amiro-os / modules / LightRing_1-2 / module.c @ c930aa01
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the LightRing v1.2 module.
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*
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* @addtogroup lightring_module
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* @{
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*/
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#include "module.h" |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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CANConfig moduleHalCanConfig = {
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/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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}; |
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I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig = {
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/* I²C mode */ OPMODE_I2C,
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/* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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/* duty cycle */ FAST_DUTY_CYCLE_2,
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}; |
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SerialConfig moduleHalProgIfConfig = {
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/* bit rate */ 115200, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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}; |
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SPIConfig moduleHalSpiLightConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ PAL_PORT(LINE_LIGHT_XLAT),
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/* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),
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/* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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}; |
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LIGHT_BANK output signal GPIO.
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*/
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static apalGpio_t _gpioLightBlank = {
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/* line */ LINE_LIGHT_BLANK,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLightBlank = {
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/* GPIO */ &_gpioLightBlank,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief RS232_R_EN_N output signal GPIO.
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*/
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static apalGpio_t _gpioRs232En = {
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/* line */ LINE_RS232_R_EN_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioRs232En = {
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/* GPIO */ &_gpioRs232En,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_LOW, //TODO |
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SW_V33_EN output signal GPIO.
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*/
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static apalGpio_t _gpioSwV33En = {
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/* line */ LINE_SW_V33_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSwV33En = {
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/* GPIO */ &_gpioSwV33En,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SW_V42_EN output signal GPIO.
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*/
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static apalGpio_t _gpioSwV42En = {
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/* line */ LINE_SW_V42_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSwV42En = {
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/* GPIO */ &_gpioSwV42En,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SW_V50_EN output signal GPIO.
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*/
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static apalGpio_t _gpioSwV50En = {
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/* line */ LINE_SW_V50_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSwV50En = {
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/* GPIO */ &_gpioSwV50En,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief IO_3 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo3 = {
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/* line */ LINE_IO_3,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo3 = {
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/* GPIO */ &_gpioBreakoutIo3,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief IO_5 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo5 = {
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/* line */ LINE_IO_5,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo5 = {
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/* GPIO */ &_gpioBreakoutIo5,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief IO_6 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo6 = {
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/* line */ LINE_IO_6,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo6 = {
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/* GPIO */ &_gpioBreakoutIo6,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SYS_UART_DN bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysUartDn = {
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/* line */ LINE_SYS_UART_DN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
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/* GPIO */ &_gpioSysUartDn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief IO_7 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo7 = {
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/* line */ LINE_IO_7,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo7 = {
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/* GPIO */ &_gpioBreakoutIo7,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief IO_8 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo8 = {
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/* line */ LINE_IO_8,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo8 = {
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/* GPIO */ &_gpioBreakoutIo8,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief IO_4 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo4 = {
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/* line */ LINE_IO_4,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo4 = {
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/* GPIO */ &_gpioBreakoutIo4,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief IO_1 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo1 = {
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/* line */ LINE_IO_1,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo1 = {
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/* GPIO */ &_gpioBreakoutIo1,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief IO_2 breakout signal GPIO.
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*/
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static apalGpio_t _gpioBreakoutIo2 = {
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/* line */ LINE_IO_2,
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}; |
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apalControlGpio_t moduleGpioBreakoutIo2 = {
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/* GPIO */ &_gpioBreakoutIo2,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief LED output signal GPIO.
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*/
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static apalGpio_t _gpioLed = {
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/* line */ LINE_LED,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLed = {
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/* GPIO */ &_gpioLed,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief LIGHT_XLAT output signal GPIO.
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*/
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static apalGpio_t _gpioLightXlat = {
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/* line */ LINE_LIGHT_XLAT,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLightXlat = {
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/* GPIO */ &_gpioLightXlat,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SW_V18_EN output signal GPIO.
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*/
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static apalGpio_t _gpioSwV18En = {
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/* line */ LINE_SW_V18_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSwV18En = {
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/* GPIO */ &_gpioSwV18En,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ MIC9404x_LLD_EN_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SW_VSYS_EN output signal GPIO.
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*/
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static apalGpio_t _gpioSwVsysEn = {
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/* line */ LINE_SW_VSYS_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSwVsysEn = {
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/* GPIO */ &_gpioSwVsysEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysUartUp = {
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/* line */ LINE_SYS_UART_UP,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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/* GPIO */ &_gpioSysUartUp,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysPd = {
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/* line */ LINE_SYS_PD_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysPd = {
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/* GPIO */ &_gpioSysPd,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_SYNC bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysSync = {
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/* line */ LINE_SYS_INT_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysSync = {
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/* GPIO */ &_gpioSysSync,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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ROMCONST char* moduleShellPrompt = "LightRing"; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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AT24C01BDriver moduleLldEeprom = {
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/* I2C driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
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/* I2C address */ 0x00u, |
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}; |
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INA219Driver moduleLldPowerMonitorVled = {
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/* I2C Driver */ &MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT,
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/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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/* current LSB (uA) */ 0x00u, |
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/* configuration */ NULL, |
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}; |
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LEDDriver moduleLldStatusLed = {
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/* LED enable Gpio */ &moduleGpioLed,
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}; |
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MIC9404xDriver moduleLldPowerSwitchV18 = {
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/* power enable GPIO */ &moduleGpioSwV18En,
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}; |
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MIC9404xDriver moduleLldPowerSwitchV33 = {
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/* power enable GPIO */ &moduleGpioSwV33En,
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}; |
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MIC9404xDriver moduleLldPowerSwitchV42 = {
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/* power enable GPIO */ &moduleGpioSwV42En,
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}; |
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MIC9404xDriver moduleLldPowerSwitchV50 = {
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/* power enable GPIO */ &moduleGpioSwV50En,
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}; |
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MIC9404xDriver moduleLldPowerSwitchVsys = {
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/* power enable GPIO */ &moduleGpioSwVsysEn,
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}; |
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TLC5947Driver moduleLldLedPwm = {
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/* SPI driver */ &MODULE_HAL_SPI_LIGHT,
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/* BLANK signal GPIO */ &moduleGpioLightBlank,
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/* XLAT signal GPIO */ &moduleGpioLightXlat,
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}; |
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/** @} */
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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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#include <string.h> |
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/*
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* EEPROM (AT24C01B)
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*/
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static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
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return AOS_OK;
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} |
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static ut_at24c01bdata_t _utAlldAt24c01bData = {
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/* driver */ &moduleLldEeprom,
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/* timeout */ MICROSECONDS_PER_SECOND,
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}; |
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aos_unittest_t moduleUtAlldAt24c01b = {
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/* name */ "AT24C01B", |
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/* info */ "1kbit EEPROM", |
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/* test function */ utAlldAt24c01bFunc,
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/* shell command */ {
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/* name */ "unittest:EEPROM", |
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/* callback */ _utShellCmdCb_AlldAt24c01b,
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/* next */ NULL, |
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}, |
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/* data */ &_utAlldAt24c01bData,
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}; |
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/*
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* INA219 (power monitor)
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*/
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static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldIna219, "VLED (4.2V)");
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return AOS_OK;
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} |
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static ut_ina219data_t _utIna219Data = {
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/* driver */ &moduleLldPowerMonitorVled,
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/* expected voltage */ 4.2f, |
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/* tolerance */ 0.2f, |
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/* timeout */ MICROSECONDS_PER_SECOND,
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}; |
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aos_unittest_t moduleUtAlldIna219 = {
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/* name */ "INA219", |
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/* info */ "power monitor", |
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/* test function */ utAlldIna219Func,
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/* shell command */ {
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/* name */ "unittest:PowerMonitor", |
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/* callback */ _utShellCmdCb_AlldIna219,
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/* next */ NULL, |
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}, |
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/* data */ &_utIna219Data,
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}; |
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/*
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* Status LED
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*/
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static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldLed, NULL);
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return AOS_OK;
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} |
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aos_unittest_t moduleUtAlldLed = {
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/* name */ "LED", |
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/* info */ NULL, |
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/* test function */ utAlldLedFunc,
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/* shell command */ {
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/* name */ "unittest:StatusLED", |
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/* callback */ _utShellCmdCb_AlldLed,
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/* next */ NULL, |
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}, |
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/* data */ &moduleLldStatusLed,
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}; |
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/*
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* Power switch driver (MIC9404x)
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*/
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static int _utShellCmdCb_Mic9404x(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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// evaluate arguments
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if (argc == 2) { |
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if (strcmp(argv[1], "1.8V") == 0) { |
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moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV18; |
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aosUtRun(stream, &moduleUtAlldMic9404x, "1.8V");
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moduleUtAlldMic9404x.data = NULL;
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return AOS_OK;
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} |
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else if (strcmp(argv[1], "3.3V") == 0) { |
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moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV33; |
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aosUtRun(stream, &moduleUtAlldMic9404x, "3.3V");
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moduleUtAlldMic9404x.data = NULL;
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return AOS_OK;
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} |
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else if (strcmp(argv[1], "4.2V") == 0) { |
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moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV42; |
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aosUtRun(stream, &moduleUtAlldMic9404x, "4.2V");
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moduleUtAlldMic9404x.data = NULL;
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return AOS_OK;
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} |
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else if (strcmp(argv[1], "5.0V") == 0) { |
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moduleUtAlldMic9404x.data = &moduleLldPowerSwitchV50; |
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aosUtRun(stream, &moduleUtAlldMic9404x, "5.0V");
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moduleUtAlldMic9404x.data = NULL;
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return AOS_OK;
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} |
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else if (strcmp(argv[1], "VSYS") == 0) { |
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moduleUtAlldMic9404x.data = &moduleLldPowerSwitchVsys; |
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aosUtRun(stream, &moduleUtAlldMic9404x, "VSYS");
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moduleUtAlldMic9404x.data = NULL;
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return AOS_OK;
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} |
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} |
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// print help
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chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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chprintf(stream, "Options:\n");
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chprintf(stream, " 1.8V\n");
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chprintf(stream, " Test power switch for 1.8V supply.\n");
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chprintf(stream, " 3.3V\n");
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chprintf(stream, " Test power switch for 3.3V supply.\n");
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chprintf(stream, " 4.2V\n");
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chprintf(stream, " Test power switch for 4.2V supply.\n");
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chprintf(stream, " 5.0V\n");
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chprintf(stream, " Test power switch for 5.0V supply.\n");
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chprintf(stream, " VSYS\n");
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chprintf(stream, " Test power switch for VSYS supply.\n");
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return AOS_INVALIDARGUMENTS;
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} |
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aos_unittest_t moduleUtAlldMic9404x = {
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/* info */ "MIC9404x", |
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/* name */ "power swicth driver", |
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/* test function */ utAlldMic9404xFunc,
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/* shell command */ {
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/* name */ "unittest:PowerSwitch", |
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/* callback */ _utShellCmdCb_Mic9404x,
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/* next */ NULL, |
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}, |
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/* data */ NULL, |
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}; |
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/*
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* LED PWM driver (TLC5947)
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*/
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static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
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return AOS_OK;
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} |
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aos_unittest_t moduleUtAlldTlc5947 = {
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/* info */ "TLC5947", |
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/* name */ "LED PWM driver", |
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/* test function */ utAlldTlc5947Func,
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/* shell command */ {
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/* name */ "unittest:Lights", |
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/* callback */ _utShellCmdCb_Tlc5947,
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/* next */ NULL, |
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}, |
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/* data */ &moduleLldLedPwm,
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}; |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/** @} */
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/** @} */
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