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amiro-os / modules / LightRing_1-2 / module.h @ c53ef0b1

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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 LightRing module.
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 *
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 * @addtogroup lightring_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 EEPROM, power monitor and the breakout header.
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 */
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#define MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT   I2CD2
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/**
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 * @brief   Configuration for the EEPROM, power monitor and breakout I2C driver.
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 */
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extern I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig;
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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   SPI interface driver for the motion sensors (gyroscope and accelerometer).
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 */
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#define MODULE_HAL_SPI_LIGHT                    SPID1
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/**
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 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
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 */
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extern SPIConfig moduleHalSpiLightConfig;
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/**
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 * @brief   SPI interface driver for the breakout header.
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 */
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#define MODULE_HAL_SPI_BREAKOUT                 SPID2
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/**
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 * @brief   UART interface driver for the breakout header (alternative to serial).
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 */
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#define MODULE_HAL_UART_BREAKOUT                UARTD2
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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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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
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/**
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 * @brief   SPI interface driver for UWB DW1000 module.
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 */
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#define MODULE_HAL_SPI_UWB                      MODULE_HAL_SPI_BREAKOUT
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/**
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 * @brief   Configuration for the high-speed SPI interface driver of DW1000 module.
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 */
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extern SPIConfig moduleHalSpiUwbHsConfig;
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/**
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 * @brief   Configuration for the low-speed SPI interface driver of DW1000 module.
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 */
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extern SPIConfig moduleHalSpiUwbLsConfig;
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#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */
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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   LIGHT_BANK output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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/**
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 * @brief   RS232_R_EN_N output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioRs232En;
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/**
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 * @brief   SW_V33_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwV33En;
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// The 4.2V switch is disabled due to a hardware bug.
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///**
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// * @brief   SW_V42_EN output signal GPIO.
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// */
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//extern ROMCONST apalControlGpio_t moduleGpioSwV42En;
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/**
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 * @brief   SW_V50_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwV50En;
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/**
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 * @brief   IO_3 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo3;
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/**
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 * @brief   IO_5 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo5;
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/**
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 * @brief   IO_6 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo6;
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/**
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 * @brief   SYS_UART_DN bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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/**
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 * @brief   IO_7 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo7;
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/**
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 * @brief   IO_8 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo8;
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/**
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 * @brief   IO_4 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo4;
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/**
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 * @brief   IO_1 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo1;
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/**
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 * @brief   IO_2 breakout signal GPIO.
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 */
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extern apalControlGpio_t moduleGpioBreakoutIo2;
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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   LIGHT_XLAT output signal.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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/**
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 * @brief   SW_V18_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwV18En;
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/**
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 * @brief   SW_VSYS_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSwVsysEn;
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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   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_SYNC bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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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 IO_4 (breakout) interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO4     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_4))
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/**
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 * @brief   Event flag to be set on a IO_1 (breakout) interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO1     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_1))
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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_GPIOEVENTFLAG_SYSSYNC         AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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/**
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 * @brief   Event flag to be set on a IO_3 (breakout) interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO3     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_3))
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/**
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 * @brief   Event flag to be set on a IO_5 (breakout) interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO5     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_5))
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/**
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 * @brief   Event flag to be set on a IO_6 (breakout) interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO6     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_6))
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/**
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 * @brief   Event flag to be set on a SYS_UART_DN interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_SYSUARTDN       AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
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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_GPIOEVENTFLAG_SYSUARTUP       AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
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/**
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 * @brief   Event flag to be set on a IO_7 (breakout) interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO7     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_7))
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/**
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 * @brief   Event flag to be set on a IO_8 (breakout) interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO8     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_8))
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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_GPIOEVENTFLAG_SYSPD           AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
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/**
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 * @brief   Event flag to be set on a DW1000 interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_DW1000          MODULE_OS_GPIOEVENTFLAGS_BREAKOUTIO8
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#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */
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#if (AMIROOS_CFG_SHELL_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) */
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/**
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 * @brief   Interrupt initialization macro.
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 */
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#define MODULE_INIT_INTERRUPTS() {                                            \
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  /* breakout interrupts must be enabled explicitely */                       \
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  MODULE_INIT_INTERRUPTS_BREAKOUT();                                          \
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}
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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  #define MODULE_INIT_INTERRUPTS_BREAKOUT() {                                 \
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    palSetLineCallback(moduleLldDw1000.gpio_exti->gpio->line, aosSysGetStdGpioCallback(), &moduleLldDw1000.gpio_exti->gpio->line);  \
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    palEnableLineEvent(moduleLldDw1000.gpio_exti->gpio->line, APAL2CH_EDGE(moduleLldDw1000.gpio_exti->meta.edge));                  \
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  }
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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  #define MODULE_INIT_INTERRUPTS_BREAKOUT() {                                 \
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  }
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#endif
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/**
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 * @brief   Test initialization hook.
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 */
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#define MODULE_INIT_TESTS() {                                                 \
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  /* add test commands to shell */                                            \
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  aosShellAddCommand(&aos.shell, &moduleTestAt24c01bShellCmd);                \
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  aosShellAddCommand(&aos.shell, &moduleTestIna219ShellCmd);                  \
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  aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd);                     \
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  aosShellAddCommand(&aos.shell, &moduleTestMic9404xShellCmd);                \
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  aosShellAddCommand(&aos.shell, &moduleTestTlc5947ShellCmd);                 \
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  aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd);                     \
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  MODULE_INIT_TESTS_BREAKOUT();                                               \
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}
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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  #define MODULE_INIT_TESTS_BREAKOUT() {                                      \
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    aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd);                \
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  }
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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  #define MODULE_INIT_TESTS_BREAKOUT() {                                      \
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  }
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#endif
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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_IF() {                                          \
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  /* serial driver */                                                         \
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  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
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  /* I2C */                                                                   \
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  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
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  moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \
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  moduleHalI2cEepromPwrmtrBreakoutConfig.duty_cycle = (moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig);  \
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  /* SPI */                                                                   \
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  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
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  /* CAN */                                                                   \
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  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);                             \
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  /* breakout module */                                                       \
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  MODULE_INIT_PERIPHERY_COMM_BREAKOUT();                                      \
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}
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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  #define MODULE_INIT_PERIPHERY_COMM_BREAKOUT() {                             \
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    spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig);                  \
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  }
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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  #define MODULE_INIT_PERIPHERY_COMM_BREAKOUT() {                             \
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  }
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#endif
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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_IF() {                                      \
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  /* breakout module */                                                       \
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  MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT();                                  \
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  /* CAN */                                                                   \
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  canStop(&MODULE_HAL_CAN);                                                   \
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  /* SPI */                                                                   \
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  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
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  /* I2C */                                                                   \
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  i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT);                            \
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  /* don't stop the serial driver so messages can still be printed */         \
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}
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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  #define MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT() {                         \
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    /* SPI */                                                                 \
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    spiStop(&MODULE_HAL_SPI_UWB);                                             \
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  }
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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  #define MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT() {                         \
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  }
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#endif
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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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#define moduleSsspSignalPD()                    (&moduleGpioSysPd)
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#define moduleSsspEventflagPD()                 MODULE_OS_GPIOEVENTFLAG_SYSPD
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#define moduleSsspSignalS()                     (&moduleGpioSysSync)
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#define moduleSsspEventflagS()                  MODULE_OS_GPIOEVENTFLAG_SYSSYNC
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#define moduleSsspSignalDN()                    (&moduleGpioSysUartDn)
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#define moduleSsspEventflagDN()                 MODULE_OS_GPIOEVENTFLAG_SYSUARTDN
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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_AT24C01B.h>
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#include <alld_INA219.h>
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#include <alld_LED.h>
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#include <alld_MIC9404x.h>
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// TODO: add SNx5C3221E
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#include <alld_TLC5947.h>
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/**
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 * @brief   EEPROM driver.
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 */
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extern AT24C01BDriver moduleLldEeprom;
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/**
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 * @brief   Power monitor (VLED 4.2) driver.
447
 */
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extern INA219Driver moduleLldPowerMonitorVled;
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/**
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 * @brief   Status LED driver.
452
 */
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extern LEDDriver moduleLldStatusLed;
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/**
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 * @brief   Power switch driver (1.8V).
457
 */
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extern MIC9404xDriver moduleLldPowerSwitchV18;
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/**
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 * @brief   Power switch driver (3.3V).
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 */
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extern MIC9404xDriver moduleLldPowerSwitchV33;
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/**
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 * @brief   Power switch driver (4.2V).
467
 */
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extern MIC9404xDriver moduleLldPowerSwitchV42;
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/**
471
 * @brief   Power switch driver (5.0V).
472
 */
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extern MIC9404xDriver moduleLldPowerSwitchV50;
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/**
476
 * @brief   Pseudo power switch driver (VSYS).
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 * @details There is no actual MIC9040x device, but the swicthable circuit behaves analogous.
478
 */
479
extern MIC9404xDriver moduleLldPowerSwitchVsys;
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// TODO: add SNx5C3221E
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/**
484
 * @brief   24 channel PWM LED driver.
485
 */
486
extern TLC5947Driver moduleLldLedPwm;
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
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#include <alld_DW1000.h>
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/**
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 * @brief   Alias for the DW1000 driver object.
494
 * @note    The dw1000 struct is defined as external variable (singleton) by the
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 *          driver, since the Decawave software stacks assumes no more than a
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 *          single device in a system.
497
 */
498
#define moduleLldDw1000                         dw1000
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#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Tests
507
 * @{
508
 */
509
/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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512
/**
513
 * @brief   AT24C01BN-SH-B (EEPROM) test command.
514
 */
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extern aos_shellcommand_t moduleTestAt24c01bShellCmd;
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/**
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 * @brief   INA219 (power monitor) test command.
519
 */
520
extern aos_shellcommand_t moduleTestIna219ShellCmd;
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/**
523
 * @brief   Status LED test command.
524
 */
525
extern aos_shellcommand_t moduleTestLedShellCmd;
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/**
528
 * @brief   MIC9404x (power switch) test command.
529
 */
530
extern aos_shellcommand_t moduleTestMic9404xShellCmd;
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// TODO: add SNx5C3221E
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/**
535
 * @brief   TLC5947 (24 channel PWM LED driver) test command.
536
 */
537
extern aos_shellcommand_t moduleTestTlc5947ShellCmd;
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/**
540
 * @brief   Entire module test command.
541
 */
542
extern aos_shellcommand_t moduleTestAllShellCmd;
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
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/**
548
 * @brief   DW1000 (UWB transmitter) test command.
549
 */
550
extern aos_shellcommand_t moduleTestDw1000ShellCmd;
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552
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */
553

    
554
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
557

    
558
#endif /* AMIROOS_MODULE_H */
559

    
560
/** @} */