amiro-os / modules / LightRing_1-0 / module.c @ c5cd2fe4
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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..2020 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 v1.0 module.
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*
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* @addtogroup lightring_module
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* @{
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*/
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#include <amiroos.h> |
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#include <string.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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CANConfig moduleHalCanConfig = {
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/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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}; |
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I2CConfig moduleHalI2cEepromConfig = {
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/* I²C mode */ OPMODE_I2C,
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/* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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/* duty cycle */ FAST_DUTY_CYCLE_2,
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}; |
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SerialConfig moduleHalProgIfConfig = {
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/* bit rate */ 115200, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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}; |
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SPIConfig moduleHalSpiLightConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
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/* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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/* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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}; |
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SPIConfig moduleHalSpiWlConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ PAL_PORT(LINE_WL_SS_N),
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/* chip select line pad number */ PAL_PAD(LINE_WL_SS_N),
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/* CR1 */ SPI_CR1_BR_0,
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/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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}; |
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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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static apalGpio_t _gpioLightBlank = {
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/* line */ LINE_LIGHT_BLANK,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLightBlank = {
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/* GPIO */ &_gpioLightBlank,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief LASER_EN output signal GPIO.
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*/
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static apalGpio_t _gpioLaserEn = {
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/* line */ LINE_LASER_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLaserEn = {
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/* GPIO */ &_gpioLaserEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief LASER_OC input signal GPIO.
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*/
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static apalGpio_t _gpioLaserOc = {
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/* line */ LINE_LASER_OC_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLaserOc = {
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/* GPIO */ &_gpioLaserOc,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_UART_DN bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysUartDn = {
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/* line */ LINE_SYS_UART_DN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
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/* GPIO */ &_gpioSysUartDn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief WL_GDO2 input signal GPIO.
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*/
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static apalGpio_t _gpioWlGdo2 = {
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/* line */ LINE_WL_GDO2,
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}; |
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ROMCONST apalControlGpio_t moduleGpioWlGdo2 = {
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/* GPIO */ &_gpioWlGdo2,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief WL_GDO0 input signal GPIO.
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*/
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static apalGpio_t _gpioWlGdo0= {
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/* line */ LINE_WL_GDO0,
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}; |
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ROMCONST apalControlGpio_t moduleGpioWlGdo0 = {
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/* GPIO */ &_gpioWlGdo0,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief LIGHT_XLAT output signal GPIO.
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*/
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static apalGpio_t _gpioLightXlat = {
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/* line */ LINE_LIGHT_XLAT,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLightXlat = {
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/* GPIO */ &_gpioLightXlat,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysPd = {
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/* line */ LINE_SYS_PD_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysPd = {
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/* GPIO */ &_gpioSysPd,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_SYNC bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysSync = {
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/* line */ LINE_SYS_INT_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysSync = {
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/* GPIO */ &_gpioSysSync,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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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 AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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ROMCONST char* moduleShellPrompt = "LightRing"; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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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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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__) |
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/* some local definitions */
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// maximum number of bytes per CAN frame
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#define CAN_BYTES_PER_FRAME 8 |
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// identifier (as dominant as possible)
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#define MSI_BCBMSG_CANID 0 |
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aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
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{
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aosDbgCheck(buffer != NULL);
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aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
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// local variables
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CANTxFrame frame; |
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// setup the common parts of the message frame
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frame.DLC = (uint8_t)length; |
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frame.RTR = CAN_RTR_DATA; |
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frame.IDE = CAN_IDE_STD; |
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frame.SID = MSI_BCBMSG_CANID; |
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memcpy(frame.data8, buffer, length); |
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// sent the frame and return
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return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
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} |
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aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length) |
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{
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aosDbgCheck(buffer != NULL);
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aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
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// local variables
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CANRxFrame frame; |
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// receive a frame and check for errors
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if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
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// a correct frame was received
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if (frame.DLC == length &&
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frame.RTR == CAN_RTR_DATA && |
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frame.IDE == CAN_IDE_STD && |
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frame.SID == MSI_BCBMSG_CANID) {
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// success: fetch the data and return
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memcpy(buffer, frame.data8, length); |
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return AOS_SSSP_BCB_SUCCESS;
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} |
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// an unexpected frame was received
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else {
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return AOS_SSSP_BCB_INVALIDMSG;
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} |
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} else {
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// failure: return with error
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return AOS_SSSP_BCB_ERROR;
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} |
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} |
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#undef MSI_BCBMSG_CANID
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#undef CAN_BYTES_PER_FRAME
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */ |
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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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AT24C01BDriver moduleLldEeprom = {
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/* I2C driver */ &MODULE_HAL_I2C_EEPROM,
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/* I2C address */ 0x00u, |
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}; |
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TLC5947Driver moduleLldLedPwm = {
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/* SPI driver */ &MODULE_HAL_SPI_LIGHT,
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/* BLANK signal GPIO */ &moduleGpioLightBlank,
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/* XLAT signal GPIO */ &moduleGpioLightXlat,
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}; |
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TPS20xxBDriver moduleLldPowerSwitchLaser = {
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/* laser enable GPIO */ &moduleGpioLaserEn,
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/* laser overcurrent GPIO */ &moduleGpioLaserOc,
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Tests
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/*
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* AT24C01BN-SH-B (EEPROM)
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*/
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#include <module_test_AT24C01B.h> |
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static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
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/*
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* TLC5947 (24 channel PWM LED driver)
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*/
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#include <module_test_TLC5947.h> |
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static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestTlc5947ShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
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/*
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* TPS2051BDBV (Current-limited power switch)
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*/
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#include <module_test_TPS20xxB.h> |
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static int _testTps2051bdbvShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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return moduleTestTps20xxbShellCb(stream, argc, argv, NULL); |
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} |
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AOS_SHELL_COMMAND(moduleTestTps2051bdbvShellCmd, "test:PowerSwitch", _testTps2051bdbvShellCmdCb);
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/*
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* entire module
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*/
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static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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int status = AOS_OK;
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char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
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aos_testresult_t result_test = {0, 0};
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aos_testresult_t result_total = {0, 0};
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/* AT24C01B (EEPROM) */
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status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
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result_total = aosTestResultAdd(result_total, result_test); |
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/* TLC5947 (24 channel LED PWM driver) */
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status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
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result_total = aosTestResultAdd(result_total, result_test); |
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/* TPS2051BDBV (Current-limited power switch) */
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status |= moduleTestTps20xxbShellCb(stream, 0, targv, &result_test);
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result_total = aosTestResultAdd(result_total, result_test); |
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// print total result
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chprintf(stream, "\n");
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aosTestResultPrintSummary(stream, &result_total, "entire module");
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return status;
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} |
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AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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/** @} */
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