Revision 8543d0d9 modules/RT-STM32L476RG-NUCLEO64/module.h
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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..2018 Thomas Schöpping et al.
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Copyright (C) 2016..2019 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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#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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* @brief Makro to store data in the core coupled memory (ccm). |
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* Example: |
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* int compute_buffer[128] CCM_RAM; |
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* |
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* @note The ccm is not connected to any bus system. |
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*/ |
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#define CCM_RAM __attribute__((section(".ram4"), aligned(4)))moduleHalCanConfig
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/* |
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* @brief Makro to store data in the ethernet memory (eth). |
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* Example: |
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* int dma_buffer[128] ETH_RAM; |
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* |
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* @note The eth is a dedicated memory block with its own DMA controller. |
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*/ |
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#define ETH_RAM __attribute__((section(".ram2"), aligned(4)))
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/* |
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* @brief Makro to store data in the backup memory (bckp). |
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* Example: |
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* int backup_buffer[128] BCKP_RAM; |
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* |
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* @note The eth is a dedicated memory block with its own DMA controller. |
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*/ |
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#define BCKP_RAM __attribute__((section(".ram5"), aligned(4)))
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/** @} */ |
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/*===========================================================================*/ |
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* @{
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*/ |
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/*===========================================================================*/ |
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#include <hal.h> |
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/** |
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* @brief CAN driver to use. |
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*/ |
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#define MODULE_HAL_CAN CAND1 |
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/** |
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* @brief Configuration for the CAN driver.
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* @brief Serial driver of the programmer interface.
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*/ |
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extern CANConfig moduleHalCanConfig;
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#define MODULE_HAL_PROGIF SD2
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/** |
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* @brief Serial driver of the programmer interface.
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* @brief Configuration for the programmer serial interface driver.
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*/ |
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#define MODULE_HAL_PROGIF SD2
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extern SerialConfig moduleHalProgIfConfig;
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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_I2C_MPU6050 I2CD3 |
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#define MODULE_HAL_I2C_MPU6050 I2CD3
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/** |
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* @brief Configuration for the multiplexer, proximity sensors 1 to 4, power monitors for VIO1.8 and VIO 3.3, and fuel gauge (rear battery) I2C driver. |
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extern I2CConfig moduleHalI2cMpu6050Config; |
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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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/** @} */ |
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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_COMM() { \
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/* serial driver */ \ |
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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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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#include <amiro-lld.h> |
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/** |
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* @brief SYS_REG_EN output signal GPIO. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysRegEn; |
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/** |
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* @brief IR_INT1 input signal GPIO. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioIrInt1; |
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/** |
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* @brief POWER_EN output signal GPIO. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioPowerEn; |
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/** |
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* @brief SYS_UART_DN bidirectional signal GPIO. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysUartDn; |
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/** |
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* @brief LED output signal GPIO. |
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extern ROMCONST apalControlGpio_t moduleGpioLed; |
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/** |
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* @brief SYS_UART_UP bidirectional signal GPIO.
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* @brief User button input signal.
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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extern ROMCONST apalControlGpio_t moduleGpioUserButton;
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/** |
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* @brief IR_INT2 input signal GPIO. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioIrInt2; |
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/** |
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* @brief TOUCH_INT input signal GPIO. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioTouchInt; |
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/** @} */ |
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/*===========================================================================*/ |
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/** |
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* @brief SYS_DONE input signal GPIO. |
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* @name AMiRo-OS core configurations |
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* @{
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysDone;
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/*===========================================================================*/
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/** |
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* @brief SYS_PROG output signal GPIO.
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* @brief Event flag to be set on a USER_BUTTON interrupt.
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysProg;
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#define MODULE_OS_IOEVENTFLAGS_USERBUTTON AOS_IOEVENT_FLAG(GPIOC_BUTTON)
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/** |
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* @brief PATH_DC input signal GPIO.
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* @brief Shell prompt text.
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioPathDc; |
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extern ROMCONST char* moduleShellPrompt; |
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#endif |
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/** |
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* @brief SYS_SPI_DIR bidirectional signal GPIO. |
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* @brief Interrupt initialization macro. |
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* @note SSSP related interrupt signals are already initialized in 'aos_system.c'. |
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysSpiDir; |
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#define MODULE_INIT_INTERRUPTS() { \
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/* user button */ \ |
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palSetPadCallback(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, _intCallback, &moduleGpioUserButton.gpio->pad); \ |
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palEnablePadEvent(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
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} |
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/** |
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* @brief SYS_SYNC bidirectional signal GPIO.
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* @brief Unit test initialization hook.
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysSync; |
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldMpu6050.shellcmd); \ |
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} |
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/** |
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* @brief SYS_PD bidirectional signal GPIO.
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* @brief Periphery communication interfaces initialization hook.
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysPd; |
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#define MODULE_INIT_PERIPHERY_COMM() { \
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/* serial driver */ \ |
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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} |
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/** |
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* @brief SYS_WARMRST bidirectional signal GPIO.
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* @brief Periphery communication interface deinitialization hook.
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst; |
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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} |
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/** |
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* @brief BT_RST output signal GPIO.
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* @brief HOOK to toggle the LEDs when the user button is pressed.
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*/ |
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extern ROMCONST apalControlGpio_t moduleGpioBtRst; |
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#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) { \
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if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) { \
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apalControlGpioState_t buttonstate; \ |
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apalControlGpioGet(&moduleGpioUserButton, &buttonstate); \ |
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apalControlGpioSet(&moduleGpioLed, buttonstate); \ |
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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 AMiRo-OS core configurations
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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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/** |
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* @brief Event flag to be set on a IR_INT1 / CHARGE_STAT1A interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_IRINT1 ((eventflags_t)1 << GPIOB_IR_INT1_N) |
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/** |
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* @brief Event flag to be set on a SYS_UART_DN interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN ((eventflags_t)1 << GPIOB_SYS_UART_DN) |
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/** |
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* @brief Event flag to be set on a TOUCH_INT interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_TOUCHINT ((eventflags_t)1 << GPIOC_TOUCH_INT_N) |
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/** |
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* @brief Event flag to be set on a PATH_DC interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_PATHDC ((eventflags_t)1 << GPIOC_PATH_DC) |
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/** |
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* @brief Event flag to be set on a SYS_SPI_DIR interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_SYSSPIDIR ((eventflags_t)1 << GPIOC_SYS_SPI_DIR) |
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/** |
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* @brief Event flag to be set on a SYS_SYNC interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOC_SYS_INT_N) |
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/** |
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* @brief Event flag to be set on a SYS_PD interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
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/** @} */ |
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/*===========================================================================*/ |
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/** |
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* @brief Event flag to be set on a SYS_WARMRST interrupt. |
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* @name Low-level drivers |
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* @{
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)1 << GPIOC_SYS_WARMRST_N)
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/*===========================================================================*/
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/** |
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* @brief Event flag to be set on a SYS_UART_UP interrupt. |
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*/ |
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)1 << GPIOB_SYS_UART_UP) |
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//#include <alld_mpu6050.h> |
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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 |
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/** |
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* @brief Unit test initialization hook. |
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* @brief Accelerometer (MPU6050) driver. |
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*/ |
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldMpu6050.shellcmd); \ |
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} |
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//extern MPU6050Driver moduleLldMpu6050; |
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#include <alld_mpu6050.h>
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/** @} */
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/*===========================================================================*/ |
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/** |
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* @brief Accelerometer (MPU6050) driver. |
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* @name Unit tests (UT) |
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* @{
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*/ |
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extern MPU6050Driver moduleLldMpu6050; |
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/*===========================================================================*/ |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <ut_alld_mpu6050.h> |
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*/ |
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extern aos_unittest_t moduleUtAlldMpu6050; |
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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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