/modules/LightRing_1-2/module.h - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / LightRing_1-2 / module.h @ 908b6fb4

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-ae7c4f3
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2019  Thomas Schöpping et al.
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /**
  * @file
  * @brief   Structures and constant for the LightRing module.
+ *
  * @addtogroup lightring_module
  * @{
  */
 #ifndef AMIROOS_MODULE_H
 #define AMIROOS_MODULE_H
 #include <amiroos.h>
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   CAN driver to use.
  */
 #define MODULE_HAL_CAN                          CAND1
 /**
  * @brief   Configuration for the CAN driver.
  */
 extern CANConfig moduleHalCanConfig;
 /**
-            ee884101
+ * @brief   I2C driver to access the EEPROM, power monitor and the breakout header.
-ae7c4f3
+ */
-            ee884101
+#define MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT   I2CD2
-ae7c4f3
+            Thomas Schöpping
 /**
-            ee884101
+ * @brief   Configuration for the EEPROM, power monitor and breakout I2C driver.
-ae7c4f3
+ */
-            ee884101
+extern I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig;
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Serial driver of the programmer interface.
  */
 #define MODULE_HAL_PROGIF                       SD1
 /**
  * @brief   Configuration for the programmer serial interface driver.
  */
 extern SerialConfig moduleHalProgIfConfig;
 /**
  * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
  */
 #define MODULE_HAL_SPI_LIGHT                    SPID1
 /**
  * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
  */
 extern SPIConfig moduleHalSpiLightConfig;
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
 /**
  * @brief   SPI interface driver for UWB DW1000 module.
  */
 #define MODULE_HAL_SPI_UWB                      SPID2
 /**
  * @brief   Configuration for the high-speed SPI interface driver of DW1000 module.
  */
 extern SPIConfig moduleHalSpiUwbHsConfig;
 /**
  * @brief   Configuration for the low-speed SPI interface driver of DW1000 module.
  */
 extern SPIConfig moduleHalSpiUwbLsConfig;
 #else
-ae7c4f3
+/**
  * @brief   SPI interface driver for the breakout header.
  */
 #define MODULE_HAL_SPI_BREAKOUT                 SPID2
-            88449987
+#endif /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+/**
  * @brief   UART interface driver for the breakout header (alternative to serial).
  */
 #define MODULE_HAL_UART_BREAKOUT                UARTD2
 /**
  * @brief   Real-Time Clock driver.
  */
 #define MODULE_HAL_RTC                          RTCD1
 /** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   LIGHT_BANK output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
 /**
  * @brief   RS232_R_EN_N output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioRs232En;
 /**
  * @brief   SW_V33_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwV33En;
 /**
  * @brief   SW_V42_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwV42En;
 /**
  * @brief   SW_V50_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwV50En;
 /**
  * @brief   IO_3 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo3;
 /**
  * @brief   IO_5 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo5;
 /**
  * @brief   IO_6 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo6;
 /**
  * @brief   SYS_UART_DN bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
 /**
  * @brief   IO_4 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo4;
 /**
  * @brief   IO_1 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo1;
 /**
  * @brief   LED output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioLed;
 /**
  * @brief   SW_V18_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwV18En;
 /**
  * @brief   SW_VSYS_EN output signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSwVsysEn;
 /**
  * @brief   SYS_UART_UP bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
 /**
  * @brief   SYS_PD bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysPd;
 /**
  * @brief   SYS_SYNC bidirectional signal GPIO.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSysSync;
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
 /**
  * @brief   DW1000 reset output signal
  * @note    the reset pin should be drived as low by MCU to activate.
  *          Then, put back the reset pin as input to MCU (tri-state float on the air
  *          is not supported in AMiRo)
  */
 extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;
 /**
  * @brief   DW1000 wakeup signal
  */
 extern ROMCONST apalControlGpio_t moduleGpioDw1000WakeUp;
 /**
  * @brief   DW1000 interrupt IRQn input signal.
  */
 extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;
 /**
  * @brief   DW1000 SPI chip select  output signal.
  */
 extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;
 #else
 /**
  * @brief   IO_2 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo2;
 /**
  * @brief   IO_7 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo7;
 /**
  * @brief   IO_8 breakout signal GPIO.
  */
 extern apalControlGpio_t moduleGpioBreakoutIo8;
 #endif /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+/** @} */
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   Event flag to be set on a IO_4 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO4      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_4))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_1 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO1      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_1))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_SYNC interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_3 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO3      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_3))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_5 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO5      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_5))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_6 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO6      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_6))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_UART_DN interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_UART_UP interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a IO_7 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO7      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_7))
-ae7c4f3
+            Thomas Schöpping
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
 /**
  * @brief   Event flag to be call dwt_isr() interrupt.
  */
 #define MODULE_OS_IOEVENTFLAGS_DW1000      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8))
 #else
-ae7c4f3
+/**
  * @brief   Event flag to be set on a IO_8 (breakout) interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO8      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8))
-            88449987
+#endif  /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Event flag to be set on a SYS_PD interrupt.
  */
-e8cc
+#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
-ae7c4f3
+            Thomas Schöpping
 #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 /**
  * @brief   Shell prompt text.
  */
 extern ROMCONST char* moduleShellPrompt;
 #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
 /**
  * @brief   Interrupt initialization macro.
  * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
  */
 #define MODULE_INIT_INTERRUPTS() {                                            \
   /* breakout interrupts must be enabled explicitely */                       \
-            88449987
+  MODULE_INIT_INTERRUPTS_DW1000();                                            \
-ae7c4f3
+            Thomas Schöpping
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
   #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \
     palSetLineCallback(moduleGpioDw1000Irqn.gpio->line, aosSysGetStdIntCallback(), &moduleGpioDw1000Irqn.gpio->line); \
     palEnableLineEvent(moduleGpioDw1000Irqn.gpio->line, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge));                \
+  }
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_INIT_INTERRUPTS_DW1000() {                                   \
+  }
 #endif /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Unit test initialization hook.
  */
 #define MODULE_INIT_TESTS() {                                                 \
   /* add unit-test shell commands */                                          \
   aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd);             \
-            ee884101
+  aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd);               \
   aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd);                  \
   aosShellAddCommand(&aos.shell, &moduleUtAlldMic9404x.shellcmd);             \
-ae7c4f3
+  aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \
-            88449987
+  MODULE_INIT_TESTS_DW1000();                                                 \
-ae7c4f3
+            Thomas Schöpping
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
   #define MODULE_INIT_TESTS_DW1000() {                                        \
     aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd);             \
+  }
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_INIT_TESTS_DW1000() {                                        \
+  }
 #endif /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Periphery communication interfaces initialization hook.
  */
 #define MODULE_INIT_PERIPHERY_COMM() {                                        \
   /* serial driver */                                                         \
   sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
   /* I2C */                                                                   \
-            ee884101
+  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
   moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
   moduleHalI2cEepromPwrmtrBreakoutConfig.duty_cycle = (moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
   i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig);  \
-ae7c4f3
+  /* SPI */                                                                   \
   spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
-            88449987
+  MODULE_INIT_PERIPHERY_COMM_DW1000();                                        \
-ae7c4f3
+            Thomas Schöpping
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
   #define MODULE_INIT_PERIPHERY_COMM_DW1000() {                               \
   spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig);                    \
+  }
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_INIT_PERIPHERY_COMM_DW1000() {                               \
+  }
 #endif /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+            Thomas Schöpping
 /**
  * @brief   Periphery communication interface deinitialization hook.
  */
 #define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
   /* SPI */                                                                   \
   spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
   /* I2C */                                                                   \
-            ee884101
+  i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT);                            \
-            88449987
+  MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000();                                    \
-ae7c4f3
+  /* don't stop the serial driver so messages can still be printed */         \
+}
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
 #define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() {                             \
   /* SPI */                                                                   \
   spiStop(&MODULE_HAL_SPI_UWB);                                               \
+}
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() {                           \
+  }
 #endif /* defined(AMIROLLD_CFG_DW1000) */
 /**
  * @brief   HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.
  */
 #define MODULE_MAIN_LOOP_IO_EVENT(eventflags) {                               \
   MODULE_MAIN_LOOP_IO_EVENT_DW1000();                                         \
+}
 #if defined(AMIROLLD_CFG_DW1000)
   #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \
     if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000) {                          \
       process_deca_irq();                                                     \
     }                                                                         \
+  }
 #else /* defined(AMIROLLD_CFG_DW1000) */
   #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() {                                \
+  }
 #endif /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+            Thomas Schöpping
 /** @} */
 /*===========================================================================*/
 /**
  * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   PD signal GPIO.
  */
 #define moduleSsspGpioPd                        moduleGpioSysPd
 /**
  * @brief   SYNC signal GPIO.
  */
 #define moduleSsspGpioSync                      moduleGpioSysSync
 /**
  * @brief   UP signal GPIO.
  */
 #define moduleSsspGpioUp                        moduleGpioSysUartUp
 /**
  * @brief   DN signal GPIO.
  */
 #define moduleSsspGpioDn                        moduleGpioSysUartDn
 /**
  * @brief   Event flags for PD signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
 /**
  * @brief   Event flags for SYNC signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
 /**
  * @brief   Event flags for UP signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_UP               MODULE_OS_IOEVENTFLAGS_SYSUARTUP
 /**
  * @brief   Event flags for DN signal events.
  */
 #define MODULE_SSSP_EVENTFLAGS_DN               MODULE_OS_IOEVENTFLAGS_SYSUARTDN
 /** @} */
 /*===========================================================================*/
 /**
  * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
 #include <alld_AT24C01B.h>
-            ee884101
+#include <alld_INA219.h>
-ae7c4f3
+#include <alld_LED.h>
-            ee884101
+#include <alld_MIC9404x.h>
 //#include <alld_SNx5C3221E.h>
-ae7c4f3
+#include <alld_TLC5947.h>
-            88449987
+#if defined(AMIROLLD_CFG_DW1000)
 #include <alld_DW1000.h>
 extern DW1000Driver moduleLldDw1000;
 #endif /* defined(AMIROLLD_CFG_DW1000) */
-ae7c4f3
+/**
  * @brief   EEPROM driver.
  */
 extern AT24C01BDriver moduleLldEeprom;
 /**
-            ee884101
+ * @brief   Power monitor (VLED 4.2) driver.
  */
 extern INA219Driver moduleLldPowerMonitorVled;
 /**
-ae7c4f3
+ * @brief   Status LED driver.
  */
 extern LEDDriver moduleLldStatusLed;
 /**
-            ee884101
+ * @brief   Power switch driver (1.8V).
  */
 extern MIC9404xDriver moduleLldPowerSwitchV18;
 /**
  * @brief   Power switch driver (3.3V).
  */
 extern MIC9404xDriver moduleLldPowerSwitchV33;
 /**
  * @brief   Power switch driver (4.2V).
  */
 extern MIC9404xDriver moduleLldPowerSwitchV42;
 /**
  * @brief   Power switch driver (5.0V).
  */
 extern MIC9404xDriver moduleLldPowerSwitchV50;
 /**
  * @brief   Pseudo power switch driver (VSYS).
  * @details There is no actual MIC9040x device, but the swicthable circuit behaves analogous.
  */
 extern MIC9404xDriver moduleLldPowerSwitchVsys;
 /**
-ae7c4f3
+ * @brief   LED PWM driver.
  */
 extern TLC5947Driver moduleLldLedPwm;
 /** @} */
 /*===========================================================================*/
 /**
  * @name Unit tests (UT)
  * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 #include <ut_alld_AT24C01B_v1.h>
-            ee884101
+#include <ut_alld_INA219_v1.h>
 #include <ut_alld_LED_v1.h>
 #include <ut_alld_MIC9404x_v1.h>
 //#include <ut_alld_SNx5C3221E_v1.h>
-ae7c4f3
+#include <ut_alld_TLC5947_v1.h>
-            88449987
+#if defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)
 #include <ut_alld_DW1000_v1.h>
 /**
  * @brief   DW1000 unit test object.
  */
 extern aos_unittest_t moduleUtAlldDw1000;
 #endif /* defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */
-ae7c4f3
+/**
  * @brief   EEPROM unit test object.
  */
 extern aos_unittest_t moduleUtAlldAt24c01b;
 /**
-            ee884101
+ * @brief   INA219 (power monitor) unit test object.
  */
 extern aos_unittest_t moduleUtAlldIna219;
 /**
  * @brief   Status LED unit test object.
  */
 extern aos_unittest_t moduleUtAlldLed;
 /**
  * @brief   Power switch unit test object.
  */
 extern aos_unittest_t moduleUtAlldMic9404x;
 /**
-ae7c4f3
+ * @brief   LED PWM driver unit test object.
  */
 extern aos_unittest_t moduleUtAlldTlc5947;
 #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
 /** @} */
 #endif /* AMIROOS_MODULE_H */
 /** @} */