amiro-os / modules / LightRing_1-2 / module.c @ c7cd988c
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1 | 9ae7c4f3 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | /**
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20 | * @file
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21 | 034cb15a | Thomas Schöpping | * @brief Structures and constant for the LightRing v1.2 module.
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22 | 9ae7c4f3 | Thomas Schöpping | *
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23 | * @addtogroup lightring_module
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24 | * @{
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25 | */
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26 | |||
27 | c53ef0b1 | Thomas Schöpping | #include <amiroos.h> |
28 | |||
29 | #include <string.h> |
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30 | 9ae7c4f3 | Thomas Schöpping | |
31 | /*===========================================================================*/
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32 | /**
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33 | * @name Module specific functions
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34 | * @{
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35 | */
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36 | /*===========================================================================*/
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37 | |||
38 | /** @} */
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39 | |||
40 | /*===========================================================================*/
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41 | /**
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42 | * @name ChibiOS/HAL configuration
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43 | * @{
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44 | */
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45 | /*===========================================================================*/
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46 | |||
47 | CANConfig moduleHalCanConfig = { |
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48 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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49 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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50 | }; |
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51 | |||
52 | ee884101 | Thomas Schöpping | I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig = { |
53 | 9ae7c4f3 | Thomas Schöpping | /* I²C mode */ OPMODE_I2C,
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54 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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55 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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56 | }; |
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57 | |||
58 | SerialConfig moduleHalProgIfConfig = { |
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59 | /* bit rate */ 115200, |
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60 | /* CR1 */ 0, |
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61 | /* CR1 */ 0, |
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62 | /* CR1 */ 0, |
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63 | }; |
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64 | |||
65 | SPIConfig moduleHalSpiLightConfig = { |
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66 | /* circular buffer mode */ false, |
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67 | /* callback function pointer */ NULL, |
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68 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
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69 | /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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70 | 9ae7c4f3 | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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71 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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72 | }; |
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73 | |||
74 | f606f432 | Thomas Schöpping | #if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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75 | 0b989911 | Cung Sang | |
76 | SPIConfig moduleHalSpiUwbHsConfig = { |
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77 | /* circular buffer mode */ false, |
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78 | /* callback function pointer */ NULL, |
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79 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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80 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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81 | /* CR1 */ 0, // 36/2 Mbps |
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82 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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83 | }; |
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84 | f606f432 | Thomas Schöpping | |
85 | 0b989911 | Cung Sang | SPIConfig moduleHalSpiUwbLsConfig = { |
86 | /* circular buffer mode */ false, |
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87 | /* callback function pointer */ NULL, |
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88 | /* chip select line port */ PAL_PORT(LINE_SPI_SS_N),
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89 | /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
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90 | /* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, // 36/16 Mbps |
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91 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN, // 0 |
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92 | }; |
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93 | |||
94 | f606f432 | Thomas Schöpping | #endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
95 | 9ae7c4f3 | Thomas Schöpping | |
96 | /*===========================================================================*/
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97 | /**
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98 | * @name GPIO definitions
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99 | * @{
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100 | */
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101 | /*===========================================================================*/
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102 | |||
103 | /**
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104 | * @brief LIGHT_BANK output signal GPIO.
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105 | */
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106 | static apalGpio_t _gpioLightBlank = {
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107 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LIGHT_BLANK,
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108 | 9ae7c4f3 | Thomas Schöpping | }; |
109 | ROMCONST apalControlGpio_t moduleGpioLightBlank = { |
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110 | /* GPIO */ &_gpioLightBlank,
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111 | /* meta */ {
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112 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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113 | /* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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114 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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115 | }, |
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116 | }; |
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117 | |||
118 | /**
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119 | * @brief RS232_R_EN_N output signal GPIO.
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120 | */
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121 | static apalGpio_t _gpioRs232En = {
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122 | 3106e8cc | Thomas Schöpping | /* line */ LINE_RS232_R_EN_N,
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123 | 9ae7c4f3 | Thomas Schöpping | }; |
124 | ROMCONST apalControlGpio_t moduleGpioRs232En = { |
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125 | /* GPIO */ &_gpioRs232En,
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126 | /* meta */ {
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127 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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128 | /* active state */ APAL_GPIO_ACTIVE_LOW, //TODO |
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129 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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130 | }, |
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131 | }; |
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132 | |||
133 | /**
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134 | * @brief SW_V33_EN output signal GPIO.
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135 | */
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136 | static apalGpio_t _gpioSwV33En = {
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137 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V33_EN,
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138 | 9ae7c4f3 | Thomas Schöpping | }; |
139 | ROMCONST apalControlGpio_t moduleGpioSwV33En = { |
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140 | /* GPIO */ &_gpioSwV33En,
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141 | /* meta */ {
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142 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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143 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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144 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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145 | }, |
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146 | }; |
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147 | |||
148 | 9acb8326 | Thomas Schöpping | // The 4.2V switch is disabled due to a hardware bug.
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149 | ///**
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150 | // * @brief SW_V42_EN output signal GPIO.
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151 | // */
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152 | //static apalGpio_t _gpioSwV42En = {
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153 | // /* line */ LINE_SW_V42_EN,
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154 | //};
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155 | //ROMCONST apalControlGpio_t moduleGpioSwV42En = {
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156 | // /* GPIO */ &_gpioSwV42En,
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157 | // /* meta */ {
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158 | // /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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159 | // /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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160 | // /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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161 | // },
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162 | //};
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163 | 9ae7c4f3 | Thomas Schöpping | |
164 | /**
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165 | * @brief SW_V50_EN output signal GPIO.
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166 | */
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167 | static apalGpio_t _gpioSwV50En = {
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168 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SW_V50_EN,
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169 | 9ae7c4f3 | Thomas Schöpping | }; |
170 | ROMCONST apalControlGpio_t moduleGpioSwV50En = { |
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171 | /* GPIO */ &_gpioSwV50En,
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172 | /* meta */ {
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173 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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174 | ee884101 | Thomas Schöpping | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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175 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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176 | }, |
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177 | }; |
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178 | |||
179 | /**
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180 | f606f432 | Thomas Schöpping | * @brief SYS_UART_DN bidirectional signal GPIO.
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181 | 9ae7c4f3 | Thomas Schöpping | */
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182 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioSysUartDn = {
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183 | /* line */ LINE_SYS_UART_DN,
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184 | 9ae7c4f3 | Thomas Schöpping | }; |
185 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartDn = { |
186 | /* GPIO */ &_gpioSysUartDn,
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187 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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188 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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189 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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190 | f606f432 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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191 | 9ae7c4f3 | Thomas Schöpping | }, |
192 | }; |
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193 | |||
194 | /**
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195 | f606f432 | Thomas Schöpping | * @brief LED output signal GPIO.
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196 | 9ae7c4f3 | Thomas Schöpping | */
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197 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioLed = {
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198 | /* line */ LINE_LED,
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199 | 9ae7c4f3 | Thomas Schöpping | }; |
200 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLed = { |
201 | /* GPIO */ &_gpioLed,
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202 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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203 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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204 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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205 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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206 | }, |
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207 | }; |
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208 | |||
209 | /**
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210 | f606f432 | Thomas Schöpping | * @brief LIGHT_XLAT output signal GPIO.
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211 | 9ae7c4f3 | Thomas Schöpping | */
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212 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioLightXlat = {
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213 | /* line */ LINE_LIGHT_XLAT,
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214 | 9ae7c4f3 | Thomas Schöpping | }; |
215 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLightXlat = { |
216 | /* GPIO */ &_gpioLightXlat,
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217 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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218 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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219 | /* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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220 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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221 | }, |
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222 | }; |
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223 | |||
224 | /**
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225 | f606f432 | Thomas Schöpping | * @brief SW_V18_EN output signal GPIO.
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226 | 9ae7c4f3 | Thomas Schöpping | */
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227 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioSwV18En = {
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228 | /* line */ LINE_SW_V18_EN,
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229 | 9ae7c4f3 | Thomas Schöpping | }; |
230 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSwV18En = { |
231 | /* GPIO */ &_gpioSwV18En,
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232 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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233 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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234 | /* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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235 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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236 | 9ae7c4f3 | Thomas Schöpping | }, |
237 | }; |
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238 | |||
239 | /**
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240 | f606f432 | Thomas Schöpping | * @brief SW_VSYS_EN output signal GPIO.
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241 | 9ae7c4f3 | Thomas Schöpping | */
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242 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioSwVsysEn = {
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243 | /* line */ LINE_SW_VSYS_EN,
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244 | 0b989911 | Cung Sang | }; |
245 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSwVsysEn = { |
246 | /* GPIO */ &_gpioSwVsysEn,
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247 | 0b989911 | Cung Sang | /* meta */ {
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248 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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249 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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250 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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251 | 0b989911 | Cung Sang | }, |
252 | }; |
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253 | |||
254 | /**
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255 | f606f432 | Thomas Schöpping | * @brief SYS_UART_UP bidirectional signal GPIO.
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256 | 0b989911 | Cung Sang | */
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257 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioSysUartUp = {
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258 | /* line */ LINE_SYS_UART_UP,
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259 | 9ae7c4f3 | Thomas Schöpping | }; |
260 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartUp = { |
261 | /* GPIO */ &_gpioSysUartUp,
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262 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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263 | 0b989911 | Cung Sang | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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264 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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265 | f606f432 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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266 | 9ae7c4f3 | Thomas Schöpping | }, |
267 | }; |
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268 | |||
269 | /**
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270 | f606f432 | Thomas Schöpping | * @brief SYS_PD bidirectional signal GPIO.
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271 | 0b989911 | Cung Sang | */
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272 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioSysPd = {
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273 | /* line */ LINE_SYS_PD_N,
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274 | 0b989911 | Cung Sang | }; |
275 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysPd = { |
276 | /* GPIO */ &_gpioSysPd,
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277 | 0b989911 | Cung Sang | /* meta */ {
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278 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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279 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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280 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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281 | 0b989911 | Cung Sang | }, |
282 | }; |
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283 | |||
284 | /**
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285 | f606f432 | Thomas Schöpping | * @brief SYS_SYNC bidirectional signal GPIO.
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286 | 0b989911 | Cung Sang | */
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287 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioSysSync = {
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288 | /* line */ LINE_SYS_INT_N,
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289 | 0b989911 | Cung Sang | }; |
290 | f606f432 | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysSync = { |
291 | /* GPIO */ &_gpioSysSync,
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292 | 0b989911 | Cung Sang | /* meta */ {
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293 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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294 | 0b989911 | Cung Sang | /* active state */ APAL_GPIO_ACTIVE_LOW,
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295 | f606f432 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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296 | 0b989911 | Cung Sang | }, |
297 | }; |
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298 | f606f432 | Thomas Schöpping | |
299 | 0b989911 | Cung Sang | /**
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300 | f606f432 | Thomas Schöpping | * @brief IO_1 breakout signal GPIO.
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301 | 9ae7c4f3 | Thomas Schöpping | */
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302 | f606f432 | Thomas Schöpping | static apalGpio_t _gpioBreakoutIo1 = {
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303 | /* line */ LINE_IO_1,
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304 | 9ae7c4f3 | Thomas Schöpping | }; |
305 | f606f432 | Thomas Schöpping | |
306 | /**
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307 | * @brief IO_2 breakout signal GPIO.
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308 | */
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309 | static apalGpio_t _gpioBreakoutIo2 = {
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310 | /* line */ LINE_IO_2,
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311 | }; |
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312 | |||
313 | /**
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314 | * @brief IO_3 breakout signal GPIO.
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315 | */
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316 | static apalGpio_t _gpioBreakoutIo3 = {
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317 | /* line */ LINE_IO_3,
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318 | }; |
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319 | |||
320 | /**
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321 | * @brief IO_4 breakout signal GPIO.
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322 | */
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323 | static apalGpio_t _gpioBreakoutIo4 = {
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324 | /* line */ LINE_IO_4,
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325 | }; |
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326 | |||
327 | /**
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328 | * @brief IO_5 breakout signal GPIO.
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329 | */
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330 | static apalGpio_t _gpioBreakoutIo5 = {
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331 | /* line */ LINE_IO_5,
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332 | }; |
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333 | |||
334 | /**
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335 | * @brief IO_6 breakout signal GPIO.
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336 | */
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337 | static apalGpio_t _gpioBreakoutIo6 = {
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338 | /* line */ LINE_IO_6,
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339 | 9ae7c4f3 | Thomas Schöpping | }; |
340 | |||
341 | /**
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342 | 0b989911 | Cung Sang | * @brief IO_7 breakout signal GPIO.
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343 | */
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344 | static apalGpio_t _gpioBreakoutIo7 = {
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345 | /* line */ LINE_IO_7,
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346 | }; |
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347 | f606f432 | Thomas Schöpping | |
348 | /**
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349 | * @brief IO_8 breakout signal GPIO.
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350 | */
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351 | static apalGpio_t _gpioBreakoutIo8 = {
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352 | /* line */ LINE_IO_8,
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353 | }; |
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354 | |||
355 | #if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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356 | |||
357 | apalControlGpio_t moduleGpioBreakoutIo1 = { |
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358 | /* GPIO */ &_gpioBreakoutIo1,
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359 | 0b989911 | Cung Sang | /* meta */ {
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360 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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361 | f606f432 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_NONE,
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362 | 0b989911 | Cung Sang | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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363 | }, |
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364 | }; |
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365 | |||
366 | apalControlGpio_t moduleGpioBreakoutIo2 = { |
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367 | /* GPIO */ &_gpioBreakoutIo2,
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368 | /* meta */ {
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369 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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370 | f606f432 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_NONE,
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371 | 0b989911 | Cung Sang | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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372 | }, |
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373 | }; |
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374 | |||
375 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo3 = { |
376 | /* GPIO */ &_gpioBreakoutIo3,
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377 | /* meta */ {
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378 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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379 | /* active state */ APAL_GPIO_ACTIVE_NONE,
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380 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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381 | }, |
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382 | 9ae7c4f3 | Thomas Schöpping | }; |
383 | f606f432 | Thomas Schöpping | |
384 | 9ae7c4f3 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo4 = { |
385 | /* GPIO */ &_gpioBreakoutIo4,
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386 | /* meta */ {
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387 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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388 | f606f432 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_NONE,
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389 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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390 | }, |
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391 | }; |
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392 | |||
393 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo5 = { |
394 | /* GPIO */ &_gpioBreakoutIo5,
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395 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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396 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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397 | f606f432 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_NONE,
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398 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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399 | }, |
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400 | }; |
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401 | |||
402 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo6 = { |
403 | /* GPIO */ &_gpioBreakoutIo6,
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404 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
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405 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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406 | /* active state */ APAL_GPIO_ACTIVE_NONE,
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407 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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408 | }, |
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409 | }; |
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410 | |||
411 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo7 = { |
412 | /* GPIO */ &_gpioBreakoutIo7,
|
||
413 | c930aa01 | Thomas Schöpping | /* meta */ {
|
414 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
415 | /* active state */ APAL_GPIO_ACTIVE_NONE,
|
||
416 | c930aa01 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
417 | }, |
||
418 | }; |
||
419 | |||
420 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo8 = { |
421 | /* GPIO */ &_gpioBreakoutIo8,
|
||
422 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
|
423 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
424 | /* active state */ APAL_GPIO_ACTIVE_NONE,
|
||
425 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
426 | }, |
||
427 | }; |
||
428 | |||
429 | f606f432 | Thomas Schöpping | #elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
430 | |||
431 | apalControlGpio_t moduleGpioBreakoutIo1 = { |
||
432 | /* GPIO */ &_gpioBreakoutIo1,
|
||
433 | /* meta */ {
|
||
434 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
||
435 | /* active state */ APAL_GPIO_ACTIVE_NONE,
|
||
436 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
437 | }, |
||
438 | 9ae7c4f3 | Thomas Schöpping | }; |
439 | f606f432 | Thomas Schöpping | |
440 | apalControlGpio_t moduleGpioBreakoutIo2 = { |
||
441 | /* GPIO */ &_gpioBreakoutIo2,
|
||
442 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
|
443 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
||
444 | ee884101 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_HIGH,
|
445 | 9ae7c4f3 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
446 | }, |
||
447 | }; |
||
448 | |||
449 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo3 = { |
450 | /* GPIO */ &_gpioBreakoutIo3,
|
||
451 | /* meta */ {
|
||
452 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
||
453 | /* active state */ APAL_GPIO_ACTIVE_NONE,
|
||
454 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
455 | }, |
||
456 | 9ae7c4f3 | Thomas Schöpping | }; |
457 | f606f432 | Thomas Schöpping | |
458 | apalControlGpio_t moduleGpioBreakoutIo4 = { |
||
459 | /* GPIO */ &_gpioBreakoutIo4,
|
||
460 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
|
461 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
462 | /* active state */ APAL_GPIO_ACTIVE_NONE,
|
||
463 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
464 | 9ae7c4f3 | Thomas Schöpping | }, |
465 | }; |
||
466 | |||
467 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo5 = { |
468 | /* GPIO */ &_gpioBreakoutIo5,
|
||
469 | /* meta */ {
|
||
470 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
||
471 | /* active state */ APAL_GPIO_ACTIVE_NONE,
|
||
472 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
473 | }, |
||
474 | 9ae7c4f3 | Thomas Schöpping | }; |
475 | f606f432 | Thomas Schöpping | |
476 | apalControlGpio_t moduleGpioBreakoutIo6 = { |
||
477 | /* GPIO */ &_gpioBreakoutIo6,
|
||
478 | /* meta */ {
|
||
479 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
|
||
480 | /* active state */ APAL_GPIO_ACTIVE_NONE,
|
||
481 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
||
482 | }, |
||
483 | }; |
||
484 | |||
485 | apalControlGpio_t moduleGpioBreakoutIo7 = { |
||
486 | /* GPIO */ &_gpioBreakoutIo7,
|
||
487 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
|
488 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
||
489 | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
||
490 | f606f432 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
491 | 9ae7c4f3 | Thomas Schöpping | }, |
492 | }; |
||
493 | |||
494 | f606f432 | Thomas Schöpping | apalControlGpio_t moduleGpioBreakoutIo8 = { |
495 | /* GPIO */ &_gpioBreakoutIo8,
|
||
496 | 9ae7c4f3 | Thomas Schöpping | /* meta */ {
|
497 | f606f432 | Thomas Schöpping | /* direction */ APAL_GPIO_DIRECTION_INPUT,
|
498 | 9ae7c4f3 | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
|
499 | f606f432 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_RISING,
|
500 | 9ae7c4f3 | Thomas Schöpping | }, |
501 | }; |
||
502 | |||
503 | f606f432 | Thomas Schöpping | #endif
|
504 | |||
505 | 9ae7c4f3 | Thomas Schöpping | /** @} */
|
506 | |||
507 | /*===========================================================================*/
|
||
508 | /**
|
||
509 | * @name AMiRo-OS core configurations
|
||
510 | * @{
|
||
511 | */
|
||
512 | /*===========================================================================*/
|
||
513 | |||
514 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
515 | 9ae7c4f3 | Thomas Schöpping | ROMCONST char* moduleShellPrompt = "LightRing"; |
516 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
517 | 9ae7c4f3 | Thomas Schöpping | |
518 | /** @} */
|
||
519 | |||
520 | /*===========================================================================*/
|
||
521 | /**
|
||
522 | * @name Startup Shutdown Synchronization Protocol (SSSP)
|
||
523 | * @{
|
||
524 | */
|
||
525 | /*===========================================================================*/
|
||
526 | |||
527 | c53ef0b1 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__) |
528 | |||
529 | /* some local definitions */
|
||
530 | // maximum number of bytes per CAN frame
|
||
531 | #define CAN_BYTES_PER_FRAME 8 |
||
532 | // identifier (as dominant as possible)
|
||
533 | #define MSI_BCBMSG_CANID 0 |
||
534 | |||
535 | aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)
|
||
536 | { |
||
537 | aosDbgCheck(buffer != NULL);
|
||
538 | aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
||
539 | |||
540 | // local variables
|
||
541 | CANTxFrame frame; |
||
542 | |||
543 | // setup the common parts of the message frame
|
||
544 | frame.DLC = (uint8_t)length; |
||
545 | frame.RTR = CAN_RTR_DATA; |
||
546 | frame.IDE = CAN_IDE_STD; |
||
547 | frame.SID = MSI_BCBMSG_CANID; |
||
548 | memcpy(frame.data8, buffer, length); |
||
549 | |||
550 | // sent the frame and return
|
||
551 | return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;
|
||
552 | } |
||
553 | |||
554 | aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length) |
||
555 | { |
||
556 | aosDbgCheck(buffer != NULL);
|
||
557 | aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);
|
||
558 | |||
559 | // local variables
|
||
560 | CANRxFrame frame; |
||
561 | |||
562 | // receive a frame and check for errors
|
||
563 | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {
|
||
564 | // a correct frame was received
|
||
565 | if (frame.DLC == length &&
|
||
566 | frame.RTR == CAN_RTR_DATA && |
||
567 | frame.IDE == CAN_IDE_STD && |
||
568 | frame.SID == MSI_BCBMSG_CANID) { |
||
569 | // success: fetch the data and return
|
||
570 | memcpy(buffer, frame.data8, length); |
||
571 | return AOS_SSSP_BCB_SUCCESS;
|
||
572 | } |
||
573 | // an unexpected frame was received
|
||
574 | else {
|
||
575 | return AOS_SSSP_BCB_INVALIDMSG;
|
||
576 | } |
||
577 | } else {
|
||
578 | // failure: return with error
|
||
579 | return AOS_SSSP_BCB_ERROR;
|
||
580 | } |
||
581 | } |
||
582 | |||
583 | #undef MSI_BCBMSG_CANID
|
||
584 | #undef CAN_BYTES_PER_FRAME
|
||
585 | |||
586 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */ |
||
587 | |||
588 | 9ae7c4f3 | Thomas Schöpping | /** @} */
|
589 | |||
590 | /*===========================================================================*/
|
||
591 | /**
|
||
592 | * @name Low-level drivers
|
||
593 | * @{
|
||
594 | */
|
||
595 | /*===========================================================================*/
|
||
596 | |||
597 | AT24C01BDriver moduleLldEeprom = { |
||
598 | ee884101 | Thomas Schöpping | /* I2C driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
599 | 9ae7c4f3 | Thomas Schöpping | /* I2C address */ 0x00u, |
600 | }; |
||
601 | |||
602 | ee884101 | Thomas Schöpping | INA219Driver moduleLldPowerMonitorVled = { |
603 | /* I2C Driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
|
||
604 | /* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
|
||
605 | /* current LSB (uA) */ 0x00u, |
||
606 | /* configuration */ NULL, |
||
607 | }; |
||
608 | |||
609 | LEDDriver moduleLldStatusLed = { |
||
610 | /* LED enable Gpio */ &moduleGpioLed,
|
||
611 | }; |
||
612 | |||
613 | MIC9404xDriver moduleLldPowerSwitchV18 = { |
||
614 | /* power enable GPIO */ &moduleGpioSwV18En,
|
||
615 | }; |
||
616 | |||
617 | MIC9404xDriver moduleLldPowerSwitchV33 = { |
||
618 | /* power enable GPIO */ &moduleGpioSwV33En,
|
||
619 | }; |
||
620 | |||
621 | 9acb8326 | Thomas Schöpping | // The 4.2V switch is disabled due to a hardware bug.
|
622 | //MIC9404xDriver moduleLldPowerSwitchV42 = {
|
||
623 | // /* power enable GPIO */ &moduleGpioSwV42En,
|
||
624 | //};
|
||
625 | ee884101 | Thomas Schöpping | |
626 | MIC9404xDriver moduleLldPowerSwitchV50 = { |
||
627 | /* power enable GPIO */ &moduleGpioSwV50En,
|
||
628 | }; |
||
629 | |||
630 | MIC9404xDriver moduleLldPowerSwitchVsys = { |
||
631 | /* power enable GPIO */ &moduleGpioSwVsysEn,
|
||
632 | }; |
||
633 | |||
634 | 4c72a54c | Thomas Schöpping | // TODO: add SNx5C3221E
|
635 | |||
636 | 9ae7c4f3 | Thomas Schöpping | TLC5947Driver moduleLldLedPwm = { |
637 | /* SPI driver */ &MODULE_HAL_SPI_LIGHT,
|
||
638 | /* BLANK signal GPIO */ &moduleGpioLightBlank,
|
||
639 | c930aa01 | Thomas Schöpping | /* XLAT signal GPIO */ &moduleGpioLightXlat,
|
640 | 9ae7c4f3 | Thomas Schöpping | }; |
641 | |||
642 | f606f432 | Thomas Schöpping | #if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
643 | |||
644 | 0b989911 | Cung Sang | DW1000Driver moduleLldDw1000 = { |
645 | f606f432 | Thomas Schöpping | /* SPI driver */ &MODULE_HAL_SPI_UWB,
|
646 | /* interrupt GPIO */ &moduleGpioBreakoutIo8,
|
||
647 | /* reset GPIO */ &moduleGpioBreakoutIo7,
|
||
648 | 0b989911 | Cung Sang | }; |
649 | |||
650 | f606f432 | Thomas Schöpping | #endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
651 | 0b989911 | Cung Sang | |
652 | 9ae7c4f3 | Thomas Schöpping | /** @} */
|
653 | |||
654 | /*===========================================================================*/
|
||
655 | /**
|
||
656 | 4c72a54c | Thomas Schöpping | * @name Tests
|
657 | 9ae7c4f3 | Thomas Schöpping | * @{
|
658 | */
|
||
659 | /*===========================================================================*/
|
||
660 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
661 | |||
662 | /*
|
||
663 | 4c72a54c | Thomas Schöpping | * AT24C01BN-SH-B (EEPROM)
|
664 | 9ae7c4f3 | Thomas Schöpping | */
|
665 | 4c72a54c | Thomas Schöpping | #include <module_test_AT24C01B.h> |
666 | static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
667 | 9ae7c4f3 | Thomas Schöpping | { |
668 | 4c72a54c | Thomas Schöpping | return moduleTestAt24c01bShellCb(stream, argc, argv, NULL); |
669 | 9ae7c4f3 | Thomas Schöpping | } |
670 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
|
671 | 9ae7c4f3 | Thomas Schöpping | |
672 | /*
|
||
673 | ee884101 | Thomas Schöpping | * INA219 (power monitor)
|
674 | */
|
||
675 | 4c72a54c | Thomas Schöpping | #include <module_test_INA219.h> |
676 | static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
677 | ee884101 | Thomas Schöpping | { |
678 | 4c72a54c | Thomas Schöpping | return moduleTestIna219ShellCb(stream, argc, argv, NULL); |
679 | ee884101 | Thomas Schöpping | } |
680 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
|
681 | ee884101 | Thomas Schöpping | |
682 | /*
|
||
683 | * Status LED
|
||
684 | */
|
||
685 | 4c72a54c | Thomas Schöpping | #include <module_test_LED.h> |
686 | static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
687 | ee884101 | Thomas Schöpping | { |
688 | 4c72a54c | Thomas Schöpping | return moduleTestLedShellCb(stream, argc, argv, NULL); |
689 | ee884101 | Thomas Schöpping | } |
690 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
|
691 | ee884101 | Thomas Schöpping | |
692 | /*
|
||
693 | 4c72a54c | Thomas Schöpping | * MIC9404x (power switch)
|
694 | ee884101 | Thomas Schöpping | */
|
695 | 4c72a54c | Thomas Schöpping | #include <module_test_MIC9404x.h> |
696 | static int _testMic9404xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
697 | ee884101 | Thomas Schöpping | { |
698 | 4c72a54c | Thomas Schöpping | return moduleTestMic9404xShellCb(stream, argc, argv, NULL); |
699 | ee884101 | Thomas Schöpping | } |
700 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestMic9404xShellCmd, "test:PowerSwitch", _testMic9404xShellCmdCb);
|
701 | |||
702 | // TODO: add SNx5C3221E
|
||
703 | |||
704 | /*
|
||
705 | * TLC5947 (24 channel PWM LED driver)
|
||
706 | */
|
||
707 | #include <module_test_TLC5947.h> |
||
708 | static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
709 | { |
||
710 | return moduleTestTlc5947ShellCb(stream, argc, argv, NULL); |
||
711 | } |
||
712 | AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);
|
||
713 | ee884101 | Thomas Schöpping | |
714 | f606f432 | Thomas Schöpping | #if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
715 | |||
716 | 0b989911 | Cung Sang | /*
|
717 | * UwB Driver (DW1000)
|
||
718 | */
|
||
719 | #include <module_test_DW1000.h> |
||
720 | static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
721 | { |
||
722 | return moduleTestDw1000ShellCb(stream, argc, argv, NULL); |
||
723 | } |
||
724 | AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb);
|
||
725 | f606f432 | Thomas Schöpping | |
726 | #endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
||
727 | 0b989911 | Cung Sang | |
728 | ee884101 | Thomas Schöpping | /*
|
729 | 4c72a54c | Thomas Schöpping | * entire module
|
730 | 9ae7c4f3 | Thomas Schöpping | */
|
731 | 4c72a54c | Thomas Schöpping | static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
732 | 9ae7c4f3 | Thomas Schöpping | { |
733 | (void)argc;
|
||
734 | (void)argv;
|
||
735 | 4c72a54c | Thomas Schöpping | |
736 | int status = AOS_OK;
|
||
737 | char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL}; |
||
738 | aos_testresult_t result_test = {0, 0}; |
||
739 | aos_testresult_t result_total = {0, 0}; |
||
740 | |||
741 | /* AT24C01B (EEPROM) */
|
||
742 | status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);
|
||
743 | result_total = aosTestResultAdd(result_total, result_test); |
||
744 | |||
745 | /* INA219 (power monitor) */
|
||
746 | status |= moduleTestIna219ShellCb(stream, 0, targv, &result_test);
|
||
747 | result_total = aosTestResultAdd(result_total, result_test); |
||
748 | |||
749 | /* Status LED */
|
||
750 | status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
|
||
751 | result_total = aosTestResultAdd(result_total, result_test); |
||
752 | |||
753 | /* MIC9404x (power switch) */
|
||
754 | // 1.8V
|
||
755 | targv[1] = "1.8V"; |
||
756 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
757 | result_total = aosTestResultAdd(result_total, result_test); |
||
758 | // 3.3V
|
||
759 | targv[1] = "3.3V"; |
||
760 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
761 | result_total = aosTestResultAdd(result_total, result_test); |
||
762 | // The 4.2V switch is disabled due to a hardware bug.
|
||
763 | // // 4.2V
|
||
764 | // targv[1] = "4.2V";
|
||
765 | // status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
766 | // result_total = aosTestResultAdd(result_total, result_test);
|
||
767 | // 5.0V
|
||
768 | targv[1] = "5.0V"; |
||
769 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
770 | result_total = aosTestResultAdd(result_total, result_test); |
||
771 | //VSYS
|
||
772 | targv[1] = "VSYS"; |
||
773 | status |= moduleTestMic9404xShellCb(stream, 2, targv, &result_test);
|
||
774 | result_total = aosTestResultAdd(result_total, result_test); |
||
775 | targv[1] = ""; |
||
776 | |||
777 | // TODO: add SNx5C3221E
|
||
778 | |||
779 | /* TLC5947 (24 channel PWM LED driver) */
|
||
780 | status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);
|
||
781 | result_total = aosTestResultAdd(result_total, result_test); |
||
782 | |||
783 | f606f432 | Thomas Schöpping | #if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
|
784 | /* DW1000 (UWB transceiver) */
|
||
785 | status |= moduleTestDw1000ShellCb(stream, 0, targv, &result_test);
|
||
786 | result_total = aosTestResultAdd(result_total, result_test); |
||
787 | #endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
||
788 | |||
789 | 4c72a54c | Thomas Schöpping | // print total result
|
790 | chprintf(stream, "\n");
|
||
791 | aosTestResultPrintSummary(stream, &result_total, "entire module");
|
||
792 | |||
793 | return status;
|
||
794 | 9ae7c4f3 | Thomas Schöpping | } |
795 | 4c72a54c | Thomas Schöpping | AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
|
796 | |||
797 | 9ae7c4f3 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
798 | |||
799 | /** @} */
|
||
800 | /** @} */ |