amiro-os / modules / DiWheelDrive_1-1 / module.h @ 846b80db
History | View | Annotate | Download (19.393 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 | 53710ca3 | Marc Rothmann | /**
|
| 20 | 37bacabf | Thomas Schöpping | * @file
|
| 21 | 53710ca3 | Marc Rothmann | * @brief Structures and constant for the DiWheelDrive module.
|
| 22 | *
|
||
| 23 | * @addtogroup diwheeldrive_module
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | e545e620 | Thomas Schöpping | #ifndef _AMIROOS_MODULE_H_
|
| 28 | #define _AMIROOS_MODULE_H_
|
||
| 29 | |||
| 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 compass.
|
||
| 60 | */
|
||
| 61 | #define MODULE_HAL_I2C_COMPASS I2CD1
|
||
| 62 | |||
| 63 | /**
|
||
| 64 | * @brief Configuration for the compass I2C driver.
|
||
| 65 | */
|
||
| 66 | extern I2CConfig moduleHalI2cCompassConfig;
|
||
| 67 | |||
| 68 | /**
|
||
| 69 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
|
||
| 70 | */
|
||
| 71 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
|
||
| 72 | |||
| 73 | /**
|
||
| 74 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
|
||
| 75 | */
|
||
| 76 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
|
||
| 77 | |||
| 78 | /**
|
||
| 79 | * @brief PWM driver to use.
|
||
| 80 | */
|
||
| 81 | #define MODULE_HAL_PWM_DRIVE PWMD2
|
||
| 82 | |||
| 83 | /**
|
||
| 84 | * @brief Configuration for the PWM driver.
|
||
| 85 | */
|
||
| 86 | extern PWMConfig moduleHalPwmDriveConfig;
|
||
| 87 | |||
| 88 | /**
|
||
| 89 | * @brief Drive PWM channel for the left wheel forward direction.
|
||
| 90 | */
|
||
| 91 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
| 92 | e545e620 | Thomas Schöpping | |
| 93 | /**
|
||
| 94 | * @brief Drive PWM channel for the left wheel backward direction.
|
||
| 95 | */
|
||
| 96 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
| 97 | e545e620 | Thomas Schöpping | |
| 98 | /**
|
||
| 99 | * @brief Drive PWM channel for the right wheel forward direction.
|
||
| 100 | */
|
||
| 101 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
| 102 | e545e620 | Thomas Schöpping | |
| 103 | /**
|
||
| 104 | * @brief Drive PWM channel for the right wheel backward direction.
|
||
| 105 | */
|
||
| 106 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
| 107 | e545e620 | Thomas Schöpping | |
| 108 | /**
|
||
| 109 | * @brief Quadrature encooder for the left wheel.
|
||
| 110 | */
|
||
| 111 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
|
||
| 112 | |||
| 113 | /**
|
||
| 114 | * @brief Quadrature encooder for the right wheel.
|
||
| 115 | */
|
||
| 116 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
|
||
| 117 | |||
| 118 | /**
|
||
| 119 | * @brief Configuration for both quadrature encoders.
|
||
| 120 | */
|
||
| 121 | extern QEIConfig moduleHalQeiConfig;
|
||
| 122 | |||
| 123 | /**
|
||
| 124 | * @brief QEI increments per wheel revolution.
|
||
| 125 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
|
||
| 126 | */
|
||
| 127 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
||
| 128 | |||
| 129 | /**
|
||
| 130 | * @brief Serial driver of the programmer interface.
|
||
| 131 | */
|
||
| 132 | #define MODULE_HAL_PROGIF SD1
|
||
| 133 | |||
| 134 | /**
|
||
| 135 | * @brief Configuration for the programmer serial interface driver.
|
||
| 136 | */
|
||
| 137 | extern SerialConfig moduleHalProgIfConfig;
|
||
| 138 | |||
| 139 | /**
|
||
| 140 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
|
||
| 141 | */
|
||
| 142 | #define MODULE_HAL_SPI_MOTION SPID1
|
||
| 143 | |||
| 144 | /**
|
||
| 145 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
|
||
| 146 | */
|
||
| 147 | extern SPIConfig moduleHalSpiAccelerometerConfig;
|
||
| 148 | |||
| 149 | /**
|
||
| 150 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
|
||
| 151 | */
|
||
| 152 | extern SPIConfig moduleHalSpiGyroscopeConfig;
|
||
| 153 | |||
| 154 | 8399aeae | Thomas Schöpping | /**
|
| 155 | * @brief Real-Time Clock driver.
|
||
| 156 | */
|
||
| 157 | #define MODULE_HAL_RTC RTCD1
|
||
| 158 | |||
| 159 | e545e620 | Thomas Schöpping | /** @} */
|
| 160 | |||
| 161 | /*===========================================================================*/
|
||
| 162 | /**
|
||
| 163 | * @name GPIO definitions
|
||
| 164 | * @{
|
||
| 165 | */
|
||
| 166 | /*===========================================================================*/
|
||
| 167 | |||
| 168 | /**
|
||
| 169 | * @brief LED output signal GPIO.
|
||
| 170 | */
|
||
| 171 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLed;
|
| 172 | e545e620 | Thomas Schöpping | |
| 173 | /**
|
||
| 174 | * @brief POWER_EN output signal GPIO.
|
||
| 175 | */
|
||
| 176 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
|
| 177 | e545e620 | Thomas Schöpping | |
| 178 | /**
|
||
| 179 | * @brief COMPASS_DRDY input signal GPIO.
|
||
| 180 | */
|
||
| 181 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;
|
| 182 | e545e620 | Thomas Schöpping | |
| 183 | /**
|
||
| 184 | * @brief IR_INT input signal GPIO.
|
||
| 185 | */
|
||
| 186 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioIrInt;
|
| 187 | e545e620 | Thomas Schöpping | |
| 188 | /**
|
||
| 189 | * @brief GYRO_DRDY input signal GPIO.
|
||
| 190 | */
|
||
| 191 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;
|
| 192 | e545e620 | Thomas Schöpping | |
| 193 | /**
|
||
| 194 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
| 195 | */
|
||
| 196 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
|
| 197 | e545e620 | Thomas Schöpping | |
| 198 | /**
|
||
| 199 | * @brief ACCEL_INT input signal GPIO.
|
||
| 200 | */
|
||
| 201 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioAccelInt;
|
| 202 | e545e620 | Thomas Schöpping | |
| 203 | /**
|
||
| 204 | * @brief SYS_SNYC bidirectional signal GPIO.
|
||
| 205 | */
|
||
| 206 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
|
| 207 | e545e620 | Thomas Schöpping | |
| 208 | /**
|
||
| 209 | * @brief PATH_DCSTAT input signal GPIO.
|
||
| 210 | */
|
||
| 211 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
|
| 212 | e545e620 | Thomas Schöpping | |
| 213 | /**
|
||
| 214 | * @brief PATH_DCEN output signal GPIO.
|
||
| 215 | */
|
||
| 216 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
|
| 217 | e545e620 | Thomas Schöpping | |
| 218 | /**
|
||
| 219 | * @brief SYS_PD bidirectional signal GPIO.
|
||
| 220 | */
|
||
| 221 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
|
| 222 | e545e620 | Thomas Schöpping | |
| 223 | /**
|
||
| 224 | * @brief SYS_REG_EN input signal GPIO.
|
||
| 225 | */
|
||
| 226 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
|
| 227 | e545e620 | Thomas Schöpping | |
| 228 | /**
|
||
| 229 | * @brief SYS_WARMRST bidirectional signal GPIO.
|
||
| 230 | */
|
||
| 231 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
|
| 232 | e545e620 | Thomas Schöpping | |
| 233 | /** @} */
|
||
| 234 | |||
| 235 | /*===========================================================================*/
|
||
| 236 | /**
|
||
| 237 | * @name AMiRo-OS core configurations
|
||
| 238 | * @{
|
||
| 239 | */
|
||
| 240 | /*===========================================================================*/
|
||
| 241 | |||
| 242 | /**
|
||
| 243 | * @brief Event flag to be set on a SYS_SYNC interrupt.
|
||
| 244 | */
|
||
| 245 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(GPIOC_SYS_INT_N)
|
| 246 | e545e620 | Thomas Schöpping | |
| 247 | /**
|
||
| 248 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
|
||
| 249 | */
|
||
| 250 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST AOS_IOEVENT_FLAG(GPIOD_SYS_WARMRST_N)
|
| 251 | e545e620 | Thomas Schöpping | |
| 252 | /**
|
||
| 253 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
|
||
| 254 | */
|
||
| 255 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT AOS_IOEVENT_FLAG(GPIOC_PATH_DCEN)
|
| 256 | e545e620 | Thomas Schöpping | |
| 257 | /**
|
||
| 258 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
|
||
| 259 | */
|
||
| 260 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY AOS_IOEVENT_FLAG(GPIOB_COMPASS_DRDY)
|
| 261 | e545e620 | Thomas Schöpping | |
| 262 | /**
|
||
| 263 | * @brief Event flag to be set on a SYS_PD interrupt.
|
||
| 264 | */
|
||
| 265 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
|
| 266 | e545e620 | Thomas Schöpping | |
| 267 | /**
|
||
| 268 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
|
||
| 269 | */
|
||
| 270 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN AOS_IOEVENT_FLAG(GPIOC_SYS_REG_EN)
|
| 271 | e545e620 | Thomas Schöpping | |
| 272 | /**
|
||
| 273 | * @brief Event flag to be set on a IR_INT interrupt.
|
||
| 274 | */
|
||
| 275 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IRINT AOS_IOEVENT_FLAG(GPIOB_IR_INT)
|
| 276 | e545e620 | Thomas Schöpping | |
| 277 | /**
|
||
| 278 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
|
||
| 279 | */
|
||
| 280 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY AOS_IOEVENT_FLAG(GPIOB_GYRO_DRDY)
|
| 281 | e545e620 | Thomas Schöpping | |
| 282 | /**
|
||
| 283 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
|
||
| 284 | */
|
||
| 285 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP AOS_IOEVENT_FLAG(GPIOB_SYS_UART_UP)
|
| 286 | e545e620 | Thomas Schöpping | |
| 287 | /**
|
||
| 288 | * @brief Event flag to be set on a ACCEL_INT interrupt.
|
||
| 289 | */
|
||
| 290 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_ACCELINT AOS_IOEVENT_FLAG(GPIOB_ACCEL_INT_N)
|
| 291 | e545e620 | Thomas Schöpping | |
| 292 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 293 | e545e620 | Thomas Schöpping | /**
|
| 294 | * @brief Shell prompt text.
|
||
| 295 | */
|
||
| 296 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
| 297 | 6b53f6bf | Thomas Schöpping | #endif
|
| 298 | e545e620 | Thomas Schöpping | |
| 299 | /**
|
||
| 300 | * @brief Additional HAL initialization hook.
|
||
| 301 | */
|
||
| 302 | #define MODULE_INIT_HAL_EXTRA() { \
|
||
| 303 | qeiInit(); \ |
||
| 304 | } |
||
| 305 | |||
| 306 | /**
|
||
| 307 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
|
| 308 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
|
||
| 309 | */
|
||
| 310 | #define MODULE_INIT_INTERRUPTS() { \
|
||
| 311 | /* COMPASS_DRDY */ \
|
||
| 312 | palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \ |
||
| 313 | palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge)); \ |
||
| 314 | /* IR_INT */ \
|
||
| 315 | palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \ |
||
| 316 | palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
||
| 317 | /* GYRO_DRDY */ \
|
||
| 318 | palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad); \ |
||
| 319 | palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge)); \ |
||
| 320 | /* ACCEL_INT */ \
|
||
| 321 | palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad); \ |
||
| 322 | palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge)); \ |
||
| 323 | /* PATH_DCSTAT */ \
|
||
| 324 | palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad); \ |
||
| 325 | palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
||
| 326 | /* SYS_REG_EN */ \
|
||
| 327 | palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad); \ |
||
| 328 | palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
||
| 329 | /* SYS_WARMRST */ \
|
||
| 330 | palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad); \ |
||
| 331 | palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
||
| 332 | } |
||
| 333 | |||
| 334 | /**
|
||
| 335 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
|
| 336 | */
|
||
| 337 | #define MODULE_INIT_TESTS() { \
|
||
| 338 | /* add unit-test shell commands */ \
|
||
| 339 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
| 340 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
||
| 341 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
||
| 342 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
||
| 343 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
||
| 344 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
||
| 345 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
||
| 346 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
||
| 347 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
||
| 348 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
||
| 349 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
||
| 350 | d2931db9 | Julian L | aosShellAddCommand(&aos.shell, &moduleUtLldRtCan.shellcmd); \ |
| 351 | e545e620 | Thomas Schöpping | } |
| 352 | |||
| 353 | /**
|
||
| 354 | * @brief Periphery communication interfaces initialization hook.
|
||
| 355 | */
|
||
| 356 | #define MODULE_INIT_PERIPHERY_COMM() { \
|
||
| 357 | /* serial driver */ \
|
||
| 358 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
||
| 359 | /* I2C */ \
|
||
| 360 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
||
| 361 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
||
| 362 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
||
| 363 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 364 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 365 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 366 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
||
| 367 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
||
| 368 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
||
| 369 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
|
||
| 370 | /* PWM */ \
|
||
| 371 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
||
| 372 | /* QEI */ \
|
||
| 373 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
||
| 374 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
||
| 375 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
||
| 376 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
||
| 377 | } |
||
| 378 | |||
| 379 | /**
|
||
| 380 | * @brief Periphery communication interface deinitialization hook.
|
||
| 381 | */
|
||
| 382 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
||
| 383 | /* PWM */ \
|
||
| 384 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
||
| 385 | /* QEI */ \
|
||
| 386 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
||
| 387 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
||
| 388 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
||
| 389 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
||
| 390 | /* I2C */ \
|
||
| 391 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
||
| 392 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
||
| 393 | /* don't stop the serial driver so messages can still be printed */ \
|
||
| 394 | } |
||
| 395 | |||
| 396 | /** @} */
|
||
| 397 | |||
| 398 | /*===========================================================================*/
|
||
| 399 | /**
|
||
| 400 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 401 | * @{
|
||
| 402 | */
|
||
| 403 | /*===========================================================================*/
|
||
| 404 | |||
| 405 | /**
|
||
| 406 | * @brief PD signal GPIO.
|
||
| 407 | */
|
||
| 408 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
|
| 409 | 6b53f6bf | Thomas Schöpping | |
| 410 | /**
|
||
| 411 | * @brief SYNC signal GPIO.
|
||
| 412 | */
|
||
| 413 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
|
| 414 | 6b53f6bf | Thomas Schöpping | |
| 415 | /**
|
||
| 416 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
|
| 417 | */
|
||
| 418 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioUp moduleGpioSysUartUp
|
| 419 | 933df08e | Thomas Schöpping | |
| 420 | /**
|
||
| 421 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
|
| 422 | */
|
||
| 423 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
|
||
| 424 | |||
| 425 | /**
|
||
| 426 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
|
| 427 | 6b53f6bf | Thomas Schöpping | */
|
| 428 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
|
||
| 429 | |||
| 430 | /**
|
||
| 431 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
|
| 432 | */
|
||
| 433 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
|
||
| 434 | |||
| 435 | 6b53f6bf | Thomas Schöpping | /** @} */
|
| 436 | |||
| 437 | /*===========================================================================*/
|
||
| 438 | /**
|
||
| 439 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
| 440 | * @{
|
||
| 441 | */
|
||
| 442 | /*===========================================================================*/
|
||
| 443 | #include <alld_a3906.h> |
||
| 444 | #include <alld_at24c01bn-sh-b.h> |
||
| 445 | #include <alld_hmc5883l.h> |
||
| 446 | #include <alld_ina219.h> |
||
| 447 | #include <alld_l3g4200d.h> |
||
| 448 | #include <alld_led.h> |
||
| 449 | #include <alld_lis331dlh.h> |
||
| 450 | #include <alld_ltc4412.h> |
||
| 451 | #include <alld_pca9544a.h> |
||
| 452 | #include <alld_tps62113.h> |
||
| 453 | #include <alld_vcnl4020.h> |
||
| 454 | d2931db9 | Julian L | #include <ut_lld_rtcan.h> |
| 455 | e545e620 | Thomas Schöpping | |
| 456 | /**
|
||
| 457 | * @brief Motor driver.
|
||
| 458 | */
|
||
| 459 | extern A3906Driver moduleLldMotors;
|
||
| 460 | |||
| 461 | /**
|
||
| 462 | * @brief EEPROM driver.
|
||
| 463 | */
|
||
| 464 | extern AT24C01BNDriver moduleLldEeprom;
|
||
| 465 | |||
| 466 | /**
|
||
| 467 | * @brief Compass driver.
|
||
| 468 | */
|
||
| 469 | extern HMC5883LDriver moduleLldCompass;
|
||
| 470 | |||
| 471 | /**
|
||
| 472 | * @brief Power monitor (VDD) driver.
|
||
| 473 | */
|
||
| 474 | extern INA219Driver moduleLldPowerMonitorVdd;
|
||
| 475 | |||
| 476 | /**
|
||
| 477 | * @brief Gyroscope driver.
|
||
| 478 | */
|
||
| 479 | extern L3G4200DDriver moduleLldGyroscope;
|
||
| 480 | |||
| 481 | /**
|
||
| 482 | * @brief Status LED driver.
|
||
| 483 | */
|
||
| 484 | extern LEDDriver moduleLldStatusLed;
|
||
| 485 | |||
| 486 | /**
|
||
| 487 | * @brief Accelerometer driver.
|
||
| 488 | */
|
||
| 489 | extern LIS331DLHDriver moduleLldAccelerometer;
|
||
| 490 | |||
| 491 | /**
|
||
| 492 | * @brief Power path controler (charging pins) driver.
|
||
| 493 | */
|
||
| 494 | extern LTC4412Driver moduleLldPowerPathController;
|
||
| 495 | |||
| 496 | /**
|
||
| 497 | * @brief I2C multiplexer driver.
|
||
| 498 | */
|
||
| 499 | extern PCA9544ADriver moduleLldI2cMultiplexer;
|
||
| 500 | |||
| 501 | /**
|
||
| 502 | * @brief Step down converter (VDRIVE) driver.
|
||
| 503 | */
|
||
| 504 | extern TPS62113Driver moduleLldStepDownConverterVdrive;
|
||
| 505 | |||
| 506 | /**
|
||
| 507 | * @brief Proximity sensor driver.
|
||
| 508 | */
|
||
| 509 | extern VCNL4020Driver moduleLldProximity;
|
||
| 510 | |||
| 511 | /** @} */
|
||
| 512 | |||
| 513 | /*===========================================================================*/
|
||
| 514 | /**
|
||
| 515 | * @name Unit tests (UT)
|
||
| 516 | * @{
|
||
| 517 | */
|
||
| 518 | /*===========================================================================*/
|
||
| 519 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 520 | #include <ut_alld_a3906.h> |
||
| 521 | #include <ut_alld_at24c01bn-sh-b.h> |
||
| 522 | #include <ut_alld_hmc5883l.h> |
||
| 523 | #include <ut_alld_ina219.h> |
||
| 524 | #include <ut_alld_l3g4200d.h> |
||
| 525 | #include <ut_alld_led.h> |
||
| 526 | #include <ut_alld_lis331dlh.h> |
||
| 527 | #include <ut_alld_ltc4412.h> |
||
| 528 | #include <ut_alld_pca9544a.h> |
||
| 529 | #include <ut_alld_tps62113.h> |
||
| 530 | #include <ut_alld_vcnl4020.h> |
||
| 531 | |||
| 532 | /**
|
||
| 533 | * @brief A3906 (motor driver) unit test object.
|
||
| 534 | */
|
||
| 535 | extern aos_unittest_t moduleUtAlldA3906;
|
||
| 536 | |||
| 537 | /**
|
||
| 538 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
||
| 539 | */
|
||
| 540 | extern aos_unittest_t moduleUtAlldAt24c01bn;
|
||
| 541 | |||
| 542 | /**
|
||
| 543 | * @brief HMC5883L (compass) unit test object.
|
||
| 544 | */
|
||
| 545 | extern aos_unittest_t moduleUtAlldHmc5883l;
|
||
| 546 | |||
| 547 | /**
|
||
| 548 | * @brief INA219 (power monitor) unit test object.
|
||
| 549 | */
|
||
| 550 | extern aos_unittest_t moduleUtAlldIna219;
|
||
| 551 | |||
| 552 | /**
|
||
| 553 | * @brief L3G4200D (gyroscope) unit test object.
|
||
| 554 | */
|
||
| 555 | extern aos_unittest_t moduleUtAlldL3g4200d;
|
||
| 556 | |||
| 557 | /**
|
||
| 558 | * @brief Status LED unit test object.
|
||
| 559 | */
|
||
| 560 | extern aos_unittest_t moduleUtAlldLed;
|
||
| 561 | |||
| 562 | /**
|
||
| 563 | * @brief LIS331DLH (accelerometer) unit test object.
|
||
| 564 | */
|
||
| 565 | extern aos_unittest_t moduleUtAlldLis331dlh;
|
||
| 566 | |||
| 567 | /**
|
||
| 568 | * @brief LTC4412 (power path controller) unit test object.
|
||
| 569 | */
|
||
| 570 | extern aos_unittest_t moduleUtAlldLtc4412;
|
||
| 571 | |||
| 572 | /**
|
||
| 573 | * @brief PCA9544A (I2C multiplexer) unit test object.
|
||
| 574 | */
|
||
| 575 | extern aos_unittest_t moduleUtAlldPca9544a;
|
||
| 576 | |||
| 577 | /**
|
||
| 578 | * @brief TPS62113 (step-down converter) unit test object.
|
||
| 579 | */
|
||
| 580 | extern aos_unittest_t moduleUtAlldTps62113;
|
||
| 581 | |||
| 582 | /**
|
||
| 583 | * @brief VCNL4020 (proximity sensor) unit test object.
|
||
| 584 | */
|
||
| 585 | extern aos_unittest_t moduleUtAlldVcnl4020;
|
||
| 586 | d2931db9 | Julian L | /**
|
| 587 | * @brief RtCan unit test object.
|
||
| 588 | */
|
||
| 589 | extern aos_unittest_t moduleUtLldRtCan;
|
||
| 590 | |||
| 591 | e545e620 | Thomas Schöpping | |
| 592 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
| 593 | |||
| 594 | /** @} */
|
||
| 595 | |||
| 596 | #endif /* _AMIROOS_MODULE_H_ */ |
||
| 597 | 53710ca3 | Marc Rothmann | |
| 598 | /** @} */ |