AMiRo-OS

/*

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 NUCLEO-F767ZI module.

 *

 * @addtogroup NUCLEO-F767ZI_module

 * @{

 */

#ifndef AMIROOS_MODULE_H

#define AMIROOS_MODULE_H

#include <amiroos.h>

#include <math.h>

/*===========================================================================*/

/**

 * @name Module specific functions

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Serial driver of the programmer interface.

 */

#define MODULE_HAL_PROGIF                       SD3

/**

 * @brief   Configuration for the programmer serial interface driver.

 */

extern SerialConfig moduleHalProgIfConfig;

/**

 * @brief   Real-Time Clock driver.

 */

#define MODULE_HAL_RTC                          RTCD1

/** @} */

/*===========================================================================*/

/**

 * @name GPIO definitions

 * @{

 */

/*===========================================================================*/

/**

 * @brief   LED1 output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed1;

/**

 * @brief   LED2 output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed2;

/**

 * @brief   LED3 output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed3;

/**

 * @brief   User button input signal.

 */

extern ROMCONST apalControlGpio_t moduleGpioUserButton;

/** @} */

/*===========================================================================*/

/**

 * @name AMiRo-OS core configurations

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Event flag to be set on a USER_BUTTON interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_USERBUTTON       AOS_IOEVENT_FLAG(PAL_PAD(LINE_BUTTON))

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell prompt text.

 */

extern ROMCONST char* moduleShellPrompt;

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

/**

 * @brief   Interrupt initialization macro.

 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.

 */

#define MODULE_INIT_INTERRUPTS() {                                            \

  /* user button */                                                           \

  palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdIntCallback(), &moduleGpioUserButton.gpio->line); \

  palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge));                \

}

/**

 * @brief   Unit test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add unit-test shell commands */                                          \

}

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_COMM() {                                        \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

}

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \

}

/**

 * @brief   HOOK to toggle the LEDs when the user button is pressed.

 */

#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) {                               \

  if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) {                       \

    apalControlGpioState_t buttonstate;                                       \

    apalControlGpioGet(&moduleGpioUserButton, &buttonstate);                  \

    apalControlGpioSet(&moduleGpioLed1, buttonstate);                         \

    apalControlGpioSet(&moduleGpioLed2, buttonstate);                         \

    apalControlGpioSet(&moduleGpioLed3, buttonstate);                         \

  }                                                                           \

}

/** @} */

/*===========================================================================*/

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name Low-level drivers

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name Unit tests (UT)

 * @{

 */

/*===========================================================================*/

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */