*===========================================================================*/
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42 | /**
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43 | * @name ChibiOS/HAL configuration
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44 | * @{
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45 | */
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46 | /*===========================================================================*/
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47 | |||
48 | /**
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49 | * @brief CAN driver to use.
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50 | */
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51 | #define MODULE_HAL_CAN CAND1
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52 | |||
53 | /**
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54 | * @brief Configuration for the CAN driver.
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55 | */
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56 | extern CANConfig moduleHalCanConfig;
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57 | |||
58 | /**
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59 | * @brief I2C driver to access the EEPROM.
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60 | */
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61 | #define MODULE_HAL_I2C_EEPROM I2CD2
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62 | |||
63 | /**
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64 | * @brief Configuration for the EEPROM I2C driver.
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65 | */
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66 | extern I2CConfig moduleHalI2cEepromConfig;
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67 | |||
68 | /**
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69 | * @brief Serial driver of the programmer interface.
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70 | */
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71 | #define MODULE_HAL_PROGIF SD1
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72 | |||
73 | /**
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74 | * @brief Configuration for the programmer serial interface driver.
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75 | */
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76 | extern SerialConfig moduleHalProgIfConfig;
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77 | |||
78 | /**
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79 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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80 | */
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81 | #define MODULE_HAL_SPI_LIGHT SPID1
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82 | |||
83 | /**
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84 | 02c29a8f | Thomas Schöpping | * @brief SPI interface driver for the wireless transceiver.
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85 | e545e620 | Thomas Schöpping | */
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86 | 02c29a8f | Thomas Schöpping | #define MODULE_HAL_SPI_WL SPID2
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87 | e545e620 | Thomas Schöpping | |
88 | 8399aeae | Thomas Schöpping | /**
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89 | e05848a6 | Robin Ewers | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
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90 | 22be62dc | Thomas Schöpping | */
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91 | e05848a6 | Robin Ewers | extern SPIConfig moduleHalSpiLightConfig;
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92 | 22be62dc | Thomas Schöpping | |
93 | /**
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94 | 02c29a8f | Thomas Schöpping | * @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
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95 | 22be62dc | Thomas Schöpping | */
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96 | 02c29a8f | Thomas Schöpping | extern SPIConfig moduleHalSpiWlConfig;
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97 | 22be62dc | Thomas Schöpping | |
98 | /**
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99 | 8399aeae | Thomas Schöpping | * @brief Real-Time Clock driver.
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100 | */
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101 | #define MODULE_HAL_RTC RTCD1
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102 | |||
103 | e545e620 | Thomas Schöpping | /** @} */
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104 | |||
105 | /*===========================================================================*/
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106 | /**
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107 | * @name GPIO definitions
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108 | * @{
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109 | */
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110 | /*===========================================================================*/
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111 | |||
112 | /**
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113 | * @brief LIGHT_BANK output signal GPIO.
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114 | */
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115 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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116 | e545e620 | Thomas Schöpping | |
117 | /**
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118 | * @brief LASER_EN output signal GPIO.
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119 | */
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120 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
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121 | e545e620 | Thomas Schöpping | |
122 | /**
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123 | * @brief LASER_OC input signal GPIO.
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124 | */
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125 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
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126 | e545e620 | Thomas Schöpping | |
127 | /**
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128 | * @brief SYS_UART_DN bidirectional signal GPIO.
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129 | */
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130 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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131 | e545e620 | Thomas Schöpping | |
132 | /**
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133 | * @brief WL_GDO2 input signal GPIO.
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134 | */
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135 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
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136 | e545e620 | Thomas Schöpping | |
137 | /**
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138 | * @brief WL_GDO0 input signal GPIO.
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139 | */
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140 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
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141 | e545e620 | Thomas Schöpping | |
142 | /**
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143 | * @brief LIGHT_XLAT output signal GPIO.
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144 | */
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145 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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146 | e545e620 | Thomas Schöpping | |
147 | /**
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148 | * @brief SYS_PD bidirectional signal GPIO.
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149 | */
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150 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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151 | e545e620 | Thomas Schöpping | |
152 | /**
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153 | * @brief SYS_SYNC bidirectional signal GPIO.
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154 | */
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155 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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156 | e545e620 | Thomas Schöpping | |
157 | /** @} */
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158 | |||
159 | /*===========================================================================*/
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160 | /**
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161 | * @name AMiRo-OS core configurations
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162 | * @{
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163 | */
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164 | /*===========================================================================*/
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165 | |||
166 | /**
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167 | * @brief Event flag to be set on a LASER_OC interrupt.
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168 | */
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169 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_LASEROC AOS_IOEVENT_FLAG(GPIOB_LASER_OC_N)
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170 | e545e620 | Thomas Schöpping | |
171 | /**
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172 | * @brief Event flag to be set on a SYS_UART_DN interrupt.
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173 | */
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174 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTDN AOS_IOEVENT_FLAG(GPIOB_SYS_UART_DN)
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175 | e545e620 | Thomas Schöpping | |
176 | /**
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177 | * @brief Event flag to be set on a WL_GDO2 interrupt.
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178 | */
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179 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO2 AOS_IOEVENT_FLAG(GPIOB_WL_GDO2)
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180 | e545e620 | Thomas Schöpping | |
181 | /**
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182 | * @brief Event flag to be set on a WL_GDO0 interrupt.
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183 | */
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184 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_WLGDO0 AOS_IOEVENT_FLAG(GPIOB_WL_GDO0)
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185 | e545e620 | Thomas Schöpping | |
186 | /**
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187 | * @brief Event flag to be set on a SYS_PD interrupt.
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188 | */
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189 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
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190 | e545e620 | Thomas Schöpping | |
191 | /**
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192 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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193 | */
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194 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(GPIOD_SYS_INT_N)
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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 | /**
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198 | * @brief Shell prompt text.
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199 | */
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200 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
201 | 6b53f6bf | Thomas Schöpping | #endif
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202 | e545e620 | Thomas Schöpping | |
203 | /**
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204 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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205 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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206 | */
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207 | #define MODULE_INIT_INTERRUPTS() { \
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208 | /* LASER_OC */ \
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209 | palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \ |
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210 | palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \ |
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211 | /* WL_GDO2 */ \
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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 */ \
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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*/ \
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217 | } |
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218 | |||
219 | /**
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220 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
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221 | */
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222 | #define MODULE_INIT_TESTS() { \
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223 | /* add unit-test shell commands */ \
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224 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
225 | aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
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226 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
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227 | e545e620 | Thomas Schöpping | } |
228 | |||
229 | /**
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230 | * @brief Periphery communication interfaces initialization hook.
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231 | */
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232 | #define MODULE_INIT_PERIPHERY_COMM() { \
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233 | /* serial driver */ \
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234 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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235 | /* I2C */ \
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236 | moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
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237 | moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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238 | i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
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239 | /* SPI */ \
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240 | spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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241 | 02c29a8f | Thomas Schöpping | spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig); \ |
242 | e545e620 | Thomas Schöpping | } |
243 | |||
244 | /**
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245 | * @brief Periphery communication interface deinitialization hook.
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246 | */
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247 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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248 | /* SPI */ \
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249 | spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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250 | 02c29a8f | Thomas Schöpping | spiStop(&MODULE_HAL_SPI_WL); \ |
251 | e545e620 | Thomas Schöpping | /* I2C */ \
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252 | i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
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253 | /* don't stop the serial driver so messages can still be printed */ \
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254 | } |
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255 | |||
256 | /** @} */
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257 | |||
258 | /*===========================================================================*/
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259 | /**
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260 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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261 | * @{
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262 | */
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263 | /*===========================================================================*/
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264 | |||
265 | /**
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266 | * @brief PD signal GPIO.
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267 | */
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268 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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269 | 6b53f6bf | Thomas Schöpping | |
270 | /**
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271 | * @brief SYNC signal GPIO.
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272 | */
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273 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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274 | 6b53f6bf | Thomas Schöpping | |
275 | /**
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276 | 933df08e | Thomas Schöpping | * @brief DN signal GPIO.
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277 | */
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278 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioDn moduleGpioSysUartDn
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279 | 933df08e | Thomas Schöpping | |
280 | /**
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281 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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282 | */
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283 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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284 | |||
285 | /**
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286 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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287 | 6b53f6bf | Thomas Schöpping | */
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288 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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289 | |||
290 | /**
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291 | 933df08e | Thomas Schöpping | * @brief Event flags for DN signal events.
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292 | */
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293 | #define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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294 | |||
295 | 6b53f6bf | Thomas Schöpping | /** @} */
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296 | |||
297 | /*===========================================================================*/
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298 | /**
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299 | e545e620 | Thomas Schöpping | * @name Low-level drivers
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300 | * @{
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301 | */
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302 | /*===========================================================================*/
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303 | #include <alld_at24c01bn-sh-b.h> |
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304 | #include <alld_tlc5947.h> |
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305 | #include <alld_tps2051bdbv.h> |
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306 | |||
307 | /**
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308 | * @brief EEPROM driver.
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309 | */
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310 | extern AT24C01BNDriver moduleLldEeprom;
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311 | |||
312 | /**
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313 | * @brief LED PWM driver.
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314 | */
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315 | extern TLC5947Driver moduleLldLedPwm;
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316 | |||
317 | /**
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318 | * @brief Power switch driver for the laser supply power.
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319 | */
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320 | extern TPS2051BDriver moduleLldPowerSwitchLaser;
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321 | |||
322 | /** @} */
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323 | |||
324 | /*===========================================================================*/
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325 | /**
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326 | * @name Unit tests (UT)
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327 | * @{
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328 | */
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329 | /*===========================================================================*/
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330 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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331 | #include <ut_alld_at24c01bn-sh-b.h> |
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332 | #include <ut_alld_tlc5947.h> |
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333 | #include <ut_alld_tps2051bdbv.h> |
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334 | |||
335 | /**
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336 | * @brief EEPROM unit test object.
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337 | */
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338 | extern aos_unittest_t moduleUtAlldAt24c01bn;
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339 | |||
340 | /**
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341 | * @brief LED PWM driver unit test object.
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342 | */
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343 | extern aos_unittest_t moduleUtAlldTlc5947;
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344 | |||
345 | /**
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346 | * @brief Current-limited power switch (Laser output)
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347 | */
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348 | extern aos_unittest_t moduleUtAlldTps2051bdbv;
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349 | |||
350 | e05848a6 | Robin Ewers | |
351 | e545e620 | Thomas Schöpping | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
352 | |||
353 | /** @} */
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354 | |||
355 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_MODULE_H */ |
356 | 7da800ab | Thomas Schöpping | |
357 | /** @} */ |