AMiRo-OS

AMIROLLD_INC = $(AMIROLLD_DIR) \

               $(sort $(dir $(wildcard $(AMIROLLD_DIR)include/?*/)))

AMIROLLD_CSRC = $(wildcard $(AMIROLLD_DIR)source/*/*/*.c)

/*

AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.

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

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

*/

/**

 * @file    alld_A3906.h

 *

 * @addtogroup lld_motor

 * @{

 */

#ifndef AMIROLLD_A3906_H

#define AMIROLLD_A3906_H

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_A3906)

#if (AMIROLLD_CFG_A3906 == 1)

  #include "v1/alld_A3906_v1.h"

#else

  #error "invalid value assigned to AMIROLLD_CFG_A3906 in alldconf.h"

#endif

#endif /* defined(AMIROLLD_CFG_A3906) */

#endif /* AMIROLLD_A3906_H */

/** @} */

/*

AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.

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

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

*/

/**

 * @file    alld_A3906_v1.h

 * @brief   Motor driver macros and structures.

 *

 * @addtogroup lld_motor

 * @{

 */

#ifndef AMIROLLD_A3906_V1_H

#define AMIROLLD_A3906_V1_H

#include <amiro-lld.h>

#if (defined(AMIROLLD_CFG_A3906) && (AMIROLLD_CFG_A3906 == 1)) || defined(__DOXYGEN__)

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/**

 * @brief Active state of power pin.

 */

#define A3906_LLD_POWER_PIN_ACTIVE_STATE  APAL_GPIO_ACTIVE_HIGH

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief A3906 driver struct.

 */

typedef struct {

  const apalControlGpio_t* power_pin;   /**< @brief GPIO to enable/disable power of the A3906. */

} A3906Driver;

/**

 * @brief Power state of the A3906.

 */

typedef enum {

  A3906_LLD_POWER_OFF = 0x00,   /**< 'power off' state  */

  A3906_LLD_POWER_ON  = 0x01,   /**< 'power on' state   */

} a3906_lld_power_t;

/******************************************************************************/

/* MACROS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* EXTERN DECLARATIONS                                                        */

/******************************************************************************/

#ifdef __cplusplus

extern "C" {

#endif

  apalExitStatus_t a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state);

  apalExitStatus_t a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state);

  apalExitStatus_t a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width);

#ifdef __cplusplus

}

#endif

/******************************************************************************/

/* INLINE FUNCTIONS                                                           */

/******************************************************************************/

#endif /* defined(AMIROLLD_CFG_USE_A3906) && (AMIROLLD_CFG_USE_A3906 == 1) */

#endif /* AMIROLLD_A3906_V1_H */

/** @} */

/*

AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.

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

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

*/

/**

 * @file    alld_AT24C01B.h

 *

 * @addtogroup lld_eeprom

 * @{

 */

#ifndef AMIROLLD_AT24C01B_H

#define AMIROLLD_AT24C01B_H

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_AT24C01B)

#if (AMIROLLD_CFG_AT24C01B == 1)

  #include "v1/alld_AT24C01B_v1.h"

#else

  #error "invalid value assigned to AMIROLLD_CFG_AT24C01B in alldconf.h"

#endif

#endif /* defined(AMIROLLD_CFG_AT24C01B) */

#endif /* AMIROLLD_AT24C01B_H */

/** @} */

/*

AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.

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

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

*/

/**

 * @file    alld_AT24C01B_v1.h

 * @brief   EEPROM macros and structures.

 *

 * @addtogroup lld_eeprom

 * @{

 */

#ifndef AMIROLLD_AT24C01B_V1_H

#define AMIROLLD_AT24C01B_V1_H

#include <amiro-lld.h>

#if (defined(AMIROLLD_CFG_AT24C01B) && (AMIROLLD_CFG_AT24C01B == 1)) || defined(__DOXYGEN__)

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/**

 * @brief Memory size of the EEPROM in bits.

 */

#define AT24C01B_LLD_SIZE_BITS              1024

/**

 * @brief Memory size of the EEPROM in bytes

 */

#define AT24C01B_LLD_SIZE_BYTES             128

/**

 * @brief Size of a page in bytes

 */

#define AT24C01B_LLD_PAGE_SIZE_BYTES        8

/**

 * @brief  Time in microseconds a write operation takes to complete (I2C will not respond).

 * @note   The system should wait slightly longer.

 */

#define AT24C01B_LLD_WRITECYCLETIME_US      5000

/**

 * @brief Maximum I2C frequency.

 */

#define AT24C01B_LLD_I2C_MAXFREQUENCY       400000

/**

 * @brief Maximum I2C frequency at 5V.

 */

#define AT24C01B_LLD_I2C_MAXFREQUENCY_5V    1000000

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief The AT24C01B driver struct

 */

typedef struct {

  apalI2CDriver_t* i2cd;  /**< @brief The I2C Driver */

  apalI2Caddr_t addr;     /**< @brief The address of the AT24C01B for I2C communication, which is defined by the wiring of the A0, A1, A2 pins */

} AT24C01BDriver;

/**

 * @brief Bitmasks for the I2C address, including the wiring of the A0, A1, A2 pins.

 */

enum {

  AT24C01B_LLD_I2C_ADDR_FIXED       = 0x0050u,

  AT24C01B_LLD_I2C_ADDR_A0          = 0x0001u,

  AT24C01B_LLD_I2C_ADDR_A1          = 0x0002u,

  AT24C01B_LLD_I2C_ADDR_A2          = 0x0004u,

};

/******************************************************************************/

/* MACROS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* EXTERN DECLARATIONS                                                        */

/******************************************************************************/

#ifdef __cplusplus

extern "C" {

#endif

  apalExitStatus_t at24c01b_lld_poll_ack(const AT24C01BDriver* const at24c01b, const apalTime_t timeout);

  apalExitStatus_t at24c01b_lld_read_current_address(const AT24C01BDriver* const at24c01b, uint8_t* const data, const uint8_t num, const apalTime_t timeout);

  apalExitStatus_t at24c01b_lld_read(const AT24C01BDriver* const at24c01b, const uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout);

  apalExitStatus_t at24c01b_lld_write_byte(const AT24C01BDriver* const at24c01b, const uint8_t addr, const uint8_t data, const apalTime_t timeout);

  apalExitStatus_t at24c01b_lld_write_page(const AT24C01BDriver* const at24c01b, const uint8_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout);

#ifdef __cplusplus

}

#endif

/******************************************************************************/

/* INLINE FUNCTIONS                                                           */

/******************************************************************************/

#endif /* defined(AMIROLLD_CFG_AT24C01B) && (AMIROLLD_CFG_AT24C01B == 1) */

#endif /* AMIROLLD_AT24C01BN_V1_H */

/** @} */

/*

AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.

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

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

*/

/**

 * @file    alld_AT42QT1050.h

 *

 * @addtogroup lld_touch

 * @{

 */

#ifndef AMIROLLD_AT42QT1050_H

#define AMIROLLD_AT42QT1050_H

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_AT42QT1050)

#if (AMIROLLD_CFG_AT42QT1050 == 1)

  #include "v1/alld_AT42QT1050_v1.h"

#else

  #error "invalid value assigned to AMIROLLD_CFG_AT42QT1050 in alldconf.h"

#endif

#endif /* defined(AMIROLLD_CFG_AT42QT1050) */

#endif /* AMIROLLD_AT42QT1050_H */

/** @} */

/*

AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.

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

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

*/

/**

 * @file    alld_AT42QT1050_v1.h

 * @brief   Touch sensor macros and structures.

 *

 * @addtogroup lld_touch

 * @{

 */

#ifndef AMIROLLD_AT42QT1050_V1_H

#define AMIROLLD_AT42QT1050_V1_H

#include <amiro-lld.h>

#if (defined(AMIROLLD_CFG_AT42QT1050) && (AMIROLLD_CFG_AT42QT1050 == 1)) || defined(__DOXYGEN__)

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/**

 * @brief   Maximum I2C frequency.

 */

#define AT42QT1050_LLD_I2C_MAXFREQUENCY         400000

/**

 * @brief   A falling edge indicats an interrupt.

 */

#define AT42QT1050_LLD_INT_EDGE                 APAL_GPIO_EDGE_FALLING

/**

 * @brief   Number of touch keys supported by AT42QT1050.

 */

#define AT42QT1050_LLD_NUM_KEYS                 5

/**

 * @brief   Maximum time (in microseconds) to acquire all key signals before the overflow bit of the detection status register is set.

 */

#define AT42QT1050_LLD_MAX_KEY_ACQUIRATION_TIME 8000

/**

 * @brief   The chip ID as can be read from the according register (constant).

 */

#define AT42QT1050_LLD_CHIPID                   0x46

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief   The AT42QT1050Driver sruct.

 */

typedef struct {

  apalI2CDriver_t* i2cd;

  apalI2Caddr_t addr;

} AT42QT1050Driver;

/**

 * @brief   Possible I2C address configurations.

 */

enum {

  AT42QT1050_LLD_I2C_ADDRSEL_LOW  = 0x0041u,  /**< ADDR_SEL pin is pulled low. */

  AT42QT1050_LLD_I2C_ADDRSEL_HIGH = 0x0046u,  /**< ADDR_SEL pin is pulled high. */

};

/**

 * @brief   Available register addresses of the AT42Q1050.

 */

typedef enum {