amiro-os / unittests / periphery-lld / module.h @ 960338cc
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _AMIROOS_MODULE_H_
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#define _AMIROOS_MODULE_H_
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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static void _alld_dw1000_callback(void* args); |
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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#include <hal.h> |
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/**
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* @brief CAN driver to use.
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*/
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#define MODULE_HAL_CAN CAND1
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/**
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* @brief Configuration for the CAN driver.
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*/
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extern CANConfig moduleHalCanConfig;
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/**
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* @brief I2C driver to access the EEPROM.
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*/
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#define MODULE_HAL_I2C_EEPROM I2CD2
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/**
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* @brief Configuration for the EEPROM I2C driver.
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*/
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extern I2CConfig moduleHalI2cEepromConfig;
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/**
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* @brief Serial driver of the programmer interface.
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*/
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#define MODULE_HAL_PROGIF SD1
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/**
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* @brief Configuration for the programmer serial interface driver.
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*/
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extern SerialConfig moduleHalProgIfConfig;
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/**
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* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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*/
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#define MODULE_HAL_SPI_LIGHT SPID1
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/**
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* @brief SPI interface driver for UWB Module.
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*/
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#define MODULE_HAL_SPI_UWB SPID2
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/**
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* @brief Configuration for the SPI interface driver to communicate with the LED driver.
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*/
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extern SPIConfig moduleHalSpiLightConfig;
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/**
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* @brief Configuration for the SPI interface driver to communicate with the LED driver.
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*/
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extern SPIConfig moduleHalSpiUWBConfig;
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/**
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* @brief Real-Time Clock driver.
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*/
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#define MODULE_HAL_RTC RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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#include <amiro-lld.h> |
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/**
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* @brief LIGHT_BANK output signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioLightBlank;
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/**
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* @brief LASER_EN output signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioLaserEn;
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/**
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* @brief LASER_OC input signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioLaserOc;
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/**
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* @brief SYS_UART_DN bidirectional signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioSysUartDn;
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/**
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* @brief WL_GDO2 input signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioWlGdo2;
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/**
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* @brief WL_GDO0 input signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioWlGdo0;
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/**
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* @brief LIGHT_XLAT output signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioLightXlat;
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioSysPd;
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/**
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* @brief SYS_SYNC bidirectional signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioSysSync;
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Event flag to be set on a LASER_OC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_LASEROC ((eventflags_t)1 << GPIOB_LASER_OC_N) |
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/**
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* @brief Event flag to be set on a SYS_UART_DN interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN ((eventflags_t)1 << GPIOB_SYS_UART_DN) |
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/**
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* @brief Event flag to be set on a WL_GDO2 interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_WLGDO2 ((eventflags_t)1 << GPIOB_WL_GDO2) |
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/**
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* @brief Event flag to be set on a WL_GDO0 interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_WLGDO0 ((eventflags_t)1 << GPIOB_WL_GDO0) |
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/**
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* @brief Event flag to be set on a SYS_PD interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
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/**
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* @brief Event flag to be set on a SYS_SYNC interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOD_SYS_INT_N) |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell prompt text.
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*/
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extern const char* moduleShellPrompt; |
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#endif
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/**
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* @brief Interrupt initialization macro.
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* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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*/
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#define MODULE_INIT_INTERRUPTS() { \
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/* LASER_OC */ \
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palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \ |
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palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \ |
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/* WL_GDO2 */ \
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palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo2.gpio->pad); \ |
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palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge)); \ |
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/* WL_GDO0 */ \
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palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo0.gpio->pad); \ |
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/*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/ \
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} |
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/**
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* @brief Unit test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \
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aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
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aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd); \ |
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} |
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/**
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* @brief Periphery communication interfaces initialization hook.
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*/
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#define MODULE_INIT_PERIPHERY_COMM() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* I2C */ \
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moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
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moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
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/* SPI */ \
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spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUWBConfig); \ |
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} |
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/**
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* @brief Periphery communication interface deinitialization hook.
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*/
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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/* SPI */ \
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spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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spiStop(&MODULE_HAL_SPI_UWB); \ |
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/* I2C */ \
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i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
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/* don't stop the serial driver so messages can still be printed */ \
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} |
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/** @} */
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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief PD signal GPIO.
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*/
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#define moduleSsspGpioPd moduleGpioSysPd
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/**
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* @brief SYNC signal GPIO.
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*/
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#define moduleSsspGpioSync moduleGpioSysSync
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/**
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* @brief DN signal GPIO.
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*/
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#define moduleSsspGpioDn moduleGpioSysUartDn
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/**
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* @brief Event flags for PD signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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/**
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* @brief Event flags for SYNC signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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/**
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* @brief Event flags for DN signal events.
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*/
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#define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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/** @} */
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#endif
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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#include <alld_at24c01bn-sh-b.h> |
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#include <alld_tlc5947.h> |
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#include <alld_tps2051bdbv.h> |
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#include <alld_dw1000.h> |
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/**
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* @brief EEPROM driver.
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*/
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extern AT24C01BNDriver moduleLldEeprom;
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/**
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* @brief LED PWM driver.
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*/
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extern TLC5947Driver moduleLldLedPwm;
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/**
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* @brief Power switch driver for the laser supply power.
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*/
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extern TPS2051BDriver moduleLldPowerSwitchLaser;
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/**
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* @brief DW1000 driver for UWB.
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*/
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extern DW1000Driver moduleLldDW1000;
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/*! ------------------------------------------------------------------------------------------------------------------
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* Function: _alld_dw1000_callback()
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*
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* Low level abstract function to handle 'reset' adn 'irq' interrupt from DW1000
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* Expects arg to be of iopadid_t* type, used to distinguish between irq or reset signal
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*/
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static void _alld_dw1000_callback(void* args) { |
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aosDbgCheck(true);
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chSysLockFromISR(); |
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if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_reset->pad)
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{
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// dw1000 external indicate reset done
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} |
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else if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_exti->pad) |
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{
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dwt_isr(); |
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} |
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else
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{
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return;
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} |
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chSysUnlockFromISR(); |
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} |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <ut_alld_at24c01bn-sh-b.h> |
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#include <ut_alld_tlc5947.h> |
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#include <ut_alld_tps2051bdbv.h> |
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#include <ut_alld_dw1000.h> |
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/**
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* @brief EEPROM unit test object.
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*/
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extern aos_unittest_t moduleUtAlldAt24c01bn;
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/**
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* @brief LED PWM driver unit test object.
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*/
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extern aos_unittest_t moduleUtAlldTlc5947;
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/**
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* @brief Current-limited power switch (Laser output)
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*/
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extern aos_unittest_t moduleUtAlldTps2051bdbv;
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/**
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* @brief DW1000 unit test object.
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*/
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extern aos_unittest_t moduleUtAlldDw1000;
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/** @} */
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#endif /* _AMIROOS_MODULE_H_ */ |