/*
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
Copyright (C) 2016..2018 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 .
*/
#ifndef _AMIROOS_MODULE_H_
#define _AMIROOS_MODULE_H_
/*===========================================================================*/
/**
* @name Module specific functions
* @{
*/
/*===========================================================================*/
/** @} */
/*===========================================================================*/
/**
* @name ChibiOS/HAL configuration
* @{
*/
/*===========================================================================*/
#include
/**
* @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
* @{
*/
/*===========================================================================*/
#include
/**
* @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 GPIO.
*/
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_IOEVENTFLAGS_LASEROC ((eventflags_t)1 << GPIOB_LASER_OC_N)
/**
* @brief Event flag to be set on a SYS_UART_DN interrupt.
*/
#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN ((eventflags_t)1 << GPIOB_SYS_UART_DN)
/**
* @brief Event flag to be set on a WL_GDO2 interrupt.
*/
#define MODULE_OS_IOEVENTFLAGS_WLGDO2 ((eventflags_t)1 << GPIOB_WL_GDO2)
/**
* @brief Event flag to be set on a WL_GDO0 interrupt.
*/
#define MODULE_OS_IOEVENTFLAGS_WLGDO0 ((eventflags_t)1 << GPIOB_WL_GDO0)
/**
* @brief Event flag to be set on a SYS_PD interrupt.
*/
#define MODULE_OS_IOEVENTFLAGS_SYSPD ((eventflags_t)1 << GPIOC_SYS_PD_N)
/**
* @brief Event flag to be set on a SYS_SYNC interrupt.
*/
#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)1 << GPIOD_SYS_INT_N)
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
/**
* @brief Shell prompt text.
*/
extern ROMCONST char* moduleShellPrompt;
#endif
/**
* @brief Interrupt initialization macro.
* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
*/
#define MODULE_INIT_INTERRUPTS() { \
/* LASER_OC */ \
palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \
palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \
/* WL_GDO2 */ \
palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad); \
palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge)); \
/* WL_GDO0 */ \
palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad); \
/*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/ \
}
/**
* @brief Unit test initialization hook.
*/
#define MODULE_INIT_TESTS() { \
/* add unit-test shell commands */ \
aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \
aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \
}
/**
* @brief Periphery communication interfaces initialization hook.
*/
#define MODULE_INIT_PERIPHERY_COMM() { \
/* serial driver */ \
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \
/* I2C */ \
moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_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); \
}
/**
* @brief Periphery communication interface deinitialization hook.
*/
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
/* 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)
* @{
*/
/*===========================================================================*/
/**
* @brief PD signal GPIO.
*/
#define moduleSsspGpioPd moduleGpioSysPd
/**
* @brief SYNC signal GPIO.
*/
#define moduleSsspGpioSync moduleGpioSysSync
/**
* @brief DN signal GPIO.
*/
#define moduleSsspGpioDn moduleGpioSysUartDn
/**
* @brief Event flags for PD signal events.
*/
#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
/**
* @brief Event flags for SYNC signal events.
*/
#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
/**
* @brief Event flags for DN signal events.
*/
#define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
/** @} */
/*===========================================================================*/
/**
* @name Low-level drivers
* @{
*/
/*===========================================================================*/
#include
#include
#include
/**
* @brief EEPROM driver.
*/
extern AT24C01BNDriver moduleLldEeprom;
/**
* @brief LED PWM driver.
*/
extern TLC5947Driver moduleLldLedPwm;
/**
* @brief Power switch driver for the laser supply power.
*/
extern TPS2051BDriver moduleLldPowerSwitchLaser;
/** @} */
/*===========================================================================*/
/**
* @name Unit tests (UT)
* @{
*/
/*===========================================================================*/
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
#include
#include
#include
#include
/**
* @brief EEPROM unit test object.
*/
extern aos_unittest_t moduleUtAlldAt24c01bn;
/**
* @brief LED PWM driver unit test object.
*/
extern aos_unittest_t moduleUtAlldTlc5947;
/**
* @brief Current-limited power switch (Laser output)
*/
extern aos_unittest_t moduleUtAlldTps2051bdbv;
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
/** @} */
#endif /* _AMIROOS_MODULE_H_ */