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 v1.0 module.

 *

 * @addtogroup lightring_module

 * @{

 */

#include "module.h"

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

/**

 * @name Module specific functions

 * @{

 */

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

/** @} */

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

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

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

CANConfig moduleHalCanConfig = {

  /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,

  /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),

};

I2CConfig moduleHalI2cEepromConfig = {

  /* I²C mode   */ OPMODE_I2C,

  /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)

  /* duty cycle */ FAST_DUTY_CYCLE_2,

};

SerialConfig moduleHalProgIfConfig = {

  /* bit rate */ 115200,

  /* CR1      */ 0,

  /* CR1      */ 0,

  /* CR1      */ 0,

};

SPIConfig moduleHalSpiLightConfig = {

  /* circular buffer mode        */ false,

  /* callback function pointer   */ NULL,

  /* chip select line port       */ PAL_PORT(LINE_LIGHT_XLAT),

  /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),

  /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,

  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,

};

SPIConfig moduleHalSpiWlConfig = {

  /* circular buffer mode        */ false,

  /* callback function pointer   */ NULL,

  /* chip select line port       */ PAL_PORT(LINE_WL_SS_N),

  /* chip select line pad number */ PAL_PAD(LINE_WL_SS_N),

  /* CR1                         */ SPI_CR1_BR_0,

  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,

};

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

/**

 * @name GPIO definitions

 * @{

 */

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

/**

 * @brief   LIGHT_BANK output signal GPIO.

 */

static apalGpio_t _gpioLightBlank = {

  /* line */ LINE_LIGHT_BLANK,

};

ROMCONST apalControlGpio_t moduleGpioLightBlank = {

  /* GPIO */ &_gpioLightBlank,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ TLC5947_LLD_BLANK_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   LASER_EN output signal GPIO.

 */

static apalGpio_t _gpioLaserEn = {

  /* line */ LINE_LASER_EN,

};

ROMCONST apalControlGpio_t moduleGpioLaserEn = {

  /* GPIO */ &_gpioLaserEn,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   LASER_OC input signal GPIO.

 */

static apalGpio_t _gpioLaserOc = {

  /* line */ LINE_LASER_OC_N,

};

ROMCONST apalControlGpio_t moduleGpioLaserOc = {

  /* GPIO */ &_gpioLaserOc,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   SYS_UART_DN bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysUartDn = {

  /* line */ LINE_SYS_UART_DN,

};

ROMCONST apalControlGpio_t moduleGpioSysUartDn = {

  /* GPIO */ &_gpioSysUartDn,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   WL_GDO2 input signal GPIO.

 */

static apalGpio_t _gpioWlGdo2 = {

  /* line */ LINE_WL_GDO2,

};

ROMCONST apalControlGpio_t moduleGpioWlGdo2 = {

  /* GPIO */ &_gpioWlGdo2,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   WL_GDO0 input signal GPIO.

 */

static apalGpio_t _gpioWlGdo0= {

  /* line */ LINE_WL_GDO0,

};

ROMCONST apalControlGpio_t moduleGpioWlGdo0 = {

  /* GPIO */ &_gpioWlGdo0,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   SYS_PD bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysPd = {

  /* line */ LINE_SYS_PD_N,

};

ROMCONST apalControlGpio_t moduleGpioSysPd = {

  /* GPIO */ &_gpioSysPd,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   SYS_SYNC bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysSync = {

  /* line */ LINE_SYS_INT_N,

};

ROMCONST apalControlGpio_t moduleGpioSysSync = {

  /* GPIO */ &_gpioSysSync,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/** @} */

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

/**

 * @name AMiRo-OS core configurations

 * @{

 */

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

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

ROMCONST char* moduleShellPrompt = "LightRing";

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

/** @} */

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

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

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

/** @} */

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

/**

 * @name Low-level drivers

 * @{

 */

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

AT24C01BDriver moduleLldEeprom = {

  /* I2C driver   */ &MODULE_HAL_I2C_EEPROM,

  /* I2C address  */ 0x00u,

};

TLC5947Driver moduleLldLedPwm = {

  /* SPI driver         */ &MODULE_HAL_SPI_LIGHT,

  /* BLANK signal GPIO  */ &moduleGpioLightBlank,

  /* XLAT signal GPIO   */ NULL,

};

TPS20xxBDriver moduleLldPowerSwitchLaser = {

  /* laser enable GPIO      */ &moduleGpioLaserEn,

  /* laser overcurrent GPIO */ &moduleGpioLaserOc,

};

/** @} */

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

/**

 * @name Unit tests (UT)

 * @{

 */

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

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/*

 * EEPROM (AT24C01B)

 */

static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[])

{

  (void)argc;

  (void)argv;

  aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);

  return AOS_OK;

}

static ut_at24c01bdata_t _utAlldAt24c01bData = {

  /* driver   */ &moduleLldEeprom,

  /* timeout  */ MICROSECONDS_PER_SECOND,

};

aos_unittest_t moduleUtAlldAt24c01b = {

  /* name           */ "AT24C01B",

  /* info           */ "1kbit EEPROM",

  /* test function  */ utAlldAt24c01bFunc,

  /* shell command  */ {

    /* name     */ "unittest:EEPROM",

    /* callback */ _utShellCmdCb_AlldAt24c01b,

    /* next     */ NULL,

  },

  /* data           */ &_utAlldAt24c01bData,

};

/*

 * LED PWM driver (TLC5947)

 */

static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[])

{

  (void)argc;

  (void)argv;

  aosUtRun(stream, &moduleUtAlldTlc5947, NULL);

  return AOS_OK;

}

aos_unittest_t moduleUtAlldTlc5947 = {

  /* info           */ "TLC5947",

  /* name           */ "LED PWM driver",

  /* test function  */ utAlldTlc5947Func,

  /* shell command  */ {

    /* name     */ "unittest:Lights",

    /* callback */ _utShellCmdCb_Tlc5947,

    /* next     */ NULL,

  },

  /* data           */ &moduleLldLedPwm,

};

/*

 * power switch (TPS2051BDBV)

 */

static int _utShellCmdCb_Tps2051bdbv(BaseSequentialStream* stream, int argc, char* argv[])

{

  (void)argc;

  (void)argv;

  aosUtRun(stream,&moduleUtAlldTps2051bdbv, NULL);

  return AOS_OK;

}

aos_unittest_t moduleUtAlldTps2051bdbv = {

  /* info           */ "TPS2051BDBV",

  /* name           */ "current-limited power switch",

  /* test function  */ utAlldTps20xxbFunc,

  /* shell command  */ {

    /* name     */ "unittest:PowerSwitch",

    /* callback */ _utShellCmdCb_Tps2051bdbv,

    /* next     */ NULL,

  },

  /* data           */ &moduleLldPowerSwitchLaser,

};

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

/** @} */

/** @} */