amiro-os / modules / LightRing_1-0 / module.h @ e2d7143f
History | View | Annotate | Download (10.5 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
#ifndef _AMIROOS_MODULE_H_
|
20 |
#define _AMIROOS_MODULE_H_
|
21 |
|
22 |
#include <amiroos.h> |
23 |
|
24 |
/*===========================================================================*/
|
25 |
/**
|
26 |
* @name Module specific functions
|
27 |
* @{
|
28 |
*/
|
29 |
/*===========================================================================*/
|
30 |
|
31 |
/** @} */
|
32 |
|
33 |
/*===========================================================================*/
|
34 |
/**
|
35 |
* @name ChibiOS/HAL configuration
|
36 |
* @{
|
37 |
*/
|
38 |
/*===========================================================================*/
|
39 |
|
40 |
/**
|
41 |
* @brief CAN driver to use.
|
42 |
*/
|
43 |
#define MODULE_HAL_CAN CAND1
|
44 |
|
45 |
/**
|
46 |
* @brief Configuration for the CAN driver.
|
47 |
*/
|
48 |
extern CANConfig moduleHalCanConfig;
|
49 |
|
50 |
/**
|
51 |
* @brief I2C driver to access the EEPROM.
|
52 |
*/
|
53 |
#define MODULE_HAL_I2C_EEPROM I2CD2
|
54 |
|
55 |
/**
|
56 |
* @brief Configuration for the EEPROM I2C driver.
|
57 |
*/
|
58 |
extern I2CConfig moduleHalI2cEepromConfig;
|
59 |
|
60 |
/**
|
61 |
* @brief Serial driver of the programmer interface.
|
62 |
*/
|
63 |
#define MODULE_HAL_PROGIF SD1
|
64 |
|
65 |
/**
|
66 |
* @brief Configuration for the programmer serial interface driver.
|
67 |
*/
|
68 |
extern SerialConfig moduleHalProgIfConfig;
|
69 |
|
70 |
/**
|
71 |
* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer).
|
72 |
*/
|
73 |
#define MODULE_HAL_SPI_LIGHT SPID1
|
74 |
|
75 |
/**
|
76 |
* @brief SPI interface driver for the wireless transceiver.
|
77 |
*/
|
78 |
#define MODULE_HAL_SPI_WL SPID2
|
79 |
|
80 |
/**
|
81 |
* @brief Configuration for the SPI interface driver to communicate with the LED driver.
|
82 |
*/
|
83 |
extern SPIConfig moduleHalSpiLightConfig;
|
84 |
|
85 |
/**
|
86 |
* @brief Configuration for the SPI interface driver to communicate with the wireless transceiver.
|
87 |
*/
|
88 |
extern SPIConfig moduleHalSpiWlConfig;
|
89 |
|
90 |
/**
|
91 |
* @brief Real-Time Clock driver.
|
92 |
*/
|
93 |
#define MODULE_HAL_RTC RTCD1
|
94 |
|
95 |
/** @} */
|
96 |
|
97 |
/*===========================================================================*/
|
98 |
/**
|
99 |
* @name GPIO definitions
|
100 |
* @{
|
101 |
*/
|
102 |
/*===========================================================================*/
|
103 |
|
104 |
/**
|
105 |
* @brief LIGHT_BANK output signal GPIO.
|
106 |
*/
|
107 |
extern ROMCONST apalControlGpio_t moduleGpioLightBlank;
|
108 |
|
109 |
/**
|
110 |
* @brief LASER_EN output signal GPIO.
|
111 |
*/
|
112 |
extern ROMCONST apalControlGpio_t moduleGpioLaserEn;
|
113 |
|
114 |
/**
|
115 |
* @brief LASER_OC input signal GPIO.
|
116 |
*/
|
117 |
extern ROMCONST apalControlGpio_t moduleGpioLaserOc;
|
118 |
|
119 |
/**
|
120 |
* @brief SYS_UART_DN bidirectional signal GPIO.
|
121 |
*/
|
122 |
extern ROMCONST apalControlGpio_t moduleGpioSysUartDn;
|
123 |
|
124 |
/**
|
125 |
* @brief WL_GDO2 input signal GPIO.
|
126 |
*/
|
127 |
extern ROMCONST apalControlGpio_t moduleGpioWlGdo2;
|
128 |
|
129 |
/**
|
130 |
* @brief WL_GDO0 input signal GPIO.
|
131 |
*/
|
132 |
extern ROMCONST apalControlGpio_t moduleGpioWlGdo0;
|
133 |
|
134 |
/**
|
135 |
* @brief LIGHT_XLAT output signal GPIO.
|
136 |
*/
|
137 |
extern ROMCONST apalControlGpio_t moduleGpioLightXlat;
|
138 |
|
139 |
/**
|
140 |
* @brief SYS_PD bidirectional signal GPIO.
|
141 |
*/
|
142 |
extern ROMCONST apalControlGpio_t moduleGpioSysPd;
|
143 |
|
144 |
/**
|
145 |
* @brief SYS_SYNC bidirectional signal GPIO.
|
146 |
*/
|
147 |
extern ROMCONST apalControlGpio_t moduleGpioSysSync;
|
148 |
|
149 |
/** @} */
|
150 |
|
151 |
/*===========================================================================*/
|
152 |
/**
|
153 |
* @name AMiRo-OS core configurations
|
154 |
* @{
|
155 |
*/
|
156 |
/*===========================================================================*/
|
157 |
|
158 |
/**
|
159 |
* @brief Event flag to be set on a LASER_OC interrupt.
|
160 |
*/
|
161 |
#define MODULE_OS_IOEVENTFLAGS_LASEROC AOS_IOEVENT_FLAG(GPIOB_LASER_OC_N)
|
162 |
|
163 |
/**
|
164 |
* @brief Event flag to be set on a SYS_UART_DN interrupt.
|
165 |
*/
|
166 |
#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN AOS_IOEVENT_FLAG(GPIOB_SYS_UART_DN)
|
167 |
|
168 |
/**
|
169 |
* @brief Event flag to be set on a WL_GDO2 interrupt.
|
170 |
*/
|
171 |
#define MODULE_OS_IOEVENTFLAGS_WLGDO2 AOS_IOEVENT_FLAG(GPIOB_WL_GDO2)
|
172 |
|
173 |
/**
|
174 |
* @brief Event flag to be set on a WL_GDO0 interrupt.
|
175 |
*/
|
176 |
#define MODULE_OS_IOEVENTFLAGS_WLGDO0 AOS_IOEVENT_FLAG(GPIOB_WL_GDO0)
|
177 |
|
178 |
/**
|
179 |
* @brief Event flag to be set on a SYS_PD interrupt.
|
180 |
*/
|
181 |
#define MODULE_OS_IOEVENTFLAGS_SYSPD AOS_IOEVENT_FLAG(GPIOC_SYS_PD_N)
|
182 |
|
183 |
/**
|
184 |
* @brief Event flag to be set on a SYS_SYNC interrupt.
|
185 |
*/
|
186 |
#define MODULE_OS_IOEVENTFLAGS_SYSSYNC AOS_IOEVENT_FLAG(GPIOD_SYS_INT_N)
|
187 |
|
188 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
189 |
/**
|
190 |
* @brief Shell prompt text.
|
191 |
*/
|
192 |
extern ROMCONST char* moduleShellPrompt; |
193 |
#endif
|
194 |
|
195 |
/**
|
196 |
* @brief Interrupt initialization macro.
|
197 |
* @note SSSP related interrupt signals are already initialized in 'aos_system.c'.
|
198 |
*/
|
199 |
#define MODULE_INIT_INTERRUPTS() { \
|
200 |
/* LASER_OC */ \
|
201 |
palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \ |
202 |
palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge)); \ |
203 |
/* WL_GDO2 */ \
|
204 |
palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _intCallback, &moduleGpioWlGdo2.gpio->pad); \ |
205 |
palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge)); \ |
206 |
/* WL_GDO0 */ \
|
207 |
palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _intCallback, &moduleGpioWlGdo0.gpio->pad); \ |
208 |
/*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/ \
|
209 |
} |
210 |
|
211 |
/**
|
212 |
* @brief Unit test initialization hook.
|
213 |
*/
|
214 |
#define MODULE_INIT_TESTS() { \
|
215 |
/* add unit-test shell commands */ \
|
216 |
aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \ |
217 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \ |
218 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \ |
219 |
} |
220 |
|
221 |
/**
|
222 |
* @brief Periphery communication interfaces initialization hook.
|
223 |
*/
|
224 |
#define MODULE_INIT_PERIPHERY_COMM() { \
|
225 |
/* serial driver */ \
|
226 |
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
227 |
/* I2C */ \
|
228 |
moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \ |
229 |
moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2; \
|
230 |
i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig); \ |
231 |
/* SPI */ \
|
232 |
spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig); \ |
233 |
spiStart(&MODULE_HAL_SPI_WL, &moduleHalSpiWlConfig); \ |
234 |
} |
235 |
|
236 |
/**
|
237 |
* @brief Periphery communication interface deinitialization hook.
|
238 |
*/
|
239 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
240 |
/* SPI */ \
|
241 |
spiStop(&MODULE_HAL_SPI_LIGHT); \ |
242 |
spiStop(&MODULE_HAL_SPI_WL); \ |
243 |
/* I2C */ \
|
244 |
i2cStop(&MODULE_HAL_I2C_EEPROM); \ |
245 |
/* don't stop the serial driver so messages can still be printed */ \
|
246 |
} |
247 |
|
248 |
/** @} */
|
249 |
|
250 |
/*===========================================================================*/
|
251 |
/**
|
252 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
253 |
* @{
|
254 |
*/
|
255 |
/*===========================================================================*/
|
256 |
|
257 |
/**
|
258 |
* @brief PD signal GPIO.
|
259 |
*/
|
260 |
#define moduleSsspGpioPd moduleGpioSysPd
|
261 |
|
262 |
/**
|
263 |
* @brief SYNC signal GPIO.
|
264 |
*/
|
265 |
#define moduleSsspGpioSync moduleGpioSysSync
|
266 |
|
267 |
/**
|
268 |
* @brief DN signal GPIO.
|
269 |
*/
|
270 |
#define moduleSsspGpioDn moduleGpioSysUartDn
|
271 |
|
272 |
/**
|
273 |
* @brief Event flags for PD signal events.
|
274 |
*/
|
275 |
#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD
|
276 |
|
277 |
/**
|
278 |
* @brief Event flags for SYNC signal events.
|
279 |
*/
|
280 |
#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC
|
281 |
|
282 |
/**
|
283 |
* @brief Event flags for DN signal events.
|
284 |
*/
|
285 |
#define MODULE_SSSP_EVENTFLAGS_DN MODULE_OS_IOEVENTFLAGS_SYSUARTDN
|
286 |
|
287 |
/** @} */
|
288 |
|
289 |
/*===========================================================================*/
|
290 |
/**
|
291 |
* @name Low-level drivers
|
292 |
* @{
|
293 |
*/
|
294 |
/*===========================================================================*/
|
295 |
#include <alld_at24c01bn-sh-b.h> |
296 |
#include <alld_tlc5947.h> |
297 |
#include <alld_tps2051bdbv.h> |
298 |
|
299 |
/**
|
300 |
* @brief EEPROM driver.
|
301 |
*/
|
302 |
extern AT24C01BNDriver moduleLldEeprom;
|
303 |
|
304 |
/**
|
305 |
* @brief LED PWM driver.
|
306 |
*/
|
307 |
extern TLC5947Driver moduleLldLedPwm;
|
308 |
|
309 |
/**
|
310 |
* @brief Power switch driver for the laser supply power.
|
311 |
*/
|
312 |
extern TPS2051BDriver moduleLldPowerSwitchLaser;
|
313 |
|
314 |
/** @} */
|
315 |
|
316 |
/*===========================================================================*/
|
317 |
/**
|
318 |
* @name Unit tests (UT)
|
319 |
* @{
|
320 |
*/
|
321 |
/*===========================================================================*/
|
322 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
323 |
#include <ut_alld_at24c01bn-sh-b.h> |
324 |
#include <ut_alld_tlc5947.h> |
325 |
#include <ut_alld_tps2051bdbv.h> |
326 |
|
327 |
/**
|
328 |
* @brief EEPROM unit test object.
|
329 |
*/
|
330 |
extern aos_unittest_t moduleUtAlldAt24c01bn;
|
331 |
|
332 |
/**
|
333 |
* @brief LED PWM driver unit test object.
|
334 |
*/
|
335 |
extern aos_unittest_t moduleUtAlldTlc5947;
|
336 |
|
337 |
/**
|
338 |
* @brief Current-limited power switch (Laser output)
|
339 |
*/
|
340 |
extern aos_unittest_t moduleUtAlldTps2051bdbv;
|
341 |
|
342 |
|
343 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
344 |
|
345 |
/** @} */
|
346 |
|
347 |
#endif /* _AMIROOS_MODULE_H_ */ |