AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file

 * @brief   Structures and constant for the DiWheelDrive module.

 *

 * @addtogroup diwheeldrive_module

 * @{

 */

#ifndef AMIROOS_MODULE_H

#define AMIROOS_MODULE_H

#include <amiroos.h>

/*===========================================================================*/

/**

 * @name Module specific functions

 * @{

 */

/*===========================================================================*/

/** @} */

/*===========================================================================*/

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

/*===========================================================================*/

/**

 * @brief   CAN driver to use.

 */

#define MODULE_HAL_CAN                          CAND1

/**

 * @brief   Configuration for the CAN driver.

 */

extern CANConfig moduleHalCanConfig;

/**

 * @brief   I2C driver to access the compass.

 */

#define MODULE_HAL_I2C_COMPASS                  I2CD1

/**

 * @brief   Configuration for the compass I2C driver.

 */

extern I2CConfig moduleHalI2cCompassConfig;

/**

 * @brief   I2C driver to access multiplexer, proximity sensors, EEPROM and power monitor.

 */

#define MODULE_HAL_I2C_PROX_EEPROM_PWRMTR       I2CD2

/**

 * @brief   Configuration for the multiplexer, proximity, EEPROM and power monitor I2C driver.

 */

extern I2CConfig moduleHalI2cProxEepromPwrmtrConfig;

/**

 * @brief   PWM driver to use.

 */

#define MODULE_HAL_PWM_DRIVE                    PWMD2

/**

 * @brief   Configuration for the PWM driver.

 */

extern PWMConfig moduleHalPwmDriveConfig;

/**

 * @brief   Drive PWM channel for the left wheel forward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD     ((apalPWMchannel_t)0)

/**

 * @brief   Drive PWM channel for the left wheel backward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD    ((apalPWMchannel_t)1)

/**

 * @brief   Drive PWM channel for the right wheel forward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD    ((apalPWMchannel_t)2)

/**

 * @brief   Drive PWM channel for the right wheel backward direction.

 */

#define MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD   ((apalPWMchannel_t)3)

/**

 * @brief   Quadrature encooder for the left wheel.

 */

#define MODULE_HAL_QEI_LEFT_WHEEL               QEID3

/**

 * @brief   Quadrature encooder for the right wheel.

 */

#define MODULE_HAL_QEI_RIGHT_WHEEL              QEID4

/**

 * @brief   Configuration for both quadrature encoders.

 */

extern QEIConfig moduleHalQeiConfig;

/**

 * @brief   QEI increments per wheel revolution.

 * @details 2 signal edges per pulse * 2 signals * 16 pulses per motor revolution * 22:1 gearbox

 */

#define MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION  (apalQEICount_t)(2 * 2 * 16 * 22)

/**

 * @brief   Serial driver of the programmer interface.

 */

#define MODULE_HAL_PROGIF                       SD1

/**

 * @brief   Configuration for the programmer serial interface driver.

 */

extern SerialConfig moduleHalProgIfConfig;

/**

 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).

 */

#define MODULE_HAL_SPI_MOTION                   SPID1

/**

 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the accelerometer.

 */

extern SPIConfig moduleHalSpiAccelerometerConfig;

/**

 * @brief   Configuration for the motion sensor SPI interface  driver to communicate with the gyroscope.

 */

extern SPIConfig moduleHalSpiGyroscopeConfig;

/**

 * @brief   Real-Time Clock driver.

 */

#define MODULE_HAL_RTC                          RTCD1

/** @} */

/*===========================================================================*/

/**

 * @name GPIO definitions

 * @{

 */

/*===========================================================================*/

/**

 * @brief   LED output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioLed;

/**

 * @brief   POWER_EN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioPowerEn;

/**

 * @brief   COMPASS_DRDY input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioCompassDrdy;

/**

 * @brief   IR_INT input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioIrInt;

/**

 * @brief   GYRO_DRDY input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioGyroDrdy;

/**

 * @brief   SYS_UART_UP bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysUartUp;

/**

 * @brief   ACCEL_INT input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioAccelInt;

/**

 * @brief   SYS_SNYC bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysSync;

/**

 * @brief   PATH_DCSTAT input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioPathDcStat;

/**

 * @brief   PATH_DCEN output signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioPathDcEn;

/**

 * @brief   SYS_PD bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysPd;

/**

 * @brief   SYS_REG_EN input signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysRegEn;

/**

 * @brief   SYS_WARMRST bidirectional signal GPIO.

 */

extern ROMCONST apalControlGpio_t moduleGpioSysWarmrst;

/** @} */

/*===========================================================================*/

/**

 * @name AMiRo-OS core configurations

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Event flag to be set on a SYS_SYNC interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSSYNC         AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_INT_N))

/**

 * @brief   Event flag to be set on a SYS_WARMRST interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSWARMRST      AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_WARMRST_N))

/**

 * @brief   Event flag to be set on a PATH_DCSTAT interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_PATHDCSTAT      AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_PATH_DCEN))

/**

 * @brief   Event flag to be set on a COMPASS_DRDY interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_COMPASSDRDY     AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_COMPASS_DRDY))

/**

 * @brief   Event flag to be set on a SYS_PD interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSPD           AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_PD_N))

/**

 * @brief   Event flag to be set on a SYS_REG_EN interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSREGEN        AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_REG_EN))

/**

 * @brief   Event flag to be set on a IR_INT interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_IRINT           AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_IR_INT))

/**

 * @brief   Event flag to be set on a GYRO_DRDY interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_GYRODRDY        AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_GYRO_DRDY))

/**

 * @brief   Event flag to be set on a SYS_UART_UP interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_SYSUARTUP       AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_SYS_UART_UP))

/**

 * @brief   Event flag to be set on a ACCEL_INT interrupt.

 */

#define MODULE_OS_GPIOEVENTFLAG_ACCELINT        AOS_GPIOEVENT_FLAG(PAL_PAD(LINE_ACCEL_INT_N))

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell prompt text.

 */

extern ROMCONST char* moduleShellPrompt;

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */

/**

 * @brief   Interrupt initialization macro.

 */

#define MODULE_INIT_INTERRUPTS() {                                            \

  /* COMPASS_DRDY */                                                          \

  palSetLineCallback(moduleGpioCompassDrdy.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioCompassDrdy.gpio->line);  \

  palEnableLineEvent(moduleGpioCompassDrdy.gpio->line, APAL2CH_EDGE(moduleGpioCompassDrdy.meta.edge));                  \

  /* IR_INT */                                                                \

  palSetLineCallback(moduleGpioIrInt.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioIrInt.gpio->line);  \

  palEnableLineEvent(moduleGpioIrInt.gpio->line, APAL2CH_EDGE(moduleGpioIrInt.meta.edge));                  \

  /* GYRO_DRDY */                                                             \

  palSetLineCallback(moduleGpioGyroDrdy.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioGyroDrdy.gpio->line);  \

  palEnableLineEvent(moduleGpioGyroDrdy.gpio->line, APAL2CH_EDGE(moduleGpioGyroDrdy.meta.edge));                  \

  /* ACCEL_INT */                                                             \

  palSetLineCallback(moduleGpioAccelInt.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioAccelInt.gpio->line);  \

  palEnableLineEvent(moduleGpioAccelInt.gpio->line, APAL2CH_EDGE(moduleGpioAccelInt.meta.edge));                  \

  /* PATH_DCSTAT */                                                           \

  palSetLineCallback(moduleGpioPathDcStat.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioPathDcStat.gpio->line);  \

  palEnableLineEvent(moduleGpioPathDcStat.gpio->line, APAL2CH_EDGE(moduleGpioPathDcStat.meta.edge));                  \

  /* SYS_REG_EN */                                                            \

  palSetLineCallback(moduleGpioSysRegEn.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioSysRegEn.gpio->line);  \

  palEnableLineEvent(moduleGpioSysRegEn.gpio->line, APAL2CH_EDGE(moduleGpioSysRegEn.meta.edge));                  \

  /* SYS_WARMRST */                                                           \

  palSetLineCallback(moduleGpioSysWarmrst.gpio->line, aosSysGetStdGpioCallback(), &moduleGpioSysWarmrst.gpio->line);  \

  palEnableLineEvent(moduleGpioSysWarmrst.gpio->line, APAL2CH_EDGE(moduleGpioSysWarmrst.meta.edge));                  \

}

/**

 * @brief   Test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add test commands to shell */                                            \

  aosShellAddCommand(&aos.shell, &moduleTestA3906ShellCmd);                   \

  aosShellAddCommand(&aos.shell, &moduleTestAt24c01bShellCmd);                \

  aosShellAddCommand(&aos.shell, &moduleTestHmc5883lShellCmd);                \

  aosShellAddCommand(&aos.shell, &moduleTestIna219ShellCmd);                  \

  aosShellAddCommand(&aos.shell, &moduleTestL3g4200dShellCmd);                \

  aosShellAddCommand(&aos.shell, &moduleTestLedShellCmd);                     \

  aosShellAddCommand(&aos.shell, &moduleTestLis331dlhShellCmd);               \

  aosShellAddCommand(&aos.shell, &moduleTestLtc4412ShellCmd);                 \

  aosShellAddCommand(&aos.shell, &moduleTestPca9544aShellCmd);                \

  aosShellAddCommand(&aos.shell, &moduleTestTps62113ShellCmd);                \

  aosShellAddCommand(&aos.shell, &moduleTestVcnl4020ShellCmd);                \

  aosShellAddCommand(&aos.shell, &moduleTestAllShellCmd);                     \

}

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_IF() {                                          \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  /* I2C */                                                                   \

  moduleHalI2cCompassConfig.clock_speed = (HMC5883L_LLD_I2C_MAXFREQUENCY < moduleHalI2cCompassConfig.clock_speed) ? HMC5883L_LLD_I2C_MAXFREQUENCY : moduleHalI2cCompassConfig.clock_speed;  \

  moduleHalI2cCompassConfig.duty_cycle = (moduleHalI2cCompassConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_COMPASS, &moduleHalI2cCompassConfig);              \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (PCA9544A_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? PCA9544A_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (VCNL4020_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? VCNL4020_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (AT24C01B_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? AT24C01B_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.clock_speed = (INA219_LLD_I2C_MAXFREQUENCY < moduleHalI2cProxEepromPwrmtrConfig.clock_speed) ? INA219_LLD_I2C_MAXFREQUENCY : moduleHalI2cProxEepromPwrmtrConfig.clock_speed; \

  moduleHalI2cProxEepromPwrmtrConfig.duty_cycle = (moduleHalI2cProxEepromPwrmtrConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR, &moduleHalI2cProxEepromPwrmtrConfig);  \

  /* SPI is shared between accelerometer and gyroscope and needs to be restarted for each transmission */ \

  /* PWM */                                                                   \

  pwmStart(&MODULE_HAL_PWM_DRIVE, &moduleHalPwmDriveConfig);                  \

  /* QEI */                                                                   \

  qeiStart(&MODULE_HAL_QEI_LEFT_WHEEL, &moduleHalQeiConfig);                  \

  qeiStart(&MODULE_HAL_QEI_RIGHT_WHEEL, &moduleHalQeiConfig);                 \

  qeiEnable(&MODULE_HAL_QEI_LEFT_WHEEL);                                      \

  qeiEnable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                     \

  /* CAN */                                                                   \

  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);                             \

}

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_IF() {                                      \

  /* CAN */                                                                   \

  canStop(&MODULE_HAL_CAN);                                                   \

  /* PWM */                                                                   \

  pwmStop(&MODULE_HAL_PWM_DRIVE);                                             \

  /* QEI */                                                                   \

  qeiDisable(&MODULE_HAL_QEI_LEFT_WHEEL);                                     \

  qeiDisable(&MODULE_HAL_QEI_RIGHT_WHEEL);                                    \

  qeiStop(&MODULE_HAL_QEI_LEFT_WHEEL);                                        \

  qeiStop(&MODULE_HAL_QEI_RIGHT_WHEEL);                                       \

  /* I2C */                                                                   \

  i2cStop(&MODULE_HAL_I2C_COMPASS);                                           \

  i2cStop(&MODULE_HAL_I2C_PROX_EEPROM_PWRMTR);                                \

  /* don't stop the serial driver so messages can still be printed */         \

}

/** @} */

/*===========================================================================*/

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

/*===========================================================================*/

#define moduleSsspSignalPD()                    (&moduleGpioSysPd)

#define moduleSsspEventflagPD()                 MODULE_OS_GPIOEVENTFLAG_SYSPD

#define moduleSsspSignalS()                     (&moduleGpioSysSync)

#define moduleSsspEventflagS()                  MODULE_OS_GPIOEVENTFLAG_SYSSYNC

#define moduleSsspSignalUP()                    (&moduleGpioSysUartUp)

#define moduleSsspEventflagUP()                 MODULE_OS_GPIOEVENTFLAG_SYSUARTUP

/** @} */

/*===========================================================================*/

/**

 * @name Low-level drivers

 * @{

 */

/*===========================================================================*/

#include <alld_A3906.h>

#include <alld_AT24C01B.h>

#include <alld_HMC5883L.h>

#include <alld_INA219.h>

#include <alld_L3G4200D.h>

#include <alld_LED.h>

#include <alld_LIS331DLH.h>

#include <alld_LTC4412.h>

#include <alld_PCA9544A.h>

#include <alld_TPS6211x.h>

#include <alld_VCNL4020.h>

/**

 * @brief   Motor driver.

 */

extern A3906Driver moduleLldMotors;

/**

 * @brief   EEPROM driver.

 */

extern AT24C01BDriver moduleLldEeprom;

/**

 * @brief   Compass driver.

 */

extern HMC5883LDriver moduleLldCompass;

/**

 * @brief   Power monitor (VDD) driver.

 */

extern INA219Driver moduleLldPowerMonitorVdd;

/**

 * @brief   Gyroscope driver.

 */

extern L3G4200DDriver moduleLldGyroscope;

/**

 * @brief   Status LED driver.

 */

extern LEDDriver moduleLldStatusLed;

/**

 * @brief   Accelerometer driver.

 */

extern LIS331DLHDriver moduleLldAccelerometer;

/**

 * @brief   Power path controler (charging pins) driver.

 */

extern LTC4412Driver moduleLldPowerPathController;

/**

 * @brief   I2C multiplexer driver.

 */

extern PCA9544ADriver moduleLldI2cMultiplexer;

/**

 * @brief   Step down converter (VDRIVE) driver.

 */

extern TPS6211xDriver moduleLldStepDownConverterVdrive;

/**

 * @brief   Proximity sensor driver.

 */

extern VCNL4020Driver moduleLldProximity;

/** @} */

/*===========================================================================*/

/**

 * @name Tests

 * @{

 */

/*===========================================================================*/

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   A3906 (motor driver) test command.

 */

extern aos_shellcommand_t moduleTestA3906ShellCmd;

/**

 * @brief   AT24C01BN-SH-B (EEPROM) test command.

 */

extern aos_shellcommand_t moduleTestAt24c01bShellCmd;

/**

 * @brief   HMC5883L (compass) test command.

 */

extern aos_shellcommand_t moduleTestHmc5883lShellCmd;

/**

 * @brief   INA219 (power monitor) test command.

 */

extern aos_shellcommand_t moduleTestIna219ShellCmd;

/**

 * @brief   L3G4200D (gyroscope) test command.

 */

extern aos_shellcommand_t moduleTestL3g4200dShellCmd;

/**

 * @brief   Status LED test command.

 */

extern aos_shellcommand_t moduleTestLedShellCmd;

/**

 * @brief   LIS331DLH (accelerometer) test command.

 */

extern aos_shellcommand_t moduleTestLis331dlhShellCmd;

/**

 * @brief   LTC4412 (power path controller) test command.

 */

extern aos_shellcommand_t moduleTestLtc4412ShellCmd;

/**

 * @brief   PCA9544A (I2C multiplexer) test command.

 */

extern aos_shellcommand_t moduleTestPca9544aShellCmd;

/**

 * @brief   TPS62113 (step-down converter) test command.

 */

extern aos_shellcommand_t moduleTestTps62113ShellCmd;

/**

 * @brief   VCNL4020 (proximity sensor) test command.

 */

extern aos_shellcommand_t moduleTestVcnl4020ShellCmd;

/**

 * @brief   Entire module test command.

 */

extern aos_shellcommand_t moduleTestAllShellCmd;

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/** @} */

#endif /* AMIROOS_MODULE_H */

/** @} */