amiro-os / modules / DiWheelDrive_1-1 / module.c @ e977b199
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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 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 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 | acc97cbf | 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 | c53ef0b1 | Thomas Schöpping | #include <amiroos.h> |
| 28 | |||
| 29 | #include <string.h> |
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| 30 | e545e620 | Thomas Schöpping | |
| 31 | /*===========================================================================*/
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| 32 | /**
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| 33 | * @name Module specific functions
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| 34 | * @{
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| 35 | */
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| 36 | /*===========================================================================*/
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| 37 | |||
| 38 | /** @} */
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| 39 | |||
| 40 | /*===========================================================================*/
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| 41 | /**
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| 42 | * @name ChibiOS/HAL configuration
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| 43 | * @{
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| 44 | */
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| 45 | /*===========================================================================*/
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| 46 | |||
| 47 | CANConfig moduleHalCanConfig = {
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| 48 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 49 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 50 | }; |
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| 51 | |||
| 52 | I2CConfig moduleHalI2cCompassConfig = {
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| 53 | /* I²C mode */ OPMODE_I2C,
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| 54 | /* frequency */ 400000, |
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| 55 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 56 | }; |
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| 57 | |||
| 58 | I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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| 59 | /* I²C mode */ OPMODE_I2C,
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| 60 | /* frequency */ 400000, |
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| 61 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 62 | }; |
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| 63 | |||
| 64 | PWMConfig moduleHalPwmDriveConfig = {
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| 65 | /* frequency */ 7200000, |
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| 66 | /* period */ 360, |
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| 67 | /* callback */ NULL, |
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| 68 | /* channel configurations */ {
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| 69 | /* channel 0 */ {
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| 70 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 71 | /* callback */ NULL |
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| 72 | }, |
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| 73 | /* channel 1 */ {
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| 74 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 75 | /* callback */ NULL |
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| 76 | }, |
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| 77 | /* channel 2 */ {
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| 78 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 79 | /* callback */ NULL |
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| 80 | }, |
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| 81 | /* channel 3 */ {
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| 82 | /* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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| 83 | /* callback */ NULL |
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| 84 | }, |
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| 85 | }, |
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| 86 | /* TIM CR2 register */ 0, |
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| 87 | 7de0cc90 | Thomas Schöpping | #if (STM32_PWM_USE_ADVANCED == TRUE)
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| 88 | e545e620 | Thomas Schöpping | /* TIM BDTR register */ 0, |
| 89 | 7de0cc90 | Thomas Schöpping | #endif /* (STM32_PWM_USE_ADVANCED == TRUE) */ |
| 90 | e545e620 | Thomas Schöpping | /* TIM DIER register */ 0 |
| 91 | }; |
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| 92 | |||
| 93 | QEIConfig moduleHalQeiConfig = {
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| 94 | /* mode */ QEI_COUNT_BOTH,
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| 95 | /* channel config */ {
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| 96 | /* channel 0 */ {
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| 97 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 98 | }, |
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| 99 | /* channel 1 */ {
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| 100 | /* input mode */ QEI_INPUT_NONINVERTED,
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| 101 | }, |
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| 102 | }, |
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| 103 | /* encoder range */ 0x10000u, |
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| 104 | }; |
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| 105 | |||
| 106 | SerialConfig moduleHalProgIfConfig = {
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| 107 | /* bit rate */ 115200, |
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| 108 | /* CR1 */ 0, |
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| 109 | /* CR1 */ 0, |
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| 110 | /* CR1 */ 0, |
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| 111 | }; |
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| 112 | |||
| 113 | SPIConfig moduleHalSpiAccelerometerConfig = {
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| 114 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 115 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 116 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_ACCEL_SS_N),
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| 117 | /* chip select line pad number */ PAL_PAD(LINE_ACCEL_SS_N),
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| 118 | e545e620 | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0,
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| 119 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 120 | }; |
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| 121 | |||
| 122 | SPIConfig moduleHalSpiGyroscopeConfig = {
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| 123 | 0128be0f | Marc Rothmann | /* circular buffer mode */ false, |
| 124 | e545e620 | Thomas Schöpping | /* callback function pointer */ NULL, |
| 125 | 3106e8cc | Thomas Schöpping | /* chip select line port */ PAL_PORT(LINE_GYRO_SS_N),
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| 126 | /* chip select line pad number */ PAL_PAD(LINE_GYRO_SS_N),
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| 127 | e545e620 | Thomas Schöpping | /* CR1 */ SPI_CR1_BR_0,
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| 128 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 129 | }; |
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| 130 | |||
| 131 | /** @} */
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| 132 | |||
| 133 | /*===========================================================================*/
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| 134 | /**
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| 135 | * @name GPIO definitions
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| 136 | * @{
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| 137 | */
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| 138 | /*===========================================================================*/
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| 139 | |||
| 140 | 1e5f7648 | Thomas Schöpping | /**
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| 141 | * @brief LED output signal GPIO.
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| 142 | */
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| 143 | static apalGpio_t _gpioLed = {
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| 144 | 3106e8cc | Thomas Schöpping | /* line */ LINE_LED,
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| 145 | e545e620 | Thomas Schöpping | }; |
| 146 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 147 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioLed,
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| 148 | /* meta */ {
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| 149 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 150 | 4c72a54c | Thomas Schöpping | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 151 | 1e5f7648 | Thomas Schöpping | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 152 | }, |
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| 153 | }; |
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| 154 | e545e620 | Thomas Schöpping | |
| 155 | 1e5f7648 | Thomas Schöpping | /**
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| 156 | * @brief POWER_EN output signal GPIO.
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| 157 | */
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| 158 | static apalGpio_t _gpioPowerEn = {
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| 159 | 3106e8cc | Thomas Schöpping | /* line */ LINE_POWER_EN,
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| 160 | e545e620 | Thomas Schöpping | }; |
| 161 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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| 162 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioPowerEn,
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| 163 | /* meta */ {
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| 164 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 165 | /* active state */ APAL_GPIO_ACTIVE_HIGH,
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| 166 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 167 | }, |
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| 168 | }; |
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| 169 | e545e620 | Thomas Schöpping | |
| 170 | 1e5f7648 | Thomas Schöpping | /**
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| 171 | * @brief COMPASS_DRDY output signal GPIO.
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| 172 | */
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| 173 | static apalGpio_t _gpioCompassDrdy = {
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| 174 | 3106e8cc | Thomas Schöpping | /* line */ LINE_COMPASS_DRDY,
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| 175 | e545e620 | Thomas Schöpping | }; |
| 176 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {
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| 177 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioCompassDrdy,
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| 178 | /* meta */ {
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| 179 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 180 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 181 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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| 182 | }, |
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| 183 | }; |
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| 184 | e545e620 | Thomas Schöpping | |
| 185 | 1e5f7648 | Thomas Schöpping | /**
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| 186 | * @brief IR_INT input signal GPIO.
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| 187 | */
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| 188 | static apalGpio_t _gpioIrInt = {
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| 189 | 3106e8cc | Thomas Schöpping | /* line */ LINE_IR_INT,
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| 190 | e545e620 | Thomas Schöpping | }; |
| 191 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioIrInt = {
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| 192 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioIrInt,
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| 193 | /* meta */ {
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| 194 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 195 | /* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 196 | /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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| 197 | }, |
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| 198 | }; |
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| 199 | e545e620 | Thomas Schöpping | |
| 200 | 1e5f7648 | Thomas Schöpping | /**
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| 201 | * @brief GYRO_DRDY input signal GPIO.
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| 202 | */
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| 203 | static apalGpio_t _gpioGyroDrdy = {
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| 204 | 3106e8cc | Thomas Schöpping | /* line */ LINE_GYRO_DRDY,
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| 205 | e545e620 | Thomas Schöpping | }; |
| 206 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {
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| 207 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioGyroDrdy,
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| 208 | /* meta */ {
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| 209 | /* direction */ APAL_GPIO_DIRECTION_INPUT,
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| 210 | /* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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| 211 | /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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| 212 | }, |
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| 213 | }; |
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| 214 | e545e620 | Thomas Schöpping | |
| 215 | 1e5f7648 | Thomas Schöpping | /**
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| 216 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 217 | */
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| 218 | static apalGpio_t _gpioSysUartUp = {
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| 219 | 3106e8cc | Thomas Schöpping | /* line */ LINE_SYS_UART_UP,
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| 220 | e545e620 | Thomas Schöpping | }; |
| 221 | acc97cbf | Thomas Schöpping | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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| 222 | 1e5f7648 | Thomas Schöpping | /* GPIO */ &_gpioSysUartUp,
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| 223 | /* meta */ {
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| 224 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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