amiro-os / modules / DiWheelDrive_1-1 / module.h @ 9ff01927
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1 | e545e620 | 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..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 | 53710ca3 | Marc Rothmann | /**
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20 | 37bacabf | Thomas Schöpping | * @file
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21 | 53710ca3 | Marc Rothmann | * @brief Structures and constant for the DiWheelDrive module.
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22 | *
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23 | * @addtogroup diwheeldrive_module
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24 | * @{
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25 | */
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26 | |||
27 | e545e620 | Thomas Schöpping | #ifndef _AMIROOS_MODULE_H_
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28 | #define _AMIROOS_MODULE_H_
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29 | |||
30 | /*===========================================================================*/
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31 | /**
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32 | * @name Module specific functions
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33 | * @{
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34 | */
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35 | /*===========================================================================*/
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36 | |||
37 | /** @} */
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38 | |||
39 | /*===========================================================================*/
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40 | /**
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41 | * @name ChibiOS/HAL configuration
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42 | * @{
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43 | */
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44 | /*===========================================================================*/
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45 | #include <hal.h> |
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46 | #include <hal_qei.h> |
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47 | |||
48 | /**
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49 | * @brief CAN driver to use.
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50 | */
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51 | #define MODULE_HAL_CAN CAND1
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52 | |||
53 | /**
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54 | * @brief Configuration for the CAN driver.
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55 | */
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56 | extern CANConfig moduleHalCanConfig;
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57 | |||
58 | /**
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59 | * @brief I2C driver to access the compass.
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60 | */
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61 | #define MODULE_HAL_I2C_COMPASS I2CD1
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62 | |||
63 | /**
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64 | * @brief Configuration for the compass I2C driver.
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65 | */
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66 | extern I2CConfig moduleHalI2cCompassConfig;
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67 | |||
68 | /**
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69 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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70 | */
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71 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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72 | |||
73 | /**
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74 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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75 | */
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76 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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77 | |||
78 | /**
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79 | * @brief PWM driver to use.
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80 | */
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81 | #define MODULE_HAL_PWM_DRIVE PWMD2
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82 | |||
83 | /**
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84 | * @brief Configuration for the PWM driver.
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85 | */
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86 | extern PWMConfig moduleHalPwmDriveConfig;
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87 | |||
88 | /**
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89 | * @brief Drive PWM channel for the left wheel forward direction.
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90 | */
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91 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
92 | e545e620 | Thomas Schöpping | |
93 | /**
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94 | * @brief Drive PWM channel for the left wheel backward direction.
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95 | */
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96 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
97 | e545e620 | Thomas Schöpping | |
98 | /**
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99 | * @brief Drive PWM channel for the right wheel forward direction.
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100 | */
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101 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
102 | e545e620 | Thomas Schöpping | |
103 | /**
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104 | * @brief Drive PWM channel for the right wheel backward direction.
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105 | */
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106 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
107 | e545e620 | Thomas Schöpping | |
108 | /**
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109 | * @brief Quadrature encooder for the left wheel.
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110 | */
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111 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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112 | |||
113 | /**
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114 | * @brief Quadrature encooder for the right wheel.
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115 | */
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116 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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117 | |||
118 | /**
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119 | * @brief Configuration for both quadrature encoders.
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120 | */
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121 | extern QEIConfig moduleHalQeiConfig;
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122 | |||
123 | /**
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124 | * @brief QEI increments per wheel revolution.
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125 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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126 | */
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127 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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128 | |||
129 | /**
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130 | * @brief Serial driver of the programmer interface.
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131 | */
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132 | #define MODULE_HAL_PROGIF SD1
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133 | |||
134 | /**
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135 | * @brief Configuration for the programmer serial interface driver.
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136 | */
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137 | extern SerialConfig moduleHalProgIfConfig;
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138 | |||
139 | /**
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140 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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141 | */
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142 | #define MODULE_HAL_SPI_MOTION SPID1
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143 | |||
144 | /**
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145 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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146 | */
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147 | extern SPIConfig moduleHalSpiAccelerometerConfig;
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148 | |||
149 | /**
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150 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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151 | */
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152 | extern SPIConfig moduleHalSpiGyroscopeConfig;
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153 | |||
154 | 8399aeae | Thomas Schöpping | /**
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155 | * @brief Real-Time Clock driver.
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156 | */
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157 | #define MODULE_HAL_RTC RTCD1
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158 | |||
159 | e545e620 | Thomas Schöpping | /** @} */
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160 | |||
161 | /*===========================================================================*/
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162 | /**
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163 | * @name GPIO definitions
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164 | * @{
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165 | */
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166 | /*===========================================================================*/
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167 | #include <amiro-lld.h> |
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168 | |||
169 | /**
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170 | * @brief LED output signal GPIO.
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171 | */
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172 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLed;
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173 | e545e620 | Thomas Schöpping | |
174 | /**
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175 | * @brief POWER_EN output signal GPIO.
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176 | */
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177 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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178 | e545e620 | Thomas Schöpping | |
179 | /**
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180 | * @brief COMPASS_DRDY input signal GPIO.
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181 | */
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182 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;
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183 | e545e620 | Thomas Schöpping | |
184 | /**
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185 | * @brief IR_INT input signal GPIO.
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186 | */
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187 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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188 | e545e620 | Thomas Schöpping | |
189 | /**
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190 | * @brief GYRO_DRDY input signal GPIO.
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191 | */
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192 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;
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193 | e545e620 | Thomas Schöpping | |
194 | /**
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195 | * @brief SYS_UART_UP bidirectional signal GPIO.
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196 | */
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197 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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198 | e545e620 | Thomas Schöpping | |
199 | /**
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200 | * @brief ACCEL_INT input signal GPIO.
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201 | */
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202 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioAccelInt;
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203 | e545e620 | Thomas Schöpping | |
204 | /**
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205 | * @brief SYS_SNYC bidirectional signal GPIO.
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206 | */
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207 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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208 | e545e620 | Thomas Schöpping | |
209 | /**
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210 | * @brief PATH_DCSTAT input signal GPIO.
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211 | */
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212 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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213 | e545e620 | Thomas Schöpping | |
214 | /**
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215 | * @brief PATH_DCEN output signal GPIO.
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216 | */
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217 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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218 | e545e620 | Thomas Schöpping | |
219 | /**
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220 | * @brief SYS_PD bidirectional signal GPIO.
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221 | */
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222 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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223 | e545e620 | Thomas Schöpping | |
224 | /**
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225 | * @brief SYS_REG_EN input signal GPIO.
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226 | */
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227 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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228 | e545e620 | Thomas Schöpping | |
229 | /**
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230 | * @brief SYS_WARMRST bidirectional signal GPIO.
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231 | */
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232 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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233 | e545e620 | Thomas Schöpping | |
234 | /** @} */
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235 | |||
236 | /*===========================================================================*/
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237 | /**
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238 | * @name AMiRo-OS core configurations
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239 | * @{
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240 | */
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241 | /*===========================================================================*/
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242 | |||
243 | /**
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244 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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245 | */
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246 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOC_SYS_INT_N) |
247 | e545e620 | Thomas Schöpping | |
248 | /**
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249 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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250 | */
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251 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST ((eventflags_t)1 << GPIOD_SYS_WARMRST_N) |
252 | e545e620 | Thomas Schöpping | |
253 | /**
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254 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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255 | */
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256 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT ((eventflags_t)1 << GPIOC_PATH_DCEN) |
257 | e545e620 | Thomas Schöpping | |
258 | /**
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259 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
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260 | */
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261 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY ((eventflags_t)1 << GPIOB_COMPASS_DRDY) |
262 | e545e620 | Thomas Schöpping | |
263 | /**
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264 | * @brief Event flag to be set on a SYS_PD interrupt.
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265 | */
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266 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N) |
267 | e545e620 | Thomas Schöpping | |
268 | /**
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269 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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270 | */
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271 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN ((eventflags_t)1 << GPIOC_SYS_REG_EN) |
272 | e545e620 | Thomas Schöpping | |
273 | /**
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274 | * @brief Event flag to be set on a IR_INT interrupt.
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275 | */
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276 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IRINT ((eventflags_t)1 << GPIOB_IR_INT) |
277 | e545e620 | Thomas Schöpping | |
278 | /**
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279 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
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280 | */
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281 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY ((eventflags_t)1 << GPIOB_GYRO_DRDY) |
282 | e545e620 | Thomas Schöpping | |
283 | /**
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284 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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285 | */
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286 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)1 << GPIOB_SYS_UART_UP) |
287 | e545e620 | Thomas Schöpping | |
288 | /**
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289 | * @brief Event flag to be set on a ACCEL_INT interrupt.
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290 | */
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291 | 1e5f7648 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)1 << GPIOB_ACCEL_INT_N) |
292 | e545e620 | Thomas Schöpping | |
293 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
294 | e545e620 | Thomas Schöpping | /**
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295 | * @brief Shell prompt text.
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296 | */
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297 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
298 | 6b53f6bf | Thomas Schöpping | #endif
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299 | e545e620 | Thomas Schöpping | |
300 | /**
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301 | * @brief Additional HAL initialization hook.
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302 | */
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303 | #define MODULE_INIT_HAL_EXTRA() { \
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304 | qeiInit(); \ |
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305 | } |
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306 | |||
307 | /**
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308 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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309 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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310 | */
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311 | #define MODULE_INIT_INTERRUPTS() { \
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312 | /* COMPASS_DRDY */ \
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313 | palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \ |
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314 | palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge)); \ |
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315 | /* IR_INT */ \
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316 | palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \ |
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317 | palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
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318 | /* GYRO_DRDY */ \
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319 | palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad); \ |
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320 | palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge)); \ |
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321 | /* ACCEL_INT */ \
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322 | palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad); \ |
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323 | palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge)); \ |
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324 | /* PATH_DCSTAT */ \
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325 | palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad); \ |
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326 | palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
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327 | /* SYS_REG_EN */ \
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328 | palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad); \ |
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329 | palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
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330 | /* SYS_WARMRST */ \
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331 | palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad); \ |
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332 | palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
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333 | } |
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334 | |||
335 | /**
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336 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
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337 | */
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338 | #define MODULE_INIT_TESTS() { \
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339 | /* add unit-test shell commands */ \
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340 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
341 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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342 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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343 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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344 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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345 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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346 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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347 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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348 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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349 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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350 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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351 | e545e620 | Thomas Schöpping | } |
352 | |||
353 | /**
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354 | * @brief Periphery communication interfaces initialization hook.
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355 | */
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356 | #define MODULE_INIT_PERIPHERY_COMM() { \
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357 | /* serial driver */ \
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358 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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359 | /* I2C */ \
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360 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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361 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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362 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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363 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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364 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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365 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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366 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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367 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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368 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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369 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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370 | /* PWM */ \
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371 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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372 | /* QEI */ \
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373 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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374 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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375 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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376 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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377 | } |
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378 | |||
379 | /**
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380 | * @brief Periphery communication interface deinitialization hook.
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381 | */
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382 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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383 | /* PWM */ \
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384 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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385 | /* QEI */ \
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386 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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387 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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388 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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389 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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390 | /* I2C */ \
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391 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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392 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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393 | /* don't stop the serial driver so messages can still be printed */ \
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394 | } |
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395 | |||
396 | /** @} */
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397 | |||
398 | /*===========================================================================*/
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399 | /**
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400 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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401 | * @{
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402 | */
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403 | /*===========================================================================*/
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404 | |||
405 | /**
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406 | * @brief PD signal GPIO.
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407 | */
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408 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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409 | 6b53f6bf | Thomas Schöpping | |
410 | /**
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411 | * @brief SYNC signal GPIO.
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412 | */
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413 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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414 | 6b53f6bf | Thomas Schöpping | |
415 | /**
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416 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
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417 | */
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418 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioUp moduleGpioSysUartUp
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419 | 933df08e | Thomas Schöpping | |
420 | /**
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421 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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422 | */
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423 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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424 | |||
425 | /**
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426 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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427 | 6b53f6bf | Thomas Schöpping | */
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428 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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429 | |||
430 | /**
|
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431 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
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432 | */
|
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433 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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434 | |||
435 | 6b53f6bf | Thomas Schöpping | /** @} */
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436 | |||
437 | /*===========================================================================*/
|
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438 | /**
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439 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
440 | * @{
|
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441 | */
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442 | /*===========================================================================*/
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443 | #include <alld_a3906.h> |
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444 | #include <alld_at24c01bn-sh-b.h> |
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445 | #include <alld_hmc5883l.h> |
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446 | #include <alld_ina219.h> |
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447 | #include <alld_l3g4200d.h> |
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448 | #include <alld_led.h> |
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449 | #include <alld_lis331dlh.h> |
||
450 | #include <alld_ltc4412.h> |
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451 | #include <alld_pca9544a.h> |
||
452 | #include <alld_tps62113.h> |
||
453 | #include <alld_vcnl4020.h> |
||
454 | |||
455 | /**
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||
456 | * @brief Motor driver.
|
||
457 | */
|
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458 | extern A3906Driver moduleLldMotors;
|
||
459 | |||
460 | /**
|
||
461 | * @brief EEPROM driver.
|
||
462 | */
|
||
463 | extern AT24C01BNDriver moduleLldEeprom;
|
||
464 | |||
465 | /**
|
||
466 | * @brief Compass driver.
|
||
467 | */
|
||
468 | extern HMC5883LDriver moduleLldCompass;
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||
469 | |||
470 | /**
|
||
471 | * @brief Power monitor (VDD) driver.
|
||
472 | */
|
||
473 | extern INA219Driver moduleLldPowerMonitorVdd;
|
||
474 | |||
475 | /**
|
||
476 | * @brief Gyroscope driver.
|
||
477 | */
|
||
478 | extern L3G4200DDriver moduleLldGyroscope;
|
||
479 | |||
480 | /**
|
||
481 | * @brief Status LED driver.
|
||
482 | */
|
||
483 | extern LEDDriver moduleLldStatusLed;
|
||
484 | |||
485 | /**
|
||
486 | * @brief Accelerometer driver.
|
||
487 | */
|
||
488 | extern LIS331DLHDriver moduleLldAccelerometer;
|
||
489 | |||
490 | /**
|
||
491 | * @brief Power path controler (charging pins) driver.
|
||
492 | */
|
||
493 | extern LTC4412Driver moduleLldPowerPathController;
|
||
494 | |||
495 | /**
|
||
496 | * @brief I2C multiplexer driver.
|
||
497 | */
|
||
498 | extern PCA9544ADriver moduleLldI2cMultiplexer;
|
||
499 | |||
500 | /**
|
||
501 | * @brief Step down converter (VDRIVE) driver.
|
||
502 | */
|
||
503 | extern TPS62113Driver moduleLldStepDownConverterVdrive;
|
||
504 | |||
505 | /**
|
||
506 | * @brief Proximity sensor driver.
|
||
507 | */
|
||
508 | extern VCNL4020Driver moduleLldProximity;
|
||
509 | |||
510 | /** @} */
|
||
511 | |||
512 | /*===========================================================================*/
|
||
513 | /**
|
||
514 | * @name Unit tests (UT)
|
||
515 | * @{
|
||
516 | */
|
||
517 | /*===========================================================================*/
|
||
518 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
519 | #include <ut_alld_a3906.h> |
||
520 | #include <ut_alld_at24c01bn-sh-b.h> |
||
521 | #include <ut_alld_hmc5883l.h> |
||
522 | #include <ut_alld_ina219.h> |
||
523 | #include <ut_alld_l3g4200d.h> |
||
524 | #include <ut_alld_led.h> |
||
525 | #include <ut_alld_lis331dlh.h> |
||
526 | #include <ut_alld_ltc4412.h> |
||
527 | #include <ut_alld_pca9544a.h> |
||
528 | #include <ut_alld_tps62113.h> |
||
529 | #include <ut_alld_vcnl4020.h> |
||
530 | |||
531 | /**
|
||
532 | * @brief A3906 (motor driver) unit test object.
|
||
533 | */
|
||
534 | extern aos_unittest_t moduleUtAlldA3906;
|
||
535 | |||
536 | /**
|
||
537 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
||
538 | */
|
||
539 | extern aos_unittest_t moduleUtAlldAt24c01bn;
|
||
540 | |||
541 | /**
|
||
542 | * @brief HMC5883L (compass) unit test object.
|
||
543 | */
|
||
544 | extern aos_unittest_t moduleUtAlldHmc5883l;
|
||
545 | |||
546 | /**
|
||
547 | * @brief INA219 (power monitor) unit test object.
|
||
548 | */
|
||
549 | extern aos_unittest_t moduleUtAlldIna219;
|
||
550 | |||
551 | /**
|
||
552 | * @brief L3G4200D (gyroscope) unit test object.
|
||
553 | */
|
||
554 | extern aos_unittest_t moduleUtAlldL3g4200d;
|
||
555 | |||
556 | /**
|
||
557 | * @brief Status LED unit test object.
|
||
558 | */
|
||
559 | extern aos_unittest_t moduleUtAlldLed;
|
||
560 | |||
561 | /**
|
||
562 | * @brief LIS331DLH (accelerometer) unit test object.
|
||
563 | */
|
||
564 | extern aos_unittest_t moduleUtAlldLis331dlh;
|
||
565 | |||
566 | /**
|
||
567 | * @brief LTC4412 (power path controller) unit test object.
|
||
568 | */
|
||
569 | extern aos_unittest_t moduleUtAlldLtc4412;
|
||
570 | |||
571 | /**
|
||
572 | * @brief PCA9544A (I2C multiplexer) unit test object.
|
||
573 | */
|
||
574 | extern aos_unittest_t moduleUtAlldPca9544a;
|
||
575 | |||
576 | /**
|
||
577 | * @brief TPS62113 (step-down converter) unit test object.
|
||
578 | */
|
||
579 | extern aos_unittest_t moduleUtAlldTps62113;
|
||
580 | |||
581 | /**
|
||
582 | * @brief VCNL4020 (proximity sensor) unit test object.
|
||
583 | */
|
||
584 | extern aos_unittest_t moduleUtAlldVcnl4020;
|
||
585 | |||
586 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
587 | |||
588 | /** @} */
|
||
589 | |||
590 | #endif /* _AMIROOS_MODULE_H_ */ |
||
591 | 53710ca3 | Marc Rothmann | |
592 | /** @} */ |