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amiro-os / modules / DiWheelDrive_1-2 / module.h @ abb8b3f4

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file
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 * @brief   Structures and constant for the DiWheelDrive module.
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 *
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 * @addtogroup diwheeldrive_module
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 * @{
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 */
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.h>
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/*===========================================================================*/
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/**
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 * @name Module specific functions
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 * @{
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 */
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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 * @name ChibiOS/HAL configuration
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   CAN driver to use.
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 */
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#define MODULE_HAL_CAN                          CAND1
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/**
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 * @brief   Configuration for the CAN driver.
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 */
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extern CANConfig moduleHalCanConfig;
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/**
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 * @brief   I2C driver to access the compass.
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 */
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#define MODULE_HAL_I2C_IMU                      I2CD1
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/**
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 * @brief   Configuration for the compass I2C driver.
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 */
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extern I2CConfig moduleHalI2cImuConfig;
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/**
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 * @brief   I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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 */
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#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR       I2CD2
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/**
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 * @brief   Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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 */
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extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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/**
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 * @brief   PWM driver to use.
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 */
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#define MODULE_HAL_PWM_DRIVE                    PWMD2
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/**
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 * @brief   Configuration for the PWM driver.
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 */
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extern PWMConfig moduleHalPwmDriveConfig;
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/**
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 * @brief   Drive PWM channel for the left wheel forward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD     ((apalPWMchannel_t)0)
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/**
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 * @brief   Drive PWM channel for the left wheel backward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD    ((apalPWMchannel_t)1)
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/**
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 * @brief   Drive PWM channel for the right wheel forward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD    ((apalPWMchannel_t)2)
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/**
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 * @brief   Drive PWM channel for the right wheel backward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD   ((apalPWMchannel_t)3)
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/**
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 * @brief   Quadrature encooder for the left wheel.
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 */
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#define MODULE_HAL_QEI_LEFT_WHEEL               QEID3
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/**
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 * @brief   Quadrature encooder for the right wheel.
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 */
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#define MODULE_HAL_QEI_RIGHT_WHEEL              QEID4
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/**
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 * @brief   Configuration for both quadrature encoders.
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 */
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extern QEIConfig moduleHalQeiConfig;
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/**
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 * @brief   QEI increments per wheel revolution.
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 * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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 */
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#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION  (apalQEICount_t)(2 * 2 * 16 * 22)
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/**
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 * @brief   Serial driver of the programmer interface.
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 */
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#define MODULE_HAL_PROGIF                       SD1
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/**
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 * @brief   Configuration for the programmer serial interface driver.
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 */
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extern SerialConfig moduleHalProgIfConfig;
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/**
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 * @brief   Real-Time Clock driver.
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 */
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#define MODULE_HAL_RTC                          RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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 * @name GPIO definitions
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   LED output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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/**
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 * @brief   POWER_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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/**
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 * @brief   IR_INT input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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/**
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 * @brief   SYS_UART_UP bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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/**
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 * @brief   IMU_INT input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioImuInt;
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/**
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 * @brief   SYS_SNYC bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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/**
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 * @brief   IMU_RESET output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioImuReset;
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/**
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 * @brief   PATH_DCSTAT input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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/**
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 * @brief   PATH_DCEN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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/**
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 * @brief   SYS_REG_EN input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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/**
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 * @brief   IMU_BOOT_LOAD output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioImuBootLoad;
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/**
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 * @brief   IMU_BL_IND input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioImuBlInd;
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/**
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 * @brief   SYS_WARMRST bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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/** @} */
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/*===========================================================================*/
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/**
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 * @name AMiRo-OS core configurations
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Event flag to be set on a SYS_SYNC interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(GPIOC_SYS_INT_N)
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/**
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 * @brief   Event flag to be set on a SYS_WARMRST interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST       AOS_IOEVENT_FLAG(GPIOD_SYS_WARMRST_N)
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/**
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 * @brief   Event flag to be set on a PATH_DCSTAT interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT       AOS_IOEVENT_FLAG(GPIOC_PATH_DCEN)
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/**
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 * @brief   Event flag to be set on a SYS_PD interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
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/**
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 * @brief   Event flag to be set on a SYS_REG_EN interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSREGEN         AOS_IOEVENT_FLAG(GPIOC_SYS_REG_EN)
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/**
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 * @brief   Event flag to be set on a IR_INT interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_IRINT            AOS_IOEVENT_FLAG(GPIOB_IR_INT)
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/**
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 * @brief   Event flag to be set on a SYS_UART_UP interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        AOS_IOEVENT_FLAG(GPIOB_SYS_UART_UP)
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/**
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 * @brief   Event flag to be set on a IMU_INT interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_IMUINT         AOS_IOEVENT_FLAG(GPIOB_IMU_INT)
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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/**
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 * @brief   Shell prompt text.
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 */
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extern ROMCONST char* moduleShellPrompt;
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
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/**
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 * @brief   Additional HAL initialization hook.
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 */
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#define MODULE_INIT_HAL_EXTRA() {                                             \
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  qeiInit();                                                                  \
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}
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/**
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 * @brief   Interrupt initialization macro.
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 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
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 */
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#define MODULE_INIT_INTERRUPTS() {                                            \
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  /* IR_INT */                                                                \
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  palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \
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  palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge));  \
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  /* IMU_INT */                                                               \
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  palSetPadCallback(moduleGpioImuInt.gpio->port, moduleGpioImuInt.gpio->pad, _intCallback, &moduleGpioImuInt.gpio->pad);  \
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  palEnablePadEvent(moduleGpioImuInt.gpio->port, moduleGpioImuInt.gpio->pad, APAL2CH_EDGE(moduleGpioImuInt.meta.edge));   \
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  /* PATH_DCSTAT */                                                           \
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  palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad);  \
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  palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge));   \
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  /* SYS_REG_EN */                                                            \
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  palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad);  \
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  palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge));   \
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  /* SYS_WARMRST */                                                           \
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  palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad);  \
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  palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge));   \
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}
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/**
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 * @brief   Unit test initialization hook.
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 */
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#define MODULE_INIT_TESTS() {                                                 \
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  /* add unit-test shell commands */                                          \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd);                \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd);               \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd);                  \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd);              \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd);             \
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  aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd);             \
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}
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/**
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 * @brief   Periphery communication interfaces initialization hook.
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 */
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#define MODULE_INIT_PERIPHERY_COMM() {                                        \
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  /* serial driver */                                                         \
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  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
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  /* I2C */                                                                   \
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  /* TODO: calculcate config depending on BNO055 */                           \
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  i2cStart(&MODULE_HAL_I2C_IMU, &moduleHalI2cImuConfig);                      \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig);  \
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  /* PWM */                                                                   \
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  pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig);                  \
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  /* QEI */                                                                   \
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  qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig);                  \
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  qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig);                 \
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  qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL);                                      \
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  qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                     \
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}
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/**
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 * @brief   Periphery communication interface deinitialization hook.
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 */
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
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  /* PWM */                                                                   \
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  pwmStop(&MODULE_HAL_PWM_DRIVE);                                             \
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  /* QEI */                                                                   \
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  qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL);                                     \
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  qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                    \
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  qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL);                                        \
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  qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL);                                       \
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  /* I2C */                                                                   \
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  i2cStop(&MODULE_HAL_I2C_IMU);                                               \
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  i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR);                                \
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  /* don't stop the serial driver so messages can still be printed */         \
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}
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Startup Shutdown Synchronization Protocol (SSSP)
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   PD signal GPIO.
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 */
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#define moduleSsspGpioPd                        moduleGpioSysPd
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/**
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 * @brief   SYNC signal GPIO.
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 */
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#define moduleSsspGpioSync                      moduleGpioSysSync
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/**
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 * @brief   UP signal GPIO.
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 */
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#define moduleSsspGpioUp                        moduleGpioSysUartUp
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/**
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 * @brief   Event flags for PD signal events.
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 */
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#define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
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/**
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 * @brief   Event flags for SYNC signal events.
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 */
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#define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
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/**
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 * @brief   Event flags for UP signal events.
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 */
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#define MODULE_SSSP_EVENTFLAGS_UP               MODULE_OS_IOEVENTFLAGS_SYSUARTUP
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Low-level drivers
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 * @{
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 */
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/*===========================================================================*/
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#include <alld_A3906.h>
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#include <alld_AT24C01B.h>
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#include <alld_INA219.h>
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#include <alld_LED.h>
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#include <alld_LTC4412.h>
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#include <alld_PCA9544A.h>
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#include <alld_TPS6211x.h>
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#include <alld_VCNL4020.h>
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// TODO: add BNO055 IMU
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/**
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 * @brief   Motor driver.
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 */
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extern A3906Driver moduleLldMotors;
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/**
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 * @brief   EEPROM driver.
429
 */
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extern AT24C01BDriver moduleLldEeprom;
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/**
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 * @brief   Power monitor (VDD) driver.
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 */
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extern INA219Driver moduleLldPowerMonitorVdd;
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/**
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 * @brief   Status LED driver.
439
 */
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extern LEDDriver moduleLldStatusLed;
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/**
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 * @brief   Power path controler (charging pins) driver.
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 */
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extern LTC4412Driver moduleLldPowerPathController;
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/**
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 * @brief   I2C multiplexer driver.
449
 */
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extern PCA9544ADriver moduleLldI2cMultiplexer;
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/**
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 * @brief   Step down converter (VDRIVE) driver.
454
 */
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extern TPS6211xDriver moduleLldStepDownConverterVdrive;
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/**
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 * @brief   Proximity sensor driver.
459
 */
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extern VCNL4020Driver moduleLldProximity;
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Unit tests (UT)
467
 * @{
468
 */
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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#include <ut_alld_A3906_v1.h>
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#include <ut_alld_AT24C01B_v1.h>
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#include <ut_alld_INA219_v1.h>
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#include <ut_alld_LED_v1.h>
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#include <ut_alld_LTC4412_v1.h>
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#include <ut_alld_PCA9544A_v1.h>
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#include <ut_alld_TPS6211x_v1.h>
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#include <ut_alld_VCNL4020_v1.h>
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// TODO: add BNO055 IMU
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/**
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 * @brief   A3906 (motor driver) unit test object.
484
 */
485
extern aos_unittest_t moduleUtAlldA3906;
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/**
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 * @brief   AT24C01BN-SH-B (EEPROM) unit test object.
489
 */
490
extern aos_unittest_t moduleUtAlldAt24c01b;
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/**
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 * @brief   INA219 (power monitor) unit test object.
494
 */
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extern aos_unittest_t moduleUtAlldIna219;
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/**
498
 * @brief   Status LED unit test object.
499
 */
500
extern aos_unittest_t moduleUtAlldLed;
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/**
503
 * @brief   LTC4412 (power path controller) unit test object.
504
 */
505
extern aos_unittest_t moduleUtAlldLtc4412;
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/**
508
 * @brief   PCA9544A (I2C multiplexer) unit test object.
509
 */
510
extern aos_unittest_t moduleUtAlldPca9544a;
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/**
513
 * @brief   TPS62113 (step-down converter) unit test object.
514
 */
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extern aos_unittest_t moduleUtAlldTps62113;
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/**
518
 * @brief   VCNL4020 (proximity sensor) unit test object.
519
 */
520
extern aos_unittest_t moduleUtAlldVcnl4020;
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
523

    
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/** @} */
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#endif /* AMIROOS_MODULE_H */
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/** @} */