amiro-os / modules / NUCLEO-L476RG / module.h @ e375d633
History | View | Annotate | Download (8.731 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 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 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief Structures and constant for the NUCLEO-L476RG module.
|
| 22 |
*
|
| 23 |
* @addtogroup NUCLEO-L476RG_module
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef AMIROOS_MODULE_H
|
| 28 |
#define AMIROOS_MODULE_H
|
| 29 |
|
| 30 |
#include <amiroos.h> |
| 31 |
|
| 32 |
#if (BOARD_MPU6050_CONNECTED == true) |
| 33 |
#include <math.h> |
| 34 |
#endif /* BOARD_MPU6050_CONNECTED == true */ |
| 35 |
|
| 36 |
/*===========================================================================*/
|
| 37 |
/**
|
| 38 |
* @name Module specific functions
|
| 39 |
* @{
|
| 40 |
*/
|
| 41 |
/*===========================================================================*/
|
| 42 |
|
| 43 |
/** @} */
|
| 44 |
|
| 45 |
/*===========================================================================*/
|
| 46 |
/**
|
| 47 |
* @name ChibiOS/HAL configuration
|
| 48 |
* @{
|
| 49 |
*/
|
| 50 |
/*===========================================================================*/
|
| 51 |
|
| 52 |
/**
|
| 53 |
* @brief Serial driver of the programmer interface.
|
| 54 |
*/
|
| 55 |
#define MODULE_HAL_PROGIF SD2
|
| 56 |
|
| 57 |
/**
|
| 58 |
* @brief Configuration for the programmer serial interface driver.
|
| 59 |
*/
|
| 60 |
extern SerialConfig moduleHalProgIfConfig;
|
| 61 |
|
| 62 |
/**
|
| 63 |
* @brief Real-Time Clock driver.
|
| 64 |
*/
|
| 65 |
#define MODULE_HAL_RTC RTCD1
|
| 66 |
|
| 67 |
/**
|
| 68 |
* @brief Default I2C interface for the NUCLEO I/O.
|
| 69 |
*/
|
| 70 |
#define MODULE_HAL_I2C I2CD1
|
| 71 |
|
| 72 |
/**
|
| 73 |
* @brief Configuration for the I2C driver #1.
|
| 74 |
*/
|
| 75 |
extern I2CConfig moduleHalI2cConfig;
|
| 76 |
|
| 77 |
/** @} */
|
| 78 |
|
| 79 |
/*===========================================================================*/
|
| 80 |
/**
|
| 81 |
* @name GPIO definitions
|
| 82 |
* @{
|
| 83 |
*/
|
| 84 |
/*===========================================================================*/
|
| 85 |
|
| 86 |
/**
|
| 87 |
* @brief LED output signal GPIO.
|
| 88 |
*/
|
| 89 |
extern ROMCONST apalControlGpio_t moduleGpioLed;
|
| 90 |
|
| 91 |
/**
|
| 92 |
* @brief User button input signal.
|
| 93 |
*/
|
| 94 |
extern ROMCONST apalControlGpio_t moduleGpioUserButton;
|
| 95 |
|
| 96 |
/** @} */
|
| 97 |
|
| 98 |
/*===========================================================================*/
|
| 99 |
/**
|
| 100 |
* @name AMiRo-OS core configurations
|
| 101 |
* @{
|
| 102 |
*/
|
| 103 |
/*===========================================================================*/
|
| 104 |
|
| 105 |
/**
|
| 106 |
* @brief Event flag to be set on a USER_BUTTON interrupt.
|
| 107 |
*/
|
| 108 |
#define MODULE_OS_GPIOEVENTFLAG_USERBUTTON AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_BUTTON))
|
| 109 |
|
| 110 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 111 |
/**
|
| 112 |
* @brief Shell prompt text.
|
| 113 |
*/
|
| 114 |
extern ROMCONST char* moduleShellPrompt; |
| 115 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 116 |
|
| 117 |
/**
|
| 118 |
* @brief Interrupt initialization macro.
|
| 119 |
*/
|
| 120 |
#define MODULE_INIT_INTERRUPTS() { \
|
| 121 |
/* user button */ \
|
| 122 |
palSetLineCallback(moduleGpioUserButton.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioUserButton.gpio->line); \ |
| 123 |
palEnableLineEvent(moduleGpioUserButton.gpio->line, APAL2CH_EDGE(moduleGpioUserButton.meta.edge)); \ |
| 124 |
} |
| 125 |
|
| 126 |
/**
|
| 127 |
* @brief Test initialization hook.
|
| 128 |
*/
|
| 129 |
#define MODULE_INIT_TESTS() { \
|
| 130 |
/* add test commands to shell */ \
|
| 131 |
aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd); \ |
| 132 |
aosShellAddCommand(&aos.shell, &moduleTestButtonShellCmd); \ |
| 133 |
MODULE_INIT_TEST_MPU6050(); \ |
| 134 |
aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd); \ |
| 135 |
} |
| 136 |
#if (BOARD_MPU6050_CONNECTED == true) |
| 137 |
#define MODULE_INIT_TEST_MPU6050() { \
|
| 138 |
aosShellAddCommand(&aos.shell, &moduleTestMpu6050ShellCmd); \ |
| 139 |
} |
| 140 |
#else /* (BOARD_MPU6050_CONNECTED == true) */ |
| 141 |
#define MODULE_INIT_TEST_MPU6050() {}
|
| 142 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
| 143 |
|
| 144 |
/**
|
| 145 |
* @brief Periphery communication interfaces initialization hook.
|
| 146 |
*/
|
| 147 |
#define MODULE_INIT_PERIPHERY_IF() { \
|
| 148 |
/* serial driver */ \
|
| 149 |
sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
| 150 |
/* I2C */ \
|
| 151 |
uint32_t i2c_freq = 1000000; /* maximum I2C frequency supported for this MCU */ \ |
| 152 |
MODULE_INIT_PERIPHERY_IF_MPU6050(i2c_freq); \ |
| 153 |
if (i2c_freq == 100000) /* standard-mode @ 100 kHz */ { \ |
| 154 |
moduleHalI2cConfig.timingr = 0x10909CEC; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
| 155 |
} else if (i2c_freq == 400000) /* fast-mode @ 400 kHz */ { \ |
| 156 |
moduleHalI2cConfig.timingr = 0x00702991; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
| 157 |
} else if (i2c_freq == 1000000) /* fast-mode-plus @ 10000 kHz */ { \ |
| 158 |
moduleHalI2cConfig.timingr = 0x00300F33; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
| 159 |
} else { \
|
| 160 |
aosDbgAssertMsg(false, "I2C frequency not supported"); \ |
| 161 |
} \ |
| 162 |
i2cStart(&MODULE_HAL_I2C, &moduleHalI2cConfig); \ |
| 163 |
} |
| 164 |
#if (BOARD_MPU6050_CONNECTED == true) |
| 165 |
#define MODULE_INIT_PERIPHERY_IF_MPU6050(freq) {freq = (MPU6050_LLD_I2C_MAXFREQUENCY < freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : freq;}
|
| 166 |
#else
|
| 167 |
#define MODULE_INIT_PERIPHERY_IF_MPU6050(freq) {}
|
| 168 |
#endif
|
| 169 |
|
| 170 |
/**
|
| 171 |
* @brief Periphery communication interface deinitialization hook.
|
| 172 |
*/
|
| 173 |
#define MODULE_SHUTDOWN_PERIPHERY_IF() { \
|
| 174 |
/* I2C */ \
|
| 175 |
i2cStop(&MODULE_HAL_I2C); \ |
| 176 |
/* don't stop the serial driver so messages can still be printed */ \
|
| 177 |
} |
| 178 |
|
| 179 |
/**
|
| 180 |
* @brief HOOK to toggle the LEDs when the user button is pressed.
|
| 181 |
*/
|
| 182 |
#define MODULE_MAIN_LOOP_GPIOEVENT(eventflags) { \
|
| 183 |
if (eventflags & MODULE_OS_GPIOEVENTFLAG_USERBUTTON) { \
|
| 184 |
button_lld_state_t buttonstate; \ |
| 185 |
button_lld_get(&moduleLldUserButton, &buttonstate); \ |
| 186 |
led_lld_set(&moduleLldLed, (buttonstate == BUTTON_LLD_STATE_PRESSED) ? LED_LLD_STATE_ON : LED_LLD_STATE_OFF); \ |
| 187 |
} \ |
| 188 |
} |
| 189 |
|
| 190 |
/** @} */
|
| 191 |
|
| 192 |
/*===========================================================================*/
|
| 193 |
/**
|
| 194 |
* @name Startup Shutdown Synchronization Protocol (SSSP)
|
| 195 |
* @{
|
| 196 |
*/
|
| 197 |
/*===========================================================================*/
|
| 198 |
|
| 199 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
| 200 |
#error "SSSP is not supported on this module." |
| 201 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 202 |
|
| 203 |
/** @} */
|
| 204 |
|
| 205 |
/*===========================================================================*/
|
| 206 |
/**
|
| 207 |
* @name Low-level drivers
|
| 208 |
* @{
|
| 209 |
*/
|
| 210 |
/*===========================================================================*/
|
| 211 |
#include <alld_LED.h> |
| 212 |
#include <alld_button.h> |
| 213 |
|
| 214 |
/**
|
| 215 |
* @brief LED driver.
|
| 216 |
*/
|
| 217 |
extern LEDDriver moduleLldLed;
|
| 218 |
|
| 219 |
/**
|
| 220 |
* @brief Button driver.
|
| 221 |
*/
|
| 222 |
extern ButtonDriver moduleLldUserButton;
|
| 223 |
|
| 224 |
#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
| 225 |
|
| 226 |
#include <alld_MPU6050.h> |
| 227 |
|
| 228 |
/**
|
| 229 |
* @brief Accelerometer (MPU6050) driver.
|
| 230 |
*/
|
| 231 |
extern MPU6050Driver moduleLldMpu6050;
|
| 232 |
|
| 233 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
| 234 |
|
| 235 |
/** @} */
|
| 236 |
|
| 237 |
/*===========================================================================*/
|
| 238 |
/**
|
| 239 |
* @name Tests
|
| 240 |
* @{
|
| 241 |
*/
|
| 242 |
/*===========================================================================*/
|
| 243 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 244 |
|
| 245 |
/**
|
| 246 |
* @brief LED test command.
|
| 247 |
*/
|
| 248 |
extern aos_shellcommand_t moduleTestLedShellCmd;
|
| 249 |
|
| 250 |
/**
|
| 251 |
* @brief User button test command.
|
| 252 |
*/
|
| 253 |
extern aos_shellcommand_t moduleTestButtonShellCmd;
|
| 254 |
|
| 255 |
#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
| 256 |
|
| 257 |
/**
|
| 258 |
* @brief MPU6050 (Accelerometer & Gyroscope) test command.
|
| 259 |
*/
|
| 260 |
extern aos_shellcommand_t moduleTestMpu6050ShellCmd;
|
| 261 |
|
| 262 |
#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
| 263 |
|
| 264 |
/**
|
| 265 |
* @brief Entire module test command.
|
| 266 |
*/
|
| 267 |
extern aos_shellcommand_t moduleTestAllShellCmd;
|
| 268 |
|
| 269 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 270 |
|
| 271 |
/** @} */
|
| 272 |
|
| 273 |
#endif /* AMIROOS_MODULE_H */ |
| 274 |
|
| 275 |
/** @} */
|