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amiro-os / modules / LightRing_1-2 / module.h @ 9acb8326

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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..2019  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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/**
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 * @file
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 * @brief   Structures and constant for the LightRing module.
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 *
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 * @addtogroup lightring_module
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 * @{
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 */
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.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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/** @} */
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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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/**
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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, power monitor and the breakout header.
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 */
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#define MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT   I2CD2
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/**
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 * @brief   Configuration for the EEPROM, power monitor and breakout I2C driver.
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 */
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extern I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig;
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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   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   SPI interface driver for the breakout header.
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 */
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#define MODULE_HAL_SPI_BREAKOUT                 SPID2
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/**
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 * @brief   UART interface driver for the breakout header (alternative to serial).
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 */
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#define MODULE_HAL_UART_BREAKOUT                UARTD2
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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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/**
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 * @brief   LIGHT_BANK output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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/**
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 * @brief   RS232_R_EN_N output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioRs232En;
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/**
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 * @brief   SW_V33_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwV33En;
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// The 4.2V switch is disabled due to a hardware bug.
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///**
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// * @brief   SW_V42_EN output signal GPIO.
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// */
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//extern ROMCONST apalControlGpio_t moduleGpioSwV42En;
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/**
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 * @brief   SW_V50_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwV50En;
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/**
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 * @brief   IO_3 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo3;
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/**
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 * @brief   IO_5 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo5;
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/**
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 * @brief   IO_6 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo6;
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/**
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 * @brief   SYS_UART_DN bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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/**
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 * @brief   IO_7 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo7;
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/**
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 * @brief   IO_8 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo8;
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/**
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 * @brief   IO_4 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo4;
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/**
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 * @brief   IO_1 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo1;
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/**
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 * @brief   IO_2 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo2;
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/**
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 * @brief   LED output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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/**
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 * @brief   LIGHT_XLAT output signal.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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/**
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 * @brief   SW_V18_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwV18En;
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/**
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 * @brief   SW_VSYS_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwVsysEn;
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/**
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 * @brief   SYS_UART_UP bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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extern ROMCONST 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 ROMCONST 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 IO_4 (breakout) interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO4      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_4))
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/**
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 * @brief   Event flag to be set on a IO_1 (breakout) interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO1      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_1))
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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          AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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/**
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 * @brief   Event flag to be set on a IO_3 (breakout) interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO3      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_3))
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/**
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 * @brief   Event flag to be set on a IO_5 (breakout) interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO5      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_5))
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/**
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 * @brief   Event flag to be set on a IO_6 (breakout) interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO6      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_6))
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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        AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
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/**
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 * @brief   Event flag to be set on a SYS_UART_UP interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
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/**
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 * @brief   Event flag to be set on a IO_7 (breakout) interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO7      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_7))
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/**
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 * @brief   Event flag to be set on a IO_8 (breakout) interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO8      AOS_IOEVENT_FLAG(PAL_PAD(LINE_IO_8))
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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            AOS_IOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_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 ROMCONST char* moduleShellPrompt;
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
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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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  /* breakout interrupts must be enabled explicitely */                       \
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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, &moduleUtAlldAt24c01b.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd);               \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd);                  \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldMic9404x.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.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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  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
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  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
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  moduleHalI2cEepromPwrmtrBreakoutConfig.duty_cycle = (moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig);  \
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  /* SPI */                                                                   \
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  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
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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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  /* I2C */                                                                   \
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  i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT);                            \
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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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/*===========================================================================*/
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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   UP signal GPIO.
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 */
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#define moduleSsspGpioUp                        moduleGpioSysUartUp
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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 UP signal events.
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 */
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#define MODULE_SSSP_EVENTFLAGS_UP               MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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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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/*===========================================================================*/
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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_AT24C01B.h>
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#include <alld_INA219.h>
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#include <alld_LED.h>
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#include <alld_MIC9404x.h>
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//#include <alld_SNx5C3221E.h>
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#include <alld_TLC5947.h>
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/**
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 * @brief   EEPROM driver.
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 */
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extern AT24C01BDriver moduleLldEeprom;
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/**
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 * @brief   Power monitor (VLED 4.2) driver.
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 */
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extern INA219Driver moduleLldPowerMonitorVled;
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/**
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 * @brief   Status LED driver.
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 */
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extern LEDDriver moduleLldStatusLed;
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/**
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 * @brief   Power switch driver (1.8V).
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 */
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extern MIC9404xDriver moduleLldPowerSwitchV18;
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/**
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 * @brief   Power switch driver (3.3V).
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 */
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extern MIC9404xDriver moduleLldPowerSwitchV33;
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/**
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 * @brief   Power switch driver (4.2V).
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 */
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extern MIC9404xDriver moduleLldPowerSwitchV42;
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/**
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 * @brief   Power switch driver (5.0V).
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 */
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extern MIC9404xDriver moduleLldPowerSwitchV50;
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/**
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 * @brief   Pseudo power switch driver (VSYS).
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 * @details There is no actual MIC9040x device, but the swicthable circuit behaves analogous.
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 */
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extern MIC9404xDriver moduleLldPowerSwitchVsys;
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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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/*===========================================================================*/
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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_AT24C01B_v1.h>
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#include <ut_alld_INA219_v1.h>
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#include <ut_alld_LED_v1.h>
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#include <ut_alld_MIC9404x_v1.h>
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//#include <ut_alld_SNx5C3221E_v1.h>
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#include <ut_alld_TLC5947_v1.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 moduleUtAlldAt24c01b;
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/**
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 * @brief   INA219 (power monitor) unit test object.
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 */
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extern aos_unittest_t moduleUtAlldIna219;
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/**
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 * @brief   Status LED unit test object.
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 */
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extern aos_unittest_t moduleUtAlldLed;
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/**
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 * @brief   Power switch unit test object.
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 */
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extern aos_unittest_t moduleUtAlldMic9404x;
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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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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
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#endif /* AMIROOS_MODULE_H */
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/** @} */