AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  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 NUCLEO-L476RG module.

 *

 * @addtogroup NUCLEO-L476RG_module

 * @{

 */

#ifndef AMIROOS_MODULE_H

#define AMIROOS_MODULE_H

#include <amiroos.h>

#include <math.h>

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

/**

 * @name Module specific functions

 * @{

 */

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

/** @} */

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

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

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

/**

 * @brief   Serial driver of the programmer interface.

 */

#define MODULE_HAL_PROGIF                       SD2

/**

 * @brief   Configuration for the programmer serial interface driver.

 */

extern SerialConfig moduleHalProgIfConfig;

/**

 * @brief   Real-Time Clock driver.

 */

#define MODULE_HAL_RTC                          RTCD1

#if defined(AMIROLLD_CFG_MPU6050)

/**

 * @brief   I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery).

 */

#define MODULE_HAL_I2C3                         I2CD3

/**

 * @brief   Configuration for the I2C driver #3.

 */

extern I2CConfig moduleHalI2c3Config;

#endif /* defined(AMIROLLD_CFG_MPU6050) */

/** @} */

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

/**

 * @name GPIO definitions

 * @{

 */

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

/**

 * @brief   LED output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed;

/**

 * @brief   User button input signal.

 */

extern ROMCONST apalControlGpio_t moduleGpioUserButton;

/** @} */

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

/**

 * @name AMiRo-OS core configurations

 * @{

 */

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

/**

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

 */

#define MODULE_OS_IOEVENTFLAGS_USERBUTTON       AOS_IOEVENT_FLAG(PAL_PAD(LINE_BUTTON))

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

/**

 * @brief   Shell prompt text.

 */

extern ROMCONST char* moduleShellPrompt;

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

/**

 * @brief   Interrupt initialization macro.

 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.

 */

#define MODULE_INIT_INTERRUPTS() {                                            \

  /* user button */                                                           \

  palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdIntCallback(), &moduleGpioUserButton.gpio->line); \

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

}

/**

 * @brief   Unit test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add unit-test shell commands */                                          \

  MODULE_INIT_TEST_MPU6050();                                                 \

}

#if defined(AMIROLLD_CFG_MPU6050)

  #define MODULE_INIT_TEST_MPU6050() {                                        \

    /* add unit-test shell commands */                                        \

    aosShellAddCommand(&aos.shell, &moduleUtAlldMpu6050.shellcmd);            \

  }

#else /* defined(AMIROLLD_CFG_MPU6050) */

  #define MODULE_INIT_TEST_MPU6050() {}

#endif /* defined(AMIROLLD_CFG_MPU6050) */

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_COMM() {                                        \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  /* MPU6050 demo */                                                          \

  MODULE_INIT_PERIPHERY_COMM_MPU6050();                                       \

}

#if defined(AMIROLLD_CFG_MPU6050)

  #define MODULE_INIT_PERIPHERY_COMM_MPU6050() {                              \

    /* maximum I2C frequency is 1MHz for this MCU */                          \

    uint32_t i2c3_freq = 1000000;                                             \

    /* find minimum amon all devices connected to this bus */                 \

    i2c3_freq = (MPU6050_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : i2c3_freq;  \

    /* calculate PRESC (prescaler):                                           \

     *   target is 1/(I2CXCLK * (PRESC + 1)) = 125ns                          \

     */                                                                       \

    moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \

    /* SCL shall be low half of the time. */                                  \

    moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \

    /* SCL shall be high half the time of low or slightly longer. */          \

    moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos;  \

    /* SDA shall be delayed 1/10 of SCL low, or shorter */                    \

    moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos;  \

    /* SCL shall be delyed twice as long as SDA, but longer than 0. */        \

    moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos;  \

    /* now we can start the I2C driver */                                     \

    chSysLock();                                                              \

    palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4));                \

    palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4));                \

    chSysUnlock();                                                            \

    i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config);                         \

  }

#else /* defined(AMIROLLD_CFG_MPU6050) */

  #define MODULE_INIT_PERIPHERY_COMM_MPU6050() {}

#endif /* defined(AMIROLLD_CFG_MPU6050) */

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \

}

/**

 * @brief   HOOK to toggle the LEDs when the user button is pressed.

 */

#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) {                               \

  if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) {                       \

    apalControlGpioState_t buttonstate;                                       \

    apalControlGpioGet(&moduleGpioUserButton, &buttonstate);                  \

    apalControlGpioSet(&moduleGpioLed, buttonstate);                          \

  }                                                                           \

}

/** @} */

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

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

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

/** @} */

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

/**

 * @name Low-level drivers

 * @{

 */

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

#if defined(AMIROLLD_CFG_MPU6050)

#include <alld_MPU6050.h>

/**

 * @brief   Accelerometer (MPU6050) driver.

 */

extern MPU6050Driver moduleLldMpu6050;

#endif /* defined(AMIROLLD_CFG_MPU6050) */

/** @} */

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

/**

 * @name Unit tests (UT)

 * @{

 */

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

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

#if defined(AMIROLLD_CFG_MPU6050)

#include <ut_alld_MPU6050_v1.h>

/**

 * @brief   MPU6050 unit test object.

 */

extern aos_unittest_t moduleUtAlldMpu6050;

#endif /* defined(AMIROLLD_CFG_MPU6050) */

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

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */