amiro-os / modules / NUCLEO-L476RG / module.h @ df5aa9b6
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1 | 27d0378b | Simon Welzel | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
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4 | 27d0378b | Simon Welzel | |
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 | 126ace3c | Thomas Schöpping | * @brief Structures and constant for the NUCLEO-L476RG module.
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22 | 27d0378b | Simon Welzel | *
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23 | 126ace3c | Thomas Schöpping | * @addtogroup NUCLEO-L476RG_module
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24 | 27d0378b | Simon Welzel | * @{
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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 | 27d0378b | Simon Welzel | |
30 | 8543d0d9 | Thomas Schöpping | #include <amiroos.h> |
31 | |||
32 | 27d0378b | Simon Welzel | /*===========================================================================*/
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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 | /** @} */
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40 | |||
41 | /*===========================================================================*/
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42 | /**
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43 | * @name ChibiOS/HAL configuration
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44 | * @{
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45 | */
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46 | /*===========================================================================*/
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47 | |||
48 | /**
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49 | 8543d0d9 | Thomas Schöpping | * @brief Serial driver of the programmer interface.
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50 | 27d0378b | Simon Welzel | */
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51 | 8543d0d9 | Thomas Schöpping | #define MODULE_HAL_PROGIF SD2
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52 | 27d0378b | Simon Welzel | |
53 | /**
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54 | 8543d0d9 | Thomas Schöpping | * @brief Configuration for the programmer serial interface driver.
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55 | 27d0378b | Simon Welzel | */
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56 | 8543d0d9 | Thomas Schöpping | extern SerialConfig moduleHalProgIfConfig;
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57 | 27d0378b | Simon Welzel | |
58 | /**
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59 | * @brief Real-Time Clock driver.
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60 | */
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61 | #define MODULE_HAL_RTC RTCD1
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62 | |||
63 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
64 | 126ace3c | Thomas Schöpping | |
65 | /**
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66 | * @brief I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery).
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67 | */
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68 | #define MODULE_HAL_I2C3 I2CD3
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69 | |||
70 | /**
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71 | * @brief Configuration for the I2C driver #3.
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72 | */
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73 | extern I2CConfig moduleHalI2c3Config;
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74 | |||
75 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
76 | 126ace3c | Thomas Schöpping | |
77 | 27d0378b | Simon Welzel | /** @} */
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78 | |||
79 | /*===========================================================================*/
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80 | /**
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81 | * @name GPIO definitions
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82 | * @{
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83 | */
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84 | /*===========================================================================*/
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85 | |||
86 | /**
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87 | * @brief LED output signal GPIO.
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88 | */
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89 | extern ROMCONST apalControlGpio_t moduleGpioLed;
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90 | |||
91 | /**
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92 | 8543d0d9 | Thomas Schöpping | * @brief User button input signal.
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93 | 27d0378b | Simon Welzel | */
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94 | 8543d0d9 | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioUserButton;
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95 | 27d0378b | Simon Welzel | |
96 | 8543d0d9 | Thomas Schöpping | /** @} */
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97 | 27d0378b | Simon Welzel | |
98 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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99 | 27d0378b | Simon Welzel | /**
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100 | 8543d0d9 | Thomas Schöpping | * @name AMiRo-OS core configurations
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101 | * @{
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102 | 27d0378b | Simon Welzel | */
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103 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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104 | 27d0378b | Simon Welzel | |
105 | /**
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106 | 8543d0d9 | Thomas Schöpping | * @brief Event flag to be set on a USER_BUTTON interrupt.
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107 | 27d0378b | Simon Welzel | */
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108 | cda14729 | Thomas Schöpping | #define MODULE_OS_GPIOEVENTFLAG_USERBUTTON AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_BUTTON))
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109 | 27d0378b | Simon Welzel | |
110 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
111 | 27d0378b | Simon Welzel | /**
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112 | 8543d0d9 | Thomas Schöpping | * @brief Shell prompt text.
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113 | 27d0378b | Simon Welzel | */
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114 | 8543d0d9 | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
115 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
116 | 27d0378b | Simon Welzel | |
117 | /**
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118 | 8543d0d9 | Thomas Schöpping | * @brief Interrupt initialization macro.
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119 | 27d0378b | Simon Welzel | */
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120 | 8543d0d9 | Thomas Schöpping | #define MODULE_INIT_INTERRUPTS() { \
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121 | /* user button */ \
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122 | cda14729 | Thomas Schöpping | palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioUserButton.gpio->line); \ |
123 | 56dc4779 | Thomas Schöpping | palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
124 | 8543d0d9 | Thomas Schöpping | } |
125 | 27d0378b | Simon Welzel | |
126 | /**
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127 | 4c72a54c | Thomas Schöpping | * @brief Test initialization hook.
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128 | 27d0378b | Simon Welzel | */
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129 | 8543d0d9 | Thomas Schöpping | #define MODULE_INIT_TESTS() { \
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130 | cda14729 | Thomas Schöpping | /* add test commands to shell */ \
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131 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
132 | aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd); \ |
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133 | 126ace3c | Thomas Schöpping | MODULE_INIT_TEST_MPU6050(); \ |
134 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
135 | 8543d0d9 | Thomas Schöpping | } |
136 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) |
137 | 126ace3c | Thomas Schöpping | #define MODULE_INIT_TEST_MPU6050() { \
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138 | 4c72a54c | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleTestMpu6050ShellCmd); \ |
139 | 126ace3c | Thomas Schöpping | } |
140 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_MPU6050_CONNECTED == true) */ |
141 | 126ace3c | Thomas Schöpping | #define MODULE_INIT_TEST_MPU6050() {}
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142 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
143 | 27d0378b | Simon Welzel | |
144 | /**
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145 | 8543d0d9 | Thomas Schöpping | * @brief Periphery communication interfaces initialization hook.
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146 | 27d0378b | Simon Welzel | */
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147 | 4c72a54c | Thomas Schöpping | #define MODULE_INIT_PERIPHERY_IF() { \
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148 | 8543d0d9 | Thomas Schöpping | /* serial driver */ \
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149 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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150 | 126ace3c | Thomas Schöpping | /* MPU6050 demo */ \
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151 | 4c72a54c | Thomas Schöpping | MODULE_INIT_PERIPHERY_IF_MPU6050(); \ |
152 | 8543d0d9 | Thomas Schöpping | } |
153 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) |
154 | #define MODULE_INIT_PERIPHERY_IF_MPU6050() { \
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155 | 126ace3c | Thomas Schöpping | /* maximum I2C frequency is 1MHz for this MCU */ \
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156 | uint32_t i2c3_freq = 1000000; \
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157 | /* find minimum amon all devices connected to this bus */ \
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158 | i2c3_freq = (MPU6050_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
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159 | /* calculate PRESC (prescaler): \
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160 | * target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \
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161 | */ \
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162 | moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
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163 | /* SCL shall be low half of the time. */ \
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164 | moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
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165 | /* SCL shall be high half the time of low or slightly longer. */ \
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166 | moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \
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167 | /* SDA shall be delayed 1/10 of SCL low, or shorter */ \
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168 | moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
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169 | /* SCL shall be delyed twice as long as SDA, but longer than 0. */ \
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170 | moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
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171 | /* now we can start the I2C driver */ \
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172 | 97017dbb | Thomas Schöpping | chSysLock(); \ |
173 | 4c72a54c | Thomas Schöpping | palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \
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174 | palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \
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175 | 97017dbb | Thomas Schöpping | chSysUnlock(); \ |
176 | 126ace3c | Thomas Schöpping | i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
177 | } |
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178 | 4c72a54c | Thomas Schöpping | #else /* (BOARD_MPU6050_CONNECTED == true) */ |
179 | #define MODULE_INIT_PERIPHERY_IF_MPU6050() {}
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180 | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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181 | 27d0378b | Simon Welzel | |
182 | /**
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183 | 8543d0d9 | Thomas Schöpping | * @brief Periphery communication interface deinitialization hook.
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184 | 27d0378b | Simon Welzel | */
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185 | 4c72a54c | Thomas Schöpping | #define MODULE_SHUTDOWN_PERIPHERY_IF() { \
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186 | cda14729 | Thomas Schöpping | /* don't stop the serial driver so messages can still be printed */ \
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187 | 8543d0d9 | Thomas Schöpping | } |
188 | 27d0378b | Simon Welzel | |
189 | /**
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190 | 8543d0d9 | Thomas Schöpping | * @brief HOOK to toggle the LEDs when the user button is pressed.
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191 | 27d0378b | Simon Welzel | */
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192 | cda14729 | Thomas Schöpping | #define MODULE_MAIN_LOOP_GPIOEVENT(eventflags) { \
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193 | if (eventflags & MODULE_OS_GPIOEVENTFLAG_USERBUTTON) { \
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194 | 4c72a54c | Thomas Schöpping | button_lld_state_t buttonstate; \ |
195 | button_lld_get(&moduleLldUserButton, &buttonstate); \ |
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196 | led_lld_set(&moduleLldLed, (buttonstate == BUTTON_LLD_STATE_PRESSED) ? LED_LLD_STATE_ON : LED_LLD_STATE_OFF); \ |
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197 | 8543d0d9 | Thomas Schöpping | } \ |
198 | } |
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199 | 27d0378b | Simon Welzel | |
200 | /** @} */
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201 | |||
202 | /*===========================================================================*/
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203 | /**
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204 | 8543d0d9 | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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205 | 27d0378b | Simon Welzel | * @{
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206 | */
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207 | /*===========================================================================*/
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208 | |||
209 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
210 | c53ef0b1 | Thomas Schöpping | #error "SSSP is not supported on this module." |
211 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
212 | |||
213 | 8543d0d9 | Thomas Schöpping | /** @} */
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214 | 27d0378b | Simon Welzel | |
215 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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216 | 27d0378b | Simon Welzel | /**
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217 | 8543d0d9 | Thomas Schöpping | * @name Low-level drivers
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218 | * @{
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219 | 27d0378b | Simon Welzel | */
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220 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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221 | 4c72a54c | Thomas Schöpping | #include <alld_LED.h> |
222 | #include <alld_button.h> |
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223 | 27d0378b | Simon Welzel | |
224 | 4c72a54c | Thomas Schöpping | /**
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225 | * @brief LED driver.
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226 | */
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227 | extern LEDDriver moduleLldLed;
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228 | |||
229 | /**
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230 | * @brief Button driver.
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231 | */
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232 | extern ButtonDriver moduleLldUserButton;
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233 | |||
234 | #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
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235 | 126ace3c | Thomas Schöpping | |
236 | #include <alld_MPU6050.h> |
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237 | |||
238 | /**
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239 | * @brief Accelerometer (MPU6050) driver.
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240 | */
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241 | extern MPU6050Driver moduleLldMpu6050;
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242 | |||
243 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
244 | 126ace3c | Thomas Schöpping | |
245 | 8543d0d9 | Thomas Schöpping | /** @} */
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246 | 1678f270 | Simon Welzel | |
247 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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248 | 1678f270 | Simon Welzel | /**
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249 | 4c72a54c | Thomas Schöpping | * @name Tests
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250 | 8543d0d9 | Thomas Schöpping | * @{
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251 | 1678f270 | Simon Welzel | */
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252 | 8543d0d9 | Thomas Schöpping | /*===========================================================================*/
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253 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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254 | 1678f270 | Simon Welzel | |
255 | 4c72a54c | Thomas Schöpping | /**
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256 | * @brief LED test command.
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257 | */
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258 | extern aos_shellcommand_t moduleTestLedShellCmd;
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259 | |||
260 | /**
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261 | * @brief User button test command.
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262 | */
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263 | extern aos_shellcommand_t moduleTestButtonShellCmd;
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264 | 126ace3c | Thomas Schöpping | |
265 | 4c72a54c | Thomas Schöpping | #if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
266 | 126ace3c | Thomas Schöpping | |
267 | /**
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268 | 4c72a54c | Thomas Schöpping | * @brief MPU6050 (Accelerometer & Gyroscope) test command.
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269 | 126ace3c | Thomas Schöpping | */
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270 | 4c72a54c | Thomas Schöpping | extern aos_shellcommand_t moduleTestMpu6050ShellCmd;
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271 | 126ace3c | Thomas Schöpping | |
272 | 4c72a54c | Thomas Schöpping | #endif /* (BOARD_MPU6050_CONNECTED == true) */ |
273 | |||
274 | /**
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275 | * @brief Entire module test command.
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276 | */
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277 | extern aos_shellcommand_t moduleTestAllShellCmd;
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278 | 126ace3c | Thomas Schöpping | |
279 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
280 | 8543d0d9 | Thomas Schöpping | |
281 | /** @} */
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282 | |||
283 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_MODULE_H */ |
284 | 27d0378b | Simon Welzel | |
285 | /** @} */ |