/modules/NUCLEO-F103RB/module.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / modules / NUCLEO-F103RB / module.c @ ed19a68b

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-            f4da707a
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2019  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 NUCLEO-F103RB module.
+ *
  * @addtogroup NUCLEO-F103RB_module
  * @{
  */
 #include "module.h"
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 SerialConfig moduleHalProgIfConfig = {
   /* bit rate */ 115200,
   /* CR1      */ 0,
   /* CR1      */ 0,
   /* CR1      */ 0,
 };
-            deaaa47e
+#ifdef AMIROLLD_CFG_DW1000
 /*! SPI (high and low speed) configuration for DW1000 */
 SPIConfig moduleHalSpiUwbHsConfig = {
   /* circular buffer mode        */ false,
   /* callback function pointer   */ NULL,
   /* chip select line port       */ GPIOB,
   /* chip select line pad number */ GPIOB_PIN12,
   /* CR1                         */ 0,
   /* CR2                         */ 0,
 };
 SPIConfig moduleHalSpiUwbLsConfig = {
   /* circular buffer mode        */ false,
   /* callback function pointer   */ NULL,
   /* chip select line port       */ GPIOB,
   /* chip select line pad number */ GPIOB_PIN12,
   /* CR1                         */ SPI_CR1_BR_1 | SPI_CR1_BR_0,
   /* CR2                         */ 0,
 };
 #endif
-            f4da707a
+/** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   LED output signal GPIO.
  */
 static apalGpio_t _gpioLed = {
   /* port */ GPIOA,
   /* pad  */ GPIOA_LED_GREEN,
 };
 ROMCONST apalControlGpio_t moduleGpioLed = {
   /* GPIO */ &_gpioLed,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
-            deaaa47e
+#ifdef AMIROLLD_CFG_DW1000
 /**
  * @brief   DW1000 reset output signal GPIO.
  */
 static apalGpio_t _gpioDw1000Reset = {
   /* port */ GPIOA,
   /* pad  */ GPIOA_ARD_A0,   // PIN0
 };
 ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
   /* GPIO */ &_gpioDw1000Reset,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
 /**
  * @brief   DW1000 interrrupt input signal GPIO.
  */
 static apalGpio_t _gpioDw1000Irqn = {
   /* port */ GPIOB,
   /* pad  */ GPIOB_ARD_D6,  // GPIOB_PIN10
 };
 ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
   /* GPIO */ &_gpioDw1000Irqn,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_RISING,
   },
 };
 /**
  * @brief   DW1000 SPI chip select output signal GPIO.
  */
 static apalGpio_t _gpioSpiChipSelect = {
   /* port */ GPIOB,
   /* pad  */ GPIOB_PIN12,  // GPIOB_PIN10
 };
 ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
   /* GPIO */ &_gpioSpiChipSelect,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
 #endif /* AMIROLLD_CFG_DW1000 */
-            f4da707a
+/**
  * @brief   User button input signal GPIO.
  */
 static apalGpio_t _gpioUserButton = {
   /* port */ GPIOC,
   /* pad  */ GPIOC_BUTTON,
 };
 ROMCONST apalControlGpio_t moduleGpioUserButton = {
   /* GPIO */ &_gpioUserButton,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_INPUT,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
   },
 };
 /** @} */
 /*===========================================================================*/
 /**
  * @name AMiRo-OS core configurations
  * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 ROMCONST char* moduleShellPrompt = "NUCLEO-F103RB";
 #endif
 /** @} */
 /*===========================================================================*/
 /**
  * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
-            deaaa47e
+            Cung Sang
 /*===========================================================================*/
 /**
  * @name Hardware specific wrappers Functions
  * @{
  */
 /*===========================================================================*/
 #ifdef AMIROLLD_CFG_DW1000
 /*! @brief entry point to the IRQn event in DW1000 module
+ *
  * */
 void process_deca_irq(void){
   do{
     dwt_isr();
     //while IRS line active (ARM can only do edge sensitive interrupts)
   }while(port_CheckEXT_IRQ() == 1);
+}
 /*! @brief Check the current value of GPIO pin and return the value */
 apalGpioState_t port_CheckEXT_IRQ(void) {
   apalGpioState_t  val;
   apalGpioRead(moduleGpioDw1000Irqn.gpio, &val);
   return val;
+}
 /*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB  */
 void dw1000_spi_init(void){
   palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
   palSetPadMode(GPIOB, GPIOB_PIN14, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
   palSetPadMode(GPIOB, GPIOB_PIN15, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
   palSetPadMode(moduleGpioSpiChipSelect.gpio->port, moduleGpioSpiChipSelect.gpio->pad, PAL_MODE_OUTPUT_PUSHPULL);
   apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
+}
 #endif /* AMIROLLD_CFG_DW1000 */
-            f4da707a
+/** @} */
 /*===========================================================================*/
 /**
  * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
-            deaaa47e
+#ifdef AMIROLLD_CFG_DW1000
 DW1000Driver moduleLldDw1000 = {
   /* SPI driver         */ &MODULE_HAL_SPI_UWB,
   /* ext interrupt      */ &moduleGpioDw1000Irqn,
   /* RESET DW1000       */ &moduleGpioDw1000Reset,
 };
 #endif /* AMIROLLD_CFG_DW1000 */
-            f4da707a
+/** @} */
 /*===========================================================================*/
 /**
  * @name Unit tests (UT)
  * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
-            deaaa47e
+#ifdef AMIROLLD_CFG_DW1000
 /*
  * UwB Driver (DW1000)
  */
 static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[])
+{
   (void)argc;
   (void)argv;
   aosUtRun(stream, &moduleUtAlldDw1000, NULL);
   return AOS_OK;
+}
 aos_unittest_t moduleUtAlldDw1000 = {
   /* info           */ "DW1000",
   /* name           */ "UWB System",
   /* test function  */ utAlldDw1000Func,
   /* shell command  */ {
     /* name     */ "unittest:Uwb",
     /* callback */ _utShellCmdCb_Dw1000,
     /* next     */ NULL,
   },
   /* data           */ &moduleLldDw1000,
 };
 #endif /* AMIROLLD_CFG_DW1000 */
-            f4da707a
+#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
 /** @} */
 /** @} */