amiro-os / modules / NUCLEO-F103RB / module.h @ deaaa47e
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| 1 | f4da707a | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | /**
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| 20 | * @file
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| 21 | * @brief Structures and constant for the NUCLEO-F103RB module.
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| 22 | *
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| 23 | * @addtogroup NUCLEO-F103RB_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_MODULE_H
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| 28 | #define AMIROOS_MODULE_H
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| 29 | f4da707a | Thomas Schöpping | |
| 30 | #include <amiroos.h> |
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| 31 | |||
| 32 | /*===========================================================================*/
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| 33 | /**
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| 34 | * @name Module specific functions
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| 35 | * @{
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| 36 | */
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| 37 | /*===========================================================================*/
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| 38 | |||
| 39 | deaaa47e | Cung Sang | #ifdef AMIROLLD_CFG_DW1000
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| 40 | |||
| 41 | #ifdef __cplusplus
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| 42 | extern "C" { |
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| 43 | #endif
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| 44 | |||
| 45 | apalGpioState_t port_CheckEXT_IRQ(void) ;
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| 46 | |||
| 47 | void dw1000_spi_init(void); |
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| 48 | |||
| 49 | void process_deca_irq(void); |
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| 50 | |||
| 51 | |||
| 52 | #ifdef __cplusplus
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| 53 | } |
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| 54 | #endif
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| 55 | |||
| 56 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 57 | |||
| 58 | |||
| 59 | f4da707a | Thomas Schöpping | /** @} */
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| 60 | |||
| 61 | /*===========================================================================*/
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| 62 | /**
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| 63 | * @name ChibiOS/HAL configuration
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| 64 | * @{
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| 65 | */
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| 66 | /*===========================================================================*/
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| 67 | |||
| 68 | /**
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| 69 | * @brief Serial driver of the programmer interface.
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| 70 | */
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| 71 | #define MODULE_HAL_PROGIF SD2
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| 72 | |||
| 73 | /**
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| 74 | * @brief Configuration for the programmer serial interface driver.
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| 75 | */
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| 76 | extern SerialConfig moduleHalProgIfConfig;
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| 77 | |||
| 78 | /**
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| 79 | * @brief Real-Time Clock driver.
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| 80 | */
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| 81 | #define MODULE_HAL_RTC RTCD1
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| 82 | |||
| 83 | deaaa47e | Cung Sang | |
| 84 | #ifdef AMIROLLD_CFG_DW1000
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| 85 | |||
| 86 | /**
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| 87 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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| 88 | */
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| 89 | #define MODULE_HAL_SPI_UWB SPID2
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| 90 | |||
| 91 | |||
| 92 | /**
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| 93 | * @brief Configuration for the SPI interface driver to communicate with the LED driver.
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| 94 | */
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| 95 | extern SPIConfig moduleHalSpiUwbHsConfig;
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| 96 | |||
| 97 | /**
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| 98 | * @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
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| 99 | */
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| 100 | extern SPIConfig moduleHalSpiUwbLsConfig;
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| 101 | |||
| 102 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 103 | |||
| 104 | f4da707a | Thomas Schöpping | /** @} */
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| 105 | |||
| 106 | deaaa47e | Cung Sang | |
| 107 | f4da707a | Thomas Schöpping | /*===========================================================================*/
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| 108 | /**
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| 109 | * @name GPIO definitions
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| 110 | * @{
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| 111 | */
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| 112 | /*===========================================================================*/
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| 113 | |||
| 114 | /**
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| 115 | * @brief LED output signal GPIO.
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| 116 | */
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| 117 | extern ROMCONST apalControlGpio_t moduleGpioLed;
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| 118 | |||
| 119 | deaaa47e | Cung Sang | #ifdef AMIROLLD_CFG_DW1000
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| 120 | /**
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| 121 | * @brief DW1000 reset output signal
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| 122 | * @note the reset pin should be drived as low by MCU to activate.
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| 123 | * Then, put back the reset pin as input to MCU (tri-state float on the air
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| 124 | * is not supported in AMiRo)
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| 125 | */
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| 126 | extern ROMCONST apalControlGpio_t moduleGpioDw1000Reset;
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| 127 | |||
| 128 | /**
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| 129 | * @brief DW1000 interrupt IRQn input signal.
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| 130 | */
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| 131 | extern ROMCONST apalControlGpio_t moduleGpioDw1000Irqn;
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| 132 | |||
| 133 | /**
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| 134 | * @brief DW1000 SPI chip select output signal.
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| 135 | */
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| 136 | extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ;
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| 137 | |||
| 138 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 139 | |||
| 140 | f4da707a | Thomas Schöpping | /**
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| 141 | * @brief User button input signal.
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| 142 | */
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| 143 | extern ROMCONST apalControlGpio_t moduleGpioUserButton;
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| 144 | |||
| 145 | /** @} */
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| 146 | |||
| 147 | /*===========================================================================*/
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| 148 | /**
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| 149 | * @name AMiRo-OS core configurations
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| 150 | * @{
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| 151 | */
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| 152 | /*===========================================================================*/
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| 153 | |||
| 154 | /**
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| 155 | deaaa47e | Cung Sang | * @brief Event flag to be call dwt_isr() interrupt.
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| 156 | */
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| 157 | #define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn AOS_IOEVENT_FLAG(GPIOB_ARD_D6)
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| 158 | |||
| 159 | /**
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| 160 | f4da707a | Thomas Schöpping | * @brief Event flag to be set on a USER_BUTTON interrupt.
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| 161 | */
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| 162 | #define MODULE_OS_IOEVENTFLAGS_USERBUTTON AOS_IOEVENT_FLAG(GPIOC_BUTTON)
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| 163 | |||
| 164 | deaaa47e | Cung Sang | |
| 165 | f4da707a | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 166 | /**
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| 167 | * @brief Shell prompt text.
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| 168 | */
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| 169 | extern ROMCONST char* moduleShellPrompt; |
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| 170 | #endif
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| 171 | |||
| 172 | deaaa47e | Cung Sang | |
| 173 | f4da707a | Thomas Schöpping | /**
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| 174 | * @brief Interrupt initialization macro.
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| 175 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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| 176 | */
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| 177 | #define MODULE_INIT_INTERRUPTS() { \
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| 178 | /* user button */ \
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| 179 | palSetPadCallback(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, _intCallback, &moduleGpioUserButton.gpio->pad); \ |
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| 180 | palEnablePadEvent(moduleGpioUserButton.gpio->port, moduleGpioUserButton.gpio->pad, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
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| 181 | deaaa47e | Cung Sang | MODULE_INIT_INTERRUPTS_DW1000(); \ |
| 182 | f4da707a | Thomas Schöpping | } |
| 183 | deaaa47e | Cung Sang | #ifdef AMIROLLD_CFG_DW1000
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| 184 | #define MODULE_INIT_INTERRUPTS_DW1000() { \
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| 185 | palSetPadCallback(moduleGpioDw1000Irqn.gpio->port, moduleGpioDw1000Irqn.gpio->pad, _intCallback, &moduleGpioDw1000Irqn.gpio->pad); \ |
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| 186 | palEnablePadEvent(moduleGpioDw1000Irqn.gpio->port, moduleGpioDw1000Irqn.gpio->pad, APAL2CH_EDGE(moduleGpioDw1000Irqn.meta.edge)); \ |
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| 187 | } |
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| 188 | #else
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| 189 | #define MODULE_INIT_INTERRUPTS_DW1000() { \
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| 190 | } |
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| 191 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 192 | |||
| 193 | f4da707a | Thomas Schöpping | |
| 194 | /**
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| 195 | * @brief Unit test initialization hook.
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| 196 | */
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| 197 | #define MODULE_INIT_TESTS() { \
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| 198 | /* add unit-test shell commands */ \
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| 199 | deaaa47e | Cung Sang | MODULE_INIT_TESTS_DW1000(); \ |
| 200 | f4da707a | Thomas Schöpping | } |
| 201 | deaaa47e | Cung Sang | #ifdef AMIROLLD_CFG_DW1000
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| 202 | #define MODULE_INIT_TESTS_DW1000() { \
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| 203 | aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd); \ |
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| 204 | } |
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| 205 | #else
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| 206 | #define MODULE_INIT_TESTS_DW1000() { \
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| 207 | } |
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| 208 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 209 | |||
| 210 | f4da707a | Thomas Schöpping | |
| 211 | /**
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| 212 | * @brief Periphery communication interfaces initialization hook.
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| 213 | */
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| 214 | #define MODULE_INIT_PERIPHERY_COMM() { \
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| 215 | /* serial driver */ \
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| 216 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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| 217 | deaaa47e | Cung Sang | MODULE_INIT_PERIPHERY_COMM_DW1000(); \ |
| 218 | f4da707a | Thomas Schöpping | } |
| 219 | deaaa47e | Cung Sang | #ifdef AMIROLLD_CFG_DW1000
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| 220 | #define MODULE_INIT_PERIPHERY_COMM_DW1000() { \
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| 221 | /* SPI init */ \
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| 222 | dw1000_spi_init(); \ |
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| 223 | spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig); \ |
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| 224 | } |
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| 225 | #else
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| 226 | #define MODULE_INIT_PERIPHERY_COMM_DW1000() { \
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| 227 | } |
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| 228 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 229 | |||
| 230 | f4da707a | Thomas Schöpping | |
| 231 | /**
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| 232 | * @brief Periphery communication interface deinitialization hook.
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| 233 | */
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| 234 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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| 235 | deaaa47e | Cung Sang | MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000(); \ |
| 236 | } |
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| 237 | #ifdef AMIROLLD_CFG_DW1000
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| 238 | #define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() { \
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| 239 | /* SPI */ \
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| 240 | spiStop(&MODULE_HAL_SPI_UWB); \ |
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| 241 | f4da707a | Thomas Schöpping | } |
| 242 | deaaa47e | Cung Sang | #else
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| 243 | #define MODULE_SHUTDOWN_PERIPHERY_COMM_DW1000() { \
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| 244 | } |
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| 245 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 246 | f4da707a | Thomas Schöpping | |
| 247 | /**
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| 248 | deaaa47e | Cung Sang | * @brief HOOK to call process_deca_irq() func when the dw1000 interrupt pin is activated.
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| 249 | f4da707a | Thomas Schöpping | */
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| 250 | deaaa47e | Cung Sang | #define MODULE_MAIN_LOOP_IO_EVENT(eventflags) { \
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| 251 | f4da707a | Thomas Schöpping | if (eventflags & MODULE_OS_IOEVENTFLAGS_USERBUTTON) { \
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| 252 | apalControlGpioState_t buttonstate; \ |
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| 253 | apalControlGpioGet(&moduleGpioUserButton, &buttonstate); \ |
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| 254 | apalControlGpioSet(&moduleGpioLed, buttonstate); \ |
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| 255 | } \ |
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| 256 | deaaa47e | Cung Sang | MODULE_MAIN_LOOP_IO_EVENT_DW1000(); \ |
| 257 | f4da707a | Thomas Schöpping | } |
| 258 | deaaa47e | Cung Sang | #ifdef AMIROLLD_CFG_DW1000
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| 259 | #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
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| 260 | if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000_IRQn) { \
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| 261 | /*apalGpioToggle(moduleGpioLedGreen.gpio); // just for debug */ \
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| 262 | process_deca_irq(); \ |
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| 263 | } \ |
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| 264 | } |
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| 265 | #else
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| 266 | #define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
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| 267 | } |
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| 268 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 269 | f4da707a | Thomas Schöpping | |
| 270 | /** @} */
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| 271 | |||
| 272 | /*===========================================================================*/
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| 273 | /**
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| 274 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 275 | * @{
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| 276 | */
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| 277 | /*===========================================================================*/
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| 278 | |||
| 279 | /** @} */
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| 280 | |||
| 281 | /*===========================================================================*/
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| 282 | /**
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| 283 | * @name Low-level drivers
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| 284 | * @{
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| 285 | */
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| 286 | /*===========================================================================*/
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| 287 | deaaa47e | Cung Sang | #ifdef AMIROLLD_CFG_DW1000
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| 288 | #include <alld_DW1000.h> |
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| 289 | |||
| 290 | extern DW1000Driver moduleLldDw1000;
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| 291 | |||
| 292 | #endif /* AMIROLLD_CFG_DW1000 */ |
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| 293 | f4da707a | Thomas Schöpping | |
| 294 | /** @} */
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| 295 | |||
| 296 | /*===========================================================================*/
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| 297 | /**
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| 298 | * @name Unit tests (UT)
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| 299 | * @{
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| 300 | */
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| 301 | /*===========================================================================*/
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| 302 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 303 | |||
| 304 | deaaa47e | Cung Sang | #if defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) |
| 305 | #include<ut_alld_dw1000_v1.h> |
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| 306 | |||
| 307 | /**
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| 308 | * @brief DW1000 unit test object.
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| 309 | */
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| 310 | extern aos_unittest_t moduleUtAlldDw1000;
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| 311 | |||
| 312 | #endif /* defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */ |
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| 313 | |||
| 314 | f4da707a | Thomas Schöpping | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 315 | |||
| 316 | /** @} */
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| 317 | |||
| 318 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_MODULE_H */ |
| 319 | f4da707a | Thomas Schöpping | |
| 320 | /** @} */ |