amiro-os / modules / DiWheelDrive_1-2 / module.h @ 908b6fb4
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| 1 | abb8b3f4 | 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 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 | #ifndef AMIROOS_MODULE_H
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| 28 | #define AMIROOS_MODULE_H
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| 29 | |||
| 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 | /** @} */
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| 40 | |||
| 41 | /*===========================================================================*/
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| 42 | /**
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| 43 | * @name ChibiOS/HAL configuration
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| 44 | * @{
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| 45 | */
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| 46 | /*===========================================================================*/
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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_IMU 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 moduleHalI2cImuConfig;
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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 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
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| 92 | |||
| 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 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
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| 97 | |||
| 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 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
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| 102 | |||
| 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 | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
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| 107 | |||
| 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 Real-Time Clock driver.
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| 141 | */
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| 142 | #define MODULE_HAL_RTC RTCD1
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| 143 | |||
| 144 | /** @} */
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| 145 | |||
| 146 | /*===========================================================================*/
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| 147 | /**
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| 148 | * @name GPIO definitions
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| 149 | * @{
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| 150 | */
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| 151 | /*===========================================================================*/
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| 152 | |||
| 153 | /**
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| 154 | * @brief LED output signal GPIO.
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| 155 | */
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| 156 | extern ROMCONST apalControlGpio_t moduleGpioLed;
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| 157 | |||
| 158 | /**
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| 159 | * @brief POWER_EN output signal GPIO.
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| 160 | */
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| 161 | extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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| 162 | |||
| 163 | /**
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| 164 | * @brief IR_INT input signal GPIO.
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| 165 | */
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| 166 | extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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| 167 | |||
| 168 | /**
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| 169 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 170 | */
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| 171 | extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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| 172 | |||
| 173 | /**
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| 174 | * @brief IMU_INT input signal GPIO.
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| 175 | */
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| 176 | extern ROMCONST apalControlGpio_t moduleGpioImuInt;
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| 177 | |||
| 178 | /**
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| 179 | * @brief SYS_SNYC bidirectional signal GPIO.
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| 180 | */
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| 181 | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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| 182 | |||
| 183 | /**
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| 184 | * @brief IMU_RESET output signal GPIO.
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| 185 | */
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| 186 | extern ROMCONST apalControlGpio_t moduleGpioImuReset;
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| 187 | |||
| 188 | /**
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| 189 | * @brief PATH_DCSTAT input signal GPIO.
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| 190 | */
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| 191 | extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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| 192 | |||
| 193 | /**
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| 194 | * @brief PATH_DCEN output signal GPIO.
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| 195 | */
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| 196 | extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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| 197 | |||
| 198 | /**
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| 199 | * @brief SYS_PD bidirectional signal GPIO.
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| 200 | */
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| 201 | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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| 202 | |||
| 203 | /**
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| 204 | * @brief SYS_REG_EN input signal GPIO.
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| 205 | */
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| 206 | extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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| 207 | |||
| 208 | /**
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| 209 | * @brief IMU_BOOT_LOAD output signal GPIO.
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| 210 | */
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| 211 | extern ROMCONST apalControlGpio_t moduleGpioImuBootLoad;
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| 212 | |||
| 213 | /**
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| 214 | * @brief IMU_BL_IND input signal GPIO.
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| 215 | */
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| 216 | extern ROMCONST apalControlGpio_t moduleGpioImuBlInd;
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| 217 | |||
| 218 | /**
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| 219 | * @brief SYS_WARMRST bidirectional signal GPIO.
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| 220 | */
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| 221 | extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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| 222 | |||
| 223 | /** @} */
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| 224 | |||
| 225 | /*===========================================================================*/
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| 226 | /**
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| 227 | * @name AMiRo-OS core configurations
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| 228 | * @{
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| 229 | */
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| 230 | /*===========================================================================*/
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| 231 | |||
| 232 | /**
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| 233 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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| 234 | */
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| 235 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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| 236 | abb8b3f4 | Thomas Schöpping | |
| 237 | /**
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| 238 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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| 239 | */
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| 240 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_WARMRST_N))
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| 241 | abb8b3f4 | Thomas Schöpping | |
| 242 | /**
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| 243 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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| 244 | */
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| 245 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT AOS_IOEVENT_FLAG(PAL_PAD(LINE_PATH_DCEN))
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| 246 | abb8b3f4 | Thomas Schöpping | |
| 247 | /**
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| 248 | * @brief Event flag to be set on a SYS_PD interrupt.
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| 249 | */
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| 250 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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| 251 | abb8b3f4 | Thomas Schöpping | |
| 252 | /**
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| 253 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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| 254 | */
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| 255 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_REG_EN))
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| 256 | abb8b3f4 | Thomas Schöpping | |
| 257 | /**
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| 258 | * @brief Event flag to be set on a IR_INT interrupt.
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| 259 | */
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| 260 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IRINT AOS_IOEVENT_FLAG(PAL_PAD(LINE_IR_INT))
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| 261 | abb8b3f4 | Thomas Schöpping | |
| 262 | /**
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| 263 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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| 264 | */
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| 265 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
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| 266 | abb8b3f4 | Thomas Schöpping | |
| 267 | /**
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| 268 | * @brief Event flag to be set on a IMU_INT interrupt.
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| 269 | */
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| 270 | 3106e8cc | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IMUINT AOS_IOEVENT_FLAG(PAL_PAD(LINE_IMU_INT))
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| 271 | abb8b3f4 | Thomas Schöpping | |
| 272 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 273 | /**
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| 274 | * @brief Shell prompt text.
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| 275 | */
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| 276 | extern ROMCONST char* moduleShellPrompt; |
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| 277 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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| 278 | |||
| 279 | /**
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| 280 | * @brief Additional HAL initialization hook.
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| 281 | */
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| 282 | #define MODULE_INIT_HAL_EXTRA() { \
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| 283 | qeiInit(); \ |
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| 284 | } |
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| 285 | |||
| 286 | /**
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| 287 | * @brief Interrupt initialization macro.
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| 288 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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| 289 | */
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| 290 | #define MODULE_INIT_INTERRUPTS() { \
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| 291 | /* IR_INT */ \
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| 292 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioIrInt.gpio->line, aosSysGetStdIntCallback(), &moduleGpioIrInt.gpio->line); \ |
| 293 | palEnableLineEvent(moduleGpioIrInt.gpio->line, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
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| 294 | abb8b3f4 | Thomas Schöpping | /* IMU_INT */ \
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| 295 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioImuInt.gpio->line, aosSysGetStdIntCallback(), &moduleGpioImuInt.gpio->line); \ |
| 296 | palEnableLineEvent(moduleGpioImuInt.gpio->line, APAL2CH_EDGE(moduleGpioImuInt.meta.edge)); \ |
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| 297 | abb8b3f4 | Thomas Schöpping | /* PATH_DCSTAT */ \
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| 298 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioPathDcStat.gpio->line, aosSysGetStdIntCallback(), &moduleGpioPathDcStat.gpio->line); \ |
| 299 | palEnableLineEvent(moduleGpioPathDcStat.gpio->line, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
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| 300 | abb8b3f4 | Thomas Schöpping | /* SYS_REG_EN */ \
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| 301 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioSysRegEn.gpio->line, aosSysGetStdIntCallback(), &moduleGpioSysRegEn.gpio->line); \ |
| 302 | palEnableLineEvent(moduleGpioSysRegEn.gpio->line, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
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| 303 | abb8b3f4 | Thomas Schöpping | /* SYS_WARMRST */ \
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| 304 | 3106e8cc | Thomas Schöpping | palSetLineCallback(moduleGpioSysWarmrst.gpio->line, aosSysGetStdIntCallback(), &moduleGpioSysWarmrst.gpio->line); \ |
| 305 | palEnableLineEvent(moduleGpioSysWarmrst.gpio->line, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
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| 306 | abb8b3f4 | Thomas Schöpping | } |
| 307 | |||
| 308 | /**
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| 309 | * @brief Unit test initialization hook.
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| 310 | */
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| 311 | #define MODULE_INIT_TESTS() { \
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| 312 | /* add unit-test shell commands */ \
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| 313 | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
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| 314 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd); \ |
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| 315 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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| 316 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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| 317 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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| 318 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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| 319 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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| 320 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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| 321 | } |
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| 322 | |||
| 323 | /**
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| 324 | * @brief Periphery communication interfaces initialization hook.
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| 325 | */
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| 326 | #define MODULE_INIT_PERIPHERY_COMM() { \
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| 327 | /* serial driver */ \
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| 328 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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| 329 | /* I2C */ \
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| 330 | /* TODO: calculcate config depending on BNO055 */ \
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| 331 | i2cStart(&MODULE_HAL_I2C_IMU, &moduleHalI2cImuConfig); \ |
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| 332 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 333 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 334 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 335 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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| 336 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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| 337 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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| 338 | /* PWM */ \
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| 339 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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| 340 | /* QEI */ \
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| 341 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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| 342 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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| 343 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 344 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 345 | } |
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| 346 | |||
| 347 | /**
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| 348 | * @brief Periphery communication interface deinitialization hook.
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| 349 | */
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| 350 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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| 351 | /* PWM */ \
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| 352 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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| 353 | /* QEI */ \
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| 354 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 355 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 356 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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| 357 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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| 358 | /* I2C */ \
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| 359 | i2cStop(&MODULE_HAL_I2C_IMU); \ |
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| 360 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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| 361 | /* don't stop the serial driver so messages can still be printed */ \
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| 362 | } |
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| 363 | |||
| 364 | /** @} */
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| 365 | |||
| 366 | /*===========================================================================*/
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| 367 | /**
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| 368 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 369 | * @{
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| 370 | */
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| 371 | /*===========================================================================*/
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| 372 | |||
| 373 | /**
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| 374 | * @brief PD signal GPIO.
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| 375 | */
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| 376 | #define moduleSsspGpioPd moduleGpioSysPd
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| 377 | |||
| 378 | /**
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| 379 | * @brief SYNC signal GPIO.
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| 380 | */
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| 381 | #define moduleSsspGpioSync moduleGpioSysSync
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| 382 | |||
| 383 | /**
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| 384 | * @brief UP signal GPIO.
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| 385 | */
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| 386 | #define moduleSsspGpioUp moduleGpioSysUartUp
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| 387 | |||
| 388 | /**
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| 389 | * @brief Event flags for PD signal events.
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| 390 | */
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| 391 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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| 392 | |||
| 393 | /**
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| 394 | * @brief Event flags for SYNC signal events.
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| 395 | */
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| 396 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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| 397 | |||
| 398 | /**
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| 399 | * @brief Event flags for UP signal events.
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| 400 | */
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| 401 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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| 402 | |||
| 403 | /** @} */
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| 404 | |||
| 405 | /*===========================================================================*/
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| 406 | /**
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| 407 | * @name Low-level drivers
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| 408 | * @{
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| 409 | */
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| 410 | /*===========================================================================*/
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| 411 | #include <alld_A3906.h> |
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| 412 | #include <alld_AT24C01B.h> |
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| 413 | #include <alld_INA219.h> |
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| 414 | #include <alld_LED.h> |
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| 415 | #include <alld_LTC4412.h> |
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| 416 | #include <alld_PCA9544A.h> |
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| 417 | #include <alld_TPS6211x.h> |
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| 418 | #include <alld_VCNL4020.h> |
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| 419 | |||
| 420 | // TODO: add BNO055 IMU
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| 421 | |||
| 422 | /**
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| 423 | * @brief Motor driver.
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| 424 | */
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| 425 | extern A3906Driver moduleLldMotors;
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| 426 | |||
| 427 | /**
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| 428 | * @brief EEPROM driver.
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| 429 | */
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| 430 | extern AT24C01BDriver moduleLldEeprom;
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| 431 | |||
| 432 | /**
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| 433 | * @brief Power monitor (VDD) driver.
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| 434 | */
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| 435 | extern INA219Driver moduleLldPowerMonitorVdd;
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| 436 | |||
| 437 | /**
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| 438 | * @brief Status LED driver.
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| 439 | */
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| 440 | extern LEDDriver moduleLldStatusLed;
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| 441 | |||
| 442 | /**
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| 443 | * @brief Power path controler (charging pins) driver.
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| 444 | */
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| 445 | extern LTC4412Driver moduleLldPowerPathController;
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| 446 | |||
| 447 | /**
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| 448 | * @brief I2C multiplexer driver.
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| 449 | */
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| 450 | extern PCA9544ADriver moduleLldI2cMultiplexer;
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| 451 | |||
| 452 | /**
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| 453 | * @brief Step down converter (VDRIVE) driver.
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| 454 | */
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| 455 | extern TPS6211xDriver moduleLldStepDownConverterVdrive;
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| 456 | |||
| 457 | /**
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| 458 | * @brief Proximity sensor driver.
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| 459 | */
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| 460 | extern VCNL4020Driver moduleLldProximity;
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| 461 | |||
| 462 | /** @} */
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| 463 | |||
| 464 | /*===========================================================================*/
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| 465 | /**
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| 466 | * @name Unit tests (UT)
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| 467 | * @{
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| 468 | */
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| 469 | /*===========================================================================*/
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| 470 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 471 | #include <ut_alld_A3906_v1.h> |
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| 472 | #include <ut_alld_AT24C01B_v1.h> |
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| 473 | #include <ut_alld_INA219_v1.h> |
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| 474 | #include <ut_alld_LED_v1.h> |
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| 475 | #include <ut_alld_LTC4412_v1.h> |
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| 476 | #include <ut_alld_PCA9544A_v1.h> |
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| 477 | #include <ut_alld_TPS6211x_v1.h> |
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| 478 | #include <ut_alld_VCNL4020_v1.h> |
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| 479 | |||
| 480 | // TODO: add BNO055 IMU
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| 481 | |||
| 482 | /**
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| 483 | * @brief A3906 (motor driver) unit test object.
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| 484 | */
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| 485 | extern aos_unittest_t moduleUtAlldA3906;
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| 486 | |||
| 487 | /**
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| 488 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
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| 489 | */
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| 490 | extern aos_unittest_t moduleUtAlldAt24c01b;
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| 491 | |||
| 492 | /**
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| 493 | * @brief INA219 (power monitor) unit test object.
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| 494 | */
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| 495 | extern aos_unittest_t moduleUtAlldIna219;
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| 496 | |||
| 497 | /**
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| 498 | * @brief Status LED unit test object.
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| 499 | */
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| 500 | extern aos_unittest_t moduleUtAlldLed;
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| 501 | |||
| 502 | /**
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| 503 | * @brief LTC4412 (power path controller) unit test object.
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| 504 | */
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| 505 | extern aos_unittest_t moduleUtAlldLtc4412;
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| 506 | |||
| 507 | /**
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| 508 | * @brief PCA9544A (I2C multiplexer) unit test object.
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| 509 | */
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| 510 | extern aos_unittest_t moduleUtAlldPca9544a;
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| 511 | |||
| 512 | /**
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| 513 | * @brief TPS62113 (step-down converter) unit test object.
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| 514 | */
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| 515 | extern aos_unittest_t moduleUtAlldTps62113;
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| 516 | |||
| 517 | /**
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| 518 | * @brief VCNL4020 (proximity sensor) unit test object.
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| 519 | */
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| 520 | extern aos_unittest_t moduleUtAlldVcnl4020;
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| 521 | |||
| 522 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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| 523 | |||
| 524 | /** @} */
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| 525 | |||
| 526 | #endif /* AMIROOS_MODULE_H */ |
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| 527 | |||
| 528 | /** @} */ |