/modules/LightRing_1-0/module.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / LightRing_1-0 / module.c @ 872e1ebd

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       /*
       AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2019  Thomas Schöpping et al.
       This program is free software: you can redistribute it and/or modify
       it under the terms of the GNU General Public License as published by
       the Free Software Foundation, either version 3 of the License, or
       (at your option) any later version.
       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU General Public License for more details.
       You should have received a copy of the GNU General Public License
       along with this program.  If not, see <http://www.gnu.org/licenses/>.
       */
       /**
        * @file
        * @brief   Structures and constant for the LightRing v1.0 module.
+       *
        * @addtogroup lightring_module
        * @{
        */
       #include "module.h"
       /*===========================================================================*/
       /**
        * @name Module specific functions
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name ChibiOS/HAL configuration
        * @{
        */
       /*===========================================================================*/
       CANConfig moduleHalCanConfig = {
         /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
         /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
       };
       I2CConfig moduleHalI2cEepromConfig = {
         /* I²C mode   */ OPMODE_I2C,
         /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)
         /* duty cycle */ FAST_DUTY_CYCLE_2,
       };
       SerialConfig moduleHalProgIfConfig = {
         /* bit rate */ 115200,
         /* CR1      */ 0,
         /* CR1      */ 0,
         /* CR1      */ 0,
       };
       SPIConfig moduleHalSpiLightConfig = {
         /* circular buffer mode        */ false,
         /* callback function pointer   */ NULL,
         /* chip select line port       */ PAL_PORT(LINE_LIGHT_XLAT),
         /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
         /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
         /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
       };
       SPIConfig moduleHalSpiWlConfig = {
         /* circular buffer mode        */ false,
         /* callback function pointer   */ NULL,
         /* chip select line port       */ PAL_PORT(LINE_WL_SS_N),
         /* chip select line pad number */ PAL_PAD(LINE_WL_SS_N),
         /* CR1                         */ SPI_CR1_BR_0,
         /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
       };
       /*===========================================================================*/
       /**
        * @name GPIO definitions
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   LIGHT_BANK output signal GPIO.
        */
       static apalGpio_t _gpioLightBlank = {
         /* line */ LINE_LIGHT_BLANK,
       };
       ROMCONST apalControlGpio_t moduleGpioLightBlank = {
         /* GPIO */ &_gpioLightBlank,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ TLC5947_LLD_BLANK_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   LASER_EN output signal GPIO.
        */
       static apalGpio_t _gpioLaserEn = {
         /* line */ LINE_LASER_EN,
       };
       ROMCONST apalControlGpio_t moduleGpioLaserEn = {
         /* GPIO */ &_gpioLaserEn,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   LASER_OC input signal GPIO.
        */
       static apalGpio_t _gpioLaserOc = {
         /* line */ LINE_LASER_OC_N,
       };
       ROMCONST apalControlGpio_t moduleGpioLaserOc = {
         /* GPIO */ &_gpioLaserOc,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   SYS_UART_DN bidirectional signal GPIO.
        */
       static apalGpio_t _gpioSysUartDn = {
         /* line */ LINE_SYS_UART_DN,
       };
       ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
         /* GPIO */ &_gpioSysUartDn,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   WL_GDO2 input signal GPIO.
        */
       static apalGpio_t _gpioWlGdo2 = {
         /* line */ LINE_WL_GDO2,
       };
       ROMCONST apalControlGpio_t moduleGpioWlGdo2 = {
         /* GPIO */ &_gpioWlGdo2,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   WL_GDO0 input signal GPIO.
        */
       static apalGpio_t _gpioWlGdo0= {
         /* line */ LINE_WL_GDO0,
       };
       ROMCONST apalControlGpio_t moduleGpioWlGdo0 = {
         /* GPIO */ &_gpioWlGdo0,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   SYS_PD bidirectional signal GPIO.
        */
       static apalGpio_t _gpioSysPd = {
         /* line */ LINE_SYS_PD_N,
       };
       ROMCONST apalControlGpio_t moduleGpioSysPd = {
         /* GPIO */ &_gpioSysPd,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /**
        * @brief   SYS_SYNC bidirectional signal GPIO.
        */
       static apalGpio_t _gpioSysSync = {
         /* line */ LINE_SYS_INT_N,
       };
       ROMCONST apalControlGpio_t moduleGpioSysSync = {
         /* GPIO */ &_gpioSysSync,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name AMiRo-OS core configurations
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       ROMCONST char* moduleShellPrompt = "LightRing";
       #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Startup Shutdown Synchronization Protocol (SSSP)
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name Low-level drivers
        * @{
        */
       /*===========================================================================*/
       AT24C01BDriver moduleLldEeprom = {
         /* I2C driver   */ &MODULE_HAL_I2C_EEPROM,
         /* I2C address  */ 0x00u,
       };
       TLC5947Driver moduleLldLedPwm = {
         /* SPI driver         */ &MODULE_HAL_SPI_LIGHT,
         /* BLANK signal GPIO  */ &moduleGpioLightBlank,
         /* XLAT signal GPIO   */ NULL,
       };
       TPS20xxBDriver moduleLldPowerSwitchLaser = {
         /* laser enable GPIO      */ &moduleGpioLaserEn,
         /* laser overcurrent GPIO */ &moduleGpioLaserOc,
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name Unit tests (UT)
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       /*
        * EEPROM (AT24C01B)
        */
       static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
         return AOS_OK;
+      }
       static ut_at24c01bdata_t _utAlldAt24c01bData = {
         /* driver   */ &moduleLldEeprom,
         /* timeout  */ MICROSECONDS_PER_SECOND,
       };
       aos_unittest_t moduleUtAlldAt24c01b = {
         /* name           */ "AT24C01B",
         /* info           */ "1kbit EEPROM",
         /* test function  */ utAlldAt24c01bFunc,
         /* shell command  */ {
           /* name     */ "unittest:EEPROM",
           /* callback */ _utShellCmdCb_AlldAt24c01b,
           /* next     */ NULL,
         },
         /* data           */ &_utAlldAt24c01bData,
       };
       /*
        * LED PWM driver (TLC5947)
        */
       static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
         return AOS_OK;
+      }
       aos_unittest_t moduleUtAlldTlc5947 = {
         /* info           */ "TLC5947",
         /* name           */ "LED PWM driver",
         /* test function  */ utAlldTlc5947Func,
         /* shell command  */ {
           /* name     */ "unittest:Lights",
           /* callback */ _utShellCmdCb_Tlc5947,
           /* next     */ NULL,
         },
         /* data           */ &moduleLldLedPwm,
       };
       /*
        * power switch (TPS2051BDBV)
        */
       static int _utShellCmdCb_Tps2051bdbv(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         aosUtRun(stream,&moduleUtAlldTps2051bdbv, NULL);
         return AOS_OK;
+      }
       aos_unittest_t moduleUtAlldTps2051bdbv = {
         /* info           */ "TPS2051BDBV",
         /* name           */ "current-limited power switch",
         /* test function  */ utAlldTps20xxbFunc,
         /* shell command  */ {
           /* name     */ "unittest:PowerSwitch",
           /* callback */ _utShellCmdCb_Tps2051bdbv,
           /* next     */ NULL,
         },
         /* data           */ &moduleLldPowerSwitchLaser,
       };
       #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
       /** @} */
       /** @} */