amiro-os / unittests / periphery-lld / module.h @ 9b0c922c
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1 | e05848a6 | Robin Ewers | /*
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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..2018 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 | #ifndef _AMIROOS_MODULE_H_
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20 | #define _AMIROOS_MODULE_H_
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21 | |||
22 | /*===========================================================================*/
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23 | /**
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24 | * @name Module specific functions
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25 | * @{
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26 | */
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27 | /*===========================================================================*/
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28 | |||
29 | static void _alld_dw1000_callback(void* args); |
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30 | |||
31 | /** @} */
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32 | |||
33 | /*===========================================================================*/
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34 | /**
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35 | * @name ChibiOS/HAL configuration
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36 | * @{
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37 | */
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38 | /*===========================================================================*/
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39 | #include <hal.h> |
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40 | |||
41 | /**
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42 | * @brief CAN driver to use.
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43 | */
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44 | #define MODULE_HAL_CAN CAND1
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45 | |||
46 | /**
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47 | * @brief Configuration for the CAN driver.
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48 | */
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49 | extern CANConfig moduleHalCanConfig;
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50 | |||
51 | /**
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52 | * @brief I2C driver to access the EEPROM.
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53 | */
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54 | #define MODULE_HAL_I2C_EEPROM I2CD2
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55 | |||
56 | /**
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57 | * @brief Configuration for the EEPROM I2C driver.
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58 | */
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59 | extern I2CConfig moduleHalI2cEepromConfig;
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60 | |||
61 | /**
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62 | * @brief Serial driver of the programmer interface.
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63 | */
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64 | #define MODULE_HAL_PROGIF SD1
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65 | |||
66 | /**
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67 | * @brief Configuration for the programmer serial interface driver.
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68 | */
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69 | extern SerialConfig moduleHalProgIfConfig;
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70 | |||
71 | /**
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72 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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73 | */
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74 | #define MODULE_HAL_SPI_LIGHT SPID1
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75 | |||
76 | /**
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77 | * @brief SPI interface driver for UWB Module.
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78 | */
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79 | #define MODULE_HAL_SPI_UWB SPID2
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80 | |||
81 | /**
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82 | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
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83 | */
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84 | extern SPIConfig moduleHalSpiLightConfig;
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85 | |||
86 | /**
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87 | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
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88 | */
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89 | extern SPIConfig moduleHalSpiUWBConfig;
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90 | |||
91 | /**
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92 | * @brief Real-Time Clock driver.
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93 | */
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94 | #define MODULE_HAL_RTC RTCD1
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95 | |||
96 | /** @} */
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97 | |||
98 | /*===========================================================================*/
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99 | /**
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100 | * @name GPIO definitions
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101 | * @{
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102 | */
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103 | /*===========================================================================*/
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104 | #include <amiro-lld.h> |
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105 | |||
106 | /**
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107 | * @brief LIGHT_BANK output signal GPIO.
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108 | */
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109 | extern apalControlGpio_t moduleGpioLightBlank;
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110 | |||
111 | /**
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112 | * @brief LASER_EN output signal GPIO.
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113 | */
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114 | extern apalControlGpio_t moduleGpioLaserEn;
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115 | |||
116 | /**
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117 | * @brief LASER_OC input signal GPIO.
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118 | */
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119 | extern apalControlGpio_t moduleGpioLaserOc;
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120 | |||
121 | /**
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122 | * @brief SYS_UART_DN bidirectional signal GPIO.
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123 | */
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124 | extern apalControlGpio_t moduleGpioSysUartDn;
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125 | |||
126 | /**
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127 | * @brief WL_GDO2 input signal GPIO.
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128 | */
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129 | extern apalControlGpio_t moduleGpioWlGdo2;
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130 | |||
131 | /**
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132 | * @brief WL_GDO0 input signal GPIO.
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133 | */
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134 | extern apalControlGpio_t moduleGpioWlGdo0;
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135 | |||
136 | /**
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137 | * @brief LIGHT_XLAT output signal GPIO.
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138 | */
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139 | extern apalControlGpio_t moduleGpioLightXlat;
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140 | |||
141 | /**
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142 | * @brief SYS_PD bidirectional signal GPIO.
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143 | */
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144 | extern apalControlGpio_t moduleGpioSysPd;
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145 | |||
146 | /**
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147 | * @brief SYS_SYNC bidirectional signal GPIO.
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148 | */
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149 | extern apalControlGpio_t moduleGpioSysSync;
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150 | |||
151 | /** @} */
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152 | |||
153 | /*===========================================================================*/
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154 | /**
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155 | * @name AMiRo-OS core configurations
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156 | * @{
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157 | */
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158 | /*===========================================================================*/
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159 | |||
160 | /**
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161 | * @brief Event flag to be set on a LASER_OC interrupt.
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162 | */
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163 | #define MODULE_OS_IOEVENTFLAGS_LASEROC ((eventflags_t)1 << GPIOB_LASER_OC_N) |
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164 | |||
165 | /**
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166 | * @brief Event flag to be set on a SYS_UART_DN interrupt.
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167 | */
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168 | #define MODULE_OS_IOEVENTFLAGS_SYSUARTDN ((eventflags_t)1 << GPIOB_SYS_UART_DN) |
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169 | |||
170 | /**
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171 | * @brief Event flag to be set on a WL_GDO2 interrupt.
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172 | */
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173 | #define MODULE_OS_IOEVENTFLAGS_WLGDO2 ((eventflags_t)1 << GPIOB_WL_GDO2) |
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174 | |||
175 | /**
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176 | * @brief Event flag to be set on a WL_GDO0 interrupt.
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177 | */
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178 | #define MODULE_OS_IOEVENTFLAGS_WLGDO0 ((eventflags_t)1 << GPIOB_WL_GDO0) |
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179 | |||
180 | /**
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181 | * @brief Event flag to be set on a SYS_PD interrupt.
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182 | */
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183 | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
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184 | |||
185 | /**
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186 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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187 | */
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188 | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOD_SYS_INT_N) |
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189 | |||
190 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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191 | /**
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192 | * @brief Shell prompt text.
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193 | */
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194 | extern const char* moduleShellPrompt; |
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195 | #endif
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196 | |||
197 | |||
198 | |||
199 | |||
200 | /**
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201 | * @brief Interrupt initialization macro.
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202 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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203 | */
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204 | #define MODULE_INIT_INTERRUPTS() { \
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205 | /* LASER_OC */ \
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206 | palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \ |
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207 | palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \ |
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208 | /* WL_GDO2 */ \
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209 | palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo2.gpio->pad); \ |
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210 | palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge)); \ |
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211 | /* WL_GDO0 */ \
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212 | palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo0.gpio->pad); \ |
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213 | /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/ \
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214 | } |
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215 | |||
216 | /**
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217 | * @brief Unit test initialization hook.
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218 | */
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219 | #define MODULE_INIT_TESTS() { \
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220 | /* add unit-test shell commands */ \
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221 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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222 | aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
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223 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
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224 | aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd); \ |
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225 | } |
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226 | |||
227 | /**
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228 | * @brief Periphery communication interfaces initialization hook.
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229 | */
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230 | #define MODULE_INIT_PERIPHERY_COMM() { \
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231 | /* serial driver */ \
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232 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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233 | /* I2C */ \
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234 | moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
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235 | moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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236 | i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
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237 | /* SPI */ \
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238 | spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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239 | spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUWBConfig); \ |
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240 | } |
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241 | |||
242 | /**
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243 | * @brief Periphery communication interface deinitialization hook.
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244 | */
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245 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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246 | /* SPI */ \
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247 | spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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248 | spiStop(&MODULE_HAL_SPI_UWB); \ |
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249 | /* I2C */ \
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250 | i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
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251 | /* don't stop the serial driver so messages can still be printed */ \
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252 | } |
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253 | |||
254 | /** @} */
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255 | |||
256 | /*===========================================================================*/
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257 | /**
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258 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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259 | * @{
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260 | */
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261 | /*===========================================================================*/
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262 | |||
263 | /**
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264 | * @brief PD signal GPIO.
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265 | */
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266 | #define moduleSsspGpioPd moduleGpioSysPd
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267 | |||
268 | /**
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269 | * @brief SYNC signal GPIO.
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270 | */
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271 | #define moduleSsspGpioSync moduleGpioSysSync
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272 | |||
273 | /**
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274 | * @brief DN signal GPIO.
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275 | */
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276 | #define moduleSsspGpioDn moduleGpioSysUartDn
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277 | |||
278 | /**
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279 | * @brief Event flags for PD signal events.
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280 | */
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281 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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282 | |||
283 | /**
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284 | * @brief Event flags for SYNC signal events.
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285 | */
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286 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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287 | |||
288 | /**
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289 | * @brief Event flags for DN signal events.
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290 | */
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291 | #define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
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292 | |||
293 | /** @} */
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294 | |||
295 | /*===========================================================================*/
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296 | /**
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297 | * @name Low-level drivers
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298 | * @{
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299 | */
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300 | /*===========================================================================*/
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301 | #include <alld_at24c01bn-sh-b.h> |
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302 | #include <alld_tlc5947.h> |
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303 | #include <alld_tps2051bdbv.h> |
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304 | #include <alld_dw1000.h> |
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305 | |||
306 | /**
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307 | * @brief EEPROM driver.
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308 | */
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309 | extern AT24C01BNDriver moduleLldEeprom;
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310 | |||
311 | /**
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312 | * @brief LED PWM driver.
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313 | */
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314 | extern TLC5947Driver moduleLldLedPwm;
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315 | |||
316 | /**
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317 | * @brief Power switch driver for the laser supply power.
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318 | */
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319 | extern TPS2051BDriver moduleLldPowerSwitchLaser;
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320 | |||
321 | /**
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322 | * @brief DW1000 driver for UWB.
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323 | */
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324 | extern DW1000Driver moduleLldDW1000;
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325 | |||
326 | |||
327 | |||
328 | |||
329 | /*! ------------------------------------------------------------------------------------------------------------------
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330 | * Function: _alld_dw1000_callback()
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331 | *
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332 | * Low level abstract function to handle 'reset' adn 'irq' interrupt from DW1000
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333 | * Expects arg to be of iopadid_t* type, used to distinguish between irq or reset signal
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334 | */
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335 | static void _alld_dw1000_callback(void* args) { |
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336 | |||
337 | aosDbgCheck(true);
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338 | |||
339 | |||
340 | chSysLockFromISR(); |
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341 | if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_reset->pad)
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342 | { |
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343 | // dw1000 external indicate reset done
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344 | } |
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345 | else if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_exti->pad) |
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346 | { |
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347 | dwt_isr(); |
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348 | } |
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349 | else
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350 | { |
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351 | return;
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352 | } |
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353 | chSysUnlockFromISR(); |
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354 | |||
355 | } |
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356 | |||
357 | |||
358 | /** @} */
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359 | |||
360 | /*===========================================================================*/
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361 | /**
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362 | * @name Unit tests (UT)
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363 | * @{
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364 | */
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365 | /*===========================================================================*/
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366 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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367 | #include <ut_alld_at24c01bn-sh-b.h> |
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368 | #include <ut_alld_tlc5947.h> |
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369 | #include <ut_alld_tps2051bdbv.h> |
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370 | #include <ut_alld_dw1000.h> |
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371 | |||
372 | /**
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373 | * @brief EEPROM unit test object.
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374 | */
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375 | extern aos_unittest_t moduleUtAlldAt24c01bn;
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376 | |||
377 | /**
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378 | * @brief LED PWM driver unit test object.
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379 | */
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380 | extern aos_unittest_t moduleUtAlldTlc5947;
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381 | |||
382 | /**
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383 | * @brief Current-limited power switch (Laser output)
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384 | */
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385 | extern aos_unittest_t moduleUtAlldTps2051bdbv;
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386 | |||
387 | /**
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388 | * @brief DW1000 unit test object.
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389 | */
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390 | extern aos_unittest_t moduleUtAlldDw1000;
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391 | |||
392 | |||
393 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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394 | |||
395 | /** @} */
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396 | |||
397 | #endif /* _AMIROOS_MODULE_H_ */ |