AMiRo-OS

/*

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 DiWheelDrive module.

 *

 * @addtogroup diwheeldrive_module

 * @{

 */

#include "module.h"

/*===========================================================================*/

/**

 * @name Module specific functions

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

/*===========================================================================*/

CANConfig moduleHalCanConfig = {

  /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,

  /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),

};

I2CConfig moduleHalI2cCompassConfig = {

  /* I²C mode   */ OPMODE_I2C,

  /* frequency  */ 400000,

  /* duty cycle */ FAST_DUTY_CYCLE_2,

};

I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {

  /* I²C mode   */ OPMODE_I2C,

  /* frequency  */ 400000,

  /* duty cycle */ FAST_DUTY_CYCLE_2,

};

PWMConfig moduleHalPwmDriveConfig = {

  /* frequency              */ 7200000,

  /* period                 */ 360,

  /* callback               */ NULL,

  /* channel configurations */ {

    /* channel 0              */ {

      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,

      /* callback               */ NULL

    },

    /* channel 1              */ {

      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,

      /* callback               */ NULL

    },

    /* channel 2              */ {

      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,

      /* callback               */ NULL

    },

    /* channel 3              */ {

      /* mode                   */ PWM_OUTPUT_ACTIVE_HIGH,

      /* callback               */ NULL

    },

  },

  /* TIM CR2 register       */ 0,

#if (STM32_PWM_USE_ADVANCED == TRUE)

  /* TIM BDTR register      */ 0,

#endif /* (STM32_PWM_USE_ADVANCED == TRUE) */

  /* TIM DIER register      */ 0

};

QEIConfig moduleHalQeiConfig = {

  /* mode           */ QEI_COUNT_BOTH,

  /* channel config */ {

    /* channel 0 */ {

      /* input mode */ QEI_INPUT_NONINVERTED,

    },

    /* channel 1 */ {

      /* input mode */ QEI_INPUT_NONINVERTED,

    },

  },

  /* encoder range  */  0x10000u,

};

SerialConfig moduleHalProgIfConfig = {

  /* bit rate */ 115200,

  /* CR1      */ 0,

  /* CR1      */ 0,

  /* CR1      */ 0,

};

SPIConfig moduleHalSpiAccelerometerConfig = {

  /* circular buffer mode         */ false,

  /* callback function pointer    */ NULL,

  /* chip select line port        */ PAL_PORT(LINE_ACCEL_SS_N),

  /* chip select line pad number  */ PAL_PAD(LINE_ACCEL_SS_N),

  /* CR1                          */ SPI_CR1_BR_0,

  /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,

};

SPIConfig moduleHalSpiGyroscopeConfig = {

  /* circular buffer mode         */ false,

  /* callback function pointer    */ NULL,

  /* chip select line port        */ PAL_PORT(LINE_GYRO_SS_N),

  /* chip select line pad number  */ PAL_PAD(LINE_GYRO_SS_N),

  /* CR1                          */ SPI_CR1_BR_0,

  /* CR2                          */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,

};

/** @} */

/*===========================================================================*/

/**

 * @name GPIO definitions

 * @{

 */

/*===========================================================================*/

/**

 * @brief   LED output signal GPIO.

 */

static apalGpio_t _gpioLed = {

  /* line */ LINE_LED,

};

ROMCONST apalControlGpio_t moduleGpioLed = {

  /* GPIO */ &_gpioLed,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   POWER_EN output signal GPIO.

 */

static apalGpio_t _gpioPowerEn = {

  /* line */ LINE_POWER_EN,

};

ROMCONST apalControlGpio_t moduleGpioPowerEn = {

  /* GPIO */ &_gpioPowerEn,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   COMPASS_DRDY output signal GPIO.

 */

static apalGpio_t _gpioCompassDrdy = {

  /* line */ LINE_COMPASS_DRDY,

};

ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {

  /* GPIO */ &_gpioCompassDrdy,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ L3G4200D_LLD_INT_EDGE,

  },

};

/**

 * @brief   IR_INT input signal GPIO.

 */

static apalGpio_t _gpioIrInt = {

  /* line */ LINE_IR_INT,

};

ROMCONST apalControlGpio_t moduleGpioIrInt = {

  /* GPIO */ &_gpioIrInt,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ VCNL4020_LLD_INT_EDGE,

  },

};

/**

 * @brief   GYRO_DRDY input signal GPIO.

 */

static apalGpio_t _gpioGyroDrdy = {

  /* line */ LINE_GYRO_DRDY,

};

ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {

  /* GPIO */ &_gpioGyroDrdy,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ L3G4200D_LLD_INT_EDGE,

  },

};

/**

 * @brief   SYS_UART_UP bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysUartUp = {

  /* line */ LINE_SYS_UART_UP,

};

ROMCONST apalControlGpio_t moduleGpioSysUartUp = {

  /* GPIO */ &_gpioSysUartUp,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   ACCEL_INT input signal GPIO.

 */

static apalGpio_t _gpioAccelInt = {

  /* line */ LINE_ACCEL_INT_N,

};

ROMCONST apalControlGpio_t moduleGpioAccelInt = {

  /* GPIO */ &_gpioAccelInt,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ LIS331DLH_LLD_INT_EDGE,

  },

};

/**

 * @brief   SYS_SNYC bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysSync = {

  /* line */ LINE_SYS_INT_N,

};

ROMCONST apalControlGpio_t  moduleGpioSysSync = {

  /* GPIO */ &_gpioSysSync,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   PATH_DCSTAT input signal GPIO.

 */

static apalGpio_t _gpioPathDcStat = {

  /* line */ LINE_PATH_DCSTAT,

};

ROMCONST apalControlGpio_t moduleGpioPathDcStat = {

  /* GPIO */ &_gpioPathDcStat,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ LTC4412_LLD_STAT_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   PATH_DCEN output signal GPIO.

 */

static apalGpio_t _gpioPathDcEn = {

  /* line */ LINE_PATH_DCEN,

};

ROMCONST apalControlGpio_t moduleGpioPathDcEn = {

  /* GPIO */ &_gpioPathDcEn,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ LTC4412_LLD_CTRL_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   SYS_PD bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysPd = {

  /* line */ LINE_SYS_PD_N,

};

ROMCONST apalControlGpio_t moduleGpioSysPd = {

  /* GPIO */ &_gpioSysPd,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   SYS_REG_EN input signal GPIO.

 */

static apalGpio_t _gpioSysRegEn = {

  /* line */ LINE_SYS_REG_EN,

};

ROMCONST apalControlGpio_t moduleGpioSysRegEn = {

  /* GPIO */ &_gpioSysRegEn,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   SYS_WARMRST bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysWarmrst = {

  /* line */ LINE_SYS_WARMRST_N,

};

ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {

  /* GPIO */ &_gpioSysWarmrst,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/** @} */

/*===========================================================================*/

/**

 * @name AMiRo-OS core configurations

 * @{

 */

/*===========================================================================*/

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

ROMCONST char* moduleShellPrompt = "DiWheelDrive";

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */

/** @} */

/*===========================================================================*/

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name Low-level drivers

 * @{

 */

/*===========================================================================*/

A3906Driver moduleLldMotors = {

  /* power enable GPIO  */ &moduleGpioPowerEn,

};

AT24C01BDriver moduleLldEeprom = {

  /* I2C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,

  /* I²C address  */ AT24C01B_LLD_I2C_ADDR_FIXED,

};

HMC5883LDriver moduleLldCompass = {

  /* I²C Driver */ &MODULE_HAL_I2C_COMPASS,

};

INA219Driver moduleLldPowerMonitorVdd = {

  /* I2C Driver       */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,

  /* I²C address      */ INA219_LLD_I2C_ADDR_FIXED,

  /* current LSB (uA) */ 0x00u,

  /* configuration    */ NULL,

};

L3G4200DDriver moduleLldGyroscope = {

  /* SPI Driver */ &MODULE_HAL_SPI_MOTION,

};

LEDDriver moduleLldStatusLed = {

  /* LED enable Gpio */ &moduleGpioLed,

};

LIS331DLHDriver moduleLldAccelerometer = {

  /* SPI Driver */ &MODULE_HAL_SPI_MOTION,

};

LTC4412Driver moduleLldPowerPathController = {

  /* Control GPIO */ &moduleGpioPathDcEn,

  /* Status GPIO  */ &moduleGpioPathDcStat,

};

PCA9544ADriver moduleLldI2cMultiplexer = {

  /* I²C driver   */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,

  /* I²C address  */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,

};

TPS6211xDriver moduleLldStepDownConverterVdrive = {

  /* Power enable Gpio */ &moduleGpioPowerEn,

};

VCNL4020Driver moduleLldProximity = {

  /* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,

};

/** @} */

/*===========================================================================*/

/**

 * @name Tests

 * @{

 */

/*===========================================================================*/

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/*

 * A3906 (motor driver)

 */

#include <module_test_A3906.h>

static int _testA3906ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestA3906ShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestA3906ShellCmd, "test:MotorDriver", _testA3906ShellCmdCb);

/*

 * AT24C01BN-SH-B (EEPROM)

 */

#include <module_test_AT24C01B.h>

static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestAt24c01bShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);

/*

 * HMC5883L (compass)

 */

#include <module_test_HMC5883L.h>

static int _testHmc5883lShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestHmc5883lShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestHmc5883lShellCmd, "test:Compass", _testHmc5883lShellCmdCb);

/*

 * INA219 (power monitor)

 */

#include <module_test_INA219.h>

static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestIna219ShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);

/*

 * L3G4200D (gyroscope)

 */

#include <module_test_L3G4200D.h>

static int _testL3g4200dShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestL3g4200dShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestL3g4200dShellCmd, "test:Gyroscope", _testL3g4200dShellCmdCb);

/*

 * Status LED

 */

#include <module_test_LED.h>

static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestLedShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);

/*

 * LIS331DLH (accelerometer)

 */

#include <module_test_LIS331DLH.h>

static int _testLis331dlhShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestLis331dlhShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestLis331dlhShellCmd, "test:Accelerometer", _testLis331dlhShellCmdCb);

/*

 * LTC4412 (power path controller)

 */

#include <module_test_LTC4412.h>

static int _testLtc4412ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestLtc4412ShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestLtc4412ShellCmd, "test:PowerPathController", _testLtc4412ShellCmdCb);

/*

 * PCA9544A (I2C multiplexer)

 */

#include <module_test_PCA9544A.h>

static int _testPca9544aShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestPca9544aShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestPca9544aShellCmd, "test:I2CMultiplexer", _testPca9544aShellCmdCb);

/*

 * TPS62113 (step-down converter)

 */

#include <module_test_TPS6211x.h>

static int _testTps6211xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestTps6211xShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestTps62113ShellCmd, "test:StepDownConverter", _testTps6211xShellCmdCb);

/*

 * VCNL4020 (proximity sensor)

 */

#include <module_test_VCNL4020.h>

static int _testVcnl4020ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestVcnl4020ShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestVcnl4020ShellCmd, "test:ProximitySensor", _testVcnl4020ShellCmdCb);

/*

 * entire module

 */

static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  (void)argc;

  (void)argv;

  int status = AOS_OK;

  char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};

  aos_testresult_t result_test = {0, 0};

  aos_testresult_t result_total = {0, 0};

  /* A3906 (motor driver) */

  status |= moduleTestA3906ShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* AT24C01B (EEPROM) */

  status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* HMC5883L (compass) */

  status |= moduleTestHmc5883lShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* INA219 (power monitor) */

  status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* L3G4200D (gyroscope) */

  status |= moduleTestL3g4200dShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* Status LED */

  status |= moduleTestLedShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* LIS331DLH (accelerometer) */

  status |= moduleTestLis331dlhShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* LTC4412 (power path controller) */

  status |= moduleTestLtc4412ShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* PCA9544A (I2C multiplexer) */

  status |= moduleTestPca9544aShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* TPS62113 (step-down converter) */

  status |= moduleTestTps6211xShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* VCNL4020 (proximity sensor) */

  // wheel left

  targv[1] = "-wl";

  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  // front left

  targv[1] = "-fl";

  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  // front right

  targv[1] = "-fr";

  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  // wheel right

  targv[1] = "-wr";

  status |= moduleTestVcnl4020ShellCb(stream, 2, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  targv[1] = "";

  // print total result

  chprintf(stream, "\n");

  aosTestResultPrintSummary(stream, &result_total, "entire module");

  return status;

}

AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/** @} */

/** @} */