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amiro-os / modules / LightRing_1-0 / module.h @ df5aa9b6

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file
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 * @brief   Structures and constant for the LightRing module.
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 *
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 * @addtogroup lightring_module
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 * @{
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 */
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#ifndef AMIROOS_MODULE_H
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#define AMIROOS_MODULE_H
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#include <amiroos.h>
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/*===========================================================================*/
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/**
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 * @name Module specific functions
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 * @{
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 */
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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 * @name ChibiOS/HAL configuration
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   CAN driver to use.
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 */
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#define MODULE_HAL_CAN                          CAND1
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/**
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 * @brief   Configuration for the CAN driver.
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 */
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extern CANConfig moduleHalCanConfig;
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/**
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 * @brief   I2C driver to access the EEPROM.
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 */
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#define MODULE_HAL_I2C_EEPROM                   I2CD2
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/**
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 * @brief   Configuration for the EEPROM I2C driver.
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 */
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extern I2CConfig moduleHalI2cEepromConfig;
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/**
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 * @brief   Serial driver of the programmer interface.
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 */
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#define MODULE_HAL_PROGIF                       SD1
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/**
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 * @brief   Configuration for the programmer serial interface driver.
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 */
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extern SerialConfig moduleHalProgIfConfig;
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/**
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 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).
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 */
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#define MODULE_HAL_SPI_LIGHT                    SPID1
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/**
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 * @brief   SPI interface driver for the wireless transceiver.
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 */
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#define MODULE_HAL_SPI_WL                       SPID2
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/**
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 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.
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 */
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extern SPIConfig moduleHalSpiLightConfig;
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/**
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 * @brief   Configuration for the SPI interface driver to communicate with the wireless transceiver.
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 */
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extern SPIConfig moduleHalSpiWlConfig;
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/**
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 * @brief   Real-Time Clock driver.
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 */
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#define MODULE_HAL_RTC                          RTCD1
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/** @} */
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/*===========================================================================*/
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/**
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 * @name GPIO definitions
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   LIGHT_BANK output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
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/**
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 * @brief   LASER_EN output signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
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/**
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 * @brief   LASER_OC input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
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/**
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 * @brief   SYS_UART_DN bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
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/**
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 * @brief   WL_GDO2 input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
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/**
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 * @brief   WL_GDO0 input signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
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/**
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 * @brief   LIGHT_XLAT output signal.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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/**
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 * @brief   SYS_SYNC bidirectional signal GPIO.
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 */
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extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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/** @} */
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/*===========================================================================*/
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/**
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 * @name AMiRo-OS core configurations
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Event flag to be set on a LASER_OC interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_LASEROC         AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_LASER_OC_N))
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/**
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 * @brief   Event flag to be set on a SYS_UART_DN interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_SYSUARTDN       AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_DN))
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/**
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 * @brief   Event flag to be set on a WL_GDO2 interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_WLGDO2          AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_WL_GDO2))
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/**
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 * @brief   Event flag to be set on a WL_GDO0 interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_WLGDO0          AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_WL_GDO0))
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/**
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 * @brief   Event flag to be set on a SYS_PD interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_SYSPD           AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))
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/**
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 * @brief   Event flag to be set on a SYS_SYNC interrupt.
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 */
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#define MODULE_OS_GPIOEVENTFLAG_SYSSYNC         AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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/**
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 * @brief   Shell prompt text.
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 */
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extern ROMCONST char* moduleShellPrompt;
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
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/**
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 * @brief   Interrupt initialization macro.
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 */
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#define MODULE_INIT_INTERRUPTS() {                                            \
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  /* LASER_OC */                                                              \
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  palSetLineCallback(moduleGpioLaserOc.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioLaserOc.gpio->line);  \
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  palEnableLineEvent(moduleGpioLaserOc.gpio->line, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge));                  \
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  /* WL_GDO2 */                                                               \
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  palSetLineCallback(moduleGpioWlGdo2.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioWlGdo2.gpio->line);  \
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  palEnableLineEvent(moduleGpioWlGdo2.gpio->line, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge));                  \
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  /* WL_GDO0 */                                                               \
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  palSetLineCallback(moduleGpioWlGdo0.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioWlGdo0.gpio->line);  \
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  /*palEnableLineEvent(moduleGpioWlGdo0.gpio->line, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/  \
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}
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/**
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 * @brief   Test initialization hook.
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 */
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#define MODULE_INIT_TESTS() {                                                 \
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  /* add test commands to shell */                                            \
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  aosShellAddCommand(&aos.shell, &moduleTestAt24c01bShellCmd);                \
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  aosShellAddCommand(&aos.shell, &moduleTestTlc5947ShellCmd);                 \
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  aosShellAddCommand(&aos.shell, &moduleTestTps2051bdbvShellCmd);             \
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  aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd);                     \
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}
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/**
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 * @brief   Periphery communication interfaces initialization hook.
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 */
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#define MODULE_INIT_PERIPHERY_IF() {                                          \
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  /* serial driver */                                                         \
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  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
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  /* I2C */                                                                   \
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  moduleHalI2cEepromConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \
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  moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \
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  /* SPI */                                                                   \
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  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \
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  spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig);                        \
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  /* CAN */                                                                   \
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  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);                             \
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}
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/**
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 * @brief   Periphery communication interface deinitialization hook.
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 */
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#define MODULE_SHUTDOWN_PERIPHERY_IF() {                                      \
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  /* CAN */                                                                   \
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  canStop(&MODULE_HAL_CAN);                                                   \
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  /* SPI */                                                                   \
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  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \
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  spiStop(&MODULE_HAL_SPI_WL);                                                \
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  /* I2C */                                                                   \
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  i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \
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  /* don't stop the serial driver so messages can still be printed */         \
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}
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Startup Shutdown Synchronization Protocol (SSSP)
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 * @{
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 */
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/*===========================================================================*/
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#define moduleSsspSignalPD()                    (&moduleGpioSysPd)
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#define moduleSsspEventflagPD()                 MODULE_OS_GPIOEVENTFLAG_SYSPD
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#define moduleSsspSignalS()                     (&moduleGpioSysSync)
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#define moduleSsspEventflagS()                  MODULE_OS_GPIOEVENTFLAG_SYSSYNC
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#define moduleSsspSignalDN()                    (&moduleGpioSysUartDn)
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#define moduleSsspEventflagDN()                 MODULE_OS_GPIOEVENTFLAG_SYSUARTDN
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Low-level drivers
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 * @{
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 */
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/*===========================================================================*/
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#include <alld_AT24C01B.h>
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#include <alld_TLC5947.h>
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#include <alld_TPS20xxB.h>
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/**
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 * @brief   EEPROM driver.
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 */
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extern AT24C01BDriver moduleLldEeprom;
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/**
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 * @brief   24 channel PWM LED driver.
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 */
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extern TLC5947Driver moduleLldLedPwm;
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/**
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 * @brief   Power switch driver for the laser supply power.
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 */
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extern TPS20xxBDriver moduleLldPowerSwitchLaser;
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Tests
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 * @{
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 */
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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/**
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 * @brief   AT24C01BN-SH-B (EEPROM) test command.
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 */
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extern aos_shellcommand_t moduleTestAt24c01bShellCmd;
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/**
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 * @brief   TLC5947 (24 channel PWM LED driver) test command
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 */
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extern aos_shellcommand_t moduleTestTlc5947ShellCmd;
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/**
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 * @brief   TPS2051BDBV (Current-limited power switch) test command
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 */
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extern aos_shellcommand_t moduleTestTps2051bdbvShellCmd;
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/**
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 * @brief   Entire module test command.
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 */
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extern aos_shellcommand_t moduleTestAllShellCmd;
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/** @} */
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#endif /* AMIROOS_MODULE_H */
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/** @} */