amiro-os / modules / LightRing_1-2 / module.c @ 908b6fb4
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| 1 | 9ae7c4f3 | 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 | 034cb15a | Thomas Schöpping | * @brief Structures and constant for the LightRing v1.2 module.
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| 22 | 9ae7c4f3 | Thomas Schöpping | *
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| 23 | * @addtogroup lightring_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | #include "module.h" |
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| 28 | |||
| 29 | /*===========================================================================*/
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| 30 | /**
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| 31 | * @name Module specific functions
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| 32 | * @{
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| 33 | */
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| 34 | /*===========================================================================*/
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| 35 | |||
| 36 | /** @} */
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| 37 | |||
| 38 | /*===========================================================================*/
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| 39 | /**
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| 40 | * @name ChibiOS/HAL configuration
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| 41 | * @{
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| 42 | */
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| 43 | /*===========================================================================*/
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| 44 | |||
| 45 | CANConfig moduleHalCanConfig = {
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| 46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 48 | }; |
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| 49 | |||
| 50 | ee884101 | Thomas Schöpping | I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig = {
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| 51 | 9ae7c4f3 | Thomas Schöpping | /* I²C mode */ OPMODE_I2C,
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| 52 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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| 53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 54 | }; |
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| 55 | |||
| 56 | SerialConfig moduleHalProgIfConfig = {
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| 57 | /* bit rate */ 115200, |
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| 58 | /* CR1 */ 0, |
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| 59 | /* CR1 */ 0, |
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| 60 | /* CR1 */ 0, |
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| 61 | }; |
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| 62 | |||
| 63 | SPIConfig moduleHalSpiLightConfig = {
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| 64 | /* circular buffer mode */ false, |
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| 65 | /* callback function pointer */ NULL, |
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| 66 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
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| 67 | /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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| 68 | 9ae7c4f3 | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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| 69 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 70 | }; |
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| 71 | |||
| 72 | 88449987 | Cung Sang | #if defined(AMIROLLD_CFG_DW1000)
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| 73 | |||
| 74 | /*! SPI (high speed) configuration for DW1000 */
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| 75 | SPIConfig moduleHalSpiUwbHsConfig = {
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| 76 | /* circular buffer mode */ false, |
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| 77 | /* callback function pointer */ NULL, |
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| 78 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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| 79 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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| 80 | /* CR1 */ 0, // 36/2 Mbps |
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| 81 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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| 82 | }; |
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| 83 | /*! SPI (low speed) configuration for DW1000 */
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| 84 | SPIConfig moduleHalSpiUwbLsConfig = {
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| 85 | /* circular buffer mode */ false, |
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| 86 | /* callback function pointer */ NULL, |
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| 87 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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| 88 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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| 89 | /* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, // 36/16 Mbps |
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| 90 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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| 91 | }; |
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| 92 | |||
| 93 | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
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| 94 | |||
| 95 | 9ae7c4f3 | Thomas Schöpping | |
| 96 | /*===========================================================================*/
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| 97 | /**
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| 98 | * @name GPIO definitions
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| 99 | * @{
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| 100 | */
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| 101 | /*===========================================================================*/
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| 102 | |||
| 103 | /**
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| 104 | * @brief LIGHT_BANK output signal GPIO.
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| 105 | */
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| 106 | static apalGpio_t _gpioLightBlank = {
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| 107 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LIGHT_BLANK,
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| 108 | 9ae7c4f3 | Thomas Schöpping | }; |
| 109 | ROMCONST apalControlGpio_t moduleGpioLightBlank = {
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| 110 | /* GPIO */ &_gpioLightBlank,
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| 111 | /* meta */ {
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| 112 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 113 | /* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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| 114 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 115 | }, |
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| 116 | }; |
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| 117 | |||
| 118 | /**
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| 119 | * @brief RS232_R_EN_N output signal GPIO.
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| 120 | */
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| 121 | static apalGpio_t _gpioRs232En = {
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| 122 | 3106e8cc | Thomas Schöpping | /* line */ LINE_RS232_R_EN_N,
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| 123 | 9ae7c4f3 | Thomas Schöpping | }; |
| 124 | ROMCONST apalControlGpio_t moduleGpioRs232En = {
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| 125 | /* GPIO */ &_gpioRs232En,
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| 126 | /* meta */ {
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| 127 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 128 | /* active state */ APAL_GPIO_ACTIVE_LOW, //TODO |
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| 129 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 130 | }, |
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| 131 | }; |
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| 132 | |||
| 133 | /**
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| 134 | * @brief SW_V33_EN output signal GPIO.
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| 135 | */
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| 136 | static apalGpio_t _gpioSwV33En = {
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| 137 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V33_EN,
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| 138 | 9ae7c4f3 | Thomas Schöpping | }; |
| 139 | ROMCONST apalControlGpio_t moduleGpioSwV33En = {
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| 140 | /* GPIO */ &_gpioSwV33En,
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| 141 | /* meta */ {
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| 142 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 143 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 144 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 145 | }, |
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| 146 | }; |
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| 147 | |||
| 148 | /**
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| 149 | * @brief SW_V42_EN output signal GPIO.
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| 150 | */
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| 151 | static apalGpio_t _gpioSwV42En = {
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| 152 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V42_EN,
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| 153 | 9ae7c4f3 | Thomas Schöpping | }; |
| 154 | ROMCONST apalControlGpio_t moduleGpioSwV42En = {
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| 155 | /* GPIO */ &_gpioSwV42En,
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| 156 | /* meta */ {
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| 157 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 158 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 159 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 160 | }, |
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| 161 | }; |
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| 162 | |||
| 163 | /**
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| 164 | * @brief SW_V50_EN output signal GPIO.
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| 165 | */
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| 166 | static apalGpio_t _gpioSwV50En = {
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| 167 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V50_EN,
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| 168 | 9ae7c4f3 | Thomas Schöpping | }; |
| 169 | ROMCONST apalControlGpio_t moduleGpioSwV50En = {
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| 170 | /* GPIO */ &_gpioSwV50En,
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| 171 | /* meta */ {
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| 172 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 173 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 174 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 175 | }, |
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| 176 | }; |
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| 177 | |||
| 178 | /**
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| 179 | * @brief IO_3 breakout signal GPIO.
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| 180 | */
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| 181 | static apalGpio_t _gpioBreakoutIo3 = {
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| 182 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_3,
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| 183 | 9ae7c4f3 | Thomas Schöpping | }; |
| 184 | apalControlGpio_t moduleGpioBreakoutIo3 = {
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| 185 | /* GPIO */ &_gpioBreakoutIo3,
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| 186 | /* meta */ {
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| 187 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 188 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 189 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 190 | }, |
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| 191 | }; |
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| 192 | |||
| 193 | /**
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| 194 | * @brief IO_5 breakout signal GPIO.
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| 195 | */
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| 196 | static apalGpio_t _gpioBreakoutIo5 = {
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| 197 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_5,
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| 198 | 9ae7c4f3 | Thomas Schöpping | }; |
| 199 | apalControlGpio_t moduleGpioBreakoutIo5 = {
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| 200 | /* GPIO */ &_gpioBreakoutIo5,
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| 201 | /* meta */ {
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| 202 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 203 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 204 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 205 | }, |
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| 206 | }; |
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| 207 | |||
| 208 | /**
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| 209 | * @brief IO_6 breakout signal GPIO.
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| 210 | */
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| 211 | static apalGpio_t _gpioBreakoutIo6 = {
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| 212 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_6,
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| 213 | 9ae7c4f3 | Thomas Schöpping | }; |
| 214 | apalControlGpio_t moduleGpioBreakoutIo6 = {
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| 215 | /* GPIO */ &_gpioBreakoutIo6,
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| 216 | /* meta */ {
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| 217 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 218 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 219 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 220 | }, |
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| 221 | }; |
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| 222 | |||
| 223 | /**
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| 224 | * @brief SYS_UART_DN bidirectional signal GPIO.
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| 225 | */
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| 226 | static apalGpio_t _gpioSysUartDn = {
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| 227 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_DN,
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| 228 | 9ae7c4f3 | Thomas Schöpping | }; |
| 229 | ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
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| 230 | /* GPIO */ &_gpioSysUartDn,
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| 231 | /* meta */ {
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| 232 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 233 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 234 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 235 | }, |
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| 236 | }; |
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| 237 | |||
| 238 | 88449987 | Cung Sang | #if defined (AMIROLLD_CFG_DW1000)
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| 239 | 9ae7c4f3 | Thomas Schöpping | /**
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| 240 | 88449987 | Cung Sang | * @brief DW1000 interrrupt input signal GPIO.
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| 241 | 9ae7c4f3 | Thomas Schöpping | */
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| 242 | 88449987 | Cung Sang | static apalGpio_t _gpioDw1000Irqn = {
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| 243 | /* line */ LINE_IO_8, // (GPIOB, GPIOB_IO_8), |
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| 244 | }; |
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| 245 | ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
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| 246 | /* GPIO */ &_gpioDw1000Irqn,
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| 247 | /* meta */ {
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| 248 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 249 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 250 | /* interrupt edge */ APAL_GPIO_EDGE_RISING,
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| 251 | }, |
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| 252 | }; |
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| 253 | |||
| 254 | /**
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| 255 | * @brief DW1000 reset output signal GPIO.
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| 256 | */
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| 257 | static apalGpio_t _gpioDw1000Reset = {
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| 258 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_7,
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| 259 | 9ae7c4f3 | Thomas Schöpping | }; |
| 260 | 88449987 | Cung Sang | ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
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| 261 | /* GPIO */ &_gpioDw1000Reset,
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| 262 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 263 | 88449987 | Cung Sang | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 264 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 265 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 266 | }, |
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| 267 | }; |
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| 268 | |||
| 269 | /**
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| 270 | 88449987 | Cung Sang | * @brief IO_2 breakout signal GPIO.
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| 271 | */
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| 272 | static apalGpio_t _gpioDw1000WakeUp = {
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| 273 | /* line */ LINE_IO_2,
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| 274 | }; |
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| 275 | ROMCONST apalControlGpio_t moduleGpioDw1000WakeUp = {
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| 276 | /* GPIO */ &_gpioDw1000WakeUp,
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| 277 | /* meta */ {
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| 278 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 279 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 280 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 281 | }, |
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| 282 | }; |
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| 283 | |||
| 284 | /**
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| 285 | * @brief DW1000 SPI chip select output signal GPIO.
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| 286 | */
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| 287 | static apalGpio_t _gpioSpiChipSelect = {
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| 288 | /* line */ LINE_SPI_SS_N,
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| 289 | }; |
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| 290 | ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
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| 291 | /* GPIO */ &_gpioSpiChipSelect,
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| 292 | /* meta */ {
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| 293 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 294 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 295 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 296 | }, |
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| 297 | }; |
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| 298 | #else
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| 299 | /**
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| 300 | 9ae7c4f3 | Thomas Schöpping | * @brief IO_8 breakout signal GPIO.
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| 301 | */
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| 302 | static apalGpio_t _gpioBreakoutIo8 = {
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| 303 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IO_8,
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| 304 | 9ae7c4f3 | Thomas Schöpping | }; |
| 305 | apalControlGpio_t moduleGpioBreakoutIo8 = {
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| 306 | /* GPIO */ &_gpioBreakoutIo8,
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| 307 | /* meta */ {
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| 308 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 309 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 310 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 311 | }, |
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| 312 | }; |
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| 313 | |||
| 314 | /**
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| 315 | 88449987 | Cung Sang | * @brief IO_7 breakout signal GPIO.
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| 316 | 9ae7c4f3 | Thomas Schöpping | */
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| 317 | 88449987 | Cung Sang | static apalGpio_t _gpioBreakoutIo7 = {
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| 318 | /* line */ LINE_IO_7,
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| 319 | 9ae7c4f3 | Thomas Schöpping | }; |
| 320 | 88449987 | Cung Sang | apalControlGpio_t moduleGpioBreakoutIo7 = {
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| 321 | /* GPIO */ &_gpioBreakoutIo7,
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| 322 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 323 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 324 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 325 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 326 | }, |
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| 327 | }; |
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| 328 | |||
| 329 | /**
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| 330 | 88449987 | Cung Sang | * @brief IO_2 breakout signal GPIO.
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| 331 | 9ae7c4f3 | Thomas Schöpping | */
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| 332 | 88449987 | Cung Sang | static apalGpio_t _gpioBreakoutIo2 = {
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| 333 | /* line */ LINE_IO_2,
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| 334 | 9ae7c4f3 | Thomas Schöpping | }; |
| 335 | 88449987 | Cung Sang | apalControlGpio_t moduleGpioBreakoutIo2 = {
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| 336 | /* GPIO */ &_gpioBreakoutIo2,
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| 337 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 338 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 339 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 340 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 341 | }, |
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| 342 | }; |
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| 343 | 88449987 | Cung Sang | #endif /* defined (AMIROLLD_CFG_DW1000) */ |
| 344 | 9ae7c4f3 | Thomas Schöpping | |
| 345 | /**
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| 346 | 88449987 | Cung Sang | * @brief IO_4 breakout signal GPIO.
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| 347 | 9ae7c4f3 | Thomas Schöpping | */
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| 348 | 88449987 | Cung Sang | static apalGpio_t _gpioBreakoutIo4 = {
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| 349 | /* line */ LINE_IO_4,
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| 350 | 9ae7c4f3 | Thomas Schöpping | }; |
| 351 | 88449987 | Cung Sang | apalControlGpio_t moduleGpioBreakoutIo4 = {
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| 352 | /* GPIO */ &_gpioBreakoutIo4,
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| 353 | /* meta */ {
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| 354 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 355 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 356 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 357 | }, |
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| 358 | }; |
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| 359 | |||
| 360 | /**
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| 361 | * @brief IO_1 breakout signal GPIO.
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| 362 | */
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| 363 | static apalGpio_t _gpioBreakoutIo1 = {
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| 364 | /* line */ LINE_IO_1,
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| 365 | }; |
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| 366 | apalControlGpio_t moduleGpioBreakoutIo1 = {
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| 367 | /* GPIO */ &_gpioBreakoutIo1,
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| 368 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 369 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 370 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 371 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 372 | }, |
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| 373 | }; |
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| 374 | |||
| 375 | /**
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| 376 | * @brief LED output signal GPIO.
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| 377 | */
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| 378 | static apalGpio_t _gpioLed = {
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| 379 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
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| 380 | 9ae7c4f3 | Thomas Schöpping | }; |
| 381 | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 382 | /* GPIO */ &_gpioLed,
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| 383 | /* meta */ {
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| 384 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 385 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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| 386 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 387 | }, |
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| 388 | }; |
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| 389 | |||
| 390 | /**
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| 391 | * @brief SW_V18_EN output signal GPIO.
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| 392 | */
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| 393 | static apalGpio_t _gpioSwV18En = {
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| 394 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V18_EN,
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| 395 | 9ae7c4f3 | Thomas Schöpping | }; |
| 396 | ROMCONST apalControlGpio_t moduleGpioSwV18En = {
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| 397 | /* GPIO */ &_gpioSwV18En,
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| 398 | /* meta */ {
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| 399 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 400 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 401 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 402 | }, |
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| 403 | }; |
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| 404 | |||
| 405 | /**
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| 406 | * @brief SW_VSYS_EN output signal GPIO.
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| 407 | */
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| 408 | static apalGpio_t _gpioSwVsysEn = {
|
||
| 409 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_VSYS_EN,
|
| 410 | 9ae7c4f3 | Thomas Schöpping | }; |
| 411 | ROMCONST apalControlGpio_t moduleGpioSwVsysEn = {
|
||
| 412 | /* GPIO */ &_gpioSwVsysEn,
|
||
| 413 | /* meta */ {
|
||
| 414 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
| 415 | ee884101 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 416 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 417 | }, |
||
| 418 | }; |
||
| 419 | |||
| 420 | /**
|
||
| 421 | * @brief SYS_UART_UP bidirectional signal GPIO.
|
||
| 422 | */
|
||
| 423 | static apalGpio_t _gpioSysUartUp = {
|
||
| 424 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
|
| 425 | 9ae7c4f3 | Thomas Schöpping | }; |
| 426 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
|
||
| 427 | /* GPIO */ &_gpioSysUartUp,
|
||
| 428 | /* meta */ {
|
||
| 429 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 430 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 431 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 432 | }, |
||
| 433 | }; |
||
| 434 | |||
| 435 | /**
|
||
| 436 | * @brief SYS_PD bidirectional signal GPIO.
|
||
| 437 | */
|
||
| 438 | static apalGpio_t _gpioSysPd = {
|
||
| 439 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_PD_N,
|
| 440 | 9ae7c4f3 | Thomas Schöpping | }; |
| 441 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
||
| 442 | /* GPIO */ &_gpioSysPd,
|
||
| 443 | /* meta */ {
|
||
| 444 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 445 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 446 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 447 | }, |
||
| 448 | }; |
||
| 449 | |||
| 450 | /**
|
||
| 451 | * @brief SYS_SYNC bidirectional signal GPIO.
|
||
| 452 | */
|
||
| 453 | static apalGpio_t _gpioSysSync = {
|
||
| 454 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_INT_N,
|
| 455 | 9ae7c4f3 | Thomas Schöpping | }; |
| 456 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
||
| 457 | /* GPIO */ &_gpioSysSync,
|
||
| 458 | /* meta */ {
|
||
| 459 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
| 460 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
| 461 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
||
| 462 | }, |
||
| 463 | }; |
||
| 464 | |||
| 465 | /** @} */
|
||
| 466 | |||
| 467 | /*===========================================================================*/
|
||
| 468 | /**
|
||
| 469 | * @name AMiRo-OS core configurations
|
||
| 470 | * @{
|
||
| 471 | */
|
||
| 472 | /*===========================================================================*/
|
||
| 473 | |||
| 474 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 475 | ROMCONST char* moduleShellPrompt = "LightRing"; |
||
| 476 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
| 477 | |||
| 478 | /** @} */
|
||
| 479 | |||
| 480 | /*===========================================================================*/
|
||
| 481 | /**
|
||
| 482 | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
||
| 483 | * @{
|
||
| 484 | */
|
||
| 485 | /*===========================================================================*/
|
||
| 486 | |||
| 487 | /** @} */
|
||
| 488 | |||
| 489 | /*===========================================================================*/
|
||
| 490 | /**
|
||
| 491 | * @name Low-level drivers
|
||
| 492 | * @{
|
||
| 493 | */
|
||
| 494 | /*===========================================================================*/
|
||
| 495 | |||
| 496 | AT24C01BDriver moduleLldEeprom = {
|
||
| 497 | ee884101 | Thomas Schöpping | /* I2C driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
| 498 | 9ae7c4f3 | Thomas Schöpping | /* I2C address */ 0x00u, |
| 499 | }; |
||
| 500 | |||
| 501 | ee884101 | Thomas Schöpping | INA219Driver moduleLldPowerMonitorVled = {
|
| 502 | /* I2C Driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
||
| 503 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
||
| 504 | /* current LSB (uA) */ 0x00u, |
||
| 505 | /* configuration */ NULL, |
||
| 506 | }; |
||
| 507 | |||
| 508 | LEDDriver moduleLldStatusLed = {
|
||
| 509 | /* LED enable Gpio */ &moduleGpioLed,
|
||
| 510 | }; |
||
| 511 | |||
| 512 | MIC9404xDriver moduleLldPowerSwitchV18 = {
|
||
| 513 | /* power enable GPIO */ &moduleGpioSwV18En,
|
||
| 514 | }; |
||
| 515 | |||
| 516 | MIC9404xDriver moduleLldPowerSwitchV33 = {
|
||
| 517 | /* power enable GPIO */ &moduleGpioSwV33En,
|
||
| 518 | }; |
||
| 519 | |||
| 520 | MIC9404xDriver moduleLldPowerSwitchV42 = {
|
||
| 521 | /* power enable GPIO */ &moduleGpioSwV42En,
|
||
| 522 | }; |
||
| 523 | |||
| 524 | MIC9404xDriver moduleLldPowerSwitchV50 = {
|
||
| 525 | /* power enable GPIO */ &moduleGpioSwV50En,
|
||
| 526 | }; |
||
| 527 | |||
| 528 | MIC9404xDriver moduleLldPowerSwitchVsys = {
|
||
| 529 | /* power enable GPIO */ &moduleGpioSwVsysEn,
|
||
| 530 | }; |
||
| 531 | |||
| 532 | 9ae7c4f3 | Thomas Schöpping | TLC5947Driver moduleLldLedPwm = {
|
| 533 | /* SPI driver */ &MODULE_HAL_SPI_LIGHT,
|
||
| 534 | /* BLANK signal GPIO */ &moduleGpioLightBlank,
|
||
| 535 | 3106e8cc | Thomas Schöpping | /* XLAT signal GPIO */ NULL, |
| 536 | 9ae7c4f3 | Thomas Schöpping | }; |
| 537 | |||
| 538 | 88449987 | Cung Sang | #if defined(AMIROLLD_CFG_DW1000)
|
| 539 | DW1000Driver moduleLldDw1000 = {
|
||
| 540 | /* SPI driver */ &MODULE_HAL_SPI_UWB,
|
||
| 541 | /* ext interrupt */ &moduleGpioDw1000Irqn,
|
||
| 542 | /* RESET DW1000 */ &moduleGpioDw1000Reset,
|
||
| 543 | }; |
||
| 544 | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
||
| 545 | |||
| 546 | 9ae7c4f3 | Thomas Schöpping | /** @} */
|
| 547 | |||
| 548 | /*===========================================================================*/
|
||
| 549 | /**
|
||
| 550 | * @name Unit tests (UT)
|
||
| 551 | * @{
|
||
| 552 | */
|
||
| 553 | /*===========================================================================*/
|
||
| 554 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
| 555 | ee884101 | Thomas Schöpping | #include <string.h> |
| 556 | 9ae7c4f3 | Thomas Schöpping | |
| 557 | /*
|
||
| 558 | * EEPROM (AT24C01B)
|
||
| 559 | */
|
||
| 560 | static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 561 | {
|
||
| 562 | (void)argc;
|
||
| 563 | (void)argv;
|
||
| 564 | aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
|
||
| 565 | return AOS_OK;
|
||
| 566 | } |
||
| 567 | static ut_at24c01bdata_t _utAlldAt24c01bData = {
|
||
| 568 | /* driver */ &moduleLldEeprom,
|
||
| 569 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 570 | }; |
||
| 571 | aos_unittest_t moduleUtAlldAt24c01b = {
|
||
| 572 | /* name */ "AT24C01B", |
||
| 573 | /* info */ "1kbit EEPROM", |
||
| 574 | /* test function */ utAlldAt24c01bFunc,
|
||
| 575 | /* shell command */ {
|
||
| 576 | /* name */ "unittest:EEPROM", |
||
| 577 | /* callback */ _utShellCmdCb_AlldAt24c01b,
|
||
| 578 | /* next */ NULL, |
||
| 579 | }, |
||
| 580 | /* data */ &_utAlldAt24c01bData,
|
||
| 581 | }; |
||
| 582 | |||
| 583 | /*
|
||
| 584 | ee884101 | Thomas Schöpping | * INA219 (power monitor)
|
| 585 | */
|
||
| 586 | static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 587 | {
|
||
| 588 | (void)argc;
|
||
| 589 | (void)argv;
|
||
| 590 | aosUtRun(stream, &moduleUtAlldIna219, "VLED (4.2V)");
|
||
| 591 | return AOS_OK;
|
||
| 592 | } |
||
| 593 | static ut_ina219data_t _utIna219Data = {
|
||
| 594 | /* driver */ &moduleLldPowerMonitorVled,
|
||
| 595 | /* expected voltage */ 4.2f, |
||
| 596 | /* tolerance */ 0.2f, |
||
| 597 | /* timeout */ MICROSECONDS_PER_SECOND,
|
||
| 598 | }; |
||
| 599 | aos_unittest_t moduleUtAlldIna219 = {
|
||
| 600 | /* name */ "INA219", |
||
| 601 | /* info */ "power monitor", |
||
| 602 | /* test function */ utAlldIna219Func,
|
||
| 603 | /* shell command */ {
|
||
| 604 | /* name */ "unittest:PowerMonitor", |
||
| 605 | /* callback */ _utShellCmdCb_AlldIna219,
|
||
| 606 | /* next */ NULL, |
||
| 607 | }, |
||
| 608 | /* data */ &_utIna219Data,
|
||
| 609 | }; |
||
| 610 | |||
| 611 | /*
|
||
| 612 | * Status LED
|
||
| 613 | */
|
||
| 614 | static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 615 | {
|
||
| 616 | (void)argc;
|
||
| 617 | (void)argv;
|
||
| 618 | aosUtRun(stream, &moduleUtAlldLed, NULL);
|
||
| 619 | return AOS_OK;
|
||
| 620 | } |
||
| 621 | aos_unittest_t moduleUtAlldLed = {
|
||
| 622 | /* name */ "LED", |
||
| 623 | /* info */ NULL, |
||
| 624 | /* test function */ utAlldLedFunc,
|
||
| 625 | /* shell command */ {
|
||
| 626 | /* name */ "unittest:StatusLED", |
||
| 627 | /* callback */ _utShellCmdCb_AlldLed,
|
||
| 628 | /* next */ NULL, |
||
| 629 | }, |
||
| 630 | /* data */ &moduleLldStatusLed,
|
||
| 631 | }; |
||
| 632 | |||
| 633 | /*
|
||
| 634 | * Power switch driver (MIC9404x)
|
||
| 635 | */
|
||
| 636 | static int _utShellCmdCb_Mic9404x(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 637 | {
|
||
| 638 | // evaluate arguments
|
||
| 639 | if (argc == 2) { |
||
| 640 | if (strcmp(argv[1], "1.8V") == 0) { |
||
| 641 | moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV18; |
||
| 642 | aosUtRun(stream, &moduleUtAlldMic9404x, "1.8V");
|
||
| 643 | moduleUtAlldMic9404x.data = NULL;
|
||
| 644 | return AOS_OK;
|
||
| 645 | } |
||
| 646 | else if (strcmp(argv[1], "3.3V") == 0) { |
||
| 647 | moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV33; |
||
| 648 | aosUtRun(stream, &moduleUtAlldMic9404x, "3.3V");
|
||
| 649 | moduleUtAlldMic9404x.data = NULL;
|
||
| 650 | return AOS_OK;
|
||
| 651 | } |
||
| 652 | else if (strcmp(argv[1], "4.2V") == 0) { |
||
| 653 | moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV42; |
||
| 654 | aosUtRun(stream, &moduleUtAlldMic9404x, "4.2V");
|
||
| 655 | moduleUtAlldMic9404x.data = NULL;
|
||
| 656 | return AOS_OK;
|
||
| 657 | } |
||
| 658 | else if (strcmp(argv[1], "5.0V") == 0) { |
||
| 659 | moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV50; |
||
| 660 | aosUtRun(stream, &moduleUtAlldMic9404x, "5.0V");
|
||
| 661 | moduleUtAlldMic9404x.data = NULL;
|
||
| 662 | return AOS_OK;
|
||
| 663 | } |
||
| 664 | else if (strcmp(argv[1], "VSYS") == 0) { |
||
| 665 | moduleUtAlldMic9404x.data = &moduleLldPowerSwitchVsys; |
||
| 666 | aosUtRun(stream, &moduleUtAlldMic9404x, "VSYS");
|
||
| 667 | moduleUtAlldMic9404x.data = NULL;
|
||
| 668 | return AOS_OK;
|
||
| 669 | } |
||
| 670 | } |
||
| 671 | // print help
|
||
| 672 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
| 673 | chprintf(stream, "Options:\n");
|
||
| 674 | chprintf(stream, " 1.8V\n");
|
||
| 675 | chprintf(stream, " Test power switch for 1.8V supply.\n");
|
||
| 676 | chprintf(stream, " 3.3V\n");
|
||
| 677 | chprintf(stream, " Test power switch for 3.3V supply.\n");
|
||
| 678 | chprintf(stream, " 4.2V\n");
|
||
| 679 | chprintf(stream, " Test power switch for 4.2V supply.\n");
|
||
| 680 | chprintf(stream, " 5.0V\n");
|
||
| 681 | chprintf(stream, " Test power switch for 5.0V supply.\n");
|
||
| 682 | chprintf(stream, " VSYS\n");
|
||
| 683 | chprintf(stream, " Test power switch for VSYS supply.\n");
|
||
| 684 | 916f8d28 | Thomas Schöpping | return AOS_INVALIDARGUMENTS;
|
| 685 | ee884101 | Thomas Schöpping | } |
| 686 | aos_unittest_t moduleUtAlldMic9404x = {
|
||
| 687 | /* info */ "MIC9404x", |
||
| 688 | /* name */ "power swicth driver", |
||
| 689 | /* test function */ utAlldMic9404xFunc,
|
||
| 690 | /* shell command */ {
|
||
| 691 | /* name */ "unittest:PowerSwitch", |
||
| 692 | /* callback */ _utShellCmdCb_Mic9404x,
|
||
| 693 | /* next */ NULL, |
||
| 694 | }, |
||
| 695 | /* data */ NULL, |
||
| 696 | }; |
||
| 697 | |||
| 698 | /*
|
||
| 699 | 9ae7c4f3 | Thomas Schöpping | * LED PWM driver (TLC5947)
|
| 700 | */
|
||
| 701 | static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 702 | {
|
||
| 703 | (void)argc;
|
||
| 704 | (void)argv;
|
||
| 705 | aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
|
||
| 706 | return AOS_OK;
|
||
| 707 | } |
||
| 708 | aos_unittest_t moduleUtAlldTlc5947 = {
|
||
| 709 | /* info */ "TLC5947", |
||
| 710 | /* name */ "LED PWM driver", |
||
| 711 | /* test function */ utAlldTlc5947Func,
|
||
| 712 | /* shell command */ {
|
||
| 713 | /* name */ "unittest:Lights", |
||
| 714 | /* callback */ _utShellCmdCb_Tlc5947,
|
||
| 715 | /* next */ NULL, |
||
| 716 | }, |
||
| 717 | /* data */ &moduleLldLedPwm,
|
||
| 718 | }; |
||
| 719 | |||
| 720 | 88449987 | Cung Sang | #if defined(AMIROLLD_CFG_DW1000)
|
| 721 | /*
|
||
| 722 | * UwB Driver (DW1000)
|
||
| 723 | */
|
||
| 724 | static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[]) |
||
| 725 | {
|
||
| 726 | (void)argc;
|
||
| 727 | (void)argv;
|
||
| 728 | |||
| 729 | // Set the 3.3 V supply for powering the DW1000 module
|
||
| 730 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->mic9404xd = &moduleLldPowerSwitchV33; |
||
| 731 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->dw1000d = NULL;
|
||
| 732 | aosUtRun(stream, &moduleUtAlldDw1000, NULL);
|
||
| 733 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->mic9404xd = NULL;
|
||
| 734 | |||
| 735 | // Set the 1.8 V supply
|
||
| 736 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->mic9404xd = &moduleLldPowerSwitchV18; |
||
| 737 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->dw1000d = NULL;
|
||
| 738 | aosUtRun(stream, &moduleUtAlldDw1000, NULL);
|
||
| 739 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->mic9404xd = NULL;
|
||
| 740 | |||
| 741 | // Run the DW1000 module
|
||
| 742 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->dw1000d = &moduleLldDw1000; |
||
| 743 | ((ut_dw1000data_t*)moduleUtAlldDw1000.data)->mic9404xd = NULL;
|
||
| 744 | aosUtRun(stream, &moduleUtAlldDw1000, NULL);
|
||
| 745 | return AOS_OK;
|
||
| 746 | } |
||
| 747 | static ut_dw1000data_t _utAlldDw1000Data = {
|
||
| 748 | /* driver DW1000 */ NULL, |
||
| 749 | /* driver MIC9404x */ NULL, |
||
| 750 | }; |
||
| 751 | aos_unittest_t moduleUtAlldDw1000 = {
|
||
| 752 | /* info */ "DW1000", |
||
| 753 | /* name */ "UWB System", |
||
| 754 | /* test function */ utAlldDw1000Func,
|
||
| 755 | /* shell command */ {
|
||
| 756 | /* name */ "unittest:Uwb", |
||
| 757 | /* callback */ _utShellCmdCb_Dw1000,
|
||
| 758 | /* next */ NULL, |
||
| 759 | }, |
||
| 760 | /* data */ &_utAlldDw1000Data,
|
||
| 761 | }; |
||
| 762 | #endif /* defined(AMIROLLD_CFG_DW1000) */ |
||
| 763 | |||
| 764 | 9ae7c4f3 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 765 | |||
| 766 | /** @} */
|
||
| 767 | /** @} */ |