AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2020  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.

 */

#define MODULE_HAL_I2C_EEPROM                   I2CD2

/**

 * @brief   Configuration for the EEPROM I2C driver.

 */

extern I2CConfig moduleHalI2cEepromConfig;

/**

 * @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   SPI interface driver for the wireless transceiver.

 */

#define MODULE_HAL_SPI_WL                       SPID2

/**

 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.

 */

extern SPIConfig moduleHalSpiLightConfig;

/**

 * @brief   Configuration for the SPI interface driver to communicate with the wireless transceiver.

 */

extern SPIConfig moduleHalSpiWlConfig;

/**

 * @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   LASER_EN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLaserEn;

/**

 * @brief   LASER_OC input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLaserOc;

/**

 * @brief   SYS_UART_DN bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;

/**

 * @brief   WL_GDO2 input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;

/**

 * @brief   WL_GDO0 input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;

/**

 * @brief   LIGHT_XLAT output signal.

 */

extern ROMCONST apalControlGpio_t moduleGpioLightXlat;

/**

 * @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 LASER_OC interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_LASEROC         AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_LASER_OC_N))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSUARTDN       AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))

/**

 * @brief   Event flag to be set on a WL_GDO2 interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_WLGDO2          AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_WL_GDO2))

/**

 * @brief   Event flag to be set on a WL_GDO0 interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_WLGDO0          AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_WL_GDO0))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSPD           AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSSYNC         AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))

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

/**

 * @brief   Shell prompt text.

 */

extern ROMCONST char* moduleShellPrompt;

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

/**

 * @brief   Interrupt initialization macro.

 */

#define MODULE_INIT_INTERRUPTS() {                                            \

  /* LASER_OC */                                                              \

  palSetLineCallback(moduleGpioLaserOc.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioLaserOc.gpio->line);  \

  palEnableLineEvent(moduleGpioLaserOc.gpio->line, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge));                  \

  /* WL_GDO2 */                                                               \

  palSetLineCallback(moduleGpioWlGdo2.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioWlGdo2.gpio->line);  \

  palEnableLineEvent(moduleGpioWlGdo2.gpio->line, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge));                  \

  /* WL_GDO0 */                                                               \

  palSetLineCallback(moduleGpioWlGdo0.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioWlGdo0.gpio->line);  \

  /*palEnableLineEvent(moduleGpioWlGdo0.gpio->line, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/  \

}

/**

 * @brief   Test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add test commands to shell */                                            \

  aosShellAddCommand(&aos.shell, &moduleTestAt24c01bShellCmd);                \

  aosShellAddCommand(&aos.shell, &moduleTestTlc5947ShellCmd);                 \

  aosShellAddCommand(&aos.shell, &moduleTestTps2051bdbvShellCmd);             \

  aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd);                     \

}

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_IF() {                                          \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  /* I2C */                                                                   \

  moduleHalI2cEepromConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \

  moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \

  /* SPI */                                                                   \

  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \

  spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig);                        \

  /* CAN */                                                                   \

  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);                             \

}

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_IF() {                                      \

  /* CAN */                                                                   \

  canStop(&MODULE_HAL_CAN);                                                   \

  /* SPI */                                                                   \

  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \

  spiStop(&MODULE_HAL_SPI_WL);                                                \

  /* I2C */                                                                   \

  i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \

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

}

/** @} */

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

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

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

#define moduleSsspSignalPD()                    (&moduleGpioSysPd)

#define moduleSsspEventflagPD()                 MODULE_OS_GPIOEVENTFLAG_SYSPD

#define moduleSsspSignalS()                     (&moduleGpioSysSync)

#define moduleSsspEventflagS()                  MODULE_OS_GPIOEVENTFLAG_SYSSYNC

#define moduleSsspSignalDN()                    (&moduleGpioSysUartDn)

#define moduleSsspEventflagDN()                 MODULE_OS_GPIOEVENTFLAG_SYSUARTDN

/** @} */

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

/**

 * @name Low-level drivers

 * @{

 */

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

#include <alld_AT24C01B.h>

#include <alld_TLC5947.h>

#include <alld_TPS20xxB.h>

/**

 * @brief   EEPROM driver.

 */

extern AT24C01BDriver moduleLldEeprom;

/**

 * @brief   24 channel PWM LED driver.

 */

extern TLC5947Driver moduleLldLedPwm;

/**

 * @brief   Power switch driver for the laser supply power.

 */

extern TPS20xxBDriver moduleLldPowerSwitchLaser;

/** @} */

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

/**

 * @name Tests

 * @{

 */

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

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

/**

 * @brief   AT24C01BN-SH-B (EEPROM) test command.

 */

extern aos_shellcommand_t moduleTestAt24c01bShellCmd;

/**

 * @brief   TLC5947 (24 channel PWM LED driver) test command

 */

extern aos_shellcommand_t moduleTestTlc5947ShellCmd;

/**

 * @brief   TPS2051BDBV (Current-limited power switch) test command

 */

extern aos_shellcommand_t moduleTestTps2051bdbvShellCmd;

/**

 * @brief   Entire module test command.

 */

extern aos_shellcommand_t moduleTestAllShellCmd;

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

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */