amiro-os / modules / LightRing_1-2 / module.c @ 88c47fd9
History | View | Annotate | Download (21.797 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 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 LightRing v1.2 module.
|
| 22 |
*
|
| 23 |
* @addtogroup lightring_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <amiroos.h> |
| 28 |
|
| 29 |
#include <string.h> |
| 30 |
|
| 31 |
/*===========================================================================*/
|
| 32 |
/**
|
| 33 |
* @name Module specific functions
|
| 34 |
* @{
|
| 35 |
*/
|
| 36 |
/*===========================================================================*/
|
| 37 |
|
| 38 |
/** @} */
|
| 39 |
|
| 40 |
/*===========================================================================*/
|
| 41 |
/**
|
| 42 |
* @name ChibiOS/HAL configuration
|
| 43 |
* @{
|
| 44 |
*/
|
| 45 |
/*===========================================================================*/
|
| 46 |
|
| 47 |
CANConfig moduleHalCanConfig = {
|
| 48 |
/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
| 49 |
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
| 50 |
}; |
| 51 |
|
| 52 |
I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig = {
|
| 53 |
/* I²C mode */ OPMODE_I2C,
|
| 54 |
/* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
| 55 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
| 56 |
}; |
| 57 |
|
| 58 |
SerialConfig moduleHalProgIfConfig = {
|
| 59 |
/* bit rate */ 115200, |
| 60 |
/* CR1 */ 0, |
| 61 |
/* CR1 */ 0, |
| 62 |
/* CR1 */ 0, |
| 63 |
}; |
| 64 |
|
| 65 |
SPIConfig moduleHalSpiLightConfig = {
|
| 66 |
/* circular buffer mode */ false, |
| 67 |
/* callback function pointer */ NULL, |
| 68 |
/* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
|
| 69 |
/* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
|
| 70 |
/* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
|
| 71 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 72 |
}; |
| 73 |
|
| 74 |
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
| 75 |
|
| 76 |
SPIConfig moduleHalSpiUwbHsConfig = {
|
| 77 |
/* circular buffer mode */ false, |
| 78 |
/* callback function pointer */ NULL, |
| 79 |
/* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
|
| 80 |
/* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
|
| 81 |
/* CR1 */ 0, // 36/2 Mbps |
| 82 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
| 83 |
}; |
| 84 |
|
| 85 |
SPIConfig moduleHalSpiUwbLsConfig = {
|
| 86 |
/* circular buffer mode */ false, |
| 87 |
/* callback function pointer */ NULL, |
| 88 |
/* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
|
| 89 |
/* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
|
| 90 |
/* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, // 36/16 Mbps |
| 91 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
| 92 |
}; |
| 93 |
|
| 94 |
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
| 95 |
|
| 96 |
/*===========================================================================*/
|
| 97 |
/**
|
| 98 |
* @name GPIO definitions
|
| 99 |
* @{
|
| 100 |
*/
|
| 101 |
/*===========================================================================*/
|
| 102 |
|
| 103 |
/**
|
| 104 |
* @brief LIGHT_BANK output signal GPIO.
|
| 105 |
*/
|
| 106 |
static apalGpio_t _gpioLightBlank = {
|
| 107 |
/* line */ LINE_LIGHT_BLANK,
|
| 108 |
}; |
| 109 |
ROMCONST apalControlGpio_t moduleGpioLightBlank = {
|
| 110 |
/* GPIO */ &_gpioLightBlank,
|
| 111 |
/* meta */ {
|
| 112 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 113 |
/* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
|
| 114 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 115 |
}, |
| 116 |
}; |
| 117 |
|
| 118 |
/**
|
| 119 |
* @brief RS232_R_EN_N output signal GPIO.
|
| 120 |
*/
|
| 121 |
static apalGpio_t _gpioRs232En = {
|
| 122 |
/* line */ LINE_RS232_R_EN_N,
|
| 123 |
}; |
| 124 |
ROMCONST apalControlGpio_t moduleGpioRs232En = {
|
| 125 |
/* GPIO */ &_gpioRs232En,
|
| 126 |
/* meta */ {
|
| 127 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 128 |
/* active state */ APAL_GPIO_ACTIVE_LOW, //TODO |
| 129 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 130 |
}, |
| 131 |
}; |
| 132 |
|
| 133 |
/**
|
| 134 |
* @brief SW_V33_EN output signal GPIO.
|
| 135 |
*/
|
| 136 |
static apalGpio_t _gpioSwV33En = {
|
| 137 |
/* line */ LINE_SW_V33_EN,
|
| 138 |
}; |
| 139 |
ROMCONST apalControlGpio_t moduleGpioSwV33En = {
|
| 140 |
/* GPIO */ &_gpioSwV33En,
|
| 141 |
/* meta */ {
|
| 142 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 143 |
/* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
|
| 144 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 145 |
}, |
| 146 |
}; |
| 147 |
|
| 148 |
// The 4.2V switch is disabled due to a hardware bug.
|
| 149 |
///**
|
| 150 |
// * @brief SW_V42_EN output signal GPIO.
|
| 151 |
// */
|
| 152 |
//static apalGpio_t _gpioSwV42En = {
|
| 153 |
// /* line */ LINE_SW_V42_EN,
|
| 154 |
//};
|
| 155 |
//ROMCONST apalControlGpio_t moduleGpioSwV42En = {
|
| 156 |
// /* GPIO */ &_gpioSwV42En,
|
| 157 |
// /* meta */ {
|
| 158 |
// /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 159 |
// /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
|
| 160 |
// /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 161 |
// },
|
| 162 |
//};
|
| 163 |
|
| 164 |
/**
|
| 165 |
* @brief SW_V50_EN output signal GPIO.
|
| 166 |
*/
|
| 167 |
static apalGpio_t _gpioSwV50En = {
|
| 168 |
/* line */ LINE_SW_V50_EN,
|
| 169 |
}; |
| 170 |
ROMCONST apalControlGpio_t moduleGpioSwV50En = {
|
| 171 |
/* GPIO */ &_gpioSwV50En,
|
| 172 |
/* meta */ {
|
| 173 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 174 |
/* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
|
| 175 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 176 |
}, |
| 177 |
}; |
| 178 |
|
| 179 |
/**
|
| 180 |
* @brief SYS_UART_DN bidirectional signal GPIO.
|
| 181 |
*/
|
| 182 |
static apalGpio_t _gpioSysUartDn = {
|
| 183 |
/* line */ LINE_SYS_UART_DN,
|
| 184 |
}; |
| 185 |
ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
|
| 186 |
/* GPIO */ &_gpioSysUartDn,
|
| 187 |
/* meta */ {
|
| 188 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 189 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 190 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 191 |
}, |
| 192 |
}; |
| 193 |
|
| 194 |
/**
|
| 195 |
* @brief LED output signal GPIO.
|
| 196 |
*/
|
| 197 |
static apalGpio_t _gpioLed = {
|
| 198 |
/* line */ LINE_LED,
|
| 199 |
}; |
| 200 |
ROMCONST apalControlGpio_t moduleGpioLed = {
|
| 201 |
/* GPIO */ &_gpioLed,
|
| 202 |
/* meta */ {
|
| 203 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 204 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 205 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 206 |
}, |
| 207 |
}; |
| 208 |
|
| 209 |
/**
|
| 210 |
* @brief LIGHT_XLAT output signal GPIO.
|
| 211 |
*/
|
| 212 |
static apalGpio_t _gpioLightXlat = {
|
| 213 |
/* line */ LINE_LIGHT_XLAT,
|
| 214 |
}; |
| 215 |
ROMCONST apalControlGpio_t moduleGpioLightXlat = {
|
| 216 |
/* GPIO */ &_gpioLightXlat,
|
| 217 |
/* meta */ {
|
| 218 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 219 |
/* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 220 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 221 |
}, |
| 222 |
}; |
| 223 |
|
| 224 |
/**
|
| 225 |
* @brief SW_V18_EN output signal GPIO.
|
| 226 |
*/
|
| 227 |
static apalGpio_t _gpioSwV18En = {
|
| 228 |
/* line */ LINE_SW_V18_EN,
|
| 229 |
}; |
| 230 |
ROMCONST apalControlGpio_t moduleGpioSwV18En = {
|
| 231 |
/* GPIO */ &_gpioSwV18En,
|
| 232 |
/* meta */ {
|
| 233 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 234 |
/* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
|
| 235 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 236 |
}, |
| 237 |
}; |
| 238 |
|
| 239 |
/**
|
| 240 |
* @brief SW_VSYS_EN output signal GPIO.
|
| 241 |
*/
|
| 242 |
static apalGpio_t _gpioSwVsysEn = {
|
| 243 |
/* line */ LINE_SW_VSYS_EN,
|
| 244 |
}; |
| 245 |
ROMCONST apalControlGpio_t moduleGpioSwVsysEn = {
|
| 246 |
/* GPIO */ &_gpioSwVsysEn,
|
| 247 |
/* meta */ {
|
| 248 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 249 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 250 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 251 |
}, |
| 252 |
}; |
| 253 |
|
| 254 |
/**
|
| 255 |
* @brief SYS_UART_UP bidirectional signal GPIO.
|
| 256 |
*/
|
| 257 |
static apalGpio_t _gpioSysUartUp = {
|
| 258 |
/* line */ LINE_SYS_UART_UP,
|
| 259 |
}; |
| 260 |
ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
|
| 261 |
/* GPIO */ &_gpioSysUartUp,
|
| 262 |
/* meta */ {
|
| 263 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 264 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 265 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 266 |
}, |
| 267 |
}; |
| 268 |
|
| 269 |
/**
|
| 270 |
* @brief SYS_PD bidirectional signal GPIO.
|
| 271 |
*/
|
| 272 |
static apalGpio_t _gpioSysPd = {
|
| 273 |
/* line */ LINE_SYS_PD_N,
|
| 274 |
}; |
| 275 |
ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
| 276 |
/* GPIO */ &_gpioSysPd,
|
| 277 |
/* meta */ {
|
| 278 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 279 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 280 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 281 |
}, |
| 282 |
}; |
| 283 |
|
| 284 |
/**
|
| 285 |
* @brief SYS_SYNC bidirectional signal GPIO.
|
| 286 |
*/
|
| 287 |
static apalGpio_t _gpioSysSync = {
|
| 288 |
/* line */ LINE_SYS_INT_N,
|
| 289 |
}; |
| 290 |
ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
| 291 |
/* GPIO */ &_gpioSysSync,
|
| 292 |
/* meta */ {
|
| 293 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 294 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 295 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 296 |
}, |
| 297 |
}; |
| 298 |
|
| 299 |
/**
|
| 300 |
* @brief IO_1 breakout signal GPIO.
|
| 301 |
*/
|
| 302 |
static apalGpio_t _gpioBreakoutIo1 = {
|
| 303 |
/* line */ LINE_IO_1,
|
| 304 |
}; |
| 305 |
|
| 306 |
/**
|
| 307 |
* @brief IO_2 breakout signal GPIO.
|
| 308 |
*/
|
| 309 |
static apalGpio_t _gpioBreakoutIo2 = {
|
| 310 |
/* line */ LINE_IO_2,
|
| 311 |
}; |
| 312 |
|
| 313 |
/**
|
| 314 |
* @brief IO_3 breakout signal GPIO.
|
| 315 |
*/
|
| 316 |
static apalGpio_t _gpioBreakoutIo3 = {
|
| 317 |
/* line */ LINE_IO_3,
|
| 318 |
}; |
| 319 |
|
| 320 |
/**
|
| 321 |
* @brief IO_4 breakout signal GPIO.
|
| 322 |
*/
|
| 323 |
static apalGpio_t _gpioBreakoutIo4 = {
|
| 324 |
/* line */ LINE_IO_4,
|
| 325 |
}; |
| 326 |
|
| 327 |
/**
|
| 328 |
* @brief IO_5 breakout signal GPIO.
|
| 329 |
*/
|
| 330 |
static apalGpio_t _gpioBreakoutIo5 = {
|
| 331 |
/* line */ LINE_IO_5,
|
| 332 |
}; |
| 333 |
|
| 334 |
/**
|
| 335 |
* @brief IO_6 breakout signal GPIO.
|
| 336 |
*/
|
| 337 |
static apalGpio_t _gpioBreakoutIo6 = {
|
| 338 |
/* line */ LINE_IO_6,
|
| 339 |
}; |
| 340 |
|
| 341 |
/**
|
| 342 |
* @brief IO_7 breakout signal GPIO.
|
| 343 |
*/
|
| 344 |
static apalGpio_t _gpioBreakoutIo7 = {
|
| 345 |
/* line */ LINE_IO_7,
|
| 346 |
}; |
| 347 |
|
| 348 |
/**
|
| 349 |
* @brief IO_8 breakout signal GPIO.
|
| 350 |
*/
|
| 351 |
static apalGpio_t _gpioBreakoutIo8 = {
|
| 352 |
/* line */ LINE_IO_8,
|
| 353 |
}; |
| 354 |
|
| 355 |
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
|
| 356 |
|
| 357 |
apalControlGpio_t moduleGpioBreakoutIo1 = {
|
| 358 |
/* GPIO */ &_gpioBreakoutIo1,
|
| 359 |
/* meta */ {
|
| 360 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 361 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 362 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 363 |
}, |
| 364 |
}; |
| 365 |
|
| 366 |
apalControlGpio_t moduleGpioBreakoutIo2 = {
|
| 367 |
/* GPIO */ &_gpioBreakoutIo2,
|
| 368 |
/* meta */ {
|
| 369 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 370 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 371 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 372 |
}, |
| 373 |
}; |
| 374 |
|
| 375 |
apalControlGpio_t moduleGpioBreakoutIo3 = {
|
| 376 |
/* GPIO */ &_gpioBreakoutIo3,
|
| 377 |
/* meta */ {
|
| 378 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 379 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 380 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 381 |
}, |
| 382 |
}; |
| 383 |
|
| 384 |
apalControlGpio_t moduleGpioBreakoutIo4 = {
|
| 385 |
/* GPIO */ &_gpioBreakoutIo4,
|
| 386 |
/* meta */ {
|
| 387 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 388 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 389 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 390 |
}, |
| 391 |
}; |
| 392 |
|
| 393 |
apalControlGpio_t moduleGpioBreakoutIo5 = {
|
| 394 |
/* GPIO */ &_gpioBreakoutIo5,
|
| 395 |
/* meta */ {
|
| 396 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 397 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 398 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 399 |
}, |
| 400 |
}; |
| 401 |
|
| 402 |
apalControlGpio_t moduleGpioBreakoutIo6 = {
|
| 403 |
/* GPIO */ &_gpioBreakoutIo6,
|
| 404 |
/* meta */ {
|
| 405 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 406 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 407 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 408 |
}, |
| 409 |
}; |
| 410 |
|
| 411 |
apalControlGpio_t moduleGpioBreakoutIo7 = {
|
| 412 |
/* GPIO */ &_gpioBreakoutIo7,
|
| 413 |
/* meta */ {
|
| 414 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 415 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 416 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 417 |
}, |
| 418 |
}; |
| 419 |
|
| 420 |
apalControlGpio_t moduleGpioBreakoutIo8 = {
|
| 421 |
/* GPIO */ &_gpioBreakoutIo8,
|
| 422 |
/* meta */ {
|
| 423 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 424 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 425 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 426 |
}, |
| 427 |
}; |
| 428 |
|
| 429 |
#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
| 430 |
|
| 431 |
apalControlGpio_t moduleGpioBreakoutIo1 = {
|
| 432 |
/* GPIO */ &_gpioBreakoutIo1,
|
| 433 |
/* meta */ {
|
| 434 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 435 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 436 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 437 |
}, |
| 438 |
}; |
| 439 |
|
| 440 |
apalControlGpio_t moduleGpioBreakoutIo2 = {
|
| 441 |
/* GPIO */ &_gpioBreakoutIo2,
|
| 442 |
/* meta */ {
|
| 443 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 444 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 445 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 446 |
}, |
| 447 |
}; |
| 448 |
|
| 449 |
apalControlGpio_t moduleGpioBreakoutIo3 = {
|
| 450 |
/* GPIO */ &_gpioBreakoutIo3,
|
| 451 |
/* meta */ {
|
| 452 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 453 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 454 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 455 |
}, |
| 456 |
}; |
| 457 |
|
| 458 |
apalControlGpio_t moduleGpioBreakoutIo4 = {
|
| 459 |
/* GPIO */ &_gpioBreakoutIo4,
|
| 460 |
/* meta */ {
|
| 461 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 462 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 463 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 464 |
}, |
| 465 |
}; |
| 466 |
|
| 467 |
apalControlGpio_t moduleGpioBreakoutIo5 = {
|
| 468 |
/* GPIO */ &_gpioBreakoutIo5,
|
| 469 |
/* meta */ {
|
| 470 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 471 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 472 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 473 |
}, |
| 474 |
}; |
| 475 |
|
| 476 |
apalControlGpio_t moduleGpioBreakoutIo6 = {
|
| 477 |
/* GPIO */ &_gpioBreakoutIo6,
|
| 478 |
/* meta */ {
|
| 479 |
/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
| 480 |
/* active state */ APAL_GPIO_ACTIVE_NONE,
|
| 481 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 482 |
}, |
| 483 |
}; |
| 484 |
|
| 485 |
apalControlGpio_t moduleGpioBreakoutIo7 = {
|
| 486 |
/* GPIO */ &_gpioBreakoutIo7,
|
| 487 |
/* meta */ {
|
| 488 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 489 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 490 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 491 |
}, |
| 492 |
}; |
| 493 |
|
| 494 |
apalControlGpio_t moduleGpioBreakoutIo8 = {
|
| 495 |
/* GPIO */ &_gpioBreakoutIo8,
|
| 496 |
/* meta */ {
|
| 497 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 498 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 499 |
/* interrupt edge */ APAL_GPIO_EDGE_RISING,
|
| 500 |
}, |
| 501 |
}; |
| 502 |
|
| 503 |
#endif
|
| 504 |
|
| 505 |
/** @} */
|
| 506 |
|
| 507 |
/*===========================================================================*/
|
| 508 |
/**
|
| 509 |
* @name AMiRo-OS core configurations
|
| 510 |
* @{
|
| 511 |
*/
|
| 512 |
/*===========================================================================*/
|
| 513 |
|
| 514 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 515 |
ROMCONST char* moduleShellPrompt = "LightRing"; |
| 516 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 517 |
|
| 518 |
/** @} */
|
| 519 |
|
| 520 |
/*===========================================================================*/
|
| 521 |
/**
|
| 522 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 523 |
* @{
|
| 524 |
*/
|
| 525 |
/*===========================================================================*/
|
| 526 |
|
| 527 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__) |
| 528 |
|
| 529 |
/* some local definitions */
|
| 530 |
// maximum number of bytes per CAN frame
|
| 531 |
#define CAN_BYTES_PER_FRAME 8 |
| 532 |
// identifier (as dominant as possible)
|
| 533 |
#define MSI_BCBMSG_CANID 0 |
| 534 |
|
| 535 |
aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
|
| 536 |
{
|
| 537 |
aosDbgCheck(buffer != NULL);
|
| 538 |
aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
| 539 |
|
| 540 |
// local variables
|
| 541 |
CANTxFrame frame; |
| 542 |
|
| 543 |
// setup the common parts of the message frame
|
| 544 |
frame.DLC = (uint8_t)length; |
| 545 |
frame.RTR = CAN_RTR_DATA; |
| 546 |
frame.IDE = CAN_IDE_STD; |
| 547 |
frame.SID = MSI_BCBMSG_CANID; |
| 548 |
memcpy(frame.data8, buffer, length); |
| 549 |
|
| 550 |
// sent the frame and return
|
| 551 |
return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
|
| 552 |
} |
| 553 |
|
| 554 |
aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length) |
| 555 |
{
|
| 556 |
aosDbgCheck(buffer != NULL);
|
| 557 |
aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
| 558 |
|
| 559 |
// local variables
|
| 560 |
CANRxFrame frame; |
| 561 |
|
| 562 |
// receive a frame and check for errors
|
| 563 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
|
| 564 |
// a correct frame was received
|
| 565 |
if (frame.DLC == length &&
|
| 566 |
frame.RTR == CAN_RTR_DATA && |
| 567 |
frame.IDE == CAN_IDE_STD && |
| 568 |
frame.SID == MSI_BCBMSG_CANID) {
|
| 569 |
// success: fetch the data and return
|
| 570 |
memcpy(buffer, frame.data8, length); |
| 571 |
return AOS_SSSP_BCB_SUCCESS;
|
| 572 |
} |
| 573 |
// an unexpected frame was received
|
| 574 |
else {
|
| 575 |
return AOS_SSSP_BCB_INVALIDMSG;
|
| 576 |
} |
| 577 |
} else {
|
| 578 |
// failure: return with error
|
| 579 |
return AOS_SSSP_BCB_ERROR;
|
| 580 |
} |
| 581 |
} |
| 582 |
|
| 583 |
#undef MSI_BCBMSG_CANID
|
| 584 |
#undef CAN_BYTES_PER_FRAME
|
| 585 |
|
| 586 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */ |
| 587 |
|
| 588 |
/** @} */
|
| 589 |
|
| 590 |
/*===========================================================================*/
|
| 591 |
/**
|
| 592 |
* @name Low-level drivers
|
| 593 |
* @{
|
| 594 |
*/
|
| 595 |
/*===========================================================================*/
|
| 596 |
|
| 597 |
AT24C01BDriver moduleLldEeprom = {
|
| 598 |
/* I2C driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
| 599 |
/* I2C address */ 0x00u, |
| 600 |
}; |
| 601 |
|
| 602 |
INA219Driver moduleLldPowerMonitorVled = {
|
| 603 |
/* I2C Driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
| 604 |
/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
| 605 |
/* current LSB (uA) */ 0x00u, |
| 606 |
/* configuration */ NULL, |
| 607 |
}; |
| 608 |
|
| 609 |
LEDDriver moduleLldStatusLed = {
|
| 610 |
/* LED enable Gpio */ &moduleGpioLed,
|
| 611 |
}; |
| 612 |
|
| 613 |
MIC9404xDriver moduleLldPowerSwitchV18 = {
|
| 614 |
/* power enable GPIO */ &moduleGpioSwV18En,
|
| 615 |
}; |
| 616 |
|
| 617 |
MIC9404xDriver moduleLldPowerSwitchV33 = {
|
| 618 |
/* power enable GPIO */ &moduleGpioSwV33En,
|
| 619 |
}; |
| 620 |
|
| 621 |
// The 4.2V switch is disabled due to a hardware bug.
|
| 622 |
//MIC9404xDriver moduleLldPowerSwitchV42 = {
|
| 623 |
// /* power enable GPIO */ &moduleGpioSwV42En,
|
| 624 |
//};
|
| 625 |
|
| 626 |
MIC9404xDriver moduleLldPowerSwitchV50 = {
|
| 627 |
/* power enable GPIO */ &moduleGpioSwV50En,
|
| 628 |
}; |
| 629 |
|
| 630 |
MIC9404xDriver moduleLldPowerSwitchVsys = {
|
| 631 |
/* power enable GPIO */ &moduleGpioSwVsysEn,
|
| 632 |
}; |
| 633 |
|
| 634 |
// TODO: add SNx5C3221E
|
| 635 |
|
| 636 |
TLC5947Driver moduleLldLedPwm = {
|
| 637 |
/* SPI driver */ &MODULE_HAL_SPI_LIGHT,
|
| 638 |
/* BLANK signal GPIO */ &moduleGpioLightBlank,
|
| 639 |
/* XLAT signal GPIO */ &moduleGpioLightXlat,
|
| 640 |
}; |
| 641 |
|
| 642 |
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
| 643 |
|
| 644 |
DW1000Driver moduleLldDw1000 = {
|
| 645 |
/* SPI driver */ &MODULE_HAL_SPI_UWB,
|
| 646 |
/* interrupt GPIO */ &moduleGpioBreakoutIo8,
|
| 647 |
/* reset GPIO */ &moduleGpioBreakoutIo7,
|
| 648 |
}; |
| 649 |
|
| 650 |
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
| 651 |
|
| 652 |
/** @} */
|
| 653 |
|
| 654 |
/*===========================================================================*/
|
| 655 |
/**
|
| 656 |
* @name Tests
|
| 657 |
* @{
|
| 658 |
*/
|
| 659 |
/*===========================================================================*/
|
| 660 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 661 |
|
| 662 |
/*
|
| 663 |
* AT24C01BN-SH-B (EEPROM)
|
| 664 |
*/
|
| 665 |
#include <module_test_AT24C01B.h> |
| 666 |
static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 667 |
{
|
| 668 |
return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
| 669 |
} |
| 670 |
AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
|
| 671 |
|
| 672 |
/*
|
| 673 |
* INA219 (power monitor)
|
| 674 |
*/
|
| 675 |
#include <module_test_INA219.h> |
| 676 |
static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 677 |
{
|
| 678 |
return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
| 679 |
} |
| 680 |
AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
|
| 681 |
|
| 682 |
/*
|
| 683 |
* Status LED
|
| 684 |
*/
|
| 685 |
#include <module_test_LED.h> |
| 686 |
static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 687 |
{
|
| 688 |
return moduleTestLedShellCb(stream, argc, argv, NULL); |
| 689 |
} |
| 690 |
AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
|
| 691 |
|
| 692 |
/*
|
| 693 |
* MIC9404x (power switch)
|
| 694 |
*/
|
| 695 |
#include <module_test_MIC9404x.h> |
| 696 |
static int _testMic9404xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 697 |
{
|
| 698 |
return moduleTestMic9404xShellCb(stream, argc, argv, NULL); |
| 699 |
} |
| 700 |
AOS_SHELL_COMMAND(moduleTestMic9404xShellCmd, "test:PowerSwitch", _testMic9404xShellCmdCb);
|
| 701 |
|
| 702 |
// TODO: add SNx5C3221E
|
| 703 |
|
| 704 |
/*
|
| 705 |
* TLC5947 (24 channel PWM LED driver)
|
| 706 |
*/
|
| 707 |
#include <module_test_TLC5947.h> |
| 708 |
static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 709 |
{
|
| 710 |
return moduleTestTlc5947ShellCb(stream, argc, argv, NULL); |
| 711 |
} |
| 712 |
AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
|
| 713 |
|
| 714 |
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
| 715 |
|
| 716 |
/*
|
| 717 |
* UwB Driver (DW1000)
|
| 718 |
*/
|
| 719 |
#include <module_test_DW1000.h> |
| 720 |
static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 721 |
{
|
| 722 |
return moduleTestDw1000ShellCb(stream, argc, argv, NULL); |
| 723 |
} |
| 724 |
AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb);
|
| 725 |
|
| 726 |
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
| 727 |
|
| 728 |
/*
|
| 729 |
* entire module
|
| 730 |
*/
|
| 731 |
static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 732 |
{
|
| 733 |
(void)argc;
|
| 734 |
(void)argv;
|
| 735 |
|
| 736 |
int status = AOS_OK;
|
| 737 |
char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
| 738 |
aos_testresult_t result_test = {0, 0};
|
| 739 |
aos_testresult_t result_total = {0, 0};
|
| 740 |
|
| 741 |
/* AT24C01B (EEPROM) */
|
| 742 |
status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
| 743 |
result_total = aosTestResultAdd(result_total, result_test); |
| 744 |
|
| 745 |
/* INA219 (power monitor) */
|
| 746 |
status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
|
| 747 |
result_total = aosTestResultAdd(result_total, result_test); |
| 748 |
|
| 749 |
/* Status LED */
|
| 750 |
status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
| 751 |
result_total = aosTestResultAdd(result_total, result_test); |
| 752 |
|
| 753 |
/* MIC9404x (power switch) */
|
| 754 |
// 1.8V
|
| 755 |
targv[1] = "1.8V"; |
| 756 |
status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
| 757 |
result_total = aosTestResultAdd(result_total, result_test); |
| 758 |
// 3.3V
|
| 759 |
targv[1] = "3.3V"; |
| 760 |
status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
| 761 |
result_total = aosTestResultAdd(result_total, result_test); |
| 762 |
// The 4.2V switch is disabled due to a hardware bug.
|
| 763 |
// // 4.2V
|
| 764 |
// targv[1] = "4.2V";
|
| 765 |
// status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
| 766 |
// result_total = aosTestResultAdd(result_total, result_test);
|
| 767 |
// 5.0V
|
| 768 |
targv[1] = "5.0V"; |
| 769 |
status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
| 770 |
result_total = aosTestResultAdd(result_total, result_test); |
| 771 |
//VSYS
|
| 772 |
targv[1] = "VSYS"; |
| 773 |
status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
| 774 |
result_total = aosTestResultAdd(result_total, result_test); |
| 775 |
targv[1] = ""; |
| 776 |
|
| 777 |
// TODO: add SNx5C3221E
|
| 778 |
|
| 779 |
/* TLC5947 (24 channel PWM LED driver) */
|
| 780 |
status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
|
| 781 |
result_total = aosTestResultAdd(result_total, result_test); |
| 782 |
|
| 783 |
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
| 784 |
/* DW1000 (UWB transceiver) */
|
| 785 |
status |= moduleTestDw1000ShellCb(stream, 0, targv, &result_test);
|
| 786 |
result_total = aosTestResultAdd(result_total, result_test); |
| 787 |
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
| 788 |
|
| 789 |
// print total result
|
| 790 |
chprintf(stream, "\n");
|
| 791 |
aosTestResultPrintSummary(stream, &result_total, "entire module");
|
| 792 |
|
| 793 |
return status;
|
| 794 |
} |
| 795 |
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
| 796 |
|
| 797 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 798 |
|
| 799 |
/** @} */
|
| 800 |
/** @} */
|