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amiro-os / os / modules / DiWheelDrive_1-1 / module.h @ e545e620

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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..2018  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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#ifndef _AMIROOS_MODULE_H_
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#define _AMIROOS_MODULE_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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#include <hal.h>
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#include <hal_qei.h>
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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   Interrupt driver to use.
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 */
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#define MODULE_HAL_EXT                          EXTD1
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/**
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 * @brief   Interrupt driver configuration.
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 */
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extern EXTConfig moduleHalExtConfig;
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/**
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 * @brief   I2C driver to access the compass.
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 */
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#define MODULE_HAL_I2C_COMPASS                  I2CD1
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/**
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 * @brief   Configuration for the compass I2C driver.
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 */
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extern I2CConfig moduleHalI2cCompassConfig;
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/**
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 * @brief   I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.
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 */
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#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR       I2CD2
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/**
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 * @brief   Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.
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 */
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extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;
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/**
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 * @brief   PWM driver to use.
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 */
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#define MODULE_HAL_PWM_DRIVE                    PWMD2
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/**
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 * @brief   Configuration for the PWM driver.
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 */
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extern PWMConfig moduleHalPwmDriveConfig;
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/**
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 * @brief   Drive PWM channel for the left wheel forward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD     0
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/**
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 * @brief   Drive PWM channel for the left wheel backward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD    1
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/**
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 * @brief   Drive PWM channel for the right wheel forward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD    2
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/**
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 * @brief   Drive PWM channel for the right wheel backward direction.
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 */
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#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD   3
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/**
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 * @brief   Quadrature encooder for the left wheel.
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 */
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#define MODULE_HAL_QEI_LEFT_WHEEL               QEID3
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/**
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 * @brief   Quadrature encooder for the right wheel.
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 */
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#define MODULE_HAL_QEI_RIGHT_WHEEL              QEID4
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/**
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 * @brief   Configuration for both quadrature encoders.
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 */
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extern QEIConfig moduleHalQeiConfig;
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/**
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 * @brief   QEI increments per wheel revolution.
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 * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox
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 */
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#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION  (apalQEICount_t)(2 * 2 * 16 * 22)
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/**
132
 * @brief   Serial driver of the programmer interface.
133
 */
134
#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_MOTION                   SPID1
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/**
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 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the accelerometer.
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 */
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extern SPIConfig moduleHalSpiAccelerometerConfig;
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/**
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 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the gyroscope.
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 */
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extern SPIConfig moduleHalSpiGyroscopeConfig;
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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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#include <amiro-lld.h>
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/**
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 * @brief   Interrupt channel for the SYS_SYNC signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_SYSSYNC          ((expchannel_t)1)
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/**
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 * @brief   Interrupt channel for the SYS_WARMRST signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_SYSWARMRST       ((expchannel_t)2)
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/**
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 * @brief   Interrupt channel for the PATH_DCSTAT signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_PATHDCSTAT       ((expchannel_t)3)
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/**
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 * @brief   Interrupt channel for the COMPASS_DRDY signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_COMPASSDRDY      ((expchannel_t)5)
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/**
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 * @brief   Interrupt channel for the SYS_PD signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_SYSPD            ((expchannel_t)7)
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/**
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 * @brief   Interrupt channel for the SYS_REG_EN signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_SYSREGEN         ((expchannel_t)8)
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/**
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 * @brief   Interrupt channel for the IR_INT signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_IRINT            ((expchannel_t)12)
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/**
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 * @brief   Interrupt channel for the GYRO_DRDY signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_GYRODRDY         ((expchannel_t)13)
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/**
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 * @brief   Interrupt channel for the SYS_UART_UP signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_SYSUARTUP        ((expchannel_t)14)
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/**
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 * @brief   Interrupt channel for the ACCEL_INT signal.
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 */
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#define MODULE_GPIO_EXTCHANNEL_ACCELINT         ((expchannel_t)15)
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/**
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 * @brief   LED output signal GPIO.
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 */
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extern apalGpio_t moduleGpioLed;
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/**
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 * @brief   POWER_EN output signal GPIO.
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 */
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extern apalGpio_t moduleGpioPowerEn;
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/**
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 * @brief   COMPASS_DRDY input signal GPIO.
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 */
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extern apalGpio_t moduleGpioCompassDrdy;
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/**
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 * @brief   IR_INT input signal GPIO.
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 */
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extern apalGpio_t moduleGpioIrInt;
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/**
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 * @brief   GYRO_DRDY input signal GPIO.
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 */
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extern apalGpio_t moduleGpioGyroDrdy;
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/**
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 * @brief   SYS_UART_UP bidirectional signal GPIO.
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 */
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extern apalGpio_t moduleGpioSysUartUp;
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/**
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 * @brief   ACCEL_INT input signal GPIO.
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 */
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extern apalGpio_t moduleGpioAccelInt;
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/**
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 * @brief   SYS_SNYC bidirectional signal GPIO.
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 */
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extern apalGpio_t moduleGpioSysSync;
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/**
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 * @brief   PATH_DCSTAT input signal GPIO.
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 */
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extern apalGpio_t moduleGpioPathDcStat;
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/**
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 * @brief   PATH_DCEN output signal GPIO.
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 */
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extern apalGpio_t moduleGpioPathDcEn;
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/**
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 * @brief   SYS_PD bidirectional signal GPIO.
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 */
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extern apalGpio_t moduleGpioSysPd;
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/**
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 * @brief   SYS_REG_EN input signal GPIO.
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 */
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extern apalGpio_t moduleGpioSysRegEn;
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/**
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 * @brief   SYS_WARMRST bidirectional signal GPIO.
278
 */
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extern apalGpio_t moduleGpioSysWarmrst;
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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 SYS_SYNC interrupt.
292
 */
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#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSSYNC))
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/**
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 * @brief   Event flag to be set on a SYS_WARMRST interrupt.
297
 */
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#define MODULE_OS_IOEVENTFLAGS_SYSWARMRST       ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSWARMRST))
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/**
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 * @brief   Event flag to be set on a PATH_DCSTAT interrupt.
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 */
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#define MODULE_OS_IOEVENTFLAGS_PATHDCSTAT       ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_PATHDCSTAT))
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/**
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 * @brief   Event flag to be set on a COMPASS_DRDY interrupt.
307
 */
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#define MODULE_OS_IOEVENTFLAGS_COMPASSDRDY      ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_COMPASSDRDY))
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/**
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 * @brief   Event flag to be set on a SYS_PD interrupt.
312
 */
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#define MODULE_OS_IOEVENTFLAGS_SYSPD            ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSPD))
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/**
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 * @brief   Event flag to be set on a SYS_REG_EN interrupt.
317
 */
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#define MODULE_OS_IOEVENTFLAGS_SYSREGEN         ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSREGEN))
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/**
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 * @brief   Event flag to be set on a IR_INT interrupt.
322
 */
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#define MODULE_OS_IOEVENTFLAGS_IRINT            ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_IRINT))
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/**
326
 * @brief   Event flag to be set on a GYRO_DRDY interrupt.
327
 */
328
#define MODULE_OS_IOEVENTFLAGS_GYRODRDY         ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_GYRODRDY))
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/**
331
 * @brief   Event flag to be set on a SYS_UART_UP interrupt.
332
 */
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#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP        ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSUARTUP))
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/**
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 * @brief   Event flag to be set on a ACCEL_INT interrupt.
337
 */
338
#define MODULE_OS_IOEVENTFLAGS_ACCELINT         ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_ACCELINT))
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/**
341
 * @brief   PD signal for SSSP.
342
 */
343
extern apalControlGpio_t moduleSsspPd;
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/**
346
 * @brief   SYNC signal for SSSP.
347
 */
348
extern apalControlGpio_t moduleSsspSync;
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/**
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 * @brief   Shell prompt text.
352
 */
353
extern const char* moduleShellPrompt;
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/**
356
 * @brief   Additional HAL initialization hook.
357
 */
358
#define MODULE_INIT_HAL_EXTRA() {                                             \
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  qeiInit();                                                                  \
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}
361

    
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/**
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 * @brief   Unit test initialization hook.
364
 */
365
#define MODULE_INIT_TESTS() {                                                 \
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  /* add unit-test shell commands */                                          \
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  aosShellAddCommand(aos.shell, &moduleUtAlldA3906.shellcmd);                 \
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  aosShellAddCommand(aos.shell, &moduleUtAlldAt24c01bn.shellcmd);             \
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  aosShellAddCommand(aos.shell, &moduleUtAlldHmc5883l.shellcmd);              \
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  aosShellAddCommand(aos.shell, &moduleUtAlldIna219.shellcmd);                \
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  aosShellAddCommand(aos.shell, &moduleUtAlldL3g4200d.shellcmd);              \
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  aosShellAddCommand(aos.shell, &moduleUtAlldLed.shellcmd);                   \
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  aosShellAddCommand(aos.shell, &moduleUtAlldLis331dlh.shellcmd);             \
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  aosShellAddCommand(aos.shell, &moduleUtAlldLtc4412.shellcmd);               \
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  aosShellAddCommand(aos.shell, &moduleUtAlldPca9544a.shellcmd);              \
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  aosShellAddCommand(aos.shell, &moduleUtAlldTps62113.shellcmd);              \
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  aosShellAddCommand(aos.shell, &moduleUtAlldVcnl4020.shellcmd);              \
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}
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/**
381
 * @brief   Periphery communication interfaces initialization hook.
382
 */
383
#define MODULE_INIT_PERIPHERY_COMM() {                                        \
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  /* serial driver */                                                         \
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  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \
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  /* I2C */                                                                   \
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  moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed;  \
388
  moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig);              \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \
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  moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \
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  i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig);  \
396
  /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \
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  /* PWM */                                                                   \
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  pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig);                  \
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  /* QEI */                                                                   \
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  qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig);                  \
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  qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig);                 \
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  qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL);                                      \
403
  qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                     \
404
}
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406
/**
407
 * @brief   Hook to handle IO events during SSSP startup synchronization.
408
 */
409
#define MODULE_SSP_STARTUP_OUTRO_IO_EVENT(mask, flags) {                      \
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  /* ignore all events */                                                     \
411
  (void)mask;                                                                 \
412
  (void)flags;                                                                \
413
}
414

    
415
/**
416
 * @brief   Periphery communication interface deinitialization hook.
417
 */
418
#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \
419
  /* PWM */                                                                   \
420
  pwmStop(&MODULE_HAL_PWM_DRIVE);                                             \
421
  /* QEI */                                                                   \
422
  qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL);                                     \
423
  qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                    \
424
  qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL);                                        \
425
  qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL);                                       \
426
  /* I2C */                                                                   \
427
  i2cStop(&MODULE_HAL_I2C_COMPASS);                                           \
428
  i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR);                                \
429
  /* don't stop the serial driver so messages can still be printed */         \
430
}
431

    
432
/** @} */
433

    
434
/*===========================================================================*/
435
/**
436
 * @name Low-level drivers
437
 * @{
438
 */
439
/*===========================================================================*/
440
#include <alld_a3906.h>
441
#include <alld_at24c01bn-sh-b.h>
442
#include <alld_hmc5883l.h>
443
#include <alld_ina219.h>
444
#include <alld_l3g4200d.h>
445
#include <alld_led.h>
446
#include <alld_lis331dlh.h>
447
#include <alld_ltc4412.h>
448
#include <alld_pca9544a.h>
449
#include <alld_tps62113.h>
450
#include <alld_vcnl4020.h>
451

    
452
/**
453
 * @brief   Motor driver.
454
 */
455
extern A3906Driver moduleLldMotors;
456

    
457
/**
458
 * @brief   EEPROM driver.
459
 */
460
extern AT24C01BNDriver moduleLldEeprom;
461

    
462
/**
463
 * @brief   Compass driver.
464
 */
465
extern HMC5883LDriver moduleLldCompass;
466

    
467
/**
468
 * @brief   Power monitor (VDD) driver.
469
 */
470
extern INA219Driver moduleLldPowerMonitorVdd;
471

    
472
/**
473
 * @brief   Gyroscope driver.
474
 */
475
extern L3G4200DDriver moduleLldGyroscope;
476

    
477
/**
478
 * @brief   Status LED driver.
479
 */
480
extern LEDDriver moduleLldStatusLed;
481

    
482
/**
483
 * @brief   Accelerometer driver.
484
 */
485
extern LIS331DLHDriver moduleLldAccelerometer;
486

    
487
/**
488
 * @brief   Power path controler (charging pins) driver.
489
 */
490
extern LTC4412Driver moduleLldPowerPathController;
491

    
492
/**
493
 * @brief   I2C multiplexer driver.
494
 */
495
extern PCA9544ADriver moduleLldI2cMultiplexer;
496

    
497
/**
498
 * @brief   Step down converter (VDRIVE) driver.
499
 */
500
extern TPS62113Driver moduleLldStepDownConverterVdrive;
501

    
502
/**
503
 * @brief   Proximity sensor driver.
504
 */
505
extern VCNL4020Driver moduleLldProximity;
506

    
507
/** @} */
508

    
509
/*===========================================================================*/
510
/**
511
 * @name Unit tests (UT)
512
 * @{
513
 */
514
/*===========================================================================*/
515
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
516
#include <ut_alld_a3906.h>
517
#include <ut_alld_at24c01bn-sh-b.h>
518
#include <ut_alld_hmc5883l.h>
519
#include <ut_alld_ina219.h>
520
#include <ut_alld_l3g4200d.h>
521
#include <ut_alld_led.h>
522
#include <ut_alld_lis331dlh.h>
523
#include <ut_alld_ltc4412.h>
524
#include <ut_alld_pca9544a.h>
525
#include <ut_alld_tps62113.h>
526
#include <ut_alld_vcnl4020.h>
527

    
528
/**
529
 * @brief   A3906 (motor driver) unit test object.
530
 */
531
extern aos_unittest_t moduleUtAlldA3906;
532

    
533
/**
534
 * @brief   AT24C01BN-SH-B (EEPROM) unit test object.
535
 */
536
extern aos_unittest_t moduleUtAlldAt24c01bn;
537

    
538
/**
539
 * @brief   HMC5883L (compass) unit test object.
540
 */
541
extern aos_unittest_t moduleUtAlldHmc5883l;
542

    
543
/**
544
 * @brief   INA219 (power monitor) unit test object.
545
 */
546
extern aos_unittest_t moduleUtAlldIna219;
547

    
548
/**
549
 * @brief   L3G4200D (gyroscope) unit test object.
550
 */
551
extern aos_unittest_t moduleUtAlldL3g4200d;
552

    
553
/**
554
 * @brief   Status LED unit test object.
555
 */
556
extern aos_unittest_t moduleUtAlldLed;
557

    
558
/**
559
 * @brief   LIS331DLH (accelerometer) unit test object.
560
 */
561
extern aos_unittest_t moduleUtAlldLis331dlh;
562

    
563
/**
564
 * @brief   LTC4412 (power path controller) unit test object.
565
 */
566
extern aos_unittest_t moduleUtAlldLtc4412;
567

    
568
/**
569
 * @brief   PCA9544A (I2C multiplexer) unit test object.
570
 */
571
extern aos_unittest_t moduleUtAlldPca9544a;
572

    
573
/**
574
 * @brief   TPS62113 (step-down converter) unit test object.
575
 */
576
extern aos_unittest_t moduleUtAlldTps62113;
577

    
578
/**
579
 * @brief   VCNL4020 (proximity sensor) unit test object.
580
 */
581
extern aos_unittest_t moduleUtAlldVcnl4020;
582

    
583
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
584

    
585
/** @} */
586

    
587
#endif /* _AMIROOS_MODULE_H_ */