amiro-os / modules / LightRing_1-0 / module.c @ ae8211ea
History | View | Annotate | Download (11.485 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief Structures and constant for the LightRing v1.0 module.
|
| 22 |
*
|
| 23 |
* @addtogroup lightring_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <amiroos.h> |
| 28 |
|
| 29 |
#include <string.h> |
| 30 |
|
| 31 |
/*===========================================================================*/
|
| 32 |
/**
|
| 33 |
* @name Module specific functions
|
| 34 |
* @{
|
| 35 |
*/
|
| 36 |
/*===========================================================================*/
|
| 37 |
|
| 38 |
/** @} */
|
| 39 |
|
| 40 |
/*===========================================================================*/
|
| 41 |
/**
|
| 42 |
* @name ChibiOS/HAL configuration
|
| 43 |
* @{
|
| 44 |
*/
|
| 45 |
/*===========================================================================*/
|
| 46 |
|
| 47 |
CANConfig moduleHalCanConfig = {
|
| 48 |
/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
| 49 |
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
| 50 |
}; |
| 51 |
|
| 52 |
I2CConfig moduleHalI2cEepromConfig = {
|
| 53 |
/* I²C mode */ OPMODE_I2C,
|
| 54 |
/* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
| 55 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
| 56 |
}; |
| 57 |
|
| 58 |
SerialConfig moduleHalProgIfConfig = {
|
| 59 |
/* bit rate */ 115200, |
| 60 |
/* CR1 */ 0, |
| 61 |
/* CR1 */ 0, |
| 62 |
/* CR1 */ 0, |
| 63 |
}; |
| 64 |
|
| 65 |
SPIConfig moduleHalSpiLightConfig = {
|
| 66 |
/* circular buffer mode */ false, |
| 67 |
/* callback function pointer */ NULL, |
| 68 |
/* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
|
| 69 |
/* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
|
| 70 |
/* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
|
| 71 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 72 |
}; |
| 73 |
|
| 74 |
SPIConfig moduleHalSpiWlConfig = {
|
| 75 |
/* circular buffer mode */ false, |
| 76 |
/* callback function pointer */ NULL, |
| 77 |
/* chip select line port */ PAL_PORT(LINE_WL_SS_N),
|
| 78 |
/* chip select line pad number */ PAL_PAD(LINE_WL_SS_N),
|
| 79 |
/* CR1 */ SPI_CR1_BR_0,
|
| 80 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 81 |
}; |
| 82 |
|
| 83 |
/** @} */
|
| 84 |
|
| 85 |
/*===========================================================================*/
|
| 86 |
/**
|
| 87 |
* @name GPIO definitions
|
| 88 |
* @{
|
| 89 |
*/
|
| 90 |
/*===========================================================================*/
|
| 91 |
|
| 92 |
/**
|
| 93 |
* @brief LIGHT_BANK output signal GPIO.
|
| 94 |
*/
|
| 95 |
static apalGpio_t _gpioLightBlank = {
|
| 96 |
/* line */ LINE_LIGHT_BLANK,
|
| 97 |
}; |
| 98 |
ROMCONST apalControlGpio_t moduleGpioLightBlank = {
|
| 99 |
/* GPIO */ &_gpioLightBlank,
|
| 100 |
/* meta */ {
|
| 101 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 102 |
/* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
|
| 103 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 104 |
}, |
| 105 |
}; |
| 106 |
|
| 107 |
/**
|
| 108 |
* @brief LASER_EN output signal GPIO.
|
| 109 |
*/
|
| 110 |
static apalGpio_t _gpioLaserEn = {
|
| 111 |
/* line */ LINE_LASER_EN,
|
| 112 |
}; |
| 113 |
ROMCONST apalControlGpio_t moduleGpioLaserEn = {
|
| 114 |
/* GPIO */ &_gpioLaserEn,
|
| 115 |
/* meta */ {
|
| 116 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 117 |
/* active state */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,
|
| 118 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 119 |
}, |
| 120 |
}; |
| 121 |
|
| 122 |
/**
|
| 123 |
* @brief LASER_OC input signal GPIO.
|
| 124 |
*/
|
| 125 |
static apalGpio_t _gpioLaserOc = {
|
| 126 |
/* line */ LINE_LASER_OC_N,
|
| 127 |
}; |
| 128 |
ROMCONST apalControlGpio_t moduleGpioLaserOc = {
|
| 129 |
/* GPIO */ &_gpioLaserOc,
|
| 130 |
/* meta */ {
|
| 131 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 132 |
/* active state */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,
|
| 133 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 134 |
}, |
| 135 |
}; |
| 136 |
|
| 137 |
/**
|
| 138 |
* @brief SYS_UART_DN bidirectional signal GPIO.
|
| 139 |
*/
|
| 140 |
static apalGpio_t _gpioSysUartDn = {
|
| 141 |
/* line */ LINE_SYS_UART_DN,
|
| 142 |
}; |
| 143 |
ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
|
| 144 |
/* GPIO */ &_gpioSysUartDn,
|
| 145 |
/* meta */ {
|
| 146 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 147 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 148 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 149 |
}, |
| 150 |
}; |
| 151 |
|
| 152 |
/**
|
| 153 |
* @brief WL_GDO2 input signal GPIO.
|
| 154 |
*/
|
| 155 |
static apalGpio_t _gpioWlGdo2 = {
|
| 156 |
/* line */ LINE_WL_GDO2,
|
| 157 |
}; |
| 158 |
ROMCONST apalControlGpio_t moduleGpioWlGdo2 = {
|
| 159 |
/* GPIO */ &_gpioWlGdo2,
|
| 160 |
/* meta */ {
|
| 161 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 162 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 163 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 164 |
}, |
| 165 |
}; |
| 166 |
|
| 167 |
/**
|
| 168 |
* @brief WL_GDO0 input signal GPIO.
|
| 169 |
*/
|
| 170 |
static apalGpio_t _gpioWlGdo0= {
|
| 171 |
/* line */ LINE_WL_GDO0,
|
| 172 |
}; |
| 173 |
ROMCONST apalControlGpio_t moduleGpioWlGdo0 = {
|
| 174 |
/* GPIO */ &_gpioWlGdo0,
|
| 175 |
/* meta */ {
|
| 176 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 177 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 178 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 179 |
}, |
| 180 |
}; |
| 181 |
|
| 182 |
/**
|
| 183 |
* @brief LIGHT_XLAT output signal GPIO.
|
| 184 |
*/
|
| 185 |
static apalGpio_t _gpioLightXlat = {
|
| 186 |
/* line */ LINE_LIGHT_XLAT,
|
| 187 |
}; |
| 188 |
ROMCONST apalControlGpio_t moduleGpioLightXlat = {
|
| 189 |
/* GPIO */ &_gpioLightXlat,
|
| 190 |
/* meta */ {
|
| 191 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 192 |
/* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
|
| 193 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 194 |
}, |
| 195 |
}; |
| 196 |
|
| 197 |
/**
|
| 198 |
* @brief SYS_PD bidirectional signal GPIO.
|
| 199 |
*/
|
| 200 |
static apalGpio_t _gpioSysPd = {
|
| 201 |
/* line */ LINE_SYS_PD_N,
|
| 202 |
}; |
| 203 |
ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
| 204 |
/* GPIO */ &_gpioSysPd,
|
| 205 |
/* meta */ {
|
| 206 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 207 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 208 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 209 |
}, |
| 210 |
}; |
| 211 |
|
| 212 |
/**
|
| 213 |
* @brief SYS_SYNC bidirectional signal GPIO.
|
| 214 |
*/
|
| 215 |
static apalGpio_t _gpioSysSync = {
|
| 216 |
/* line */ LINE_SYS_INT_N,
|
| 217 |
}; |
| 218 |
ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
| 219 |
/* GPIO */ &_gpioSysSync,
|
| 220 |
/* meta */ {
|
| 221 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 222 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 223 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 224 |
}, |
| 225 |
}; |
| 226 |
|
| 227 |
/** @} */
|
| 228 |
|
| 229 |
/*===========================================================================*/
|
| 230 |
/**
|
| 231 |
* @name AMiRo-OS core configurations
|
| 232 |
* @{
|
| 233 |
*/
|
| 234 |
/*===========================================================================*/
|
| 235 |
|
| 236 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 237 |
ROMCONST char* moduleShellPrompt = "LightRing"; |
| 238 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 239 |
|
| 240 |
/** @} */
|
| 241 |
|
| 242 |
/*===========================================================================*/
|
| 243 |
/**
|
| 244 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 245 |
* @{
|
| 246 |
*/
|
| 247 |
/*===========================================================================*/
|
| 248 |
|
| 249 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__) |
| 250 |
|
| 251 |
/* some local definitions */
|
| 252 |
// maximum number of bytes per CAN frame
|
| 253 |
#define CAN_BYTES_PER_FRAME 8 |
| 254 |
// identifier (as dominant as possible)
|
| 255 |
#define MSI_BCBMSG_CANID 0 |
| 256 |
|
| 257 |
aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
|
| 258 |
{
|
| 259 |
aosDbgCheck(buffer != NULL);
|
| 260 |
aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
| 261 |
|
| 262 |
// local variables
|
| 263 |
CANTxFrame frame; |
| 264 |
|
| 265 |
// setup the common parts of the message frame
|
| 266 |
frame.DLC = (uint8_t)length; |
| 267 |
frame.RTR = CAN_RTR_DATA; |
| 268 |
frame.IDE = CAN_IDE_STD; |
| 269 |
frame.SID = MSI_BCBMSG_CANID; |
| 270 |
memcpy(frame.data8, buffer, length); |
| 271 |
|
| 272 |
// sent the frame and return
|
| 273 |
return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
|
| 274 |
} |
| 275 |
|
| 276 |
aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length) |
| 277 |
{
|
| 278 |
aosDbgCheck(buffer != NULL);
|
| 279 |
aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
| 280 |
|
| 281 |
// local variables
|
| 282 |
CANRxFrame frame; |
| 283 |
|
| 284 |
// receive a frame and check for errors
|
| 285 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
|
| 286 |
// a correct frame was received
|
| 287 |
if (frame.DLC == length &&
|
| 288 |
frame.RTR == CAN_RTR_DATA && |
| 289 |
frame.IDE == CAN_IDE_STD && |
| 290 |
frame.SID == MSI_BCBMSG_CANID) {
|
| 291 |
// success: fetch the data and return
|
| 292 |
memcpy(buffer, frame.data8, length); |
| 293 |
return AOS_SSSP_BCB_SUCCESS;
|
| 294 |
} |
| 295 |
// an unexpected frame was received
|
| 296 |
else {
|
| 297 |
return AOS_SSSP_BCB_INVALIDMSG;
|
| 298 |
} |
| 299 |
} else {
|
| 300 |
// failure: return with error
|
| 301 |
return AOS_SSSP_BCB_ERROR;
|
| 302 |
} |
| 303 |
} |
| 304 |
|
| 305 |
#undef MSI_BCBMSG_CANID
|
| 306 |
#undef CAN_BYTES_PER_FRAME
|
| 307 |
|
| 308 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */ |
| 309 |
|
| 310 |
/** @} */
|
| 311 |
|
| 312 |
/*===========================================================================*/
|
| 313 |
/**
|
| 314 |
* @name Low-level drivers
|
| 315 |
* @{
|
| 316 |
*/
|
| 317 |
/*===========================================================================*/
|
| 318 |
|
| 319 |
AT24C01BDriver moduleLldEeprom = {
|
| 320 |
/* I2C driver */ &MODULE_HAL_I2C_EEPROM,
|
| 321 |
/* I2C address */ 0x00u, |
| 322 |
}; |
| 323 |
|
| 324 |
TLC5947Driver moduleLldLedPwm = {
|
| 325 |
/* SPI driver */ &MODULE_HAL_SPI_LIGHT,
|
| 326 |
/* BLANK signal GPIO */ &moduleGpioLightBlank,
|
| 327 |
/* XLAT signal GPIO */ &moduleGpioLightXlat,
|
| 328 |
}; |
| 329 |
|
| 330 |
TPS20xxBDriver moduleLldPowerSwitchLaser = {
|
| 331 |
/* laser enable GPIO */ &moduleGpioLaserEn,
|
| 332 |
/* laser overcurrent GPIO */ &moduleGpioLaserOc,
|
| 333 |
}; |
| 334 |
|
| 335 |
/** @} */
|
| 336 |
|
| 337 |
/*===========================================================================*/
|
| 338 |
/**
|
| 339 |
* @name Tests
|
| 340 |
* @{
|
| 341 |
*/
|
| 342 |
/*===========================================================================*/
|
| 343 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 344 |
|
| 345 |
/*
|
| 346 |
* AT24C01BN-SH-B (EEPROM)
|
| 347 |
*/
|
| 348 |
#include <module_test_AT24C01B.h> |
| 349 |
static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 350 |
{
|
| 351 |
return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
| 352 |
} |
| 353 |
AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
|
| 354 |
|
| 355 |
/*
|
| 356 |
* TLC5947 (24 channel PWM LED driver)
|
| 357 |
*/
|
| 358 |
#include <module_test_TLC5947.h> |
| 359 |
static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 360 |
{
|
| 361 |
return moduleTestTlc5947ShellCb(stream, argc, argv, NULL); |
| 362 |
} |
| 363 |
AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
|
| 364 |
|
| 365 |
/*
|
| 366 |
* TPS2051BDBV (Current-limited power switch)
|
| 367 |
*/
|
| 368 |
#include <module_test_TPS20xxB.h> |
| 369 |
static int _testTps2051bdbvShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 370 |
{
|
| 371 |
return moduleTestTps20xxbShellCb(stream, argc, argv, NULL); |
| 372 |
} |
| 373 |
AOS_SHELL_COMMAND(moduleTestTps2051bdbvShellCmd, "test:PowerSwitch", _testTps2051bdbvShellCmdCb);
|
| 374 |
|
| 375 |
/*
|
| 376 |
* entire module
|
| 377 |
*/
|
| 378 |
static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 379 |
{
|
| 380 |
(void)argc;
|
| 381 |
(void)argv;
|
| 382 |
|
| 383 |
int status = AOS_OK;
|
| 384 |
char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
| 385 |
aos_testresult_t result_test = {0, 0};
|
| 386 |
aos_testresult_t result_total = {0, 0};
|
| 387 |
|
| 388 |
/* AT24C01B (EEPROM) */
|
| 389 |
status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
| 390 |
result_total = aosTestResultAdd(result_total, result_test); |
| 391 |
|
| 392 |
/* TLC5947 (24 channel LED PWM driver) */
|
| 393 |
status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
|
| 394 |
result_total = aosTestResultAdd(result_total, result_test); |
| 395 |
|
| 396 |
/* TPS2051BDBV (Current-limited power switch) */
|
| 397 |
status |= moduleTestTps20xxbShellCb(stream, 0, targv, &result_test);
|
| 398 |
result_total = aosTestResultAdd(result_total, result_test); |
| 399 |
|
| 400 |
// print total result
|
| 401 |
chprintf(stream, "\n");
|
| 402 |
aosTestResultPrintSummary(stream, &result_total, "entire module");
|
| 403 |
|
| 404 |
return status;
|
| 405 |
} |
| 406 |
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
| 407 |
|
| 408 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 409 |
|
| 410 |
/** @} */
|
| 411 |
/** @} */
|