AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file

 * @brief   Structures and constant for the DiWheelDrive module.

 *

 * @addtogroup diwheeldrive_module

 * @{

 */

#ifndef AMIROOS_MODULE_H

#define AMIROOS_MODULE_H

#include <amiroos.h>

/*===========================================================================*/

/**

 * @name Module specific functions

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

/*===========================================================================*/

/**

 * @brief   CAN driver to use.

 */

#define MODULE_HAL_CAN                          CAND1

/**

 * @brief   Configuration for the CAN driver.

 */

extern CANConfig moduleHalCanConfig;

/**

 * @brief   I2C driver to access the compass.

 */

#define MODULE_HAL_I2C_COMPASS                  I2CD1

/**

 * @brief   Configuration for the compass I2C driver.

 */

extern I2CConfig moduleHalI2cCompassConfig;

/**

 * @brief   I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.

 */

#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR       I2CD2

/**

 * @brief   Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.

 */

extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;

/**

 * @brief   PWM driver to use.

 */

#define MODULE_HAL_PWM_DRIVE                    PWMD2

/**

 * @brief   Configuration for the PWM driver.

 */

extern PWMConfig moduleHalPwmDriveConfig;

/**

 * @brief   Drive PWM channel for the left wheel forward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD     ((apalPWMchannel_t)0)

/**

 * @brief   Drive PWM channel for the left wheel backward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD    ((apalPWMchannel_t)1)

/**

 * @brief   Drive PWM channel for the right wheel forward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD    ((apalPWMchannel_t)2)

/**

 * @brief   Drive PWM channel for the right wheel backward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD   ((apalPWMchannel_t)3)

/**

 * @brief   Quadrature encooder for the left wheel.

 */

#define MODULE_HAL_QEI_LEFT_WHEEL               QEID3

/**

 * @brief   Quadrature encooder for the right wheel.

 */

#define MODULE_HAL_QEI_RIGHT_WHEEL              QEID4

/**

 * @brief   Configuration for both quadrature encoders.

 */

extern QEIConfig moduleHalQeiConfig;

/**

 * @brief   QEI increments per wheel revolution.

 * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox

 */

#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION  (apalQEICount_t)(2 * 2 * 16 * 22)

/**

 * @brief   Serial driver of the programmer interface.

 */

#define MODULE_HAL_PROGIF                       SD1

/**

 * @brief   Configuration for the programmer serial interface driver.

 */

extern SerialConfig moduleHalProgIfConfig;

/**

 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).

 */

#define MODULE_HAL_SPI_MOTION                   SPID1

/**

 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the accelerometer.

 */

extern SPIConfig moduleHalSpiAccelerometerConfig;

/**

 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the gyroscope.

 */

extern SPIConfig moduleHalSpiGyroscopeConfig;

/**

 * @brief   Real-Time Clock driver.

 */

#define MODULE_HAL_RTC                          RTCD1

/** @} */

/*===========================================================================*/

/**

 * @name GPIO definitions

 * @{

 */

/*===========================================================================*/

/**

 * @brief   LED output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed;

/**

 * @brief   POWER_EN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioPowerEn;

/**

 * @brief   COMPASS_DRDY input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;

/**

 * @brief   IR_INT input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioIrInt;

/**

 * @brief   GYRO_DRDY input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;

/**

 * @brief   SYS_UART_UP bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;

/**

 * @brief   ACCEL_INT input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioAccelInt;

/**

 * @brief   SYS_SNYC bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysSync;

/**

 * @brief   PATH_DCSTAT input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;

/**

 * @brief   PATH_DCEN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;

/**

 * @brief   SYS_PD bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysPd;

/**

 * @brief   SYS_REG_EN input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;

/**

 * @brief   SYS_WARMRST bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;

/** @} */

/*===========================================================================*/

/**

 * @name AMiRo-OS core configurations

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Event flag to be set on a SYS_SYNC interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(GPIOC_SYS_INT_N)

/**

 * @brief   Event flag to be set on a SYS_WARMRST interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST       AOS_IOEVENT_FLAG(GPIOD_SYS_WARMRST_N)

/**

 * @brief   Event flag to be set on a PATH_DCSTAT interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT       AOS_IOEVENT_FLAG(GPIOC_PATH_DCEN)

/**

 * @brief   Event flag to be set on a COMPASS_DRDY interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY      AOS_IOEVENT_FLAG(GPIOB_COMPASS_DRDY)

/**

 * @brief   Event flag to be set on a SYS_PD interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)

/**

 * @brief   Event flag to be set on a SYS_REG_EN interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSREGEN         AOS_IOEVENT_FLAG(GPIOC_SYS_REG_EN)

/**

 * @brief   Event flag to be set on a IR_INT interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_IRINT            AOS_IOEVENT_FLAG(GPIOB_IR_INT)

/**

 * @brief   Event flag to be set on a GYRO_DRDY interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_GYRODRDY         AOS_IOEVENT_FLAG(GPIOB_GYRO_DRDY)

/**

 * @brief   Event flag to be set on a SYS_UART_UP interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        AOS_IOEVENT_FLAG(GPIOB_SYS_UART_UP)

/**

 * @brief   Event flag to be set on a ACCEL_INT interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_ACCELINT         AOS_IOEVENT_FLAG(GPIOB_ACCEL_INT_N)

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell prompt text.

 */

extern ROMCONST char* moduleShellPrompt;

#endif

/**

 * @brief   Additional HAL initialization hook.

 */

#define MODULE_INIT_HAL_EXTRA() {                                             \

  qeiInit();                                                                  \

}

/**

 * @brief   Interrupt initialization macro.

 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.

 */

#define MODULE_INIT_INTERRUPTS() {                                            \

  /* COMPASS_DRDY */                                                          \

  palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \

  palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge));  \

  /* IR_INT */                                                                \

  palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \

  palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge));  \

  /* GYRO_DRDY */                                                             \

  palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad);  \

  palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge));   \

  /* ACCEL_INT */                                                             \

  palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad);  \

  palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge));   \

  /* PATH_DCSTAT */                                                           \

  palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad);  \

  palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge));   \

  /* SYS_REG_EN */                                                            \

  palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad);  \

  palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge));   \

  /* SYS_WARMRST */                                                           \

  palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad);  \

  palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge));   \

}

/**

 * @brief   Unit test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add unit-test shell commands */                                          \

  aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd);                \

  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd);            \

  aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd);             \

  aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd);               \

  aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd);             \

  aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd);                  \

  aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd);            \

  aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd);              \

  aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd);             \

  aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd);             \

  aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd);             \

}

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_COMM() {                                        \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  /* I2C */                                                                   \

  moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed;  \

  moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig);              \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig);  \

  /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \

  /* PWM */                                                                   \

  pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig);                  \

  /* QEI */                                                                   \

  qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig);                  \

  qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig);                 \

  qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL);                                      \

  qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                     \

}

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \

  /* PWM */                                                                   \

  pwmStop(&MODULE_HAL_PWM_DRIVE);                                             \

  /* QEI */                                                                   \

  qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL);                                     \

  qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                    \

  qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL);                                        \

  qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL);                                       \

  /* I2C */                                                                   \

  i2cStop(&MODULE_HAL_I2C_COMPASS);                                           \

  i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR);                                \

  /* don't stop the serial driver so messages can still be printed */         \

}

/** @} */

/*===========================================================================*/

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

/*===========================================================================*/

/**

 * @brief   PD signal GPIO.

 */

#define moduleSsspGpioPd                        moduleGpioSysPd

/**

 * @brief   SYNC signal GPIO.

 */

#define moduleSsspGpioSync                      moduleGpioSysSync

/**

 * @brief   UP signal GPIO.

 */

#define moduleSsspGpioUp                        moduleGpioSysUartUp

/**

 * @brief   Event flags for PD signal events.

 */

#define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD

/**

 * @brief   Event flags for SYNC signal events.

 */

#define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC

/**

 * @brief   Event flags for UP signal events.

 */

#define MODULE_SSSP_EVENTFLAGS_UP               MODULE_OS_IOEVENTFLAGS_SYSUARTUP

/** @} */

/*===========================================================================*/

/**

 * @name Low-level drivers

 * @{

 */

/*===========================================================================*/

#include <alld_A3906.h>

#include <alld_AT24C01B.h>

#include <alld_HMC5883L.h>

#include <alld_INA219.h>

#include <alld_L3G4200D.h>

#include <alld_LED.h>

#include <alld_LIS331DLH.h>

#include <alld_LTC4412.h>

#include <alld_PCA9544A.h>

#include <alld_TPS6211x.h>

#include <alld_VCNL4020.h>

/**

 * @brief   Motor driver.

 */

extern A3906Driver moduleLldMotors;

/**

 * @brief   EEPROM driver.

 */

extern AT24C01BDriver moduleLldEeprom;

/**

 * @brief   Compass driver.

 */

extern HMC5883LDriver moduleLldCompass;

/**

 * @brief   Power monitor (VDD) driver.

 */

extern INA219Driver moduleLldPowerMonitorVdd;

/**

 * @brief   Gyroscope driver.

 */

extern L3G4200DDriver moduleLldGyroscope;

/**

 * @brief   Status LED driver.

 */

extern LEDDriver moduleLldStatusLed;

/**

 * @brief   Accelerometer driver.

 */

extern LIS331DLHDriver moduleLldAccelerometer;

/**

 * @brief   Power path controler (charging pins) driver.

 */

extern LTC4412Driver moduleLldPowerPathController;

/**

 * @brief   I2C multiplexer driver.

 */

extern PCA9544ADriver moduleLldI2cMultiplexer;

/**

 * @brief   Step down converter (VDRIVE) driver.

 */

extern TPS6211xDriver moduleLldStepDownConverterVdrive;

/**

 * @brief   Proximity sensor driver.

 */

extern VCNL4020Driver moduleLldProximity;

/** @} */

/*===========================================================================*/

/**

 * @name Unit tests (UT)

 * @{

 */

/*===========================================================================*/

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#include <ut_alld_A3906_v1.h>

#include <ut_alld_AT24C01B_v1.h>

#include <ut_alld_HMC5883L_v1.h>

#include <ut_alld_INA219_v1.h>

#include <ut_alld_L3G4200D_v1.h>

#include <ut_alld_LED_v1.h>

#include <ut_alld_LIS331DLH_v1.h>

#include <ut_alld_LTC4412_v1.h>

#include <ut_alld_PCA9544A_v1.h>

#include <ut_alld_TPS6211x_v1.h>

#include <ut_alld_VCNL4020_v1.h>

/**

 * @brief   A3906 (motor driver) unit test object.

 */

extern aos_unittest_t moduleUtAlldA3906;

/**

 * @brief   AT24C01BN-SH-B (EEPROM) unit test object.

 */

extern aos_unittest_t moduleUtAlldAt24c01b;

/**

 * @brief   HMC5883L (compass) unit test object.

 */

extern aos_unittest_t moduleUtAlldHmc5883l;

/**

 * @brief   INA219 (power monitor) unit test object.

 */

extern aos_unittest_t moduleUtAlldIna219;

/**

 * @brief   L3G4200D (gyroscope) unit test object.

 */

extern aos_unittest_t moduleUtAlldL3g4200d;

/**

 * @brief   Status LED unit test object.

 */

extern aos_unittest_t moduleUtAlldLed;

/**

 * @brief   LIS331DLH (accelerometer) unit test object.

 */

extern aos_unittest_t moduleUtAlldLis331dlh;

/**

 * @brief   LTC4412 (power path controller) unit test object.

 */

extern aos_unittest_t moduleUtAlldLtc4412;

/**

 * @brief   PCA9544A (I2C multiplexer) unit test object.

 */

extern aos_unittest_t moduleUtAlldPca9544a;

/**

 * @brief   TPS62113 (step-down converter) unit test object.

 */

extern aos_unittest_t moduleUtAlldTps62113;

/**

 * @brief   VCNL4020 (proximity sensor) unit test object.

 */

extern aos_unittest_t moduleUtAlldVcnl4020;

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */