amiro-os / modules / STM32F4Discovery / module.h @ 84f0ce9e
History | View | Annotate | Download (6.64 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 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 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief Structures and constant for the PowerManagement module.
|
| 22 |
*
|
| 23 |
* @addtogroup powermanagement_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef _AMIROOS_MODULE_H_
|
| 28 |
#define _AMIROOS_MODULE_H_
|
| 29 |
|
| 30 |
/*===========================================================================*/
|
| 31 |
/**
|
| 32 |
* @name Module specific functions
|
| 33 |
* @{
|
| 34 |
*/
|
| 35 |
/*===========================================================================*/
|
| 36 |
|
| 37 |
/*
|
| 38 |
* @brief Makro to store data in the core coupled memory (ccm).
|
| 39 |
* Example:
|
| 40 |
* int compute_buffer[128] CCM_RAM;
|
| 41 |
*
|
| 42 |
* @note The ccm is not connected to any bus system.
|
| 43 |
*/
|
| 44 |
#define CCM_RAM __attribute__((section(".ram4"), aligned(4))) |
| 45 |
|
| 46 |
/*
|
| 47 |
* @brief Makro to store data in the ethernet memory (eth).
|
| 48 |
* Example:
|
| 49 |
* int dma_buffer[128] ETH_RAM;
|
| 50 |
*
|
| 51 |
* @note The eth is a dedicated memory block with its own DMA controller.
|
| 52 |
*/
|
| 53 |
#define ETH_RAM __attribute__((section(".ram2"), aligned(4))) |
| 54 |
|
| 55 |
/*
|
| 56 |
* @brief Makro to store data in the backup memory (bckp).
|
| 57 |
* Example:
|
| 58 |
* int backup_buffer[128] BCKP_RAM;
|
| 59 |
*
|
| 60 |
* @note The eth is a dedicated memory block with its own DMA controller.
|
| 61 |
*/
|
| 62 |
#define BCKP_RAM __attribute__((section(".ram5"), aligned(4))) |
| 63 |
|
| 64 |
/** @} */
|
| 65 |
|
| 66 |
/*===========================================================================*/
|
| 67 |
/**
|
| 68 |
* @name ChibiOS/HAL configuration
|
| 69 |
* @{
|
| 70 |
*/
|
| 71 |
/*===========================================================================*/
|
| 72 |
#include <hal.h> |
| 73 |
|
| 74 |
/**
|
| 75 |
* @brief CAN driver to use.
|
| 76 |
*/
|
| 77 |
#define MODULE_HAL_CAN CAND1
|
| 78 |
|
| 79 |
/**
|
| 80 |
* @brief Configuration for the CAN driver.
|
| 81 |
*/
|
| 82 |
extern CANConfig moduleHalCanConfig;
|
| 83 |
|
| 84 |
/**
|
| 85 |
* @brief Serial driver of the programmer interface.
|
| 86 |
*/
|
| 87 |
#define MODULE_HAL_PROGIF SD2
|
| 88 |
|
| 89 |
/**
|
| 90 |
* @brief Configuration for the programmer serial interface driver.
|
| 91 |
*/
|
| 92 |
extern SerialConfig moduleHalProgIfConfig;
|
| 93 |
|
| 94 |
/**
|
| 95 |
* @brief Real-Time Clock driver.
|
| 96 |
*/
|
| 97 |
#define MODULE_HAL_RTC RTCD1
|
| 98 |
|
| 99 |
/** @} */
|
| 100 |
|
| 101 |
/*===========================================================================*/
|
| 102 |
/**
|
| 103 |
* @name GPIO definitions
|
| 104 |
* @{
|
| 105 |
*/
|
| 106 |
/*===========================================================================*/
|
| 107 |
#include <amiro-lld.h> |
| 108 |
|
| 109 |
/**
|
| 110 |
* @brief Red LED output signal.
|
| 111 |
*/
|
| 112 |
extern ROMCONST apalControlGpio_t moduleGpioLedRed;
|
| 113 |
|
| 114 |
/**
|
| 115 |
* @brief Green LED output signal.
|
| 116 |
*/
|
| 117 |
extern ROMCONST apalControlGpio_t moduleGpioLedGreen;
|
| 118 |
|
| 119 |
/**
|
| 120 |
* @brief Blue LED output signal.
|
| 121 |
*/
|
| 122 |
extern ROMCONST apalControlGpio_t moduleGpioLedBlue;
|
| 123 |
|
| 124 |
/**
|
| 125 |
* @brief Orange LED output signal.
|
| 126 |
*/
|
| 127 |
extern ROMCONST apalControlGpio_t moduleGpioLedOrange;
|
| 128 |
|
| 129 |
/**
|
| 130 |
* @brief User button input signal.
|
| 131 |
*/
|
| 132 |
extern ROMCONST apalControlGpio_t moduleGpioUserButton;
|
| 133 |
|
| 134 |
/** @} */
|
| 135 |
|
| 136 |
/*===========================================================================*/
|
| 137 |
/**
|
| 138 |
* @name AMiRo-OS core configurations
|
| 139 |
* @{
|
| 140 |
*/
|
| 141 |
/*===========================================================================*/
|
| 142 |
|
| 143 |
/**
|
| 144 |
* @brief Event flag to be set on a USER_BUTTON interrupt.
|
| 145 |
*/
|
| 146 |
#define MODULE_OS_IOEVENTFLAGS_USERBUTTON ((eventflags_t)1 << GPIOA_BUTTON) |
| 147 |
|
| 148 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 149 |
/**
|
| 150 |
* @brief Shell prompt text.
|
| 151 |
*/
|
| 152 |
extern ROMCONST char* moduleShellPrompt; |
| 153 |
#endif
|
| 154 |
|
| 155 |
/**
|
| 156 |
* @brief Interrupt initialization macro.
|
| 157 |
* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
|
| 158 |
*/
|
| 159 |
#define MODULE_INIT_INTERRUPTS() { \
|
| 160 |
/* user button */ \
|
| 161 |
palSetPadCallback(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, _intCallback, &moduleGpioUserButton.gpio->pad); \ |
| 162 |
palEnablePadEvent(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
| 163 |
} |
| 164 |
|
| 165 |
/**
|
| 166 |
* @brief Unit test initialization hook.
|
| 167 |
*/
|
| 168 |
#define MODULE_INIT_TESTS() { \
|
| 169 |
/* add unit-test shell commands */ \
|
| 170 |
} |
| 171 |
|
| 172 |
/**
|
| 173 |
* @brief Periphery communication interfaces initialization hook.
|
| 174 |
*/
|
| 175 |
#define MODULE_INIT_PERIPHERY_COMM() { \
|
| 176 |
/* serial driver */ \
|
| 177 |
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
| 178 |
} |
| 179 |
|
| 180 |
/**
|
| 181 |
* @brief Periphery communication interface deinitialization hook.
|
| 182 |
*/
|
| 183 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| 184 |
} |
| 185 |
|
| 186 |
/**
|
| 187 |
* @brief HOOK to toggle the LEDs when the user button is pressed.
|
| 188 |
*/
|
| 189 |
#define MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags) { \
|
| 190 |
if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) { \
|
| 191 |
apalGpioToggle(moduleGpioLedRed.gpio); \ |
| 192 |
apalGpioToggle(moduleGpioLedGreen.gpio); \ |
| 193 |
apalGpioToggle(moduleGpioLedBlue.gpio); \ |
| 194 |
apalGpioToggle(moduleGpioLedOrange.gpio); \ |
| 195 |
} \ |
| 196 |
} |
| 197 |
|
| 198 |
/** @} */
|
| 199 |
|
| 200 |
/*===========================================================================*/
|
| 201 |
/**
|
| 202 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 203 |
* @{
|
| 204 |
*/
|
| 205 |
/*===========================================================================*/
|
| 206 |
|
| 207 |
/** @} */
|
| 208 |
|
| 209 |
/*===========================================================================*/
|
| 210 |
/**
|
| 211 |
* @name Low-level drivers
|
| 212 |
* @{
|
| 213 |
*/
|
| 214 |
/*===========================================================================*/
|
| 215 |
|
| 216 |
/** @} */
|
| 217 |
|
| 218 |
/*===========================================================================*/
|
| 219 |
/**
|
| 220 |
* @name Unit tests (UT)
|
| 221 |
* @{
|
| 222 |
*/
|
| 223 |
/*===========================================================================*/
|
| 224 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 225 |
|
| 226 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 227 |
|
| 228 |
/** @} */
|
| 229 |
|
| 230 |
#endif /* _AMIROOS_MODULE_H_ */ |
| 231 |
|
| 232 |
/** @} */
|