/modules/NUCLEO-F103RB/module.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / NUCLEO-F103RB / module.c @ deaaa47e

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       /*
       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 NUCLEO-F103RB module.
+       *
        * @addtogroup NUCLEO-F103RB_module
        * @{
        */
       #include "module.h"
       /*===========================================================================*/
       /**
        * @name Module specific functions
        * @{
        */
       /*===========================================================================*/
       /** @} */
       /*===========================================================================*/
       /**
        * @name ChibiOS/HAL configuration
        * @{
        */
       /*===========================================================================*/
       SerialConfig moduleHalProgIfConfig = {
         /* bit rate */ 115200,
         /* CR1      */ 0,
         /* CR1      */ 0,
         /* CR1      */ 0,
       };
       #ifdef AMIROLLD_CFG_DW1000
       /*! SPI (high and low speed) configuration for DW1000 */
       SPIConfig moduleHalSpiUwbHsConfig = {
         /* circular buffer mode        */ false,
         /* callback function pointer   */ NULL,
         /* chip select line port       */ GPIOB,
         /* chip select line pad number */ GPIOB_PIN12,
         /* CR1                         */ 0,
         /* CR2                         */ 0,
       };
       SPIConfig moduleHalSpiUwbLsConfig = {
         /* circular buffer mode        */ false,
         /* callback function pointer   */ NULL,
         /* chip select line port       */ GPIOB,
         /* chip select line pad number */ GPIOB_PIN12,
         /* CR1                         */ SPI_CR1_BR_1 | SPI_CR1_BR_0,
         /* CR2                         */ 0,
       };
       #endif
       /** @} */
       /*===========================================================================*/
       /**
        * @name GPIO definitions
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   LED output signal GPIO.
        */
       static apalGpio_t _gpioLed = {
         /* port */ GPIOA,
         /* pad  */ GPIOA_LED_GREEN,
       };
       ROMCONST apalControlGpio_t moduleGpioLed = {
         /* GPIO */ &_gpioLed,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       #ifdef AMIROLLD_CFG_DW1000
       /**
        * @brief   DW1000 reset output signal GPIO.
        */
       static apalGpio_t _gpioDw1000Reset = {
         /* port */ GPIOA,
         /* pad  */ GPIOA_ARD_A0,   // PIN0
       };
       ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
         /* GPIO */ &_gpioDw1000Reset,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
           /* active state   */ APAL_GPIO_ACTIVE_HIGH,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       /**
        * @brief   DW1000 interrrupt input signal GPIO.
        */
       static apalGpio_t _gpioDw1000Irqn = {
         /* port */ GPIOB,
         /* pad  */ GPIOB_ARD_D6,  // GPIOB_PIN10
       };
       ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
         /* GPIO */ &_gpioDw1000Irqn,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_RISING,
         },
       };
       /**
        * @brief   DW1000 SPI chip select output signal GPIO.
        */
       static apalGpio_t _gpioSpiChipSelect = {
         /* port */ GPIOB,
         /* pad  */ GPIOB_PIN12,  // GPIOB_PIN10
       };
       ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
         /* GPIO */ &_gpioSpiChipSelect,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_NONE,
         },
       };
       #endif /* AMIROLLD_CFG_DW1000 */
       /**
        * @brief   User button input signal GPIO.
        */
       static apalGpio_t _gpioUserButton = {
         /* port */ GPIOC,
         /* pad  */ GPIOC_BUTTON,
       };
       ROMCONST apalControlGpio_t moduleGpioUserButton = {
         /* GPIO */ &_gpioUserButton,
         /* meta */ {
           /* direction      */ APAL_GPIO_DIRECTION_INPUT,
           /* active state   */ APAL_GPIO_ACTIVE_LOW,
           /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
         },
       };
       /** @} */
       /*===========================================================================*/
       /**
        * @name AMiRo-OS core configurations
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       ROMCONST char* moduleShellPrompt = "NUCLEO-F103RB";
       #endif
       /** @} */
       /*===========================================================================*/
       /**
        * @name Startup Shutdown Synchronization Protocol (SSSP)
        * @{
        */
       /*===========================================================================*/
       /*===========================================================================*/
       /**
        * @name Hardware specific wrappers Functions
        * @{
        */
       /*===========================================================================*/
       #ifdef AMIROLLD_CFG_DW1000
       /*! @brief entry point to the IRQn event in DW1000 module
+       *
        * */
       void process_deca_irq(void){
         do{
           dwt_isr();
           //while IRS line active (ARM can only do edge sensitive interrupts)
         }while(port_CheckEXT_IRQ() == 1);
+      }
       /*! @brief Check the current value of GPIO pin and return the value */
       apalGpioState_t port_CheckEXT_IRQ(void) {
         apalGpioState_t  val;
         apalGpioRead(moduleGpioDw1000Irqn.gpio, &val);
         return val;
+      }
       /*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB  */
       void dw1000_spi_init(void){
         palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
         palSetPadMode(GPIOB, GPIOB_PIN14, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
         palSetPadMode(GPIOB, GPIOB_PIN15, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
         palSetPadMode(moduleGpioSpiChipSelect.gpio->port, moduleGpioSpiChipSelect.gpio->pad, PAL_MODE_OUTPUT_PUSHPULL);
         apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
+      }
       #endif /* AMIROLLD_CFG_DW1000 */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Low-level drivers
        * @{
        */
       /*===========================================================================*/
       #ifdef AMIROLLD_CFG_DW1000
       DW1000Driver moduleLldDw1000 = {
         /* SPI driver         */ &MODULE_HAL_SPI_UWB,
         /* ext interrupt      */ &moduleGpioDw1000Irqn,
         /* RESET DW1000       */ &moduleGpioDw1000Reset,
       };
       #endif /* AMIROLLD_CFG_DW1000 */
       /** @} */
       /*===========================================================================*/
       /**
        * @name Unit tests (UT)
        * @{
        */
       /*===========================================================================*/
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       #ifdef AMIROLLD_CFG_DW1000
       /*
        * UwB Driver (DW1000)
        */
       static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         (void)argc;
         (void)argv;
         aosUtRun(stream, &moduleUtAlldDw1000, NULL);
         return AOS_OK;
+      }
       aos_unittest_t moduleUtAlldDw1000 = {
         /* info           */ "DW1000",
         /* name           */ "UWB System",
         /* test function  */ utAlldDw1000Func,
         /* shell command  */ {
           /* name     */ "unittest:Uwb",
           /* callback */ _utShellCmdCb_Dw1000,
           /* next     */ NULL,
         },
         /* data           */ &moduleLldDw1000,
       };
       #endif /* AMIROLLD_CFG_DW1000 */
       #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
       /** @} */
       /** @} */