amiro-os / modules / NUCLEO-L476RG / module.h @ 849b383a
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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..2020 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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/**
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* @file
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* @brief Structures and constant for the NUCLEO-L476RG module.
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*
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* @addtogroup NUCLEO-L476RG_module
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* @{
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*/
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.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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/**
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* @brief Serial driver of the programmer interface.
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*/
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#define MODULE_HAL_PROGIF SD2
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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 Real-Time Clock driver.
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*/
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#define MODULE_HAL_RTC RTCD1
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#if (BOARD_MPU6050_CONNECTED == true || BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
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/**
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* @brief I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery).
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*/
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#define MODULE_HAL_I2C3 I2CD3
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/**
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* @brief Configuration for the I2C driver #3.
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*/
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extern I2CConfig moduleHalI2c3Config;
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#endif /* (BOARD_MPU6050_CONNECTED == true || BOARD_VL53L1X_CONNECTED == true) */ |
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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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/**
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* @brief LED output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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/**
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* @brief User button input signal.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioUserButton;
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extern ROMCONST apalControlGpio_t moduleGpioVl53l1xINT;
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extern ROMCONST apalControlGpio_t moduleGpioVl53l1xXSHUT;
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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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#include <math.h> |
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/**
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* @brief Event flag to be set on a USER_BUTTON interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_USERBUTTON AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_BUTTON))
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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 ROMCONST char* moduleShellPrompt; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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/**
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* @brief Interrupt initialization macro.
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*/
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#define MODULE_INIT_INTERRUPTS() { \
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/* user button */ \
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palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioUserButton.gpio->line); \ |
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palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
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MODULE_INIT_INTERRUPTS_VL53L1X(); \ |
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} |
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#if (BOARD_VL53L1X_CONNECTED == true) |
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#define MODULE_INIT_INTERRUPTS_VL53L1X() { \
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palSetLineCallback(moduleGpioVl53l1xINT.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioVl53l1xINT.gpio->line); \ |
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palEnableLineEvent(moduleGpioVl53l1xINT.gpio->line, APAL2CH_EDGE(moduleGpioVl53l1xINT.meta.edge)); \ |
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} |
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#else /* (BOARD_VL53L1X_CONNECTED == true) */ |
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#define MODULE_INIT_INTERRUPTS_VL53L1X() {}
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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/**
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* @brief Test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add test commands to shell */ \
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aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd); \ |
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MODULE_INIT_TEST_MPU6050(); \ |
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MODULE_INIT_TEST_VL53L1X(); \ |
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aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
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} |
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#if (BOARD_MPU6050_CONNECTED == true) |
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#define MODULE_INIT_TEST_MPU6050() { \
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aosShellAddCommand(&aos.shell, &moduleTestMpu6050ShellCmd); \ |
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} |
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#else /* (BOARD_MPU6050_CONNECTED == true) */ |
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#define MODULE_INIT_TEST_MPU6050() {}
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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#if (BOARD_VL53L1X_CONNECTED == true) |
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#define MODULE_INIT_TEST_VL53L1X() { \
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aosShellAddCommand(&aos.shell, &moduleTestVL53L1XShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestVL53L1XInitShellCmd); \ |
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} |
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#else /* (BOARD_VL53L1X_CONNECTED == true) */ |
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#define MODULE_INIT_TEST_VL53L1X() {}
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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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_IF() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* MPU6050 demo */ \
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MODULE_INIT_PERIPHERY_IF_MPU6050(); \ |
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MODULE_INIT_PERIPHERY_IF_VL53L1X(); \ |
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} |
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#if (BOARD_MPU6050_CONNECTED == true) |
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#define MODULE_INIT_PERIPHERY_IF_MPU6050() { \
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/* maximum I2C frequency is 1MHz for this MCU */ \
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uint32_t i2c3_freq = 1000000; \
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/* find minimum amon all devices connected to this bus */ \
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i2c3_freq = (MPU6050_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
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/* calculate PRESC (prescaler): \
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* target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \
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*/ \
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moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
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/* SCL shall be low half of the time. */ \
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moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
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/* SCL shall be high half the time of low or slightly longer. */ \
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moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \
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/* SDA shall be delayed 1/10 of SCL low, or shorter */ \
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moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
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/* SCL shall be delyed twice as long as SDA, but longer than 0. */ \
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moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
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/* now we can start the I2C driver */ \
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chSysLock(); \ |
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palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \
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palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \
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chSysUnlock(); \ |
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i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
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} |
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#else /* (BOARD_MPU6050_CONNECTED == true) */ |
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#define MODULE_INIT_PERIPHERY_IF_MPU6050() {}
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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#if (BOARD_VL53L1X_CONNECTED == true) |
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#define MODULE_INIT_PERIPHERY_IF_VL53L1X() { \
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/* maximum I2C frequency is 1MHz for this MCU */ \
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uint32_t i2c3_freq = 1000000; \
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/* find minimum amon all devices connected to this bus */ \
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i2c3_freq = (VL53L1X_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? VL53L1X_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
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/* calculate PRESC (prescaler): \
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* target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \
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*/ \
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moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
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/* SCL shall be low half of the time. */ \
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moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
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/* SCL shall be high half the time of low or slightly longer. */ \
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moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \
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/* SDA shall be delayed 1/10 of SCL low, or shorter */ \
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moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
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/* SCL shall be delyed twice as long as SDA, but longer than 0. */ \
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moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
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/* setup the GPIO signals */ \
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moduleHalI2c3Config.timingr = 0x00702991; \
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chSysLock(); \ |
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PAL_PORT(moduleLldVl53l1x.xshut->gpio->line)->PUPDR &= ~(3U << (PAL_PAD(moduleLldVl53l1x.xshut->gpio->line) * 2U)); \ |
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PAL_PORT(moduleLldVl53l1x.xshut->gpio->line)->PUPDR |= PIN_PUPDR_PULLUP(PAL_PAD(moduleLldVl53l1x.xshut->gpio->line)); \ |
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/* palSetLineMode(moduleLldVl53l1x.xshut->gpio->line, PAL_MODE_OUTPUT_OPENDRAIN); \*/ \
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palSetLineMode(moduleLldVl53l1x.xshut->gpio->line, PAL_MODE_OUTPUT_PUSHPULL); \ |
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palSetLineMode(moduleLldVl53l1x.gpio1->gpio->line, PAL_MODE_INPUT_PULLUP); \ |
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palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \
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palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \
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chSysUnlock(); \ |
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apalControlGpioSet(moduleLldVl53l1x.xshut, APAL_GPIO_OFF); \ |
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/* now we can start the I2C driver */ \
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i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
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} |
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#else /* (BOARD_VL53L1X_CONNECTED == true) */ |
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#define MODULE_INIT_PERIPHERY_IF_VL53L1X() {}
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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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_IF() { \
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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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* @brief HOOK to toggle the LEDs when the user button is pressed.
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*/
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#define MODULE_MAIN_LOOP_GPIOEVENT(eventflags) { \
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if (eventflags & MODULE_OS_GPIOEVENTFLAG_USERBUTTON) { \
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button_lld_state_t buttonstate; \ |
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button_lld_get(&moduleLldUserButton, &buttonstate); \ |
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led_lld_set(&moduleLldLed, (buttonstate == BUTTON_LLD_STATE_PRESSED) ? LED_LLD_STATE_ON : LED_LLD_STATE_OFF); \ |
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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 Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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#error "SSSP is not supported on this module." |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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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_LED.h> |
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#include <alld_button.h> |
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/**
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* @brief LED driver.
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*/
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extern LEDDriver moduleLldLed;
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#if (BOARD_VL53L1X_CONNECTED == true) || defined(__DOXYGEN__) |
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#include <alld_VL53L1X.h> |
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extern VL53L1XDriver moduleLldVl53l1x;
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#endif /* (BOARD_VL53L1X_CONNECTED == true) */ |
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/**
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* @brief Button driver.
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*/
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extern ButtonDriver moduleLldUserButton;
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#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
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#include <alld_MPU6050.h> |
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/**
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* @brief Accelerometer (MPU6050) driver.
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*/
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extern MPU6050Driver moduleLldMpu6050;
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Tests
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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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/**
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* @brief LED test command.
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*/
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extern aos_shellcommand_t moduleTestLedShellCmd;
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/**
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* @brief VL53L1X test command.
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*/
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extern aos_shellcommand_t moduleTestVL53L1XShellCmd;
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extern aos_shellcommand_t moduleTestVL53L1XInitShellCmd;
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/**
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* @brief User button test command.
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*/
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extern aos_shellcommand_t moduleTestButtonShellCmd;
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#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
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/**
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* @brief MPU6050 (Accelerometer & Gyroscope) test command.
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*/
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extern aos_shellcommand_t moduleTestMpu6050ShellCmd;
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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/**
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* @brief Entire module test command.
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*/
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extern aos_shellcommand_t moduleTestAllShellCmd;
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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#endif /* AMIROOS_MODULE_H */ |
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/** @} */
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