amiro-os / modules / NUCLEO-F103RB / module.h @ 8d4d058e
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1 | f4da707a | 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..2019 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 | /**
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20 | * @file
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21 | * @brief Structures and constant for the NUCLEO-F103RB module.
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22 | *
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23 | * @addtogroup NUCLEO-F103RB_module
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24 | * @{
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25 | */
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26 | |||
27 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_MODULE_H
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28 | #define AMIROOS_MODULE_H
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29 | f4da707a | Thomas Schöpping | |
30 | #include <amiroos.h> |
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31 | |||
32 | /*===========================================================================*/
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33 | /**
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34 | * @name Module specific functions
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35 | * @{
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36 | */
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37 | /*===========================================================================*/
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38 | |||
39 | 7de0cc90 | Thomas Schöpping | #if defined(__cplusplus)
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40 | deaaa47e | Cung Sang | extern "C" { |
41 | 7de0cc90 | Thomas Schöpping | #endif /* defined(__cplusplus) */ |
42 | deaaa47e | Cung Sang | |
43 | 8d4d058e | Cung Sang | #if (BOARD_DW1000_CONNECTED == true) |
44 | deaaa47e | Cung Sang | void dw1000_spi_init(void); |
45 | 8d4d058e | Cung Sang | void process_deca_irq(void); |
46 | apalGpioState_t port_CheckEXT_IRQ(void) ;
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47 | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
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48 | |||
49 | void set_SPI_chip_select(void); |
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50 | void clear_SPI_chip_select(void); |
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51 | deaaa47e | Cung Sang | |
52 | 7de0cc90 | Thomas Schöpping | #if defined(__cplusplus)
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53 | deaaa47e | Cung Sang | } |
54 | 7de0cc90 | Thomas Schöpping | #endif /* defined(__cplusplus) */ |
55 | deaaa47e | Cung Sang | |
56 | 8d4d058e | Cung Sang | |
57 | deaaa47e | Cung Sang | |
58 | |||
59 | f4da707a | Thomas Schöpping | /** @} */
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60 | |||
61 | /*===========================================================================*/
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62 | /**
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63 | * @name ChibiOS/HAL configuration
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64 | * @{
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65 | */
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66 | /*===========================================================================*/
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67 | |||
68 | /**
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69 | * @brief Serial driver of the programmer interface.
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70 | */
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71 | #define MODULE_HAL_PROGIF SD2
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72 | |||
73 | /**
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74 | * @brief Configuration for the programmer serial interface driver.
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75 | */
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76 | extern SerialConfig moduleHalProgIfConfig;
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77 | |||
78 | /**
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79 | * @brief Real-Time Clock driver.
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80 | */
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81 | #define MODULE_HAL_RTC RTCD1
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82 | |||
83 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
84 | deaaa47e | Cung Sang | /**
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85 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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86 | */
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87 | #define MODULE_HAL_SPI_UWB SPID2
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88 | |||
89 | /**
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90 | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
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91 | */
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92 | extern SPIConfig moduleHalSpiUwbHsConfig;
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93 | |||
94 | /**
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95 | * @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
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96 | */
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97 | extern SPIConfig moduleHalSpiUwbLsConfig;
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98 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
99 | deaaa47e | Cung Sang | |
100 | f4da707a | Thomas Schöpping | /** @} */
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101 | |||
102 | /*===========================================================================*/
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103 | /**
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104 | * @name GPIO definitions
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105 | * @{
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106 | */
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107 | /*===========================================================================*/
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108 | |||
109 | /**
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110 | * @brief LED output signal GPIO.
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111 | */
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112 | extern ROMCONST apalControlGpio_t moduleGpioLed;
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113 | |||
114 | 8d4d058e | Cung Sang | //#if (BOARD_DW1000_CONNECTED == true)
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115 | deaaa47e | Cung Sang | /**
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116 | * @brief DW1000 reset output signal
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117 | * @note the reset pin should be drived as low by MCU to activate.
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118 | * Then, put back the reset pin as input to MCU (tri-state float on the air
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119 | * is not supported in AMiRo)
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120 | */
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121 | extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;
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122 | |||
123 | /**
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124 | * @brief DW1000 interrupt IRQn input signal.
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125 | */
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126 | extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;
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127 | |||
128 | /**
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129 | * @brief DW1000 SPI chip select output signal.
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130 | */
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131 | extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;
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132 | 8d4d058e | Cung Sang | //#endif /* (BOARD_DW1000_CONNECTED == true) */
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133 | deaaa47e | Cung Sang | |
134 | f4da707a | Thomas Schöpping | /**
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135 | * @brief User button input signal.
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136 | */
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137 | extern ROMCONST apalControlGpio_t moduleGpioUserButton;
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138 | |||
139 | /** @} */
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140 | |||
141 | /*===========================================================================*/
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142 | /**
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143 | * @name AMiRo-OS core configurations
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144 | * @{
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145 | */
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146 | /*===========================================================================*/
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147 | |||
148 | 8d4d058e | Cung Sang | //#if (BOARD_DW1000_CONNECTED == true)
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149 | f4da707a | Thomas Schöpping | /**
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150 | deaaa47e | Cung Sang | * @brief Event flag to be call dwt_isr() interrupt.
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151 | */
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152 | 8d4d058e | Cung Sang | #define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn AOS_IOEVENT_FLAG(PAL_PAD(LINE_ARD_D14))
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153 | //#endif /* (BOARD_DW1000_CONNECTED == true) */
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154 | 4c72a54c | Thomas Schöpping | |
155 | deaaa47e | Cung Sang | /**
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156 | f4da707a | Thomas Schöpping | * @brief Event flag to be set on a USER_BUTTON interrupt.
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157 | */
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158 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_USERBUTTON AOS_IOEVENT_FLAG(PAL_PAD(LINE_BUTTON))
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159 | f4da707a | Thomas Schöpping | |
160 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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161 | /**
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162 | * @brief Shell prompt text.
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163 | */
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164 | extern ROMCONST char* moduleShellPrompt; |
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165 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
166 | f4da707a | Thomas Schöpping | |
167 | /**
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168 | * @brief Interrupt initialization macro.
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169 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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170 | */
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171 | #define MODULE_INIT_INTERRUPTS() { \
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172 | /* user button */ \
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173 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdIntCallback(), &moduleGpioUserButton.gpio->line); \ |
174 | palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
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175 | deaaa47e | Cung Sang | MODULE_INIT_INTERRUPTS_DW1000(); \ |
176 | f4da707a | Thomas Schöpping | } |
177 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
178 | deaaa47e | Cung Sang | #define MODULE_INIT_INTERRUPTS_DW1000() { \
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179 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioDw1000Irqn.gpio->line, aosSysGetStdIntCallback(), &moduleGpioDw1000Irqn.gpio->line); \ |
180 | palEnableLineEvent(moduleGpioDw1000Irqn.gpio->line, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge)); \ |
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181 | deaaa47e | Cung Sang | } |
182 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_DW1000_CONNECTED == true) */ |
183 | 7de0cc90 | Thomas Schöpping | #define MODULE_INIT_INTERRUPTS_DW1000() { \
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184 | deaaa47e | Cung Sang | } |
185 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
186 | deaaa47e | Cung Sang | |
187 | f4da707a | Thomas Schöpping | |
188 | /**
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189 | 4c72a54c | Thomas Schöpping | * @brief Test initialization hook.
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190 | f4da707a | Thomas Schöpping | */
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191 | #define MODULE_INIT_TESTS() { \
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192 | 4c72a54c | Thomas Schöpping | /* initialize tests and add to shell */ \
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193 | aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
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194 | aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd); \ |
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195 | deaaa47e | Cung Sang | MODULE_INIT_TESTS_DW1000(); \ |
196 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
197 | f4da707a | Thomas Schöpping | } |
198 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
199 | deaaa47e | Cung Sang | #define MODULE_INIT_TESTS_DW1000() { \
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200 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd); \ |
201 | deaaa47e | Cung Sang | } |
202 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_DW1000_CONNECTED == true) */ |
203 | 7de0cc90 | Thomas Schöpping | #define MODULE_INIT_TESTS_DW1000() { \
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204 | deaaa47e | Cung Sang | } |
205 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
206 | deaaa47e | Cung Sang | |
207 | f4da707a | Thomas Schöpping | |
208 | /**
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209 | * @brief Periphery communication interfaces initialization hook.
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210 | */
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211 | 4c72a54c | Thomas Schöpping | #define MODULE_INIT_PERIPHERY_IF() { \
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212 | f4da707a | Thomas Schöpping | /* serial driver */ \
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213 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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214 | 4c72a54c | Thomas Schöpping | MODULE_INIT_PERIPHERY_IF_DW1000(); \ |
215 | f4da707a | Thomas Schöpping | } |
216 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
217 | #define MODULE_INIT_PERIPHERY_IF_DW1000() { \
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218 | deaaa47e | Cung Sang | /* SPI init */ \
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219 | dw1000_spi_init(); \ |
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220 | spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig); \ |
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221 | } |
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222 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_DW1000_CONNECTED == true) */ |
223 | #define MODULE_INIT_PERIPHERY_IF_DW1000() { \
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224 | deaaa47e | Cung Sang | } |
225 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
226 | deaaa47e | Cung Sang | |
227 | f4da707a | Thomas Schöpping | |
228 | /**
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229 | * @brief Periphery communication interface deinitialization hook.
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230 | */
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231 | 4c72a54c | Thomas Schöpping | #define MODULE_SHUTDOWN_PERIPHERY_IF() { \
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232 | MODULE_SHUTDOWN_PERIPHERY_IF_DW1000(); \ |
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233 | deaaa47e | Cung Sang | } |
234 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
235 | #define MODULE_SHUTDOWN_PERIPHERY_IF_DW1000() { \
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236 | deaaa47e | Cung Sang | /* SPI */ \
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237 | spiStop(&MODULE_HAL_SPI_UWB); \ |
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238 | f4da707a | Thomas Schöpping | } |
239 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_DW1000_CONNECTED == true) */ |
240 | #define MODULE_SHUTDOWN_PERIPHERY_IF_DW1000() { \
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241 | deaaa47e | Cung Sang | } |
242 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
243 | f4da707a | Thomas Schöpping | |
244 | /**
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245 | 4c72a54c | Thomas Schöpping | * @brief HOOK to toggle the LEDs when the user button is pressed.
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246 | f4da707a | Thomas Schöpping | */
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247 | 732a4657 | Thomas Schöpping | #define MODULE_MAIN_LOOP_IO_EVENT(eventflags) { \
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248 | f4da707a | Thomas Schöpping | if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) { \
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249 | apalControlGpioState_t buttonstate; \ |
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250 | apalControlGpioGet(&moduleGpioUserButton, &buttonstate); \ |
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251 | apalControlGpioSet(&moduleGpioLed, buttonstate); \ |
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252 | } \ |
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253 | deaaa47e | Cung Sang | MODULE_MAIN_LOOP_IO_EVENT_DW1000(); \ |
254 | f4da707a | Thomas Schöpping | } |
255 | 4c72a54c | Thomas Schöpping | #if (BOARD_DW1000_CONNECTED == true) |
256 | /**
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257 | * @brief HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.
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258 | */
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259 | deaaa47e | Cung Sang | #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
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260 | 7de0cc90 | Thomas Schöpping | if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000_IRQn) { \
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261 | 8d4d058e | Cung Sang | /*apalGpioToggle(moduleGpioLed.gpio);*/ /* just for debug*/ \ |
262 | deaaa47e | Cung Sang | process_deca_irq(); \ |
263 | 7de0cc90 | Thomas Schöpping | } \ |
264 | deaaa47e | Cung Sang | } |
265 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_DW1000_CONNECTED == true) */ |
266 | deaaa47e | Cung Sang | #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
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267 | } |
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268 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
269 | f4da707a | Thomas Schöpping | |
270 | /** @} */
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271 | |||
272 | /*===========================================================================*/
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273 | /**
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274 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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275 | * @{
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276 | */
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277 | /*===========================================================================*/
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278 | |||
279 | /** @} */
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280 | |||
281 | /*===========================================================================*/
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282 | /**
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283 | * @name Low-level drivers
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284 | * @{
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285 | */
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286 | /*===========================================================================*/
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287 | 4c72a54c | Thomas Schöpping | #include <alld_LED.h> |
288 | #include <alld_button.h> |
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289 | |||
290 | /**
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291 | * @brief LED driver.
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292 | */
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293 | extern LEDDriver moduleLldLed;
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294 | |||
295 | /**
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296 | * @brief Button driver.
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297 | */
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298 | extern ButtonDriver moduleLldUserButton;
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299 | |||
300 | |||
301 | 8d4d058e | Cung Sang | /**
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302 | * @brief DW1000 driver.
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303 | */
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304 | deaaa47e | Cung Sang | #include <alld_DW1000.h> |
305 | 8d4d058e | Cung Sang | void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv); |
306 | deaaa47e | Cung Sang | |
307 | 8d4d058e | Cung Sang | #if (BOARD_DW1000_CONNECTED == true) |
308 | deaaa47e | Cung Sang | extern DW1000Driver moduleLldDw1000;
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309 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
310 | f4da707a | Thomas Schöpping | |
311 | /** @} */
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312 | |||
313 | /*===========================================================================*/
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314 | /**
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315 | 4c72a54c | Thomas Schöpping | * @name Tests
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316 | f4da707a | Thomas Schöpping | * @{
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317 | */
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318 | /*===========================================================================*/
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319 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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320 | |||
321 | 4c72a54c | Thomas Schöpping | /**
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322 | * @brief LED test command.
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323 | */
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324 | extern aos_shellcommand_t moduleTestLedShellCmd;
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325 | |||
326 | /**
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327 | * @brief User button test command.
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328 | */
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329 | extern aos_shellcommand_t moduleTestButtonShellCmd;
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330 | |||
331 | #if (BOARD_DW1000_CONNECTED == true) |
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332 | deaaa47e | Cung Sang | /**
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333 | 4c72a54c | Thomas Schöpping | * @brief DW1000 (UWB transmitter) test command.
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334 | deaaa47e | Cung Sang | */
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335 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestDw1000ShellCmd;
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336 | #endif /* (BOARD_DW1000_CONNECTED == true) */ |
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337 | |||
338 | /**
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339 | * @brief Entire module test command.
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340 | */
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341 | extern aos_shellcommand_t moduleTestAllShellCmd;
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342 | deaaa47e | Cung Sang | |
343 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
344 | f4da707a | Thomas Schöpping | |
345 | /** @} */
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346 | |||
347 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_MODULE_H */ |
348 | f4da707a | Thomas Schöpping | |
349 | /** @} */ |