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, power monitor and the breakout header.

 */

#define MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT   I2CD2

/**

 * @brief   Configuration for the EEPROM, power monitor and breakout I2C driver.

 */

extern I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig;

/**

 * @brief   Serial driver of the programmer interface.

 */

#define MODULE_HAL_PROGIF                       SD1

/**

 * @brief   Configuration for the programmer serial interface driver.

 */

extern SerialConfig moduleHalProgIfConfig;

/**

 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).

 */

#define MODULE_HAL_SPI_LIGHT                    SPID1

/**

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

 */

extern SPIConfig moduleHalSpiLightConfig;

/**

 * @brief   SPI interface driver for the breakout header.

 */

#define MODULE_HAL_SPI_BREAKOUT                 SPID2

/**

 * @brief   UART interface driver for the breakout header (alternative to serial).

 */

#define MODULE_HAL_UART_BREAKOUT                UARTD2

/**

 * @brief   Real-Time Clock driver.

 */

#define MODULE_HAL_RTC                          RTCD1

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)

/**

 * @brief   SPI interface driver for UWB DW1000 module.

 */

#define MODULE_HAL_SPI_UWB                      MODULE_HAL_SPI_BREAKOUT

/**

 * @brief   Configuration for the high-speed SPI interface driver of DW1000 module.

 */

extern SPIConfig moduleHalSpiUwbHsConfig;

/**

 * @brief   Configuration for the low-speed SPI interface driver of DW1000 module.

 */

extern SPIConfig moduleHalSpiUwbLsConfig;

#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */

/** @} */

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

/**

 * @name GPIO definitions

 * @{

 */

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

/**

 * @brief   LIGHT_BANK output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLightBlank;

/**

 * @brief   RS232_R_EN_N output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioRs232En;

/**

 * @brief   SW_V33_EN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSwV33En;

// The 4.2V switch is disabled due to a hardware bug.

///**

// * @brief   SW_V42_EN output signal GPIO.

// */

//extern ROMCONST apalControlGpio_t moduleGpioSwV42En;

/**

 * @brief   SW_V50_EN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSwV50En;

/**

 * @brief   IO_3 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo3;

/**

 * @brief   IO_5 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo5;

/**

 * @brief   IO_6 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo6;

/**

 * @brief   SYS_UART_DN bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;

/**

 * @brief   IO_7 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo7;

/**

 * @brief   IO_8 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo8;

/**

 * @brief   IO_4 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo4;

/**

 * @brief   IO_1 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo1;

/**

 * @brief   IO_2 breakout signal GPIO.

 */

extern apalControlGpio_t moduleGpioBreakoutIo2;

/**

 * @brief   LED output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed;

/**

 * @brief   LIGHT_XLAT output signal.

 */

extern ROMCONST apalControlGpio_t moduleGpioLightXlat;

/**

 * @brief   SW_V18_EN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSwV18En;

/**

 * @brief   SW_VSYS_EN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSwVsysEn;

/**

 * @brief   SYS_UART_UP bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;

/**

 * @brief   SYS_PD bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysPd;

/**

 * @brief   SYS_SYNC bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysSync;

/** @} */

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

/**

 * @name AMiRo-OS core configurations

 * @{

 */

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

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO4     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_4))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO1     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_1))

/**

 * @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))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO3     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_3))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO5     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_5))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO6     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_6))

/**

 * @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 SYS_UART_UP interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSUARTUP       AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO7     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_7))

/**

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

 */

#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO8     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_8))

/**

 * @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))

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)

/**

 * @brief   Event flag to be set on a DW1000 interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_DW1000          MODULE_OS_GPIOEVENTFLAGS_BREAKOUTIO8

#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */

#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() {                                            \

  /* breakout interrupts must be enabled explicitely */                       \

  MODULE_INIT_INTERRUPTS_BREAKOUT();                                          \

}

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)

  #define MODULE_INIT_INTERRUPTS_BREAKOUT() {                                 \

    palSetLineCallback(moduleLldDw1000.gpio_exti->gpio->line, aosSysGetStdGpioCallback(), &moduleLldDw1000.gpio_exti->gpio->line);  \

    palEnableLineEvent(moduleLldDw1000.gpio_exti->gpio->line, APAL2CH_EDGE(moduleLldDw1000.gpio_exti->meta.edge));                  \

  }

#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)

  #define MODULE_INIT_INTERRUPTS_BREAKOUT() {                                 \

  }

#endif

/**

 * @brief   Test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add test commands to shell */                                            \

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

  aosShellAddCommand(&aos.shell, &moduleTestIna219ShellCmd);                  \

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

  aosShellAddCommand(&aos.shell, &moduleTestMic9404xShellCmd);                \

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

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

  MODULE_INIT_TESTS_BREAKOUT();                                               \

}

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)

  #define MODULE_INIT_TESTS_BREAKOUT() {                                      \

    aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd);                \

  }

#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)

  #define MODULE_INIT_TESTS_BREAKOUT() {                                      \

  }

#endif

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_IF() {                                          \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  /* I2C */                                                                   \

  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \

  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \

  moduleHalI2cEepromPwrmtrBreakoutConfig.duty_cycle = (moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig);  \

  /* SPI */                                                                   \

  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \

  /* CAN */                                                                   \

  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);                             \

  /* breakout module */                                                       \

  MODULE_INIT_PERIPHERY_COMM_BREAKOUT();                                      \

}

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)

  #define MODULE_INIT_PERIPHERY_COMM_BREAKOUT() {                             \

    spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig);                  \

  }

#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)

  #define MODULE_INIT_PERIPHERY_COMM_BREAKOUT() {                             \

  }

#endif

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_IF() {                                      \

  /* breakout module */                                                       \

  MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT();                                  \

  /* CAN */                                                                   \

  canStop(&MODULE_HAL_CAN);                                                   \

  /* SPI */                                                                   \

  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \

  /* I2C */                                                                   \

  i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT);                            \

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

}

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)

  #define MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT() {                         \

    /* SPI */                                                                 \

    spiStop(&MODULE_HAL_SPI_UWB);                                             \

  }

#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)

  #define MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT() {                         \

  }

#endif

#define AMIROOS_CFG_SYSINFO_HOOK() {                                          \

  _printSystemInfoLine(stream, "Built for Breakout Module", SYSTEM_INFO_NAMEWIDTH, "%s",  \

                       (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE) ? "none" :  \

                       (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) ? "UWB v1.0 (DW1000)" : \

                       "unknown");                                            \

}

/** @} */

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

/**

 * @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_INA219.h>

#include <alld_LED.h>

#include <alld_MIC9404x.h>

// TODO: add SNx5C3221E

#include <alld_TLC5947.h>

/**

 * @brief   EEPROM driver.

 */

extern AT24C01BDriver moduleLldEeprom;

/**

 * @brief   Power monitor (VLED 4.2) driver.

 */

extern INA219Driver moduleLldPowerMonitorVled;

/**

 * @brief   Status LED driver.

 */

extern LEDDriver moduleLldStatusLed;

/**

 * @brief   Power switch driver (1.8V).

 */

extern MIC9404xDriver moduleLldPowerSwitchV18;

/**

 * @brief   Power switch driver (3.3V).

 */

extern MIC9404xDriver moduleLldPowerSwitchV33;

/**

 * @brief   Power switch driver (4.2V).

 */

extern MIC9404xDriver moduleLldPowerSwitchV42;

/**

 * @brief   Power switch driver (5.0V).

 */

extern MIC9404xDriver moduleLldPowerSwitchV50;

/**

 * @brief   Pseudo power switch driver (VSYS).

 * @details There is no actual MIC9040x device, but the swicthable circuit behaves analogous.

 */

extern MIC9404xDriver moduleLldPowerSwitchVsys;

// TODO: add SNx5C3221E

/**

 * @brief   24 channel PWM LED driver.

 */

extern TLC5947Driver moduleLldLedPwm;

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)

#include <alld_DW1000.h>

/**

 * @brief   Alias for the DW1000 driver object.

 * @note    The dw1000 struct is defined as external variable (singleton) by the

 *          driver, since the Decawave software stacks assumes no more than a

 *          single device in a system.

 */

#define moduleLldDw1000                         dw1000

#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */

/** @} */

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

/**

 * @name Tests

 * @{

 */

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

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

/**

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

 */

extern aos_shellcommand_t moduleTestAt24c01bShellCmd;

/**

 * @brief   INA219 (power monitor) test command.

 */

extern aos_shellcommand_t moduleTestIna219ShellCmd;

/**

 * @brief   Status LED test command.

 */

extern aos_shellcommand_t moduleTestLedShellCmd;

/**

 * @brief   MIC9404x (power switch) test command.

 */

extern aos_shellcommand_t moduleTestMic9404xShellCmd;

// TODO: add SNx5C3221E

/**

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

 */

extern aos_shellcommand_t moduleTestTlc5947ShellCmd;

/**

 * @brief   Entire module test command.

 */

extern aos_shellcommand_t moduleTestAllShellCmd;

#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)

/**

 * @brief   DW1000 (UWB transmitter) test command.

 */

extern aos_shellcommand_t moduleTestDw1000ShellCmd;

#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */

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

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */