/modules/LightRing_1-0/module.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / LightRing_1-0 / module.c @ a7e54ea4

History | View | Annotate | Download (11.485 KB)

       /*
       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 v1.0 module.
+       *
        * @addtogroup lightring_module
        * @{
        */
       #include <amiroos.h>
       #include <string.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   LIGHT_XLAT output signal GPIO.
        */
       static apalGpio_t _gpioLightXlat = {
         /* line */ LINE_LIGHT_XLAT,
       };
       ROMCONST apalControlGpio_t moduleGpioLightXlat = {
         /* GPIO */ &_gpioLightXlat,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @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) || defined(__DOXYGEN__)
       ROMCONST char* moduleShellPrompt = "LightRing";
       #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Startup Shutdown Synchronization Protocol (SSSP)
        * @{
        */
       /*===========================================================================*/
       #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__)
       /* some local definitions */
       // maximum number of bytes per CAN frame
       #define CAN_BYTES_PER_FRAME                     8
       // identifier (as dominant as possible)
       #define MSI_BCBMSG_CANID                        0
       aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
+      {
         aosDbgCheck(buffer != NULL);
         aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
         // local variables
         CANTxFrame frame;
         // setup the common parts of the message frame
         frame.DLC = (uint8_t)length;
         frame.RTR = CAN_RTR_DATA;
         frame.IDE = CAN_IDE_STD;
         frame.SID = MSI_BCBMSG_CANID;
         memcpy(frame.data8, buffer, length);
         // sent the frame and return
         return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
+      }
       aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length)
+      {
         aosDbgCheck(buffer != NULL);
         aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
         // local variables
         CANRxFrame frame;
         // receive a frame and check for errors
         if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
           // a correct frame was received
           if (frame.DLC == length &&
               frame.RTR == CAN_RTR_DATA &&
               frame.IDE == CAN_IDE_STD &&
               frame.SID == MSI_BCBMSG_CANID) {
             // success: fetch the data and return
             memcpy(buffer, frame.data8, length);
             return AOS_SSSP_BCB_SUCCESS;
+          }
           // an unexpected frame was received
           else {
             return AOS_SSSP_BCB_INVALIDMSG;
+          }
         } else {
           // failure: return with error
           return AOS_SSSP_BCB_ERROR;
+        }
+      }
       #undef MSI_BCBMSG_CANID
       #undef CAN_BYTES_PER_FRAME
       #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */
       /** @} */
       /*===========================================================================*/
       /**
        * @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   */ &moduleGpioLightXlat,
       };
       TPS20xxBDriver moduleLldPowerSwitchLaser = {
         /* laser enable GPIO      */ &moduleGpioLaserEn,
         /* laser overcurrent GPIO */ &moduleGpioLaserOc,
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name Tests
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       /*
        * AT24C01BN-SH-B (EEPROM)
        */
       #include <module_test_AT24C01B.h>
       static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestAt24c01bShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
       /*
        * TLC5947 (24 channel PWM LED driver)
        */
       #include <module_test_TLC5947.h>
       static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestTlc5947ShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
       /*
        * TPS2051BDBV (Current-limited power switch)
        */
       #include <module_test_TPS20xxB.h>
       static int _testTps2051bdbvShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         return moduleTestTps20xxbShellCb(stream, argc, argv, NULL);
+      }
       AOS_SHELL_COMMAND(moduleTestTps2051bdbvShellCmd, "test:PowerSwitch", _testTps2051bdbvShellCmdCb);
       /*
        * entire module
        */
       static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         int status = AOS_OK;
         char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};
         aos_testresult_t result_test = {0, 0};
         aos_testresult_t result_total = {0, 0};
         /* AT24C01B (EEPROM) */
         status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* TLC5947 (24 channel LED PWM driver) */
         status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         /* TPS2051BDBV (Current-limited power switch) */
         status |= moduleTestTps20xxbShellCb(stream, 0, targv, &result_test);
         result_total = aosTestResultAdd(result_total, result_test);
         // print total result
         chprintf(stream, "\n");
         aosTestResultPrintSummary(stream, &result_total, "entire module");
         return status;
+      }
       AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
       #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
       /** @} */
       /** @} */