amiro-os / modules / LightRing_1-2 / module.c @ 98949060
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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 | c53ef0b1 | Thomas Schöpping | #include <amiroos.h> |
| 28 | |||
| 29 | #include <string.h> |
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| 30 | 9ae7c4f3 | Thomas Schöpping | |
| 31 | /*===========================================================================*/
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| 32 | /**
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| 33 | * @name Module specific functions
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| 34 | * @{
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| 35 | */
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| 36 | /*===========================================================================*/
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| 37 | |||
| 38 | /** @} */
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| 39 | |||
| 40 | /*===========================================================================*/
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| 41 | /**
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| 42 | * @name ChibiOS/HAL configuration
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| 43 | * @{
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| 44 | */
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| 45 | /*===========================================================================*/
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| 46 | |||
| 47 | CANConfig moduleHalCanConfig = {
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| 48 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 49 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 50 | }; |
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| 51 | |||
| 52 | ee884101 | Thomas Schöpping | I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig = {
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| 53 | 9ae7c4f3 | Thomas Schöpping | /* I²C mode */ OPMODE_I2C,
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| 54 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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| 55 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 56 | }; |
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| 57 | |||
| 58 | SerialConfig moduleHalProgIfConfig = {
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| 59 | /* bit rate */ 115200, |
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| 60 | /* CR1 */ 0, |
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| 61 | /* CR1 */ 0, |
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| 62 | /* CR1 */ 0, |
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| 63 | }; |
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| 64 | |||
| 65 | SPIConfig moduleHalSpiLightConfig = {
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| 66 | /* circular buffer mode */ false, |
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| 67 | /* callback function pointer */ NULL, |
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| 68 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
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| 69 | /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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| 70 | 9ae7c4f3 | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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| 71 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 72 | }; |
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| 73 | |||
| 74 | f606f432 | Thomas Schöpping | #if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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| 75 | 0b989911 | Cung Sang | |
| 76 | SPIConfig moduleHalSpiUwbHsConfig = {
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| 77 | /* circular buffer mode */ false, |
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| 78 | /* callback function pointer */ NULL, |
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| 79 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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| 80 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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| 81 | /* CR1 */ 0, // 36/2 Mbps |
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| 82 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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| 83 | }; |
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| 84 | f606f432 | Thomas Schöpping | |
| 85 | 0b989911 | Cung Sang | SPIConfig moduleHalSpiUwbLsConfig = {
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| 86 | /* circular buffer mode */ false, |
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| 87 | /* callback function pointer */ NULL, |
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| 88 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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| 89 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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| 90 | /* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, // 36/16 Mbps |
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| 91 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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| 92 | }; |
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| 93 | |||
| 94 | f606f432 | Thomas Schöpping | #endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
| 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 | 9acb8326 | Thomas Schöpping | // The 4.2V switch is disabled due to a hardware bug.
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| 149 | ///**
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| 150 | // * @brief SW_V42_EN output signal GPIO.
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| 151 | // */
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| 152 | //static apalGpio_t _gpioSwV42En = {
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| 153 | // /* line */ LINE_SW_V42_EN,
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| 154 | //};
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| 155 | //ROMCONST apalControlGpio_t moduleGpioSwV42En = {
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| 156 | // /* GPIO */ &_gpioSwV42En,
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| 157 | // /* meta */ {
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| 158 | // /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 159 | // /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 160 | // /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 161 | // },
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| 162 | //};
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| 163 | 9ae7c4f3 | Thomas Schöpping | |
| 164 | /**
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| 165 | * @brief SW_V50_EN output signal GPIO.
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| 166 | */
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| 167 | static apalGpio_t _gpioSwV50En = {
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| 168 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V50_EN,
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| 169 | 9ae7c4f3 | Thomas Schöpping | }; |
| 170 | ROMCONST apalControlGpio_t moduleGpioSwV50En = {
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| 171 | /* GPIO */ &_gpioSwV50En,
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| 172 | /* meta */ {
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| 173 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 174 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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| 175 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 176 | }, |
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| 177 | }; |
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| 178 | |||
| 179 | /**
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| 180 | f606f432 | Thomas Schöpping | * @brief SYS_UART_DN bidirectional signal GPIO.
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| 181 | 9ae7c4f3 | Thomas Schöpping | */
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| 182 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioSysUartDn = {
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| 183 | /* line */ LINE_SYS_UART_DN,
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| 184 | 9ae7c4f3 | Thomas Schöpping | }; |
| 185 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
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| 186 | /* GPIO */ &_gpioSysUartDn,
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| 187 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 188 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 189 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 190 | f606f432 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 191 | 9ae7c4f3 | Thomas Schöpping | }, |
| 192 | }; |
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| 193 | |||
| 194 | /**
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| 195 | f606f432 | Thomas Schöpping | * @brief LED output signal GPIO.
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| 196 | 9ae7c4f3 | Thomas Schöpping | */
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| 197 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioLed = {
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| 198 | /* line */ LINE_LED,
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| 199 | 9ae7c4f3 | Thomas Schöpping | }; |
| 200 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 201 | /* GPIO */ &_gpioLed,
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| 202 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 203 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 204 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 205 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 206 | }, |
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| 207 | }; |
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| 208 | |||
| 209 | /**
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| 210 | f606f432 | Thomas Schöpping | * @brief LIGHT_XLAT output signal GPIO.
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| 211 | 9ae7c4f3 | Thomas Schöpping | */
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| 212 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioLightXlat = {
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| 213 | /* line */ LINE_LIGHT_XLAT,
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| 214 | 9ae7c4f3 | Thomas Schöpping | }; |
| 215 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLightXlat = {
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| 216 | /* GPIO */ &_gpioLightXlat,
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| 217 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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| 218 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 219 | /* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 220 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 221 | }, |
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| 222 | }; |
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| 223 | |||
| 224 | /**
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| 225 | f606f432 | Thomas |