Statistics
| Branch: | Tag: | Revision:

amiro-os / modules / LightRing_1-0 / module.h @ ddf34c3d

History | View | Annotate | Download (10.6 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 module.
22
 *
23
 * @addtogroup lightring_module
24
 * @{
25
 */
26

    
27
#ifndef AMIROOS_MODULE_H
28
#define AMIROOS_MODULE_H
29

    
30
#include <amiroos.h>
31

    
32
/*===========================================================================*/
33
/**
34
 * @name Module specific functions
35
 * @{
36
 */
37
/*===========================================================================*/
38

    
39
/** @} */
40

    
41
/*===========================================================================*/
42
/**
43
 * @name ChibiOS/HAL configuration
44
 * @{
45
 */
46
/*===========================================================================*/
47

    
48
/**
49
 * @brief   CAN driver to use.
50
 */
51
#define MODULE_HAL_CAN                          CAND1
52

    
53
/**
54
 * @brief   Configuration for the CAN driver.
55
 */
56
extern CANConfig moduleHalCanConfig;
57

    
58
/**
59
 * @brief   I2C driver to access the EEPROM.
60
 */
61
#define MODULE_HAL_I2C_EEPROM                   I2CD2
62

    
63
/**
64
 * @brief   Configuration for the EEPROM I2C driver.
65
 */
66
extern I2CConfig moduleHalI2cEepromConfig;
67

    
68
/**
69
 * @brief   Serial driver of the programmer interface.
70
 */
71
#define MODULE_HAL_PROGIF                       SD1
72

    
73
/**
74
 * @brief   Configuration for the programmer serial interface driver.
75
 */
76
extern SerialConfig moduleHalProgIfConfig;
77

    
78
/**
79
 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
80
 */
81
#define MODULE_HAL_SPI_LIGHT                    SPID1
82

    
83
/**
84
 * @brief   SPI interface driver for the wireless transceiver.
85
 */
86
#define MODULE_HAL_SPI_WL                       SPID2
87

    
88
/**
89
 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
90
 */
91
extern SPIConfig moduleHalSpiLightConfig;
92

    
93
/**
94
 * @brief   Configuration for the SPI interface driver to communicate with the wireless transceiver.
95
 */
96
extern SPIConfig moduleHalSpiWlConfig;
97

    
98
/**
99
 * @brief   Real-Time Clock driver.
100
 */
101
#define MODULE_HAL_RTC                          RTCD1
102

    
103
/** @} */
104

    
105
/*===========================================================================*/
106
/**
107
 * @name GPIO definitions
108
 * @{
109
 */
110
/*===========================================================================*/
111

    
112
/**
113
 * @brief   LIGHT_BANK output signal GPIO.
114
 */
115
extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
116

    
117
/**
118
 * @brief   LASER_EN output signal GPIO.
119
 */
120
extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
121

    
122
/**
123
 * @brief   LASER_OC input signal GPIO.
124
 */
125
extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
126

    
127
/**
128
 * @brief   SYS_UART_DN bidirectional signal GPIO.
129
 */
130
extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
131

    
132
/**
133
 * @brief   WL_GDO2 input signal GPIO.
134
 */
135
extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
136

    
137
/**
138
 * @brief   WL_GDO0 input signal GPIO.
139
 */
140
extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
141

    
142
/**
143
 * @brief   LIGHT_XLAT output signal GPIO.
144
 */
145
extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
146

    
147
/**
148
 * @brief   SYS_PD bidirectional signal GPIO.
149
 */
150
extern ROMCONST apalControlGpio_t moduleGpioSysPd;
151

    
152
/**
153
 * @brief   SYS_SYNC bidirectional signal GPIO.
154
 */
155
extern ROMCONST apalControlGpio_t moduleGpioSysSync;
156

    
157
/** @} */
158

    
159
/*===========================================================================*/
160
/**
161
 * @name AMiRo-OS core configurations
162
 * @{
163
 */
164
/*===========================================================================*/
165

    
166
/**
167
 * @brief   Event flag to be set on a LASER_OC interrupt.
168
 */
169
#define MODULE_OS_IOEVENTFLAGS_LASEROC          AOS_IOEVENT_FLAG(GPIOB_LASER_OC_N)
170

    
171
/**
172
 * @brief   Event flag to be set on a SYS_UART_DN interrupt.
173
 */
174
#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        AOS_IOEVENT_FLAG(GPIOB_SYS_UART_DN)
175

    
176
/**
177
 * @brief   Event flag to be set on a WL_GDO2 interrupt.
178
 */
179
#define MODULE_OS_IOEVENTFLAGS_WLGDO2           AOS_IOEVENT_FLAG(GPIOB_WL_GDO2)
180

    
181
/**
182
 * @brief   Event flag to be set on a WL_GDO0 interrupt.
183
 */
184
#define MODULE_OS_IOEVENTFLAGS_WLGDO0           AOS_IOEVENT_FLAG(GPIOB_WL_GDO0)
185

    
186
/**
187
 * @brief   Event flag to be set on a SYS_PD interrupt.
188
 */
189
#define MODULE_OS_IOEVENTFLAGS_SYSPD            AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
190

    
191
/**
192
 * @brief   Event flag to be set on a SYS_SYNC interrupt.
193
 */
194
#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          AOS_IOEVENT_FLAG(GPIOD_SYS_INT_N)
195

    
196
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
197
/**
198
 * @brief   Shell prompt text.
199
 */
200
extern ROMCONST char* moduleShellPrompt;
201
#endif
202

    
203
/**
204
 * @brief   Interrupt initialization macro.
205
 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.
206
 */
207
#define MODULE_INIT_INTERRUPTS() {                                            \
208
  /* LASER_OC */                                                              \
209
  palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \
210
  palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge));  \
211
  /* WL_GDO2 */                                                               \
212
  palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad);  \
213
  palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge));   \
214
  /* WL_GDO0 */                                                               \
215
  palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad);  \
216
  /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/   \
217
}
218

    
219
/**
220
 * @brief   Unit test initialization hook.
221
 */
222
#define MODULE_INIT_TESTS() {                                                 \
223
  /* add unit-test shell commands */                                          \
224
  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01b.shellcmd);            \
225
  aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \
226
  aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd);          \
227
}
228

    
229
/**
230
 * @brief   Periphery communication interfaces initialization hook.
231
 */
232
#define MODULE_INIT_PERIPHERY_COMM() {                                        \
233
  /* serial driver */                                                         \
234
  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
235
  /* I2C */                                                                   \
236
  moduleHalI2cEepromConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \
237
  moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
238
  i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \
239
  /* SPI */                                                                   \
240
  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
241
  spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig);                        \
242
}
243

    
244
/**
245
 * @brief   Periphery communication interface deinitialization hook.
246
 */
247
#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
248
  /* SPI */                                                                   \
249
  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
250
  spiStop(&MODULE_HAL_SPI_WL);                                                \
251
  /* I2C */                                                                   \
252
  i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \
253
  /* don't stop the serial driver so messages can still be printed */         \
254
}
255

    
256
/** @} */
257

    
258
/*===========================================================================*/
259
/**
260
 * @name Startup Shutdown Synchronization Protocol (SSSP)
261
 * @{
262
 */
263
/*===========================================================================*/
264

    
265
/**
266
 * @brief   PD signal GPIO.
267
 */
268
#define moduleSsspGpioPd                        moduleGpioSysPd
269

    
270
/**
271
 * @brief   SYNC signal GPIO.
272
 */
273
#define moduleSsspGpioSync                      moduleGpioSysSync
274

    
275
/**
276
 * @brief   DN signal GPIO.
277
 */
278
#define moduleSsspGpioDn                        moduleGpioSysUartDn
279

    
280
/**
281
 * @brief   Event flags for PD signal events.
282
 */
283
#define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD
284

    
285
/**
286
 * @brief   Event flags for SYNC signal events.
287
 */
288
#define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC
289

    
290
/**
291
 * @brief   Event flags for DN signal events.
292
 */
293
#define MODULE_SSSP_EVENTFLAGS_DN               MODULE_OS_IOEVENTFLAGS_SYSUARTDN
294

    
295
/** @} */
296

    
297
/*===========================================================================*/
298
/**
299
 * @name Low-level drivers
300
 * @{
301
 */
302
/*===========================================================================*/
303
#include <alld_AT24C01B.h>
304
#include <alld_TLC5947.h>
305
#include <alld_TPS20xxB.h>
306

    
307
/**
308
 * @brief   EEPROM driver.
309
 */
310
extern AT24C01BDriver moduleLldEeprom;
311

    
312
/**
313
 * @brief   LED PWM driver.
314
 */
315
extern TLC5947Driver moduleLldLedPwm;
316

    
317
/**
318
 * @brief   Power switch driver for the laser supply power.
319
 */
320
extern TPS20xxBDriver moduleLldPowerSwitchLaser;
321

    
322
/** @} */
323

    
324
/*===========================================================================*/
325
/**
326
 * @name Unit tests (UT)
327
 * @{
328
 */
329
/*===========================================================================*/
330
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
331
#include <ut_alld_AT24C01B_v1.h>
332
#include <ut_alld_TLC5947_v1.h>
333
#include <ut_alld_TPS20xxB_v1.h>
334

    
335
/**
336
 * @brief   EEPROM unit test object.
337
 */
338
extern aos_unittest_t moduleUtAlldAt24c01b;
339

    
340
/**
341
 * @brief   LED PWM driver unit test object.
342
 */
343
extern aos_unittest_t moduleUtAlldTlc5947;
344

    
345
/**
346
 * @brief   Current-limited power switch (Laser output)
347
 */
348
extern aos_unittest_t moduleUtAlldTps2051bdbv;
349

    
350

    
351
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
352

    
353
/** @} */
354

    
355
#endif /* AMIROOS_MODULE_H */
356

    
357
/** @} */