AMiRo-OS

/*

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;

/**

 * @brief   I2C driver to access the EEPROM and the breakout header.

 */

#define MODULE_HAL_I2C_EEPROM_BREAKOUT          I2CD2

/**

 * @brief   Configuration for the EEPROM & breakout I2C driver.

 */

extern I2CConfig moduleHalI2cEepromBreakoutConfig;

/**

 * @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;

/**

 * @brief   SPI interface driver for the breakout header.

 */

#define MODULE_HAL_SPI_BREAKOUT                 SPID2

/**

 * @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_7 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo7;

/**

 * @brief   IO_8 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo8;

/**

 * @brief   IO_4 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo4;

/**

 * @brief   IO_1 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo1;

/**

 * @brief   IO_2 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo2;

/**

 * @brief   LED output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed;

/**

 * @brief   LIGHT_XLAT output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLightXlat;

/**

 * @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;

/** @} */

/*===========================================================================*/

/**

 * @name AMiRo-OS core configurations

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Event flag to be set on a IO_4 (breakout) interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO4      AOS_IOEVENT_FLAG(GPIOC_IO_4)

/**

 * @brief   Event flag to be set on a IO_1 (breakout) interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO1      AOS_IOEVENT_FLAG(GPIOC_IO_1)

/**

 * @brief   Event flag to be set on a SYS_SYNC interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(GPIOD_SYS_INT_N)

/**

 * @brief   Event flag to be set on a IO_3 (breakout) interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO3      AOS_IOEVENT_FLAG(GPIOB_IO_3)

/**

 * @brief   Event flag to be set on a IO_5 (breakout) interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO5      AOS_IOEVENT_FLAG(GPIOB_IO_5)

/**

 * @brief   Event flag to be set on a IO_6 (breakout) interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO6      AOS_IOEVENT_FLAG(GPIOB_IO_6)

/**

 * @brief   Event flag to be set on a SYS_UART_DN interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        AOS_IOEVENT_FLAG(GPIOB_SYS_UART_DN)

/**

 * @brief   Event flag to be set on a SYS_UART_UP interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        AOS_IOEVENT_FLAG(GPIOC_SYS_UART_UP)

/**

 * @brief   Event flag to be set on a IO_7 (breakout) interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO7      AOS_IOEVENT_FLAG(GPIOB_IO_7)

/**

 * @brief   Event flag to be set on a IO_8 (breakout) interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_BREAKOUTIO8      AOS_IOEVENT_FLAG(GPIOB_IO_8)

/**

 * @brief   Event flag to be set on a SYS_PD interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)

#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 */                       \

}

/**

 * @brief   Unit test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add unit-test shell commands */                                          \

  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd);             \

  aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \

}

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_COMM() {                                        \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  /* I2C */                                                                   \

  moduleHalI2cEepromBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromBreakoutConfig.clock_speed; \

  moduleHalI2cEepromBreakoutConfig.duty_cycle = (moduleHalI2cEepromBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_EEPROM_BREAKOUT, &moduleHalI2cEepromBreakoutConfig);                \

  /* SPI */                                                                   \

  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \

}

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \

  /* SPI */                                                                   \

  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \

  /* I2C */                                                                   \

  i2cStop(&MODULE_HAL_I2C_EEPROM_BREAKOUT);                                            \

  /* don't stop the serial driver so messages can still be printed */         \

}

/** @} */

/*===========================================================================*/

/**

 * @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>

#include <alld_LED.h>

#include <alld_TLC5947.h>

/**

 * @brief   EEPROM driver.

 */

extern AT24C01BDriver moduleLldEeprom;

/**

 * @brief   Status LED driver.

 */

extern LEDDriver moduleLldStatusLed;

/**

 * @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>

#include <ut_alld_TLC5947_v1.h>

/**

 * @brief   EEPROM unit test object.

 */

extern aos_unittest_t moduleUtAlldAt24c01b;

/**

 * @brief   LED PWM driver unit test object.

 */

extern aos_unittest_t moduleUtAlldTlc5947;

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */