Statistics
| Branch: | Tag: | Revision:

amiro-os / modules / LightRing_1-2 / module.c @ c7cd988c

History | View | Annotate | Download (21.8 KB)

1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2019  Thomas Schöpping et al.
4

5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU General Public License as published by
7
the Free Software Foundation, either version 3 of the License, or
8
(at your option) any later version.
9

10
This program is distributed in the hope that it will be useful,
11
but WITHOUT ANY WARRANTY; without even the implied warranty of
12
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13
GNU General Public License for more details.
14

15
You should have received a copy of the GNU General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18

    
19
/**
20
 * @file
21
 * @brief   Structures and constant for the LightRing v1.2 module.
22
 *
23
 * @addtogroup lightring_module
24
 * @{
25
 */
26

    
27
#include <amiroos.h>
28

    
29
#include <string.h>
30

    
31
/*===========================================================================*/
32
/**
33
 * @name Module specific functions
34
 * @{
35
 */
36
/*===========================================================================*/
37

    
38
/** @} */
39

    
40
/*===========================================================================*/
41
/**
42
 * @name ChibiOS/HAL configuration
43
 * @{
44
 */
45
/*===========================================================================*/
46

    
47
CANConfig moduleHalCanConfig = {
48
  /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
49
  /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
50
};
51

    
52
I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig = {
53
  /* I²C mode   */ OPMODE_I2C,
54
  /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)
55
  /* duty cycle */ FAST_DUTY_CYCLE_2,
56
};
57

    
58
SerialConfig moduleHalProgIfConfig = {
59
  /* bit rate */ 115200,
60
  /* CR1      */ 0,
61
  /* CR1      */ 0,
62
  /* CR1      */ 0,
63
};
64

    
65
SPIConfig moduleHalSpiLightConfig = {
66
  /* circular buffer mode        */ false,
67
  /* callback function pointer   */ NULL,
68
  /* chip select line port       */ PAL_PORT(LINE_LIGHT_XLAT),
69
  /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
70
  /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
71
  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
72
};
73

    
74
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
75

    
76
SPIConfig moduleHalSpiUwbHsConfig = {
77
  /* circular buffer mode        */ false,
78
  /* callback function pointer   */ NULL,
79
  /* chip select line port       */ PAL_PORT(LINE_SPI_SS_N),
80
  /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
81
  /* CR1                         */ 0,                                  // 36/2 Mbps
82
  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,  // 0
83
};
84

    
85
SPIConfig moduleHalSpiUwbLsConfig = {
86
  /* circular buffer mode        */ false,
87
  /* callback function pointer   */ NULL,
88
  /* chip select line port       */ PAL_PORT(LINE_SPI_SS_N),
89
  /* chip select line pad number */ PAL_PAD(LINE_SPI_SS_N),
90
  /* CR1                         */ SPI_CR1_BR_1 | SPI_CR1_BR_0,        // 36/16 Mbps
91
  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,  // 0
92
};
93

    
94
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */
95

    
96
/*===========================================================================*/
97
/**
98
 * @name GPIO definitions
99
 * @{
100
 */
101
/*===========================================================================*/
102

    
103
/**
104
 * @brief   LIGHT_BANK output signal GPIO.
105
 */
106
static apalGpio_t _gpioLightBlank = {
107
  /* line */ LINE_LIGHT_BLANK,
108
};
109
ROMCONST apalControlGpio_t moduleGpioLightBlank = {
110
  /* GPIO */ &_gpioLightBlank,
111
  /* meta */ {
112
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
113
    /* active state   */ TLC5947_LLD_BLANK_ACTIVE_STATE,
114
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
115
  },
116
};
117

    
118
/**
119
 * @brief   RS232_R_EN_N output signal GPIO.
120
 */
121
static apalGpio_t _gpioRs232En = {
122
  /* line */ LINE_RS232_R_EN_N,
123
};
124
ROMCONST apalControlGpio_t moduleGpioRs232En = {
125
  /* GPIO */ &_gpioRs232En,
126
  /* meta */ {
127
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
128
    /* active state   */ APAL_GPIO_ACTIVE_LOW, //TODO
129
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
130
  },
131
};
132

    
133
/**
134
 * @brief   SW_V33_EN output signal GPIO.
135
 */
136
static apalGpio_t _gpioSwV33En = {
137
  /* line */ LINE_SW_V33_EN,
138
};
139
ROMCONST apalControlGpio_t moduleGpioSwV33En = {
140
  /* GPIO */ &_gpioSwV33En,
141
  /* meta */ {
142
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
143
    /* active state   */ MIC9404x_LLD_EN_ACTIVE_STATE,
144
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
145
  },
146
};
147

    
148
// The 4.2V switch is disabled due to a hardware bug.
149
///**
150
// * @brief   SW_V42_EN output signal GPIO.
151
// */
152
//static apalGpio_t _gpioSwV42En = {
153
//  /* line */ LINE_SW_V42_EN,
154
//};
155
//ROMCONST apalControlGpio_t moduleGpioSwV42En = {
156
//  /* GPIO */ &_gpioSwV42En,
157
//  /* meta */ {
158
//    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
159
//    /* active state   */ MIC9404x_LLD_EN_ACTIVE_STATE,
160
//    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
161
//  },
162
//};
163

    
164
/**
165
 * @brief   SW_V50_EN output signal GPIO.
166
 */
167
static apalGpio_t _gpioSwV50En = {
168
  /* line */ LINE_SW_V50_EN,
169
};
170
ROMCONST apalControlGpio_t moduleGpioSwV50En = {
171
  /* GPIO */ &_gpioSwV50En,
172
  /* meta */ {
173
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
174
    /* active state   */ MIC9404x_LLD_EN_ACTIVE_STATE,
175
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
176
  },
177
};
178

    
179
/**
180
 * @brief   SYS_UART_DN bidirectional signal GPIO.
181
 */
182
static apalGpio_t _gpioSysUartDn = {
183
  /* line */ LINE_SYS_UART_DN,
184
};
185
ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
186
  /* GPIO */ &_gpioSysUartDn,
187
  /* meta */ {
188
    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
189
    /* active state   */ APAL_GPIO_ACTIVE_LOW,
190
    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
191
  },
192
};
193

    
194
/**
195
 * @brief   LED output signal GPIO.
196
 */
197
static apalGpio_t _gpioLed = {
198
  /* line */ LINE_LED,
199
};
200
ROMCONST apalControlGpio_t moduleGpioLed = {
201
  /* GPIO */ &_gpioLed,
202
  /* meta */ {
203
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
204
    /* active state   */ APAL_GPIO_ACTIVE_LOW,
205
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
206
  },
207
};
208

    
209
/**
210
 * @brief   LIGHT_XLAT output signal GPIO.
211
 */
212
static apalGpio_t _gpioLightXlat = {
213
  /* line */ LINE_LIGHT_XLAT,
214
};
215
ROMCONST apalControlGpio_t moduleGpioLightXlat = {
216
  /* GPIO */ &_gpioLightXlat,
217
  /* meta */ {
218
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
219
    /* active state   */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
220
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
221
  },
222
};
223

    
224
/**
225
 * @brief   SW_V18_EN output signal GPIO.
226
 */
227
static apalGpio_t _gpioSwV18En = {
228
  /* line */ LINE_SW_V18_EN,
229
};
230
ROMCONST apalControlGpio_t moduleGpioSwV18En = {
231
  /* GPIO */ &_gpioSwV18En,
232
  /* meta */ {
233
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
234
    /* active state   */ MIC9404x_LLD_EN_ACTIVE_STATE,
235
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
236
  },
237
};
238

    
239
/**
240
 * @brief   SW_VSYS_EN output signal GPIO.
241
 */
242
static apalGpio_t _gpioSwVsysEn = {
243
  /* line */ LINE_SW_VSYS_EN,
244
};
245
ROMCONST apalControlGpio_t moduleGpioSwVsysEn = {
246
  /* GPIO */ &_gpioSwVsysEn,
247
  /* meta */ {
248
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
249
    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
250
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
251
  },
252
};
253

    
254
/**
255
 * @brief   SYS_UART_UP bidirectional signal GPIO.
256
 */
257
static apalGpio_t _gpioSysUartUp = {
258
  /* line */ LINE_SYS_UART_UP,
259
};
260
ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
261
  /* GPIO */ &_gpioSysUartUp,
262
  /* meta */ {
263
    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
264
    /* active state   */ APAL_GPIO_ACTIVE_LOW,
265
    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
266
  },
267
};
268

    
269
/**
270
 * @brief   SYS_PD bidirectional signal GPIO.
271
 */
272
static apalGpio_t _gpioSysPd = {
273
  /* line */ LINE_SYS_PD_N,
274
};
275
ROMCONST apalControlGpio_t moduleGpioSysPd = {
276
  /* GPIO */ &_gpioSysPd,
277
  /* meta */ {
278
    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
279
    /* active state   */ APAL_GPIO_ACTIVE_LOW,
280
    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
281
  },
282
};
283

    
284
/**
285
 * @brief   SYS_SYNC bidirectional signal GPIO.
286
 */
287
static apalGpio_t _gpioSysSync = {
288
  /* line */ LINE_SYS_INT_N,
289
};
290
ROMCONST apalControlGpio_t moduleGpioSysSync = {
291
  /* GPIO */ &_gpioSysSync,
292
  /* meta */ {
293
    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
294
    /* active state   */ APAL_GPIO_ACTIVE_LOW,
295
    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
296
  },
297
};
298

    
299
/**
300
 * @brief   IO_1 breakout signal GPIO.
301
 */
302
static apalGpio_t _gpioBreakoutIo1 = {
303
  /* line */ LINE_IO_1,
304
};
305

    
306
/**
307
 * @brief   IO_2 breakout signal GPIO.
308
 */
309
static apalGpio_t _gpioBreakoutIo2 = {
310
  /* line */ LINE_IO_2,
311
};
312

    
313
/**
314
 * @brief   IO_3 breakout signal GPIO.
315
 */
316
static apalGpio_t _gpioBreakoutIo3 = {
317
  /* line */ LINE_IO_3,
318
};
319

    
320
/**
321
 * @brief   IO_4 breakout signal GPIO.
322
 */
323
static apalGpio_t _gpioBreakoutIo4 = {
324
  /* line */ LINE_IO_4,
325
};
326

    
327
/**
328
 * @brief   IO_5 breakout signal GPIO.
329
 */
330
static apalGpio_t _gpioBreakoutIo5 = {
331
  /* line */ LINE_IO_5,
332
};
333

    
334
/**
335
 * @brief   IO_6 breakout signal GPIO.
336
 */
337
static apalGpio_t _gpioBreakoutIo6 = {
338
  /* line */ LINE_IO_6,
339
};
340

    
341
/**
342
 * @brief   IO_7 breakout signal GPIO.
343
 */
344
static apalGpio_t _gpioBreakoutIo7 = {
345
  /* line */ LINE_IO_7,
346
};
347

    
348
/**
349
 * @brief   IO_8 breakout signal GPIO.
350
 */
351
static apalGpio_t _gpioBreakoutIo8 = {
352
  /* line */ LINE_IO_8,
353
};
354

    
355
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
356

    
357
apalControlGpio_t moduleGpioBreakoutIo1 = {
358
  /* GPIO */ &_gpioBreakoutIo1,
359
  /* meta */ {
360
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
361
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
362
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
363
  },
364
};
365

    
366
apalControlGpio_t moduleGpioBreakoutIo2 = {
367
  /* GPIO */ &_gpioBreakoutIo2,
368
  /* meta */ {
369
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
370
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
371
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
372
  },
373
};
374

    
375
apalControlGpio_t moduleGpioBreakoutIo3 = {
376
  /* GPIO */ &_gpioBreakoutIo3,
377
  /* meta */ {
378
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
379
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
380
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
381
  },
382
};
383

    
384
apalControlGpio_t moduleGpioBreakoutIo4 = {
385
  /* GPIO */ &_gpioBreakoutIo4,
386
  /* meta */ {
387
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
388
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
389
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
390
  },
391
};
392

    
393
apalControlGpio_t moduleGpioBreakoutIo5 = {
394
  /* GPIO */ &_gpioBreakoutIo5,
395
  /* meta */ {
396
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
397
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
398
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
399
  },
400
};
401

    
402
apalControlGpio_t moduleGpioBreakoutIo6 = {
403
  /* GPIO */ &_gpioBreakoutIo6,
404
  /* meta */ {
405
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
406
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
407
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
408
  },
409
};
410

    
411
apalControlGpio_t moduleGpioBreakoutIo7 = {
412
  /* GPIO */ &_gpioBreakoutIo7,
413
  /* meta */ {
414
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
415
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
416
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
417
  },
418
};
419

    
420
apalControlGpio_t moduleGpioBreakoutIo8 = {
421
  /* GPIO */ &_gpioBreakoutIo8,
422
  /* meta */ {
423
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
424
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
425
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
426
  },
427
};
428

    
429
#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
};
439

    
440
apalControlGpio_t moduleGpioBreakoutIo2 = {
441
  /* GPIO */ &_gpioBreakoutIo2,
442
  /* meta */ {
443
    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
444
    /* active state   */ APAL_GPIO_ACTIVE_HIGH,
445
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
446
  },
447
};
448

    
449
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
};
457

    
458
apalControlGpio_t moduleGpioBreakoutIo4 = {
459
  /* GPIO */ &_gpioBreakoutIo4,
460
  /* meta */ {
461
    /* direction      */ APAL_GPIO_DIRECTION_UNDEFINED,
462
    /* active state   */ APAL_GPIO_ACTIVE_NONE,
463
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
464
  },
465
};
466

    
467
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
};
475

    
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
  /* meta */ {
488
    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
489
    /* active state   */ APAL_GPIO_ACTIVE_LOW,
490
    /* interrupt edge */ APAL_GPIO_EDGE_NONE,
491
  },
492
};
493

    
494
apalControlGpio_t moduleGpioBreakoutIo8 = {
495
  /* GPIO */ &_gpioBreakoutIo8,
496
  /* meta */ {
497
    /* direction      */ APAL_GPIO_DIRECTION_INPUT,
498
    /* active state   */ APAL_GPIO_ACTIVE_LOW,
499
    /* interrupt edge */ APAL_GPIO_EDGE_RISING,
500
  },
501
};
502

    
503
#endif
504

    
505
/** @} */
506

    
507
/*===========================================================================*/
508
/**
509
 * @name AMiRo-OS core configurations
510
 * @{
511
 */
512
/*===========================================================================*/
513

    
514
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
515
ROMCONST char* moduleShellPrompt = "LightRing";
516
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
517

    
518
/** @} */
519

    
520
/*===========================================================================*/
521
/**
522
 * @name Startup Shutdown Synchronization Protocol (SSSP)
523
 * @{
524
 */
525
/*===========================================================================*/
526

    
527
#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
/** @} */
589

    
590
/*===========================================================================*/
591
/**
592
 * @name Low-level drivers
593
 * @{
594
 */
595
/*===========================================================================*/
596

    
597
AT24C01BDriver moduleLldEeprom = {
598
  /* I2C driver   */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
599
  /* I2C address  */ 0x00u,
600
};
601

    
602
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
// The 4.2V switch is disabled due to a hardware bug.
622
//MIC9404xDriver moduleLldPowerSwitchV42 = {
623
//  /* power enable GPIO  */ &moduleGpioSwV42En,
624
//};
625

    
626
MIC9404xDriver moduleLldPowerSwitchV50 = {
627
  /* power enable GPIO  */ &moduleGpioSwV50En,
628
};
629

    
630
MIC9404xDriver moduleLldPowerSwitchVsys = {
631
  /* power enable GPIO  */ &moduleGpioSwVsysEn,
632
};
633

    
634
// TODO: add SNx5C3221E
635

    
636
TLC5947Driver moduleLldLedPwm = {
637
  /* SPI driver         */ &MODULE_HAL_SPI_LIGHT,
638
  /* BLANK signal GPIO  */ &moduleGpioLightBlank,
639
  /* XLAT signal GPIO   */ &moduleGpioLightXlat,
640
};
641

    
642
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
643

    
644
DW1000Driver moduleLldDw1000 = {
645
  /* SPI driver     */ &MODULE_HAL_SPI_UWB,
646
  /* interrupt GPIO */ &moduleGpioBreakoutIo8,
647
  /* reset GPIO     */ &moduleGpioBreakoutIo7,
648
};
649

    
650
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */
651

    
652
/** @} */
653

    
654
/*===========================================================================*/
655
/**
656
 * @name Tests
657
 * @{
658
 */
659
/*===========================================================================*/
660
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
661

    
662
/*
663
 * AT24C01BN-SH-B (EEPROM)
664
 */
665
#include <module_test_AT24C01B.h>
666
static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
667
{
668
  return moduleTestAt24c01bShellCb(stream, argc, argv, NULL);
669
}
670
AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);
671

    
672
/*
673
 * INA219 (power monitor)
674
 */
675
#include <module_test_INA219.h>
676
static int _testIna219ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
677
{
678
  return moduleTestIna219ShellCb(stream, argc, argv, NULL);
679
}
680
AOS_SHELL_COMMAND(moduleTestIna219ShellCmd, "test:PowerMonitor", _testIna219ShellCmdCb);
681

    
682
/*
683
 * Status LED
684
 */
685
#include <module_test_LED.h>
686
static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
687
{
688
  return moduleTestLedShellCb(stream, argc, argv, NULL);
689
}
690
AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:StatusLED", _testLedShellCmdCb);
691

    
692
/*
693
 * MIC9404x (power switch)
694
 */
695
#include <module_test_MIC9404x.h>
696
static int _testMic9404xShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
697
{
698
  return moduleTestMic9404xShellCb(stream, argc, argv, NULL);
699
}
700
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

    
714
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
715

    
716
/*
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

    
726
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */
727

    
728
/*
729
 * entire module
730
 */
731
static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
732
{
733
  (void)argc;
734
  (void)argv;
735

    
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
#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
  // print total result
790
  chprintf(stream, "\n");
791
  aosTestResultPrintSummary(stream, &result_total, "entire module");
792

    
793
  return status;
794
}
795
AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
796

    
797
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
798

    
799
/** @} */
800
/** @} */