amiro-os / modules / RT-STM32L476RG-NUCLEO64 / module.h @ 8543d0d9
History | View | Annotate | Download (5.977 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 |
#include <amiroos.h> |
| 31 |
|
| 32 |
/*===========================================================================*/
|
| 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 Serial driver of the programmer interface.
|
| 50 |
*/
|
| 51 |
#define MODULE_HAL_PROGIF SD2
|
| 52 |
|
| 53 |
/**
|
| 54 |
* @brief Configuration for the programmer serial interface driver.
|
| 55 |
*/
|
| 56 |
extern SerialConfig moduleHalProgIfConfig;
|
| 57 |
|
| 58 |
/**
|
| 59 |
* @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).
|
| 60 |
*/
|
| 61 |
#define MODULE_HAL_I2C_MPU6050 I2CD3
|
| 62 |
|
| 63 |
/**
|
| 64 |
* @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.
|
| 65 |
*/
|
| 66 |
extern I2CConfig moduleHalI2cMpu6050Config;
|
| 67 |
|
| 68 |
/**
|
| 69 |
* @brief Real-Time Clock driver.
|
| 70 |
*/
|
| 71 |
#define MODULE_HAL_RTC RTCD1
|
| 72 |
|
| 73 |
/** @} */
|
| 74 |
|
| 75 |
/*===========================================================================*/
|
| 76 |
/**
|
| 77 |
* @name GPIO definitions
|
| 78 |
* @{
|
| 79 |
*/
|
| 80 |
/*===========================================================================*/
|
| 81 |
|
| 82 |
/**
|
| 83 |
* @brief LED output signal GPIO.
|
| 84 |
*/
|
| 85 |
extern ROMCONST apalControlGpio_t moduleGpioLed;
|
| 86 |
|
| 87 |
/**
|
| 88 |
* @brief User button input signal.
|
| 89 |
*/
|
| 90 |
extern ROMCONST apalControlGpio_t moduleGpioUserButton;
|
| 91 |
|
| 92 |
/** @} */
|
| 93 |
|
| 94 |
/*===========================================================================*/
|
| 95 |
/**
|
| 96 |
* @name AMiRo-OS core configurations
|
| 97 |
* @{
|
| 98 |
*/
|
| 99 |
/*===========================================================================*/
|
| 100 |
|
| 101 |
/**
|
| 102 |
* @brief Event flag to be set on a USER_BUTTON interrupt.
|
| 103 |
*/
|
| 104 |
#define MODULE_OS_IOEVENTFLAGS_USERBUTTON AOS_IOEVENT_FLAG(GPIOC_BUTTON)
|
| 105 |
|
| 106 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 107 |
/**
|
| 108 |
* @brief Shell prompt text.
|
| 109 |
*/
|
| 110 |
extern ROMCONST char* moduleShellPrompt; |
| 111 |
#endif
|
| 112 |
|
| 113 |
/**
|
| 114 |
* @brief Interrupt initialization macro.
|
| 115 |
* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
|
| 116 |
*/
|
| 117 |
#define MODULE_INIT_INTERRUPTS() { \
|
| 118 |
/* user button */ \
|
| 119 |
palSetPadCallback(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, _intCallback, &moduleGpioUserButton.gpio->pad); \ |
| 120 |
palEnablePadEvent(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
| 121 |
} |
| 122 |
|
| 123 |
/**
|
| 124 |
* @brief Unit test initialization hook.
|
| 125 |
*/
|
| 126 |
#define MODULE_INIT_TESTS() { \
|
| 127 |
/* add unit-test shell commands */ \
|
| 128 |
aosShellAddCommand(&aos.shell, &moduleUtAlldMpu6050.shellcmd); \ |
| 129 |
} |
| 130 |
|
| 131 |
/**
|
| 132 |
* @brief Periphery communication interfaces initialization hook.
|
| 133 |
*/
|
| 134 |
#define MODULE_INIT_PERIPHERY_COMM() { \
|
| 135 |
/* serial driver */ \
|
| 136 |
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
| 137 |
} |
| 138 |
|
| 139 |
/**
|
| 140 |
* @brief Periphery communication interface deinitialization hook.
|
| 141 |
*/
|
| 142 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| 143 |
} |
| 144 |
|
| 145 |
/**
|
| 146 |
* @brief HOOK to toggle the LEDs when the user button is pressed.
|
| 147 |
*/
|
| 148 |
#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) { \
|
| 149 |
if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) { \
|
| 150 |
apalControlGpioState_t buttonstate; \ |
| 151 |
apalControlGpioGet(&moduleGpioUserButton, &buttonstate); \ |
| 152 |
apalControlGpioSet(&moduleGpioLed, buttonstate); \ |
| 153 |
} \ |
| 154 |
} |
| 155 |
|
| 156 |
/** @} */
|
| 157 |
|
| 158 |
/*===========================================================================*/
|
| 159 |
/**
|
| 160 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 161 |
* @{
|
| 162 |
*/
|
| 163 |
/*===========================================================================*/
|
| 164 |
|
| 165 |
/** @} */
|
| 166 |
|
| 167 |
/*===========================================================================*/
|
| 168 |
/**
|
| 169 |
* @name Low-level drivers
|
| 170 |
* @{
|
| 171 |
*/
|
| 172 |
/*===========================================================================*/
|
| 173 |
|
| 174 |
//#include <alld_mpu6050.h>
|
| 175 |
|
| 176 |
/**
|
| 177 |
* @brief Accelerometer (MPU6050) driver.
|
| 178 |
*/
|
| 179 |
//extern MPU6050Driver moduleLldMpu6050;
|
| 180 |
|
| 181 |
/** @} */
|
| 182 |
|
| 183 |
/*===========================================================================*/
|
| 184 |
/**
|
| 185 |
* @name Unit tests (UT)
|
| 186 |
* @{
|
| 187 |
*/
|
| 188 |
/*===========================================================================*/
|
| 189 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 190 |
|
| 191 |
#include <ut_alld_mpu6050.h> |
| 192 |
|
| 193 |
/**
|
| 194 |
* @brief MPU6050 unit test object.
|
| 195 |
*/
|
| 196 |
extern aos_unittest_t moduleUtAlldMpu6050;
|
| 197 |
|
| 198 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 199 |
|
| 200 |
/** @} */
|
| 201 |
|
| 202 |
#endif /* _AMIROOS_MODULE_H_ */ |
| 203 |
|
| 204 |
/** @} */
|