amiro-os / modules / DiWheelDrive_1-1 / module.h @ 85e62aaf
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 53710ca3 | Marc Rothmann | /**
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| 20 | 37bacabf | Thomas Schöpping | * @file
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| 21 | 53710ca3 | Marc Rothmann | * @brief Structures and constant for the DiWheelDrive module.
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| 22 | *
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| 23 | * @addtogroup diwheeldrive_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | e545e620 | Thomas Schöpping | #ifndef _AMIROOS_MODULE_H_
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| 28 | #define _AMIROOS_MODULE_H_
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| 29 | |||
| 30 | /*===========================================================================*/
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| 31 | /**
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| 32 | * @name Module specific functions
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| 33 | * @{
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| 34 | */
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| 35 | /*===========================================================================*/
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| 36 | |||
| 37 | /** @} */
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| 38 | |||
| 39 | /*===========================================================================*/
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| 40 | /**
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| 41 | * @name ChibiOS/HAL configuration
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| 42 | * @{
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| 43 | */
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| 44 | /*===========================================================================*/
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| 45 | #include <hal.h> |
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| 46 | #include <hal_qei.h> |
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| 47 | |||
| 48 | /**
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| 49 | * @brief CAN driver to use.
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| 50 | */
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| 51 | #define MODULE_HAL_CAN CAND1
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| 52 | |||
| 53 | /**
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| 54 | * @brief Configuration for the CAN driver.
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| 55 | */
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| 56 | extern CANConfig moduleHalCanConfig;
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| 57 | |||
| 58 | /**
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| 59 | * @brief I2C driver to access the compass.
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| 60 | */
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| 61 | #define MODULE_HAL_I2C_COMPASS I2CD1
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| 62 | |||
| 63 | /**
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| 64 | * @brief Configuration for the compass I2C driver.
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| 65 | */
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| 66 | extern I2CConfig moduleHalI2cCompassConfig;
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| 67 | |||
| 68 | /**
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| 69 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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| 70 | */
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| 71 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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| 72 | |||
| 73 | /**
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| 74 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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| 75 | */
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| 76 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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| 77 | |||
| 78 | /**
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| 79 | * @brief PWM driver to use.
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| 80 | */
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| 81 | #define MODULE_HAL_PWM_DRIVE PWMD2
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| 82 | |||
| 83 | /**
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| 84 | * @brief Configuration for the PWM driver.
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| 85 | */
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| 86 | extern PWMConfig moduleHalPwmDriveConfig;
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| 87 | |||
| 88 | /**
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| 89 | * @brief Drive PWM channel for the left wheel forward direction.
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| 90 | */
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| 91 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
| 92 | e545e620 | Thomas Schöpping | |
| 93 | /**
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| 94 | * @brief Drive PWM channel for the left wheel backward direction.
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| 95 | */
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| 96 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
| 97 | e545e620 | Thomas Schöpping | |
| 98 | /**
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| 99 | * @brief Drive PWM channel for the right wheel forward direction.
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| 100 | */
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| 101 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
| 102 | e545e620 | Thomas Schöpping | |
| 103 | /**
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| 104 | * @brief Drive PWM channel for the right wheel backward direction.
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| 105 | */
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| 106 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
| 107 | e545e620 | Thomas Schöpping | |
| 108 | /**
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| 109 | * @brief Quadrature encooder for the left wheel.
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| 110 | */
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| 111 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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| 112 | |||
| 113 | /**
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| 114 | * @brief Quadrature encooder for the right wheel.
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| 115 | */
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| 116 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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| 117 | |||
| 118 | /**
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| 119 | * @brief Configuration for both quadrature encoders.
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| 120 | */
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| 121 | extern QEIConfig moduleHalQeiConfig;
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| 122 | |||
| 123 | /**
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| 124 | * @brief QEI increments per wheel revolution.
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| 125 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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| 126 | */
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| 127 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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| 128 | |||
| 129 | /**
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| 130 | * @brief Serial driver of the programmer interface.
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| 131 | */
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| 132 | #define MODULE_HAL_PROGIF SD1
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| 133 | |||
| 134 | /**
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| 135 | * @brief Configuration for the programmer serial interface driver.
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| 136 | */
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| 137 | extern SerialConfig moduleHalProgIfConfig;
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| 138 | |||
| 139 | /**
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| 140 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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| 141 | */
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| 142 | #define MODULE_HAL_SPI_MOTION SPID1
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| 143 | |||
| 144 | /**
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| 145 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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| 146 | */
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| 147 | extern SPIConfig moduleHalSpiAccelerometerConfig;
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| 148 | |||
| 149 | /**
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| 150 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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| 151 | */
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| 152 | extern SPIConfig moduleHalSpiGyroscopeConfig;
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| 153 | |||
| 154 | 8399aeae | Thomas Schöpping | /**
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| 155 | * @brief Real-Time Clock driver.
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| 156 | */
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| 157 | #define MODULE_HAL_RTC RTCD1
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| 158 | |||
| 159 | e545e620 | Thomas Schöpping | /** @} */
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| 160 | |||
| 161 | /*===========================================================================*/
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| 162 | /**
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| 163 | * @name GPIO definitions
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| 164 | * @{
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| 165 | */
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| 166 | /*===========================================================================*/
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| 167 | #include <amiro-lld.h> |
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| 168 | |||
| 169 | /**
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| 170 | * @brief LED output signal GPIO.
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| 171 | */
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| 172 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLed;
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| 173 | e545e620 | Thomas Schöpping | |
| 174 | /**
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| 175 | * @brief POWER_EN output signal GPIO.
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| 176 | */
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| 177 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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| 178 | e545e620 | Thomas Schöpping | |
| 179 | /**
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| 180 | * @brief COMPASS_DRDY input signal GPIO.
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| 181 | */
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| 182 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;
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| 183 | e545e620 | Thomas Schöpping | |
| 184 | /**
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| 185 | * @brief IR_INT input signal GPIO.
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| 186 | */
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| 187 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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| 188 | e545e620 | Thomas Schöpping | |
| 189 | /**
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| 190 | * @brief GYRO_DRDY input signal GPIO.
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| 191 | */
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| 192 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;
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| 193 | e545e620 | Thomas Schöpping | |
| 194 | /**
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| 195 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 196 | */
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| 197 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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| 198 | e545e620 | Thomas Schöpping | |
| 199 | /**
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| 200 | * @brief ACCEL_INT input signal GPIO.
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| 201 | */
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| 202 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioAccelInt;
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| 203 | e545e620 | Thomas Schöpping | |
| 204 | /**
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| 205 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 206 | */
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| 207 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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| 208 | e545e620 | Thomas Schöpping | |
| 209 | /**
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| 210 | * @brief PATH_DCSTAT input signal GPIO.
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| 211 | */
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| 212 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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| 213 | e545e620 | Thomas Schöpping | |
| 214 | /**
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| 215 | * @brief PATH_DCEN output signal GPIO.
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| 216 | */
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| 217 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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| 218 | e545e620 | Thomas Schöpping | |
| 219 | /**
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| 220 | * @brief SYS_PD bidirectional signal GPIO.
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| 221 | */
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| 222 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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| 223 | e545e620 | Thomas Schöpping | |
| 224 | /**
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| 225 | * @brief SYS_REG_EN input signal GPIO.
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| 226 | */
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| 227 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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| 228 | e545e620 | Thomas Schöpping | |
| 229 | /**
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| 230 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 231 | */
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| 232 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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| 233 | e545e620 | Thomas Schöpping | |
| 234 | /** @} */
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| 235 | |||
| 236 | /*===========================================================================*/
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| 237 | /**
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| 238 | * @name AMiRo-OS core configurations
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| 239 | * @{
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| 240 | */
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| 241 | /*===========================================================================*/
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| 242 | |||
| 243 | /**
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| 244 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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| 245 | */
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| 246 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOC_SYS_INT_N) |
| 247 | e545e620 | Thomas Schöpping | |
| 248 | /**
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| 249 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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| 250 | */
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| 251 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)1 << GPIOD_SYS_WARMRST_N) |
| 252 | e545e620 | Thomas Schöpping | |
| 253 | /**
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| 254 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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| 255 | */
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| 256 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)1 << GPIOC_PATH_DCEN) |
| 257 | e545e620 | Thomas Schöpping | |
| 258 | /**
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| 259 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
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| 260 | */
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| 261 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)1 << GPIOB_COMPASS_DRDY) |
| 262 | e545e620 | Thomas Schöpping | |
| 263 | /**
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| 264 | * @brief Event flag to be set on a SYS_PD interrupt.
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| 265 | */
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| 266 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
| 267 | e545e620 | Thomas Schöpping | |
| 268 | /**
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| 269 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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| 270 | */
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| 271 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)1 << GPIOC_SYS_REG_EN) |
| 272 | e545e620 | Thomas Schöpping | |
| 273 | /**
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| 274 | * @brief Event flag to be set on a IR_INT interrupt.
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| 275 | */
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| 276 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)1 << GPIOB_IR_INT) |
| 277 | e545e620 | Thomas Schöpping | |
| 278 | /**
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| 279 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
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| 280 | */
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| 281 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)1 << GPIOB_GYRO_DRDY) |
| 282 | e545e620 | Thomas Schöpping | |
| 283 | /**
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| 284 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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| 285 | */
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| 286 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)1 << GPIOB_SYS_UART_UP) |
| 287 | e545e620 | Thomas Schöpping | |
| 288 | /**
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| 289 | * @brief Event flag to be set on a ACCEL_INT interrupt.
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| 290 | */
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| 291 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)1 << GPIOB_ACCEL_INT_N) |
| 292 | e545e620 | Thomas Schöpping | |
| 293 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 294 | e545e620 | Thomas Schöpping | /**
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| 295 | * @brief Shell prompt text.
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| 296 | */
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| 297 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
| 298 | 6b53f6bf | Thomas Schöpping | #endif
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| 299 | e545e620 | Thomas Schöpping | |
| 300 | /**
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| 301 | * @brief Additional HAL initialization hook.
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| 302 | */
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| 303 | #define MODULE_INIT_HAL_EXTRA() { \
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| 304 | qeiInit(); \ |
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| 305 | } |
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| 306 | |||
| 307 | /**
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| 308 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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| 309 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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| 310 | */
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| 311 | #define MODULE_INIT_INTERRUPTS() { \
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| 312 | /* COMPASS_DRDY */ \
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| 313 | palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \ |
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| 314 | palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge)); \ |
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| 315 | /* IR_INT */ \
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| 316 | palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \ |
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| 317 | palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
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| 318 | /* GYRO_DRDY */ \
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| 319 | palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad); \ |
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| 320 | palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge)); \ |
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| 321 | /* ACCEL_INT */ \
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| 322 | palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad); \ |
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| 323 | palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge)); \ |
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| 324 | /* PATH_DCSTAT */ \
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| 325 | palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad); \ |
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| 326 | palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
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| 327 | /* SYS_REG_EN */ \
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| 328 | palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad); \ |
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| 329 | palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
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| 330 | /* SYS_WARMRST */ \
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| 331 | palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad); \ |
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| 332 | palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
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| 333 | } |
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| 334 | |||
| 335 | /**
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| 336 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
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| 337 | */
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| 338 | #define MODULE_INIT_TESTS() { \
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| 339 | /* add unit-test shell commands */ \
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| 340 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
| 341 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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| 342 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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| 343 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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| 344 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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| 345 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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| 346 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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| 347 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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| 348 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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| 349 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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| 350 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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| 351 | e545e620 | Thomas Schöpping | } |
| 352 | |||
| 353 | /**
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| 354 | * @brief Periphery communication interfaces initialization hook.
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| 355 | */
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| 356 | #define MODULE_INIT_PERIPHERY_COMM() { \
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| 357 | /* serial driver */ \
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| 358 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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| 359 | /* I2C */ \
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| 360 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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| 361 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 362 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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| 363 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 364 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 365 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 366 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 367 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 368 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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| 369 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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| 370 | /* PWM */ \
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| 371 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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| 372 | /* QEI */ \
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| 373 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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| 374 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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| 375 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 376 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 377 | } |
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| 378 | |||
| 379 | /**
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| 380 | * @brief Periphery communication interface deinitialization hook.
|
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| 381 | */
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| 382 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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| 383 | /* PWM */ \
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| 384 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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| 385 | /* QEI */ \
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| 386 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 387 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 388 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 389 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 390 | /* I2C */ \
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| 391 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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| 392 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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| 393 | /* don't stop the serial driver so messages can still be printed */ \
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| 394 | } |
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| 395 | |||
| 396 | /** @} */
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| 397 | |||
| 398 | /*===========================================================================*/
|
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| 399 | /**
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| 400 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 401 | * @{
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| 402 | */
|
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| 403 | /*===========================================================================*/
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| 404 | |||
| 405 | /**
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| 406 | * @brief PD signal GPIO.
|
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| 407 | */
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| 408 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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| 409 | 6b53f6bf | Thomas Schöpping | |
| 410 | /**
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| 411 | * @brief SYNC signal GPIO.
|
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| 412 | */
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| 413 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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| 414 | 6b53f6bf | Thomas Schöpping | |
| 415 | /**
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| 416 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
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| 417 | */
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| 418 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioUp moduleGpioSysUartUp
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| 419 | 933df08e | Thomas Schöpping | |
| 420 | /**
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| 421 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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| 422 | */
|
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| 423 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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| 424 | |||
| 425 | /**
|
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| 426 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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| 427 | 6b53f6bf | Thomas Schöpping | */
|
| 428 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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| 429 | |||
| 430 | /**
|
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| 431 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
|
| 432 | */
|
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| 433 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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| 434 | |||
| 435 | 6b53f6bf | Thomas Schöpping | /** @} */
|
| 436 | |||
| 437 | /*===========================================================================*/
|
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| 438 | /**
|
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| 439 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
| 440 | * @{
|
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| 441 | */
|
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| 442 | /*===========================================================================*/
|
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| 443 | #include <alld_a3906.h> |
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| 444 | #include <alld_at24c01bn-sh-b.h> |
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| 445 | #include <alld_hmc5883l.h> |
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| 446 | #include <alld_ina219.h> |
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| 447 | #include <alld_l3g4200d.h> |
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| 448 | #include <alld_led.h> |
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| 449 | #include <alld_lis331dlh.h> |
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| 450 | #include <alld_ltc4412.h> |
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| 451 | #include <alld_pca9544a.h> |
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| 452 | #include <alld_tps62113.h> |
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| 453 | #include <alld_vcnl4020.h> |
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| 454 | |||
| 455 | /**
|
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| 456 | * @brief Motor driver.
|
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| 457 | */
|
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| 458 | extern A3906Driver moduleLldMotors;
|
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| 459 | |||
| 460 | /**
|
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| 461 | * @brief EEPROM driver.
|
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| 462 | */
|
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| 463 | extern AT24C01BNDriver moduleLldEeprom;
|
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| 464 | |||
| 465 | /**
|
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| 466 | * @brief Compass driver.
|
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| 467 | */
|
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| 468 | extern HMC5883LDriver moduleLldCompass;
|
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| 469 | |||
| 470 | /**
|
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| 471 | * @brief Power monitor (VDD) driver.
|
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| 472 | */
|
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| 473 | extern INA219Driver moduleLldPowerMonitorVdd;
|
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| 474 | |||
| 475 | /**
|
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| 476 | * @brief Gyroscope driver.
|
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| 477 | */
|
||
| 478 | extern L3G4200DDriver moduleLldGyroscope;
|
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| 479 | |||
| 480 | /**
|
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| 481 | * @brief Status LED driver.
|
||
| 482 | */
|
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| 483 | extern LEDDriver moduleLldStatusLed;
|
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| 484 | |||
| 485 | /**
|
||
| 486 | * @brief Accelerometer driver.
|
||
| 487 | */
|
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| 488 | extern LIS331DLHDriver moduleLldAccelerometer;
|
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| 489 | |||
| 490 | /**
|
||
| 491 | * @brief Power path controler (charging pins) driver.
|
||
| 492 | */
|
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| 493 | extern LTC4412Driver moduleLldPowerPathController;
|
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| 494 | |||
| 495 | /**
|
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| 496 | * @brief I2C multiplexer driver.
|
||
| 497 | */
|
||
| 498 | extern PCA9544ADriver moduleLldI2cMultiplexer;
|
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| 499 | |||
| 500 | /**
|
||
| 501 | * @brief Step down converter (VDRIVE) driver.
|
||
| 502 | */
|
||
| 503 | extern TPS62113Driver moduleLldStepDownConverterVdrive;
|
||
| 504 | |||
| 505 | /**
|
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| 506 | * @brief Proximity sensor driver.
|
||
| 507 | */
|
||
| 508 | extern VCNL4020Driver moduleLldProximity;
|
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| 509 | |||
| 510 | /** @} */
|
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| 511 | |||
| 512 | /*===========================================================================*/
|
||
| 513 | /**
|
||
| 514 | * @name Unit tests (UT)
|
||
| 515 | * @{
|
||
| 516 | */
|
||
| 517 | /*===========================================================================*/
|
||
| 518 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 519 | #include <ut_alld_a3906.h> |
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| 520 | #include <ut_alld_at24c01bn-sh-b.h> |
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| 521 | #include <ut_alld_hmc5883l.h> |
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| 522 | #include <ut_alld_ina219.h> |
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| 523 | #include <ut_alld_l3g4200d.h> |
||
| 524 | #include <ut_alld_led.h> |
||
| 525 | #include <ut_alld_lis331dlh.h> |
||
| 526 | #include <ut_alld_ltc4412.h> |
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| 527 | #include <ut_alld_pca9544a.h> |
||
| 528 | #include <ut_alld_tps62113.h> |
||
| 529 | #include <ut_alld_vcnl4020.h> |
||
| 530 | |||
| 531 | /**
|
||
| 532 | * @brief A3906 (motor driver) unit test object.
|
||
| 533 | */
|
||
| 534 | extern aos_unittest_t moduleUtAlldA3906;
|
||
| 535 | |||
| 536 | /**
|
||
| 537 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
||
| 538 | */
|
||
| 539 | extern aos_unittest_t moduleUtAlldAt24c01bn;
|
||
| 540 | |||
| 541 | /**
|
||
| 542 | * @brief HMC5883L (compass) unit test object.
|
||
| 543 | */
|
||
| 544 | extern aos_unittest_t moduleUtAlldHmc5883l;
|
||
| 545 | |||
| 546 | /**
|
||
| 547 | * @brief INA219 (power monitor) unit test object.
|
||
| 548 | */
|
||
| 549 | extern aos_unittest_t moduleUtAlldIna219;
|
||
| 550 | |||
| 551 | /**
|
||
| 552 | * @brief L3G4200D (gyroscope) unit test object.
|
||
| 553 | */
|
||
| 554 | extern aos_unittest_t moduleUtAlldL3g4200d;
|
||
| 555 | |||
| 556 | /**
|
||
| 557 | * @brief Status LED unit test object.
|
||
| 558 | */
|
||
| 559 | extern aos_unittest_t moduleUtAlldLed;
|
||
| 560 | |||
| 561 | /**
|
||
| 562 | * @brief LIS331DLH (accelerometer) unit test object.
|
||
| 563 | */
|
||
| 564 | extern aos_unittest_t moduleUtAlldLis331dlh;
|
||
| 565 | |||
| 566 | /**
|
||
| 567 | * @brief LTC4412 (power path controller) unit test object.
|
||
| 568 | */
|
||
| 569 | extern aos_unittest_t moduleUtAlldLtc4412;
|
||
| 570 | |||
| 571 | /**
|
||
| 572 | * @brief PCA9544A (I2C multiplexer) unit test object.
|
||
| 573 | */
|
||
| 574 | extern aos_unittest_t moduleUtAlldPca9544a;
|
||
| 575 | |||
| 576 | /**
|
||
| 577 | * @brief TPS62113 (step-down converter) unit test object.
|
||
| 578 | */
|
||
| 579 | extern aos_unittest_t moduleUtAlldTps62113;
|
||
| 580 | |||
| 581 | /**
|
||
| 582 | * @brief VCNL4020 (proximity sensor) unit test object.
|
||
| 583 | */
|
||
| 584 | extern aos_unittest_t moduleUtAlldVcnl4020;
|
||
| 585 | |||
| 586 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
| 587 | |||
| 588 | /** @} */
|
||
| 589 | |||
| 590 | #endif /* _AMIROOS_MODULE_H_ */ |
||
| 591 | 53710ca3 | Marc Rothmann | |
| 592 | /** @} */ |