amiro-os / modules / LightRing_1-2 / module.h @ cda14729
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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 module.
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*
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* @addtogroup lightring_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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/** @} */
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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 CAN driver to use.
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*/
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#define MODULE_HAL_CAN CAND1
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/**
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* @brief Configuration for the CAN driver.
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*/
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extern CANConfig moduleHalCanConfig;
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/**
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* @brief I2C driver to access the EEPROM, power monitor and the breakout header.
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*/
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#define MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT I2CD2
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/**
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* @brief Configuration for the EEPROM, power monitor and breakout I2C driver.
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*/
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extern I2CConfig moduleHalI2cEepromPwrmtrBreakoutConfig;
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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 SD1
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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 SPI interface driver for the motion sensors (gyroscope and accelerometer).
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*/
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#define MODULE_HAL_SPI_LIGHT SPID1
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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 moduleHalSpiLightConfig;
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/**
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* @brief SPI interface driver for the breakout header.
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*/
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#define MODULE_HAL_SPI_BREAKOUT SPID2
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/**
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* @brief UART interface driver for the breakout header (alternative to serial).
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*/
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#define MODULE_HAL_UART_BREAKOUT UARTD2
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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 (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
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/**
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* @brief SPI interface driver for UWB DW1000 module.
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*/
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#define MODULE_HAL_SPI_UWB MODULE_HAL_SPI_BREAKOUT
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/**
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* @brief Configuration for the high-speed SPI interface driver of DW1000 module.
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*/
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extern SPIConfig moduleHalSpiUwbHsConfig;
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/**
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* @brief Configuration for the low-speed SPI interface driver of DW1000 module.
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*/
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extern SPIConfig moduleHalSpiUwbLsConfig;
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#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
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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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extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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/**
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* @brief RS232_R_EN_N output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioRs232En;
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/**
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* @brief SW_V33_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwV33En;
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// The 4.2V switch is disabled due to a hardware bug.
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///**
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// * @brief SW_V42_EN output signal GPIO.
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// */
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//extern ROMCONST apalControlGpio_t moduleGpioSwV42En;
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/**
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* @brief SW_V50_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwV50En;
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/**
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* @brief IO_3 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo3;
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/**
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* @brief IO_5 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo5;
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/**
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* @brief IO_6 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo6;
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/**
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* @brief SYS_UART_DN bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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/**
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* @brief IO_7 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo7;
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/**
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* @brief IO_8 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo8;
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/**
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* @brief IO_4 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo4;
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/**
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* @brief IO_1 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo1;
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/**
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* @brief IO_2 breakout signal GPIO.
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*/
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extern apalControlGpio_t moduleGpioBreakoutIo2;
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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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/**
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* @brief LIGHT_XLAT output signal.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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/**
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* @brief SW_V18_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwV18En;
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/**
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* @brief SW_VSYS_EN output signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSwVsysEn;
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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/**
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* @brief SYS_SYNC bidirectional signal GPIO.
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*/
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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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 set on a IO_4 (breakout) interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO4 AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_4))
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/**
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* @brief Event flag to be set on a IO_1 (breakout) interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO1 AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_1))
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/**
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* @brief Event flag to be set on a SYS_SYNC interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_SYSSYNC AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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/**
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* @brief Event flag to be set on a IO_3 (breakout) interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO3 AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_3))
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/**
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* @brief Event flag to be set on a IO_5 (breakout) interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO5 AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_5))
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/**
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* @brief Event flag to be set on a IO_6 (breakout) interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO6 AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_6))
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/**
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* @brief Event flag to be set on a SYS_UART_DN interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_SYSUARTDN AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
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/**
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* @brief Event flag to be set on a SYS_UART_UP interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_SYSUARTUP AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))
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/**
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* @brief Event flag to be set on a IO_7 (breakout) interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO7 AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_7))
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/**
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* @brief Event flag to be set on a IO_8 (breakout) interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_BREAKOUTIO8 AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IO_8))
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/**
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* @brief Event flag to be set on a SYS_PD interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_SYSPD AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
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/**
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* @brief Event flag to be set on a DW1000 interrupt.
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*/
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#define MODULE_OS_GPIOEVENTFLAG_DW1000 MODULE_OS_GPIOEVENTFLAGS_BREAKOUTIO8
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#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
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#if (AMIROOS_CFG_SHELL_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) */ |
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/**
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* @brief Interrupt initialization macro.
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*/
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#define MODULE_INIT_INTERRUPTS() { \
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/* breakout interrupts must be enabled explicitely */ \
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MODULE_INIT_INTERRUPTS_BREAKOUT(); \ |
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} |
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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#define MODULE_INIT_INTERRUPTS_BREAKOUT() { \
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palSetLineCallback(moduleLldDw1000.gpio_exti->gpio->line, aosSysGetStdGpioCallback(), &moduleLldDw1000.gpio_exti->gpio->line); \ |
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palEnableLineEvent(moduleLldDw1000.gpio_exti->gpio->line, APAL2CH_EDGE(moduleLldDw1000.gpio_exti->meta.edge)); \ |
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} |
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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#define MODULE_INIT_INTERRUPTS_BREAKOUT() { \
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} |
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#endif
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/**
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* @brief Test initialization hook.
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*/
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#define MODULE_INIT_TESTS() { \
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/* add test commands to shell */ \
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aosShellAddCommand(&aos.shell, &moduleTestAt24c01bShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestIna219ShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestMic9404xShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestTlc5947ShellCmd); \ |
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aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
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MODULE_INIT_TESTS_BREAKOUT(); \ |
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} |
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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#define MODULE_INIT_TESTS_BREAKOUT() { \
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aosShellAddCommand(&aos.shell, &moduleTestDw1000ShellCmd); \ |
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} |
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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#define MODULE_INIT_TESTS_BREAKOUT() { \
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} |
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#endif
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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_IF() { \
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/* serial driver */ \
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* I2C */ \
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moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \ |
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moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed; \ |
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moduleHalI2cEepromPwrmtrBreakoutConfig.duty_cycle = (moduleHalI2cEepromPwrmtrBreakoutConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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i2cStart(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT, &moduleHalI2cEepromPwrmtrBreakoutConfig); \ |
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/* SPI */ \
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spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
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/* CAN */ \
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canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); \ |
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/* breakout module */ \
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MODULE_INIT_PERIPHERY_COMM_BREAKOUT(); \ |
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} |
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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#define MODULE_INIT_PERIPHERY_COMM_BREAKOUT() { \
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spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig); \ |
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} |
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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#define MODULE_INIT_PERIPHERY_COMM_BREAKOUT() { \
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} |
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#endif
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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_IF() { \
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/* breakout module */ \
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MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT(); \ |
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/* CAN */ \
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canStop(&MODULE_HAL_CAN); \ |
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/* SPI */ \
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spiStop(&MODULE_HAL_SPI_LIGHT); \ |
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/* I2C */ \
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i2cStop(&MODULE_HAL_I2C_EEPROM_PWRMTR_BREAKOUT); \ |
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/* don't stop the serial driver so messages can still be printed */ \
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} |
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#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10)
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#define MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT() { \
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/* SPI */ \
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spiStop(&MODULE_HAL_SPI_UWB); \ |
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} |
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#elif (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_NONE)
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#define MODULE_SHUTDOWN_PERIPHERY_COMM_BREAKOUT() { \
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} |
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#endif
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief PD signal GPIO.
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*/
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#define moduleSsspGpioPD moduleGpioSysPd
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/**
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* @brief S signal GPIO.
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*/
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#define moduleSsspGpioS moduleGpioSysSync
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/**
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* @brief UP signal GPIO.
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*/
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#define moduleSsspGpioUP moduleGpioSysUartUp
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/**
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* @brief DN signal GPIO.
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*/
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#define moduleSsspGpioDN moduleGpioSysUartDn
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/**
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* @brief Event flag for PD signal events.
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*/
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#define MODULE_SSSP_EVENTFLAG_PD MODULE_OS_GPIOEVENTFLAG_SYSPD
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/**
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* @brief Event flag for S signal events.
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*/
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#define MODULE_SSSP_EVENTFLAG_S MODULE_OS_GPIOEVENTFLAG_SYSSYNC
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/**
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* @brief Event flag for UP signal events.
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*/
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#define MODULE_SSSP_EVENTFLAG_UP MODULE_OS_GPIOEVENTFLAGS_SYSUARTUP
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/**
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* @brief Event flag for DN signal events.
|
| 455 |
*/
|
| 456 |
#define MODULE_SSSP_EVENTFLAG_DN MODULE_OS_GPIOEVENTFLAG_SYSUARTDN
|
| 457 |
|
| 458 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 459 |
|
| 460 |
/** @} */
|
| 461 |
|
| 462 |
/*===========================================================================*/
|
| 463 |
/**
|
| 464 |
* @name Low-level drivers
|
| 465 |
* @{
|
| 466 |
*/
|
| 467 |
/*===========================================================================*/
|
| 468 |
#include <alld_AT24C01B.h> |
| 469 |
#include <alld_INA219.h> |
| 470 |
#include <alld_LED.h> |
| 471 |
#include <alld_MIC9404x.h> |
| 472 |
// TODO: add SNx5C3221E
|
| 473 |
#include <alld_TLC5947.h> |
| 474 |
|
| 475 |
/**
|
| 476 |
* @brief EEPROM driver.
|
| 477 |
*/
|
| 478 |
extern AT24C01BDriver moduleLldEeprom;
|
| 479 |
|
| 480 |
/**
|
| 481 |
* @brief Power monitor (VLED 4.2) driver.
|
| 482 |
*/
|
| 483 |
extern INA219Driver moduleLldPowerMonitorVled;
|
| 484 |
|
| 485 |
/**
|
| 486 |
* @brief Status LED driver.
|
| 487 |
*/
|
| 488 |
extern LEDDriver moduleLldStatusLed;
|
| 489 |
|
| 490 |
/**
|
| 491 |
* @brief Power switch driver (1.8V).
|
| 492 |
*/
|
| 493 |
extern MIC9404xDriver moduleLldPowerSwitchV18;
|
| 494 |
|
| 495 |
/**
|
| 496 |
* @brief Power switch driver (3.3V).
|
| 497 |
*/
|
| 498 |
extern MIC9404xDriver moduleLldPowerSwitchV33;
|
| 499 |
|
| 500 |
/**
|
| 501 |
* @brief Power switch driver (4.2V).
|
| 502 |
*/
|
| 503 |
extern MIC9404xDriver moduleLldPowerSwitchV42;
|
| 504 |
|
| 505 |
/**
|
| 506 |
* @brief Power switch driver (5.0V).
|
| 507 |
*/
|
| 508 |
extern MIC9404xDriver moduleLldPowerSwitchV50;
|
| 509 |
|
| 510 |
/**
|
| 511 |
* @brief Pseudo power switch driver (VSYS).
|
| 512 |
* @details There is no actual MIC9040x device, but the swicthable circuit behaves analogous.
|
| 513 |
*/
|
| 514 |
extern MIC9404xDriver moduleLldPowerSwitchVsys;
|
| 515 |
|
| 516 |
// TODO: add SNx5C3221E
|
| 517 |
|
| 518 |
/**
|
| 519 |
* @brief 24 channel PWM LED driver.
|
| 520 |
*/
|
| 521 |
extern TLC5947Driver moduleLldLedPwm;
|
| 522 |
|
| 523 |
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
|
| 524 |
|
| 525 |
#include <alld_DW1000.h> |
| 526 |
|
| 527 |
/**
|
| 528 |
* @brief Alias for the DW1000 driver object.
|
| 529 |
* @note The dw1000 struct is defined as external variable (singleton) by the
|
| 530 |
* driver, since the Decawave software stacks assumes no more than a
|
| 531 |
* single device in a system.
|
| 532 |
*/
|
| 533 |
#define moduleLldDw1000 dw1000
|
| 534 |
|
| 535 |
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
| 536 |
|
| 537 |
/** @} */
|
| 538 |
|
| 539 |
/*===========================================================================*/
|
| 540 |
/**
|
| 541 |
* @name Tests
|
| 542 |
* @{
|
| 543 |
*/
|
| 544 |
/*===========================================================================*/
|
| 545 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 546 |
|
| 547 |
/**
|
| 548 |
* @brief AT24C01BN-SH-B (EEPROM) test command.
|
| 549 |
*/
|
| 550 |
extern aos_shellcommand_t moduleTestAt24c01bShellCmd;
|
| 551 |
|
| 552 |
/**
|
| 553 |
* @brief INA219 (power monitor) test command.
|
| 554 |
*/
|
| 555 |
extern aos_shellcommand_t moduleTestIna219ShellCmd;
|
| 556 |
|
| 557 |
/**
|
| 558 |
* @brief Status LED test command.
|
| 559 |
*/
|
| 560 |
extern aos_shellcommand_t moduleTestLedShellCmd;
|
| 561 |
|
| 562 |
/**
|
| 563 |
* @brief MIC9404x (power switch) test command.
|
| 564 |
*/
|
| 565 |
extern aos_shellcommand_t moduleTestMic9404xShellCmd;
|
| 566 |
|
| 567 |
// TODO: add SNx5C3221E
|
| 568 |
|
| 569 |
/**
|
| 570 |
* @brief TLC5947 (24 channel PWM LED driver) test command.
|
| 571 |
*/
|
| 572 |
extern aos_shellcommand_t moduleTestTlc5947ShellCmd;
|
| 573 |
|
| 574 |
/**
|
| 575 |
* @brief Entire module test command.
|
| 576 |
*/
|
| 577 |
extern aos_shellcommand_t moduleTestAllShellCmd;
|
| 578 |
|
| 579 |
|
| 580 |
#if (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) || defined(__DOXYGEN__)
|
| 581 |
|
| 582 |
/**
|
| 583 |
* @brief DW1000 (UWB transmitter) test command.
|
| 584 |
*/
|
| 585 |
extern aos_shellcommand_t moduleTestDw1000ShellCmd;
|
| 586 |
|
| 587 |
#endif /* (BOARD_BREAKOUT_MODULE == BOARD_BREAKOUT_UWBv10) */ |
| 588 |
|
| 589 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 590 |
|
| 591 |
/** @} */
|
| 592 |
|
| 593 |
#endif /* AMIROOS_MODULE_H */ |
| 594 |
|
| 595 |
/** @} */
|