amiro-os / modules / DiWheelDrive_1-1 / module.h @ e2d7143f
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1 | e545e620 | 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 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
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 | 53710ca3 | Marc Rothmann | /**
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20 | 37bacabf | Thomas Schöpping | * @file
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21 | 53710ca3 | Marc Rothmann | * @brief Structures and constant for the DiWheelDrive module.
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22 | *
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23 | * @addtogroup diwheeldrive_module
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24 | * @{
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25 | */
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26 | |||
27 | e545e620 | Thomas Schöpping | #ifndef _AMIROOS_MODULE_H_
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28 | #define _AMIROOS_MODULE_H_
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29 | |||
30 | e2d7143f | Thomas Schöpping | #include <amiroos.h> |
31 | |||
32 | e545e620 | Thomas Schöpping | /*===========================================================================*/
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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 | * @brief CAN driver to use.
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50 | */
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51 | #define MODULE_HAL_CAN CAND1
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52 | |||
53 | /**
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54 | * @brief Configuration for the CAN driver.
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55 | */
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56 | extern CANConfig moduleHalCanConfig;
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57 | |||
58 | /**
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59 | * @brief I2C driver to access the compass.
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60 | */
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61 | #define MODULE_HAL_I2C_COMPASS I2CD1
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62 | |||
63 | /**
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64 | * @brief Configuration for the compass I2C driver.
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65 | */
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66 | extern I2CConfig moduleHalI2cCompassConfig;
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67 | |||
68 | /**
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69 | * @brief I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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70 | */
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71 | #define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR I2CD2
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72 | |||
73 | /**
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74 | * @brief Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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75 | */
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76 | extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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77 | |||
78 | /**
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79 | * @brief PWM driver to use.
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80 | */
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81 | #define MODULE_HAL_PWM_DRIVE PWMD2
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82 | |||
83 | /**
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84 | * @brief Configuration for the PWM driver.
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85 | */
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86 | extern PWMConfig moduleHalPwmDriveConfig;
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87 | |||
88 | /**
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89 | * @brief Drive PWM channel for the left wheel forward direction.
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90 | */
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91 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD ((apalPWMchannel_t)0) |
92 | e545e620 | Thomas Schöpping | |
93 | /**
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94 | * @brief Drive PWM channel for the left wheel backward direction.
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95 | */
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96 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD ((apalPWMchannel_t)1) |
97 | e545e620 | Thomas Schöpping | |
98 | /**
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99 | * @brief Drive PWM channel for the right wheel forward direction.
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100 | */
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101 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD ((apalPWMchannel_t)2) |
102 | e545e620 | Thomas Schöpping | |
103 | /**
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104 | * @brief Drive PWM channel for the right wheel backward direction.
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105 | */
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106 | 1e5f7648 | Thomas Schöpping | #define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD ((apalPWMchannel_t)3) |
107 | e545e620 | Thomas Schöpping | |
108 | /**
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109 | * @brief Quadrature encooder for the left wheel.
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110 | */
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111 | #define MODULE_HAL_QEI_LEFT_WHEEL QEID3
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112 | |||
113 | /**
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114 | * @brief Quadrature encooder for the right wheel.
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115 | */
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116 | #define MODULE_HAL_QEI_RIGHT_WHEEL QEID4
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117 | |||
118 | /**
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119 | * @brief Configuration for both quadrature encoders.
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120 | */
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121 | extern QEIConfig moduleHalQeiConfig;
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122 | |||
123 | /**
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124 | * @brief QEI increments per wheel revolution.
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125 | * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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126 | */
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127 | #define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION (apalQEICount_t)(2 * 2 * 16 * 22) |
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128 | |||
129 | /**
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130 | * @brief Serial driver of the programmer interface.
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131 | */
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132 | #define MODULE_HAL_PROGIF SD1
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133 | |||
134 | /**
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135 | * @brief Configuration for the programmer serial interface driver.
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136 | */
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137 | extern SerialConfig moduleHalProgIfConfig;
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138 | |||
139 | /**
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140 | * @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
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141 | */
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142 | #define MODULE_HAL_SPI_MOTION SPID1
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143 | |||
144 | /**
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145 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the accelerometer.
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146 | */
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147 | extern SPIConfig moduleHalSpiAccelerometerConfig;
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148 | |||
149 | /**
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150 | * @brief Configuration for the motion sensor SPI interface driver to communicate with the gyroscope.
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151 | */
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152 | extern SPIConfig moduleHalSpiGyroscopeConfig;
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153 | |||
154 | 8399aeae | Thomas Schöpping | /**
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155 | * @brief Real-Time Clock driver.
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156 | */
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157 | #define MODULE_HAL_RTC RTCD1
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158 | |||
159 | e545e620 | Thomas Schöpping | /** @} */
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160 | |||
161 | /*===========================================================================*/
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162 | /**
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163 | * @name GPIO definitions
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164 | * @{
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165 | */
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166 | /*===========================================================================*/
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167 | |||
168 | /**
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169 | * @brief LED output signal GPIO.
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170 | */
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171 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioLed;
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172 | e545e620 | Thomas Schöpping | |
173 | /**
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174 | * @brief POWER_EN output signal GPIO.
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175 | */
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176 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPowerEn;
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177 | e545e620 | Thomas Schöpping | |
178 | /**
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179 | * @brief COMPASS_DRDY input signal GPIO.
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180 | */
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181 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;
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182 | e545e620 | Thomas Schöpping | |
183 | /**
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184 | * @brief IR_INT input signal GPIO.
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185 | */
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186 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioIrInt;
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187 | e545e620 | Thomas Schöpping | |
188 | /**
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189 | * @brief GYRO_DRDY input signal GPIO.
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190 | */
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191 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;
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192 | e545e620 | Thomas Schöpping | |
193 | /**
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194 | * @brief SYS_UART_UP bidirectional signal GPIO.
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195 | */
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196 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;
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197 | e545e620 | Thomas Schöpping | |
198 | /**
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199 | * @brief ACCEL_INT input signal GPIO.
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200 | */
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201 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioAccelInt;
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202 | e545e620 | Thomas Schöpping | |
203 | /**
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204 | * @brief SYS_SNYC bidirectional signal GPIO.
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205 | */
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206 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysSync;
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207 | e545e620 | Thomas Schöpping | |
208 | /**
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209 | * @brief PATH_DCSTAT input signal GPIO.
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210 | */
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211 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;
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212 | e545e620 | Thomas Schöpping | |
213 | /**
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214 | * @brief PATH_DCEN output signal GPIO.
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215 | */
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216 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;
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217 | e545e620 | Thomas Schöpping | |
218 | /**
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219 | * @brief SYS_PD bidirectional signal GPIO.
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220 | */
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221 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysPd;
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222 | e545e620 | Thomas Schöpping | |
223 | /**
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224 | * @brief SYS_REG_EN input signal GPIO.
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225 | */
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226 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;
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227 | e545e620 | Thomas Schöpping | |
228 | /**
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229 | * @brief SYS_WARMRST bidirectional signal GPIO.
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230 | */
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231 | acc97cbf | Thomas Schöpping | extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;
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232 | e545e620 | Thomas Schöpping | |
233 | /** @} */
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234 | |||
235 | /*===========================================================================*/
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236 | /**
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237 | * @name AMiRo-OS core configurations
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238 | * @{
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239 | */
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240 | /*===========================================================================*/
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241 | |||
242 | /**
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243 | * @brief Event flag to be set on a SYS_SYNC interrupt.
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244 | */
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245 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(GPIOC_SYS_INT_N)
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246 | e545e620 | Thomas Schöpping | |
247 | /**
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248 | * @brief Event flag to be set on a SYS_WARMRST interrupt.
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249 | */
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250 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSWARMRST AOS_IOEVENT_FLAG(GPIOD_SYS_WARMRST_N)
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251 | e545e620 | Thomas Schöpping | |
252 | /**
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253 | * @brief Event flag to be set on a PATH_DCSTAT interrupt.
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254 | */
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255 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT AOS_IOEVENT_FLAG(GPIOC_PATH_DCEN)
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256 | e545e620 | Thomas Schöpping | |
257 | /**
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258 | * @brief Event flag to be set on a COMPASS_DRDY interrupt.
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259 | */
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260 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY AOS_IOEVENT_FLAG(GPIOB_COMPASS_DRDY)
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261 | e545e620 | Thomas Schöpping | |
262 | /**
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263 | * @brief Event flag to be set on a SYS_PD interrupt.
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264 | */
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265 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
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266 | e545e620 | Thomas Schöpping | |
267 | /**
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268 | * @brief Event flag to be set on a SYS_REG_EN interrupt.
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269 | */
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270 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSREGEN AOS_IOEVENT_FLAG(GPIOC_SYS_REG_EN)
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271 | e545e620 | Thomas Schöpping | |
272 | /**
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273 | * @brief Event flag to be set on a IR_INT interrupt.
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274 | */
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275 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_IRINT AOS_IOEVENT_FLAG(GPIOB_IR_INT)
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276 | e545e620 | Thomas Schöpping | |
277 | /**
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278 | * @brief Event flag to be set on a GYRO_DRDY interrupt.
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279 | */
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280 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_GYRODRDY AOS_IOEVENT_FLAG(GPIOB_GYRO_DRDY)
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281 | e545e620 | Thomas Schöpping | |
282 | /**
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283 | * @brief Event flag to be set on a SYS_UART_UP interrupt.
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284 | */
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285 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_SYSUARTUP AOS_IOEVENT_FLAG(GPIOB_SYS_UART_UP)
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286 | e545e620 | Thomas Schöpping | |
287 | /**
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288 | * @brief Event flag to be set on a ACCEL_INT interrupt.
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289 | */
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290 | dada2194 | Thomas Schöpping | #define MODULE_OS_IOEVENTFLAGS_ACCELINT AOS_IOEVENT_FLAG(GPIOB_ACCEL_INT_N)
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291 | e545e620 | Thomas Schöpping | |
292 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
293 | e545e620 | Thomas Schöpping | /**
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294 | * @brief Shell prompt text.
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295 | */
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296 | acc97cbf | Thomas Schöpping | extern ROMCONST char* moduleShellPrompt; |
297 | 6b53f6bf | Thomas Schöpping | #endif
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298 | e545e620 | Thomas Schöpping | |
299 | /**
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300 | * @brief Additional HAL initialization hook.
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301 | */
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302 | #define MODULE_INIT_HAL_EXTRA() { \
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303 | qeiInit(); \ |
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304 | } |
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305 | |||
306 | /**
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307 | 1e5f7648 | Thomas Schöpping | * @brief Interrupt initialization macro.
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308 | * @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
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309 | */
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310 | #define MODULE_INIT_INTERRUPTS() { \
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311 | /* COMPASS_DRDY */ \
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312 | palSetPadCallback(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, _intCallback, &moduleGpioCompassDrdy.gpio->pad); \ |
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313 | palEnablePadEvent(moduleGpioCompassDrdy.gpio->port, moduleGpioCompassDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge)); \ |
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314 | /* IR_INT */ \
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315 | palSetPadCallback(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, _intCallback, &moduleGpioIrInt.gpio->pad); \ |
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316 | palEnablePadEvent(moduleGpioIrInt.gpio->port, moduleGpioIrInt.gpio->pad, APAL2CH_EDGE(moduleGpioIrInt.meta.edge)); \ |
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317 | /* GYRO_DRDY */ \
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318 | palSetPadCallback(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, _intCallback, &moduleGpioGyroDrdy.gpio->pad); \ |
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319 | palEnablePadEvent(moduleGpioGyroDrdy.gpio->port, moduleGpioGyroDrdy.gpio->pad, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge)); \ |
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320 | /* ACCEL_INT */ \
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321 | palSetPadCallback(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, _intCallback, &moduleGpioAccelInt.gpio->pad); \ |
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322 | palEnablePadEvent(moduleGpioAccelInt.gpio->port, moduleGpioAccelInt.gpio->pad, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge)); \ |
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323 | /* PATH_DCSTAT */ \
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324 | palSetPadCallback(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, _intCallback, &moduleGpioPathDcStat.gpio->pad); \ |
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325 | palEnablePadEvent(moduleGpioPathDcStat.gpio->port, moduleGpioPathDcStat.gpio->pad, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge)); \ |
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326 | /* SYS_REG_EN */ \
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327 | palSetPadCallback(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, _intCallback, &moduleGpioSysRegEn.gpio->pad); \ |
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328 | palEnablePadEvent(moduleGpioSysRegEn.gpio->port, moduleGpioSysRegEn.gpio->pad, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge)); \ |
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329 | /* SYS_WARMRST */ \
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330 | palSetPadCallback(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, _intCallback, &moduleGpioSysWarmrst.gpio->pad); \ |
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331 | palEnablePadEvent(moduleGpioSysWarmrst.gpio->port, moduleGpioSysWarmrst.gpio->pad, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge)); \ |
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332 | } |
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333 | |||
334 | /**
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335 | e545e620 | Thomas Schöpping | * @brief Unit test initialization hook.
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336 | */
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337 | #define MODULE_INIT_TESTS() { \
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338 | /* add unit-test shell commands */ \
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339 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \ |
340 | aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
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341 | aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \ |
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342 | aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \ |
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343 | aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \ |
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344 | aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \ |
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345 | aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \ |
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346 | aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \ |
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347 | aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \ |
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348 | aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \ |
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349 | aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \ |
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350 | e545e620 | Thomas Schöpping | } |
351 | |||
352 | /**
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353 | * @brief Periphery communication interfaces initialization hook.
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354 | */
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355 | #define MODULE_INIT_PERIPHERY_COMM() { \
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356 | /* serial driver */ \
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357 | sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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358 | /* I2C */ \
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359 | moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed; \ |
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360 | moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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361 | i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig); \ |
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362 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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363 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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364 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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365 | moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \ |
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366 | moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
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367 | i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig); \ |
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368 | /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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369 | /* PWM */ \
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370 | pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig); \ |
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371 | /* QEI */ \
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372 | qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig); \ |
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373 | qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig); \ |
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374 | qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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375 | qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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376 | } |
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377 | |||
378 | /**
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379 | * @brief Periphery communication interface deinitialization hook.
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380 | */
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381 | #define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
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382 | /* PWM */ \
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383 | pwmStop(&MODULE_HAL_PWM_DRIVE); \ |
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384 | /* QEI */ \
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385 | qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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386 | qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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387 | qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL); \ |
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388 | qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL); \ |
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389 | /* I2C */ \
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390 | i2cStop(&MODULE_HAL_I2C_COMPASS); \ |
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391 | i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR); \ |
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392 | /* don't stop the serial driver so messages can still be printed */ \
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393 | } |
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394 | |||
395 | /** @} */
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396 | |||
397 | /*===========================================================================*/
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398 | /**
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399 | 6b53f6bf | Thomas Schöpping | * @name Startup Shutdown Synchronization Protocol (SSSP)
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400 | * @{
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401 | */
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402 | /*===========================================================================*/
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403 | |||
404 | /**
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405 | * @brief PD signal GPIO.
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406 | */
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407 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioPd moduleGpioSysPd
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408 | 6b53f6bf | Thomas Schöpping | |
409 | /**
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410 | * @brief SYNC signal GPIO.
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411 | */
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412 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioSync moduleGpioSysSync
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413 | 6b53f6bf | Thomas Schöpping | |
414 | /**
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415 | 933df08e | Thomas Schöpping | * @brief UP signal GPIO.
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416 | */
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417 | 1e5f7648 | Thomas Schöpping | #define moduleSsspGpioUp moduleGpioSysUartUp
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418 | 933df08e | Thomas Schöpping | |
419 | /**
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420 | 6b53f6bf | Thomas Schöpping | * @brief Event flags for PD signal events.
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421 | */
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422 | #define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
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423 | |||
424 | /**
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425 | 933df08e | Thomas Schöpping | * @brief Event flags for SYNC signal events.
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426 | 6b53f6bf | Thomas Schöpping | */
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427 | #define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
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428 | |||
429 | /**
|
||
430 | 933df08e | Thomas Schöpping | * @brief Event flags for UP signal events.
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431 | */
|
||
432 | #define MODULE_SSSP_EVENTFLAGS_UP MODULE_OS_IOEVENTFLAGS_SYSUARTUP
|
||
433 | |||
434 | 6b53f6bf | Thomas Schöpping | /** @} */
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435 | |||
436 | /*===========================================================================*/
|
||
437 | /**
|
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438 | e545e620 | Thomas Schöpping | * @name Low-level drivers
|
439 | * @{
|
||
440 | */
|
||
441 | /*===========================================================================*/
|
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442 | #include <alld_a3906.h> |
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443 | #include <alld_at24c01bn-sh-b.h> |
||
444 | #include <alld_hmc5883l.h> |
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445 | #include <alld_ina219.h> |
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446 | #include <alld_l3g4200d.h> |
||
447 | #include <alld_led.h> |
||
448 | #include <alld_lis331dlh.h> |
||
449 | #include <alld_ltc4412.h> |
||
450 | #include <alld_pca9544a.h> |
||
451 | #include <alld_tps62113.h> |
||
452 | #include <alld_vcnl4020.h> |
||
453 | |||
454 | /**
|
||
455 | * @brief Motor driver.
|
||
456 | */
|
||
457 | extern A3906Driver moduleLldMotors;
|
||
458 | |||
459 | /**
|
||
460 | * @brief EEPROM driver.
|
||
461 | */
|
||
462 | extern AT24C01BNDriver moduleLldEeprom;
|
||
463 | |||
464 | /**
|
||
465 | * @brief Compass driver.
|
||
466 | */
|
||
467 | extern HMC5883LDriver moduleLldCompass;
|
||
468 | |||
469 | /**
|
||
470 | * @brief Power monitor (VDD) driver.
|
||
471 | */
|
||
472 | extern INA219Driver moduleLldPowerMonitorVdd;
|
||
473 | |||
474 | /**
|
||
475 | * @brief Gyroscope driver.
|
||
476 | */
|
||
477 | extern L3G4200DDriver moduleLldGyroscope;
|
||
478 | |||
479 | /**
|
||
480 | * @brief Status LED driver.
|
||
481 | */
|
||
482 | extern LEDDriver moduleLldStatusLed;
|
||
483 | |||
484 | /**
|
||
485 | * @brief Accelerometer driver.
|
||
486 | */
|
||
487 | extern LIS331DLHDriver moduleLldAccelerometer;
|
||
488 | |||
489 | /**
|
||
490 | * @brief Power path controler (charging pins) driver.
|
||
491 | */
|
||
492 | extern LTC4412Driver moduleLldPowerPathController;
|
||
493 | |||
494 | /**
|
||
495 | * @brief I2C multiplexer driver.
|
||
496 | */
|
||
497 | extern PCA9544ADriver moduleLldI2cMultiplexer;
|
||
498 | |||
499 | /**
|
||
500 | * @brief Step down converter (VDRIVE) driver.
|
||
501 | */
|
||
502 | extern TPS62113Driver moduleLldStepDownConverterVdrive;
|
||
503 | |||
504 | /**
|
||
505 | * @brief Proximity sensor driver.
|
||
506 | */
|
||
507 | extern VCNL4020Driver moduleLldProximity;
|
||
508 | |||
509 | /** @} */
|
||
510 | |||
511 | /*===========================================================================*/
|
||
512 | /**
|
||
513 | * @name Unit tests (UT)
|
||
514 | * @{
|
||
515 | */
|
||
516 | /*===========================================================================*/
|
||
517 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
518 | #include <ut_alld_a3906.h> |
||
519 | #include <ut_alld_at24c01bn-sh-b.h> |
||
520 | #include <ut_alld_hmc5883l.h> |
||
521 | #include <ut_alld_ina219.h> |
||
522 | #include <ut_alld_l3g4200d.h> |
||
523 | #include <ut_alld_led.h> |
||
524 | #include <ut_alld_lis331dlh.h> |
||
525 | #include <ut_alld_ltc4412.h> |
||
526 | #include <ut_alld_pca9544a.h> |
||
527 | #include <ut_alld_tps62113.h> |
||
528 | #include <ut_alld_vcnl4020.h> |
||
529 | |||
530 | /**
|
||
531 | * @brief A3906 (motor driver) unit test object.
|
||
532 | */
|
||
533 | extern aos_unittest_t moduleUtAlldA3906;
|
||
534 | |||
535 | /**
|
||
536 | * @brief AT24C01BN-SH-B (EEPROM) unit test object.
|
||
537 | */
|
||
538 | extern aos_unittest_t moduleUtAlldAt24c01bn;
|
||
539 | |||
540 | /**
|
||
541 | * @brief HMC5883L (compass) unit test object.
|
||
542 | */
|
||
543 | extern aos_unittest_t moduleUtAlldHmc5883l;
|
||
544 | |||
545 | /**
|
||
546 | * @brief INA219 (power monitor) unit test object.
|
||
547 | */
|
||
548 | extern aos_unittest_t moduleUtAlldIna219;
|
||
549 | |||
550 | /**
|
||
551 | * @brief L3G4200D (gyroscope) unit test object.
|
||
552 | */
|
||
553 | extern aos_unittest_t moduleUtAlldL3g4200d;
|
||
554 | |||
555 | /**
|
||
556 | * @brief Status LED unit test object.
|
||
557 | */
|
||
558 | extern aos_unittest_t moduleUtAlldLed;
|
||
559 | |||
560 | /**
|
||
561 | * @brief LIS331DLH (accelerometer) unit test object.
|
||
562 | */
|
||
563 | extern aos_unittest_t moduleUtAlldLis331dlh;
|
||
564 | |||
565 | /**
|
||
566 | * @brief LTC4412 (power path controller) unit test object.
|
||
567 | */
|
||
568 | extern aos_unittest_t moduleUtAlldLtc4412;
|
||
569 | |||
570 | /**
|
||
571 | * @brief PCA9544A (I2C multiplexer) unit test object.
|
||
572 | */
|
||
573 | extern aos_unittest_t moduleUtAlldPca9544a;
|
||
574 | |||
575 | /**
|
||
576 | * @brief TPS62113 (step-down converter) unit test object.
|
||
577 | */
|
||
578 | extern aos_unittest_t moduleUtAlldTps62113;
|
||
579 | |||
580 | /**
|
||
581 | * @brief VCNL4020 (proximity sensor) unit test object.
|
||
582 | */
|
||
583 | extern aos_unittest_t moduleUtAlldVcnl4020;
|
||
584 | |||
585 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
586 | |||
587 | /** @} */
|
||
588 | |||
589 | #endif /* _AMIROOS_MODULE_H_ */ |
||
590 | 53710ca3 | Marc Rothmann | |
591 | /** @} */ |