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

amiro-os / modules / NUCLEO-F103RB / module.c @ f606e2bf

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+/*
 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
  * @{
  */
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+#include <amiroos.h>
-            f4da707a
+            Thomas Schöpping
 /*===========================================================================*/
 /**
  * @name Module specific functions
  * @{
  */
 /*===========================================================================*/
 /** @} */
 /*===========================================================================*/
 /**
  * @name ChibiOS/HAL configuration
  * @{
  */
 /*===========================================================================*/
 SerialConfig moduleHalProgIfConfig = {
   /* bit rate */ 115200,
   /* CR1      */ 0,
   /* CR1      */ 0,
   /* CR1      */ 0,
 };
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+#if (BOARD_DW1000_CONNECTED == true)
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+/*! 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,
 };
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+#endif /* (BOARD_DW1000_CONNECTED == true) */
-            deaaa47e
+            Cung Sang
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+/** @} */
 /*===========================================================================*/
 /**
  * @name GPIO definitions
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   LED output signal GPIO.
  */
 static apalGpio_t _gpioLed = {
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+  /* line */ LINE_LED_GREEN,
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+};
 ROMCONST apalControlGpio_t moduleGpioLed = {
   /* GPIO */ &_gpioLed,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ APAL_GPIO_ACTIVE_HIGH,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
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+#if (BOARD_DW1000_CONNECTED == true)
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+/**
  * @brief   DW1000 reset output signal GPIO.
  */
 static apalGpio_t _gpioDw1000Reset = {
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+  /* line */ LINE_ARD_D15, //PAL_LINE(GPIOA, GPIOA_ARD_A0)
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+};
 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 = {
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+  /* line */ LINE_ARD_D14,  // PAL_LINE(GPIOB, GPIOB_ARD_D6)
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+};
 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 = {
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+  /* line */ PAL_LINE(GPIOB, GPIOB_PIN12),
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+};
 ROMCONST apalControlGpio_t moduleGpioSpiChipSelect = {
   /* GPIO */ &_gpioSpiChipSelect,
   /* meta */ {
     /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
     /* active state   */ APAL_GPIO_ACTIVE_LOW,
     /* interrupt edge */ APAL_GPIO_EDGE_NONE,
   },
 };
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+#endif /* (BOARD_DW1000_CONNECTED == true) */
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+            Cung Sang
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+/**
  * @brief   User button input signal GPIO.
  */
 static apalGpio_t _gpioUserButton = {
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+  /* line */ LINE_BUTTON,
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+};
 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
  * @{
  */
 /*===========================================================================*/
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+#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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+ROMCONST char* moduleShellPrompt = "NUCLEO-F103RB";
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+#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
-            f4da707a
+            Thomas Schöpping
 /** @} */
 /*===========================================================================*/
 /**
  * @name Startup Shutdown Synchronization Protocol (SSSP)
  * @{
  */
 /*===========================================================================*/
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+/** @} */
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+            Cung Sang
 /*===========================================================================*/
 /**
  * @name Hardware specific wrappers Functions
  * @{
  */
 /*===========================================================================*/
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+#if (BOARD_DW1000_CONNECTED == true)
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+/*! @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);
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+  palSetLineMode(moduleGpioSpiChipSelect.gpio->line, PAL_MODE_OUTPUT_PUSHPULL);
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+  apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
+}
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+/*! @brief Manually reset the DW1000 module  */
 void reset_DW1000(void){
   // Set the pin as output
   palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT);
   //drive the RSTn pin low
   apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW);
   //put the pin back to tri-state ... as input
 //  palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO:
   aosThdMSleep(2);
+}
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+/*! @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 Manually set the chip select pin of the SPI */
 void set_SPI_chip_select(void){
   apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH);
+}
 /*! @brief Manually reset the chip select pin of the SPI */
 void clear_SPI_chip_select(void){
   apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
+}
 /*! @brief Change the SPI speed configuration on the fly */
 void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){
   spiStop(drv->spid);
   if (speedValue == FALSE){
     spiStart(drv->spid, &moduleHalSpiUwbLsConfig);  // low speed spi configuration
+  }
   else{
     spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
+  }
+}
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+#endif /* (BOARD_DW1000_CONNECTED == true) */
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+/** @} */
 /*===========================================================================*/
 /**
  * @name Low-level drivers
  * @{
  */
 /*===========================================================================*/
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+LEDDriver moduleLldLed = {
   /* LED enable Gpio */ &moduleGpioLed,
 };
 ButtonDriver moduleLldUserButton = {
   /* Button Gpio  */ &moduleGpioUserButton,
 };
 #if (BOARD_DW1000_CONNECTED == true)
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+DW1000Driver moduleLldDw1000 = {
   /* SPI driver         */ &MODULE_HAL_SPI_UWB,
   /* ext interrupt      */ &moduleGpioDw1000Irqn,
   /* RESET DW1000       */ &moduleGpioDw1000Reset,
 };
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+#endif /* (BOARD_DW1000_CONNECTED == true) */
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+/** @} */
 /*===========================================================================*/
 /**
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+ * @name Tests
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+ * @{
  */
 /*===========================================================================*/
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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+/*
  * LED
  */
 #include <module_test_LED.h>
 static int _testLedShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+{
   return moduleTestLedShellCb(stream, argc, argv, NULL);
+}
 AOS_SHELL_COMMAND(moduleTestLedShellCmd, "test:LED", _testLedShellCmdCb);
 /*
  * User button
  */
 #include <module_test_button.h>
 static int _testButtonShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
+{
   return moduleTestButtonShellCb(stream, argc, argv, NULL);
+}
 AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb);
 #if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__)
-            deaaa47e
+/*
  * UwB Driver (DW1000)
  */
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+#include <module_test_DW1000.h>
 static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[])
-            deaaa47e
+            Cung Sang
-d4d058e
+  return moduleTestDw1000ShellCb(stream, argc, argv, NULL);
-            deaaa47e
+            Cung Sang
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+AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb);
-c72a54c
+#endif /* (BOARD_DW1000_CONNECTED == true) */
 /*
  * 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};
   /* LED */
   status |= moduleTestLedShellCb(stream, 0, targv, &result_test);
   result_total = aosTestResultAdd(result_total, result_test);
   /* User button */
   status |= moduleTestButtonShellCb(stream, 0, targv, &result_test);
   result_total = aosTestResultAdd(result_total, result_test);
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+#if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__)
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+  /* DW1000 */
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+  status |= moduleTestDw1000ShellCb(stream, 0, targv, &result_test);
   result_total = aosTestResultAdd(result_total, result_test);
 #endif /* (BOARD_DW1000_CONNECTED == true) */
-c72a54c
+            Thomas Schöpping
   // print total result
   chprintf(stream, "\n");
   aosTestResultPrintSummary(stream, &result_total, "entire module");
   return status;
+}
 AOS_SHELL_COMMAND(moduleTestAllShellCmd, "test:all", _testAllShellCmdCb);
-            deaaa47e
+            Cung Sang
-de0cc90
+#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
-            f4da707a
+            Thomas Schöpping
 /** @} */
 /** @} */