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 LightRing v1.0 module.

 *

 * @addtogroup lightring_module

 * @{

 */

#include <amiroos.h>

#include <string.h>

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

/**

 * @name Module specific functions

 * @{

 */

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

/** @} */

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

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

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

CANConfig moduleHalCanConfig = {

  /* mcr  */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,

  /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),

};

I2CConfig moduleHalI2cEepromConfig = {

  /* I²C mode   */ OPMODE_I2C,

  /* frequency  */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL)

  /* duty cycle */ FAST_DUTY_CYCLE_2,

};

SerialConfig moduleHalProgIfConfig = {

  /* bit rate */ 115200,

  /* CR1      */ 0,

  /* CR1      */ 0,

  /* CR1      */ 0,

};

SPIConfig moduleHalSpiLightConfig = {

  /* circular buffer mode        */ false,

  /* callback function pointer   */ NULL,

  /* chip select line port       */ PAL_PORT(LINE_LIGHT_XLAT),

  /* chip select line pad number */ PAL_PAD(LINE_LIGHT_XLAT),

  /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,

  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,

};

SPIConfig moduleHalSpiWlConfig = {

  /* circular buffer mode        */ false,

  /* callback function pointer   */ NULL,

  /* chip select line port       */ PAL_PORT(LINE_WL_SS_N),

  /* chip select line pad number */ PAL_PAD(LINE_WL_SS_N),

  /* CR1                         */ SPI_CR1_BR_0,

  /* CR2                         */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,

};

/** @} */

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

/**

 * @name GPIO definitions

 * @{

 */

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

/**

 * @brief   LIGHT_BANK output signal GPIO.

 */

static apalGpio_t _gpioLightBlank = {

  /* line */ LINE_LIGHT_BLANK,

};

ROMCONST apalControlGpio_t moduleGpioLightBlank = {

  /* GPIO */ &_gpioLightBlank,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ TLC5947_LLD_BLANK_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   LASER_EN output signal GPIO.

 */

static apalGpio_t _gpioLaserEn = {

  /* line */ LINE_LASER_EN,

};

ROMCONST apalControlGpio_t moduleGpioLaserEn = {

  /* GPIO */ &_gpioLaserEn,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ TPS20xxB_LLD_ENABLE_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   LASER_OC input signal GPIO.

 */

static apalGpio_t _gpioLaserOc = {

  /* line */ LINE_LASER_OC_N,

};

ROMCONST apalControlGpio_t moduleGpioLaserOc = {

  /* GPIO */ &_gpioLaserOc,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ TPS20xxB_LLD_OVERCURRENT_ACTIVE_STATE,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   SYS_UART_DN bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysUartDn = {

  /* line */ LINE_SYS_UART_DN,

};

ROMCONST apalControlGpio_t moduleGpioSysUartDn = {

  /* GPIO */ &_gpioSysUartDn,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   WL_GDO2 input signal GPIO.

 */

static apalGpio_t _gpioWlGdo2 = {

  /* line */ LINE_WL_GDO2,

};

ROMCONST apalControlGpio_t moduleGpioWlGdo2 = {

  /* GPIO */ &_gpioWlGdo2,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   WL_GDO0 input signal GPIO.

 */

static apalGpio_t _gpioWlGdo0= {

  /* line */ LINE_WL_GDO0,

};

ROMCONST apalControlGpio_t moduleGpioWlGdo0 = {

  /* GPIO */ &_gpioWlGdo0,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_INPUT,

    /* active state   */ APAL_GPIO_ACTIVE_HIGH,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   LIGHT_XLAT output signal GPIO.

 */

static apalGpio_t _gpioLightXlat = {

  /* line */ LINE_LIGHT_XLAT,

};

ROMCONST apalControlGpio_t moduleGpioLightXlat = {

  /* GPIO */ &_gpioLightXlat,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,

    /* active state   */ (TLC5947_LLD_XLAT_UPDATE_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_NONE,

  },

};

/**

 * @brief   SYS_PD bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysPd = {

  /* line */ LINE_SYS_PD_N,

};

ROMCONST apalControlGpio_t moduleGpioSysPd = {

  /* GPIO */ &_gpioSysPd,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/**

 * @brief   SYS_SYNC bidirectional signal GPIO.

 */

static apalGpio_t _gpioSysSync = {

  /* line */ LINE_SYS_INT_N,

};

ROMCONST apalControlGpio_t moduleGpioSysSync = {

  /* GPIO */ &_gpioSysSync,

  /* meta */ {

    /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,

    /* active state   */ APAL_GPIO_ACTIVE_LOW,

    /* interrupt edge */ APAL_GPIO_EDGE_BOTH,

  },

};

/** @} */

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

/**

 * @name AMiRo-OS core configurations

 * @{

 */

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

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

ROMCONST char* moduleShellPrompt = "LightRing";

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

/** @} */

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

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

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

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__)

/* some local definitions */

// maximum number of bytes per CAN frame

#define CAN_BYTES_PER_FRAME                     8

// identifier (as dominant as possible)

#define MSI_BCBMSG_CANID                        0

aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)

{

  aosDbgCheck(buffer != NULL);

  aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);

  // local variables

  CANTxFrame frame;

  // setup the common parts of the message frame

  frame.DLC = (uint8_t)length;

  frame.RTR = CAN_RTR_DATA;

  frame.IDE = CAN_IDE_STD;

  frame.SID = MSI_BCBMSG_CANID;

  memcpy(frame.data8, buffer, length);

  // sent the frame and return

  return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;

}

aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length)

{

  aosDbgCheck(buffer != NULL);

  aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);

  // local variables

  CANRxFrame frame;

  // receive a frame and check for errors

  if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {

    // a correct frame was received

    if (frame.DLC == length &&

        frame.RTR == CAN_RTR_DATA &&

        frame.IDE == CAN_IDE_STD &&

        frame.SID == MSI_BCBMSG_CANID) {

      // success: fetch the data and return

      memcpy(buffer, frame.data8, length);

      return AOS_SSSP_BCB_SUCCESS;

    }

    // an unexpected frame was received

    else {

      return AOS_SSSP_BCB_INVALIDMSG;

    }

  } else {

    // failure: return with error

    return AOS_SSSP_BCB_ERROR;

  }

}

#undef MSI_BCBMSG_CANID

#undef CAN_BYTES_PER_FRAME

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */

/** @} */

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

/**

 * @name Low-level drivers

 * @{

 */

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

AT24C01BDriver moduleLldEeprom = {

  /* I2C driver   */ &MODULE_HAL_I2C_EEPROM,

  /* I2C address  */ 0x00u,

};

TLC5947Driver moduleLldLedPwm = {

  /* SPI driver         */ &MODULE_HAL_SPI_LIGHT,

  /* BLANK signal GPIO  */ &moduleGpioLightBlank,

  /* XLAT signal GPIO   */ &moduleGpioLightXlat,

};

TPS20xxBDriver moduleLldPowerSwitchLaser = {

  /* laser enable GPIO      */ &moduleGpioLaserEn,

  /* laser overcurrent GPIO */ &moduleGpioLaserOc,

};

/** @} */

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

/**

 * @name Tests

 * @{

 */

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

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

/*

 * AT24C01BN-SH-B (EEPROM)

 */

#include <module_test_AT24C01B.h>

static int _testAt24co1bShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestAt24c01bShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestAt24c01bShellCmd, "test:EEPROM", _testAt24co1bShellCmdCb);

/*

 * TLC5947 (24 channel PWM LED driver)

 */

#include <module_test_TLC5947.h>

static int _testTlc5947ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestTlc5947ShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestTlc5947ShellCmd, "test:Lights", _testTlc5947ShellCmdCb);

/*

 * TPS2051BDBV (Current-limited power switch)

 */

#include <module_test_TPS20xxB.h>

static int _testTps2051bdbvShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  return moduleTestTps20xxbShellCb(stream, argc, argv, NULL);

}

AOS_SHELL_COMMAND(moduleTestTps2051bdbvShellCmd, "test:PowerSwitch", _testTps2051bdbvShellCmdCb);

/*

 * entire module

 */

static int _testAllShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])

{

  (void)argc;

  (void)argv;

  int status = AOS_OK;

  char* targv[AMIROOS_CFG_SHELL_MAXARGS] = {NULL};

  aos_testresult_t result_test = {0, 0};

  aos_testresult_t result_total = {0, 0};

  /* AT24C01B (EEPROM) */

  status |= moduleTestAt24c01bShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* TLC5947 (24 channel LED PWM driver) */

  status |= moduleTestTlc5947ShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  /* TPS2051BDBV (Current-limited power switch) */

  status |= moduleTestTps20xxbShellCb(stream, 0, targv, &result_test);

  result_total = aosTestResultAdd(result_total, result_test);

  // print total result

  chprintf(stream, "\n");

  aosTestResultPrintSummary(stream, &result_total, "entire module");

  return status;

}

AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);

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

/** @} */

/** @} */