amiro-os / modules / NUCLEO-F103RB / module.h @ c7dcc892
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the NUCLEO-F103RB module.
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*
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* @addtogroup NUCLEO-F103RB_module
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* @{
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*/
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.h> |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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#if defined(AMIROLLD_CFG_DW1000)
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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void dw1000_spi_init(void); |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Serial driver of the programmer interface.
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*/
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#define MODULE_HAL_PROGIF SD2
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/**
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* @brief Configuration for the programmer serial interface driver.
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*/
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extern SerialConfig moduleHalProgIfConfig;
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/**
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* @brief Real-Time Clock driver.
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*/
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#define MODULE_HAL_RTC RTCD1
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#if defined(AMIROLLD_CFG_DW1000)
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/**
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* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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*/
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#define MODULE_HAL_SPI_UWB SPID2
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/**
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* @brief Configuration for the SPI interface driver to communicate with the LED driver.
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*/
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extern SPIConfig moduleHalSpiUwbHsConfig;
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/**
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* @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
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*/
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extern SPIConfig moduleHalSpiUwbLsConfig;
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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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 LED output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioLed;
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#if defined(AMIROLLD_CFG_DW1000)
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/**
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* @brief DW1000 reset output signal
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* @note the reset pin should be drived as low by MCU to activate.
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* Then, put back the reset pin as input to MCU (tri-state float on the air
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* is not supported in AMiRo)
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*/
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extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;
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/**
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* @brief DW1000 interrupt IRQn input signal.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;
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/**
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* @brief DW1000 SPI chip select output signal.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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/**
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* @brief User button input signal.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioUserButton;
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Event flag to be call dwt_isr() interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn AOS_IOEVENT_FLAG(PAL_PAD(LINE_ARD_D6))
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/**
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* @brief Event flag to be set on a USER_BUTTON interrupt.
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*/
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#define MODULE_OS_IOEVENTFLAGS_USERBUTTON AOS_IOEVENT_FLAG(PAL_PAD(LINE_BUTTON))
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell prompt text.
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*/
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extern ROMCONST char* moduleShellPrompt; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/**
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* @brief Interrupt initialization macro.
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* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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*/
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#define MODULE_INIT_INTERRUPTS() { \
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/* user button */ \
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palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdIntCallback(), &moduleGpioUserButton.gpio->line); \ |
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palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
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MODULE_INIT_INTERRUPTS_DW1000(); \ |
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} |
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#if defined(AMIROLLD_CFG_DW1000)
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#define MODULE_INIT_INTERRUPTS_DW1000() { \
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palSetLineCallback(moduleGpioDw1000Irqn.gpio->line, aosSysGetStdIntCallback(), &moduleGpioDw1000Irqn.gpio->line); \ |
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palEnableLineEvent(moduleGpioDw1000Irqn.gpio->line, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge)); \ |
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} |
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#else /* defined(AMIROLLD_CFG_DW1000) */ |
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#define MODULE_INIT_INTERRUPTS_DW1000() { \
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} |
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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/**
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* @brief Unit test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \
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MODULE_INIT_TESTS_DW1000(); \ |
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} |
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#if defined(AMIROLLD_CFG_DW1000)
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#define MODULE_INIT_TESTS_DW1000() { \
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aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd); \ |
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} |
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#else /* defined(AMIROLLD_CFG_DW1000) */ |
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#define MODULE_INIT_TESTS_DW1000() { \
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} |
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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/**
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* @brief Periphery communication interfaces initialization hook.
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*/
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#define MODULE_INIT_PERIPHERY_COMM() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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MODULE_INIT_PERIPHERY_COMM_DW1000(); \ |
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} |
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#if defined(AMIROLLD_CFG_DW1000)
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#define MODULE_INIT_PERIPHERY_COMM_DW1000() { \
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/* SPI init */ \
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dw1000_spi_init(); \ |
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spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig); \ |
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} |
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#else /* defined(AMIROLLD_CFG_DW1000) */ |
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#define MODULE_INIT_PERIPHERY_COMM_DW1000() { \
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} |
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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/**
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* @brief Periphery communication interface deinitialization hook.
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*/
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000(); \ |
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} |
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#if defined(AMIROLLD_CFG_DW1000)
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#define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() { \
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/* SPI */ \
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spiStop(&MODULE_HAL_SPI_UWB); \ |
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} |
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#else /* defined(AMIROLLD_CFG_DW1000) */ |
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#define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() { \
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} |
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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/**
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* @brief HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.
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*/
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#define MODULE_MAIN_LOOP_IO_EVENT(eventflags) { \
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if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) { \
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apalControlGpioState_t buttonstate; \ |
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apalControlGpioGet(&moduleGpioUserButton, &buttonstate); \ |
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apalControlGpioSet(&moduleGpioLed, buttonstate); \ |
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} \ |
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MODULE_MAIN_LOOP_IO_EVENT_DW1000(); \ |
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} |
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#if defined(AMIROLLD_CFG_DW1000)
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#define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
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if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000_IRQn) { \
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/*apalGpioToggle(moduleGpioLedGreen.gpio); // just for debug */ \
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process_deca_irq(); \ |
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} \ |
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} |
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#else /* defined(AMIROLLD_CFG_DW1000) */ |
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#define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
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} |
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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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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/** @} */
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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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#if defined(AMIROLLD_CFG_DW1000)
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#include <alld_DW1000.h> |
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extern DW1000Driver moduleLldDw1000;
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#endif /* defined(AMIROLLD_CFG_DW1000) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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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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#if defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) |
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#include <ut_alld_DW1000_v1.h> |
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/**
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* @brief DW1000 unit test object.
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*/
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extern aos_unittest_t moduleUtAlldDw1000;
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#endif /* defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */ |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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#endif /* AMIROOS_MODULE_H */ |
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/** @} */
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