amiro-os / modules / LightRing_1-0 / module.c @ d3710331
History | View | Annotate | Download (9.538 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief Structures and constant for the LightRing v1.0 module.
|
| 22 |
*
|
| 23 |
* @addtogroup lightring_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include "module.h" |
| 28 |
|
| 29 |
/*===========================================================================*/
|
| 30 |
/**
|
| 31 |
* @name Module specific functions
|
| 32 |
* @{
|
| 33 |
*/
|
| 34 |
/*===========================================================================*/
|
| 35 |
|
| 36 |
/** @} */
|
| 37 |
|
| 38 |
/*===========================================================================*/
|
| 39 |
/**
|
| 40 |
* @name ChibiOS/HAL configuration
|
| 41 |
* @{
|
| 42 |
*/
|
| 43 |
/*===========================================================================*/
|
| 44 |
|
| 45 |
CANConfig moduleHalCanConfig = {
|
| 46 |
/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
| 47 |
/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
| 48 |
}; |
| 49 |
|
| 50 |
I2CConfig moduleHalI2cEepromConfig = {
|
| 51 |
/* I²C mode */ OPMODE_I2C,
|
| 52 |
/* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
| 53 |
/* duty cycle */ FAST_DUTY_CYCLE_2,
|
| 54 |
}; |
| 55 |
|
| 56 |
SerialConfig moduleHalProgIfConfig = {
|
| 57 |
/* bit rate */ 115200, |
| 58 |
/* CR1 */ 0, |
| 59 |
/* CR1 */ 0, |
| 60 |
/* CR1 */ 0, |
| 61 |
}; |
| 62 |
|
| 63 |
SPIConfig moduleHalSpiLightConfig = {
|
| 64 |
/* circular buffer mode */ false, |
| 65 |
/* callback function pointer */ NULL, |
| 66 |
/* chip select line port */ GPIOC,
|
| 67 |
/* chip select line pad number */ GPIOC_LIGHT_XLAT,
|
| 68 |
/* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
|
| 69 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 70 |
}; |
| 71 |
|
| 72 |
SPIConfig moduleHalSpiWlConfig = {
|
| 73 |
/* circular buffer mode */ false, |
| 74 |
/* callback function pointer */ NULL, |
| 75 |
/* chip select line port */ GPIOB,
|
| 76 |
/* chip select line pad number */ GPIOB_WL_SS_N,
|
| 77 |
/* CR1 */ SPI_CR1_BR_0,
|
| 78 |
/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
|
| 79 |
}; |
| 80 |
|
| 81 |
/*===========================================================================*/
|
| 82 |
/**
|
| 83 |
* @name GPIO definitions
|
| 84 |
* @{
|
| 85 |
*/
|
| 86 |
/*===========================================================================*/
|
| 87 |
|
| 88 |
/**
|
| 89 |
* @brief LIGHT_BANK output signal GPIO.
|
| 90 |
*/
|
| 91 |
static apalGpio_t _gpioLightBlank = {
|
| 92 |
/* port */ GPIOA,
|
| 93 |
/* pad */ GPIOA_LIGHT_BLANK,
|
| 94 |
}; |
| 95 |
ROMCONST apalControlGpio_t moduleGpioLightBlank = {
|
| 96 |
/* GPIO */ &_gpioLightBlank,
|
| 97 |
/* meta */ {
|
| 98 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 99 |
/* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
|
| 100 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 101 |
}, |
| 102 |
}; |
| 103 |
|
| 104 |
/**
|
| 105 |
* @brief LASER_EN output signal GPIO.
|
| 106 |
*/
|
| 107 |
static apalGpio_t _gpioLaserEn = {
|
| 108 |
/* port */ GPIOB,
|
| 109 |
/* pad */ GPIOB_LASER_EN,
|
| 110 |
}; |
| 111 |
ROMCONST apalControlGpio_t moduleGpioLaserEn = {
|
| 112 |
/* GPIO */ &_gpioLaserEn,
|
| 113 |
/* meta */ {
|
| 114 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 115 |
/* active state */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,
|
| 116 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 117 |
}, |
| 118 |
}; |
| 119 |
|
| 120 |
/**
|
| 121 |
* @brief LASER_OC input signal GPIO.
|
| 122 |
*/
|
| 123 |
static apalGpio_t _gpioLaserOc = {
|
| 124 |
/* port */ GPIOB,
|
| 125 |
/* pad */ GPIOB_LASER_OC_N,
|
| 126 |
}; |
| 127 |
ROMCONST apalControlGpio_t moduleGpioLaserOc = {
|
| 128 |
/* GPIO */ &_gpioLaserOc,
|
| 129 |
/* meta */ {
|
| 130 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 131 |
/* active state */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,
|
| 132 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 133 |
}, |
| 134 |
}; |
| 135 |
|
| 136 |
/**
|
| 137 |
* @brief SYS_UART_DN bidirectional signal GPIO.
|
| 138 |
*/
|
| 139 |
static apalGpio_t _gpioSysUartDn = {
|
| 140 |
/* port */ GPIOB,
|
| 141 |
/* pad */ GPIOB_SYS_UART_DN,
|
| 142 |
}; |
| 143 |
ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
|
| 144 |
/* GPIO */ &_gpioSysUartDn,
|
| 145 |
/* meta */ {
|
| 146 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 147 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 148 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 149 |
}, |
| 150 |
}; |
| 151 |
|
| 152 |
/**
|
| 153 |
* @brief WL_GDO2 input signal GPIO.
|
| 154 |
*/
|
| 155 |
static apalGpio_t _gpioWlGdo2 = {
|
| 156 |
/* port */ GPIOB,
|
| 157 |
/* pad */ GPIOB_WL_GDO2,
|
| 158 |
}; |
| 159 |
ROMCONST apalControlGpio_t moduleGpioWlGdo2 = {
|
| 160 |
/* GPIO */ &_gpioWlGdo2,
|
| 161 |
/* meta */ {
|
| 162 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 163 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 164 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 165 |
}, |
| 166 |
}; |
| 167 |
|
| 168 |
/**
|
| 169 |
* @brief WL_GDO0 input signal GPIO.
|
| 170 |
*/
|
| 171 |
static apalGpio_t _gpioWlGdo0= {
|
| 172 |
/* port */ GPIOB,
|
| 173 |
/* pad */ GPIOB_WL_GDO0,
|
| 174 |
}; |
| 175 |
ROMCONST apalControlGpio_t moduleGpioWlGdo0 = {
|
| 176 |
/* GPIO */ &_gpioWlGdo0,
|
| 177 |
/* meta */ {
|
| 178 |
/* direction */ APAL_GPIO_DIRECTION_INPUT,
|
| 179 |
/* active state */ APAL_GPIO_ACTIVE_HIGH,
|
| 180 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 181 |
}, |
| 182 |
}; |
| 183 |
|
| 184 |
/**
|
| 185 |
* @brief LIGHT_XLAT output signal GPIO.
|
| 186 |
*/
|
| 187 |
static apalGpio_t _gpioLightXlat = {
|
| 188 |
/* port */ GPIOC,
|
| 189 |
/* pad */ GPIOC_LIGHT_XLAT,
|
| 190 |
}; |
| 191 |
ROMCONST apalControlGpio_t moduleGpioLightXlat = {
|
| 192 |
/* GPIO */ &_gpioLightXlat,
|
| 193 |
/* meta */ {
|
| 194 |
/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
|
| 195 |
/* active state */ TLC5947_LLD_XLAT_ACTIVE_STATE,
|
| 196 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE,
|
| 197 |
}, |
| 198 |
}; |
| 199 |
|
| 200 |
/**
|
| 201 |
* @brief SYS_PD bidirectional signal GPIO.
|
| 202 |
*/
|
| 203 |
static apalGpio_t _gpioSysPd = {
|
| 204 |
/* port */ GPIOC,
|
| 205 |
/* pad */ GPIOC_SYS_PD_N,
|
| 206 |
}; |
| 207 |
ROMCONST apalControlGpio_t moduleGpioSysPd = {
|
| 208 |
/* GPIO */ &_gpioSysPd,
|
| 209 |
/* meta */ {
|
| 210 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 211 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 212 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 213 |
}, |
| 214 |
}; |
| 215 |
|
| 216 |
/**
|
| 217 |
* @brief SYS_SYNC bidirectional signal GPIO.
|
| 218 |
*/
|
| 219 |
static apalGpio_t _gpioSysSync = {
|
| 220 |
/* port */ GPIOD,
|
| 221 |
/* pad */ GPIOD_SYS_INT_N,
|
| 222 |
}; |
| 223 |
ROMCONST apalControlGpio_t moduleGpioSysSync = {
|
| 224 |
/* GPIO */ &_gpioSysSync,
|
| 225 |
/* meta */ {
|
| 226 |
/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
|
| 227 |
/* active state */ APAL_GPIO_ACTIVE_LOW,
|
| 228 |
/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
|
| 229 |
}, |
| 230 |
}; |
| 231 |
|
| 232 |
/** @} */
|
| 233 |
|
| 234 |
/*===========================================================================*/
|
| 235 |
/**
|
| 236 |
* @name AMiRo-OS core configurations
|
| 237 |
* @{
|
| 238 |
*/
|
| 239 |
/*===========================================================================*/
|
| 240 |
|
| 241 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 242 |
ROMCONST char* moduleShellPrompt = "LightRing"; |
| 243 |
#endif
|
| 244 |
|
| 245 |
/** @} */
|
| 246 |
|
| 247 |
/*===========================================================================*/
|
| 248 |
/**
|
| 249 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 250 |
* @{
|
| 251 |
*/
|
| 252 |
/*===========================================================================*/
|
| 253 |
|
| 254 |
/** @} */
|
| 255 |
|
| 256 |
/*===========================================================================*/
|
| 257 |
/**
|
| 258 |
* @name Low-level drivers
|
| 259 |
* @{
|
| 260 |
*/
|
| 261 |
/*===========================================================================*/
|
| 262 |
|
| 263 |
AT24C01BDriver moduleLldEeprom = {
|
| 264 |
/* I2C driver */ &MODULE_HAL_I2C_EEPROM,
|
| 265 |
/* I2C address */ 0x00u, |
| 266 |
}; |
| 267 |
|
| 268 |
TLC5947Driver moduleLldLedPwm = {
|
| 269 |
/* SPI driver */ &MODULE_HAL_SPI_LIGHT,
|
| 270 |
/* BLANK signal GPIO */ &moduleGpioLightBlank,
|
| 271 |
/* XLAT signal GPIO */ &moduleGpioLightXlat,
|
| 272 |
}; |
| 273 |
|
| 274 |
TPS20xxBDriver moduleLldPowerSwitchLaser = {
|
| 275 |
/* laser enable GPIO */ &moduleGpioLaserEn,
|
| 276 |
/* laser overcurrent GPIO */ &moduleGpioLaserOc,
|
| 277 |
}; |
| 278 |
|
| 279 |
/** @} */
|
| 280 |
|
| 281 |
/*===========================================================================*/
|
| 282 |
/**
|
| 283 |
* @name Unit tests (UT)
|
| 284 |
* @{
|
| 285 |
*/
|
| 286 |
/*===========================================================================*/
|
| 287 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 288 |
|
| 289 |
/*
|
| 290 |
* EEPROM (AT24C01B)
|
| 291 |
*/
|
| 292 |
static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
| 293 |
{
|
| 294 |
(void)argc;
|
| 295 |
(void)argv;
|
| 296 |
aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
|
| 297 |
return AOS_OK;
|
| 298 |
} |
| 299 |
static ut_at24c01bdata_t _utAlldAt24c01bData = {
|
| 300 |
/* driver */ &moduleLldEeprom,
|
| 301 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 302 |
}; |
| 303 |
aos_unittest_t moduleUtAlldAt24c01b = {
|
| 304 |
/* name */ "AT24C01B", |
| 305 |
/* info */ "1kbit EEPROM", |
| 306 |
/* test function */ utAlldAt24c01bFunc,
|
| 307 |
/* shell command */ {
|
| 308 |
/* name */ "unittest:EEPROM", |
| 309 |
/* callback */ _utShellCmdCb_AlldAt24c01b,
|
| 310 |
/* next */ NULL, |
| 311 |
}, |
| 312 |
/* data */ &_utAlldAt24c01bData,
|
| 313 |
}; |
| 314 |
|
| 315 |
/*
|
| 316 |
* LED PWM driver (TLC5947)
|
| 317 |
*/
|
| 318 |
static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[]) |
| 319 |
{
|
| 320 |
(void)argc;
|
| 321 |
(void)argv;
|
| 322 |
aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
|
| 323 |
return AOS_OK;
|
| 324 |
} |
| 325 |
aos_unittest_t moduleUtAlldTlc5947 = {
|
| 326 |
/* info */ "TLC5947", |
| 327 |
/* name */ "LED PWM driver", |
| 328 |
/* test function */ utAlldTlc5947Func,
|
| 329 |
/* shell command */ {
|
| 330 |
/* name */ "unittest:Lights", |
| 331 |
/* callback */ _utShellCmdCb_Tlc5947,
|
| 332 |
/* next */ NULL, |
| 333 |
}, |
| 334 |
/* data */ &moduleLldLedPwm,
|
| 335 |
}; |
| 336 |
|
| 337 |
/*
|
| 338 |
* power switch (TPS2051BDBV)
|
| 339 |
*/
|
| 340 |
static int _utShellCmdCb_Tps2051bdbv(BaseSequentialStream* stream, int argc, char* argv[]) |
| 341 |
{
|
| 342 |
(void)argc;
|
| 343 |
(void)argv;
|
| 344 |
aosUtRun(stream,&moduleUtAlldTps2051bdbv, NULL);
|
| 345 |
return AOS_OK;
|
| 346 |
} |
| 347 |
aos_unittest_t moduleUtAlldTps2051bdbv = {
|
| 348 |
/* info */ "TPS2051BDBV", |
| 349 |
/* name */ "current-limited power switch", |
| 350 |
/* test function */ utAlldTps20xxbFunc,
|
| 351 |
/* shell command */ {
|
| 352 |
/* name */ "unittest:PowerSwitch", |
| 353 |
/* callback */ _utShellCmdCb_Tps2051bdbv,
|
| 354 |
/* next */ NULL, |
| 355 |
}, |
| 356 |
/* data */ &moduleLldPowerSwitchLaser,
|
| 357 |
}; |
| 358 |
|
| 359 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 360 |
|
| 361 |
/** @} */
|
| 362 |
/** @} */
|