AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers 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 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/>.

*/

#ifndef AMIROLLD_PERIPHAL_H

#define AMIROLLD_PERIPHAL_H

#include <amiro-lld.h>

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

/* VERSION                                                                    */

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

/**

 * @brief   The periphery abstraction layer interface major version.

 * @note    Changes of the major version imply incompatibilities.

 */

#define PERIPHAL_VERSION_MAJOR    1

/**

 * @brief   The periphery abstraction layer interface minor version.

 * @note    A higher minor version implies new functionalty, but all old interfaces are still available.

 */

#define PERIPHAL_VERSION_MINOR    2

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

/* DEPENDENCIES                                                               */

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

#include <stdint.h>

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

/* GENERAL                                                                    */

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

/**

 * @brief Status values used as return value for all (or most) function calls.

 * @note  The status can be used as mask of flags.

 */

typedef int8_t apalExitStatus_t;

/**

 * @brief   Status value for success (no error or warning occurred).

 */

#define APAL_STATUS_OK                          ((apalExitStatus_t)0)

#define APAL_STATUS_SUCCESS                     ((apalExitStatus_t)0)

/**

 * @brief   Status value for unspecified failure.

 */

#define APAL_STATUS_ERROR                       ((apalExitStatus_t)-1)

#define APAL_STATUS_FAILURE                     ((apalExitStatus_t)-1)

/**

 * @brief   Status value for timeout failure.

 */

#define APAL_STATUS_TIMEOUT                     ((apalExitStatus_t)-2)

/**

 * @brief   Status value for failure because of invalid arguments.

 */

#define APAL_STATUS_INVALIDARGUMENTS            ((apalExitStatus_t)-4)

/**

 * @brief   Status value for failure because the function is not available/implemented.

 */

#define APAL_STATUS_UNAVAILABLE                 ((apalExitStatus_t)-8)

/**

 * @brief   Status value for unspecified warning.

 */

#define APAL_STATUS_WARNING                     ((apalExitStatus_t)1)

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

/* DEBUG                                                                      */

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

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

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

#if !defined(apalDbgAssertMsg) || defined(__DOXYGEN__)

  /**

   * @brief Assert function to check a given condition and print a message string.

   *

   * @param[in] c     The condition to check.

   * @param[in] fmt   Formatted message string to print.

   */

  void apalDbgAssertMsg(const bool c, const char* fmt, ...);

#endif

#if !defined(apalDbgPrintf) || defined(__DOXYGEN__)

  /**

   * @brief Printf function for messages printed only in debug builds.

   *

   * @param[in] fmt   Formatted string to print.

   *

   * return   Number of printed characters.

   */

  int apalDbgPrintf(const char* fmt, ...);

#endif

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

/**

 * @brief Assert function to check a given condition.

 *

 * @param[in] c     The condition to check.

 */

#define apalDbgAssert(c) apalDbgAssertMsg(c, "%s(%u): apalDbgAssert failed", __FILE__, __LINE__)

#else /* (AMIROLLD_CFG_DBG == true) */

#define apalDbgAssertMsg(c, fmt, ...)

#define apalDbgPrintf(fmt, ...)                 0

#define apalDbgAssert(c)

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

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

/* TIMING                                                                     */

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

/**

 * @brief Time measurement type (in microseconds).

 */

#if (AMIROLLD_CFG_TIME_SIZE == 8)

  typedef uint8_t   apalTime_t;

#elif (AMIROLLD_CFG_TIME_SIZE == 16)

  typedef uint16_t  apalTime_t;

#elif (AMIROLLD_CFG_TIME_SIZE == 32)

  typedef uint32_t  apalTime_t;

#elif (AMIROLLD_CFG_TIME_SIZE == 64)

  typedef uint64_t  apalTime_t;

#else

  #error "AMIROLLD_CFG_TIME_SIZE must be 8, 16, 32 or 64"

#endif

#ifdef __cplusplus

extern "C" {

#endif

#if !defined(apalSleep) || defined(__DOXYGEN__)

  /**

   * @brief Delay execution by a specific number of microseconds.

   *

   * @param[in]   us    Time to sleep until execution continues in microseconds.

   */

  void apalSleep(apalTime_t us);

#endif

#if !defined(apalGetTime) || defined(__DOXYGEN__)

  /**

   * @brief Retrieve current system time in microseconds.

   * @details Return value may differ from true system time due to overflows.

   *

   * @return  Current system time.

   */

  apalTime_t apalGetTime(void);

#endif

#ifdef __cplusplus

}

#endif

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

/* GPIO                                                                       */

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

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

/*

 * The following type must be defined by the implementation:

 *

 * apalGpio_t

 *   Type to represent a GPIO object.

 *   Is only used via pointer by the API.

 */

/**

 * @brief Status values to read/write a GPIO port.

 */

typedef uint8_t apalGpioState_t;

/**

 * @brief   GPIO physical low state.

 */

#define APAL_GPIO_LOW                           ((apalGpioState_t)0)

/**

 * @brief   GPIO physical high state.

 */

#define APAL_GPIO_HIGH                          ((apalGpioState_t)1)

/**

 * @brief   Invert a physical GPIO state.

 *

 * @param[in] state   GPIO state to invert.

 *

 * @return  Inverted physical GPIO state.

 */

#define APAL_GPIO_STATE_INVERT(state) (                                       \

  (apalGpioState_t)state ^ APAL_GPIO_HIGH                                     \

)

/**

 * @brief Logical status values to turn a control GPIO 'on' and 'off'.

 */

typedef uint8_t apalControlGpioState_t;

/**

 * @brief   GPIO logical off state.

 */

#define APAL_GPIO_OFF                           ((apalControlGpioState_t)0)

/**

 * @brief   GPIO logical on state.

 */

#define APAL_GPIO_ON                            ((apalControlGpioState_t)1)

/**

 * @brief   Polarity state of the control GPIO.

 */

typedef uint8_t apalGpioActive_t;

/**

 * @brief   The control GPIO is never defined to be 'on' (does not apply).

 */

#define APAL_GPIO_ACTIVE_NONE                   ((apalGpioActive_t)0)

/**

 * @brief   The control GPIO is defined to be 'on' when it is phsically low.

 */

#define APAL_GPIO_ACTIVE_LOW                    ((apalGpioActive_t)1)

/**

 * @brief   The control GPIO is defined to be 'on' when it is physically high.

 */

#define APAL_GPIO_ACTIVE_HIGH                   ((apalGpioActive_t)2)

/**

 * @brief   The control GPIO is defined to be always 'on'.

 */

#define APAL_GPIO_ACTIVE_ANY                    ((apalGpioActive_t)3)

/**

 * @brief   Invert a GPIO active state.

 * @details The active state is inverted only if it was either low or high.

 *          In case it was set to none or any, the value is not modified.

 *

 * @param[in] active  Active state to be inverted.

 *

 * @return  Inverted active state.

 */

#define APAL_GPIO_ACTIVE_INVERT(active) (                                     \

  (((apalGpioActive_t)active & APAL_GPIO_ACTIVE_LOW) ^                        \

   ((apalGpioActive_t)active & APAL_GPIO_ACTIVE_HIGH)) ?                      \

  ((apalGpioActive_t)active ^ APAL_GPIO_ACTIVE_ANY) :                         \

  ((apalGpioActive_t)active)                                                  \

)

/**

 * @brief   Signal direction for the control GPIO.

 */

typedef uint8_t apalGpioDirection_t;

/**

 * @brief   Signal direction for the control GPIO is undefined.

 */

#define APAL_GPIO_DIRECTION_UNDEFINED           ((apalGpioDirection_t)0)

/**

 * @brief   Signal direction for the control GPIO is input only.

 */

#define APAL_GPIO_DIRECTION_INPUT               ((apalGpioDirection_t)1)

/**

 * @brief   Signal direction for the control GPIO is output only.

 */

#define APAL_GPIO_DIRECTION_OUTPUT              ((apalGpioDirection_t)2)

/**

 * @brief   Signal direction for the control GPIO is didirectional.

 */

#define APAL_GPIO_DIRECTION_BIDIRECTIONAL       ((apalGpioDirection_t)3)

/**

 * @brief   Informative or effective signal edge for control GPIOs.

 */

typedef uint8_t apalGpioEdge_t;

/**

 * @brief   No edges indicate an interrupt or trigger an action.

 */

#define APAL_GPIO_EDGE_NONE                     ((apalGpioEdge_t)0)

/**

 * @brief   Rising edges indicate an interrupt or trigger an action.

 */

#define APAL_GPIO_EDGE_RISING                   ((apalGpioEdge_t)1)

/**

 * @brief   Falling edges indicate an interrupt or trigger an action.

 */

#define APAL_GPIO_EDGE_FALLING                  ((apalGpioEdge_t)2)

/**

 * @brief   Both rising and falling edges indicate an interrupt or trigger an action.

 */

#define APAL_GPIO_EDGE_BOTH                     ((apalGpioEdge_t)3)

/**

 * @brief   Inverts the value of the informative or effective signal edge for interrupts.

 * @details Rising edge is inverted to falling and vice versa.

 *          If none or both edges are enabled, the identical value is returned.

 */

#define APAL_GPIO_EDGE_INVERT(edge) (                                         \

  (((apalGpioEdge_t)edge & APAL_GPIO_EDGE_RISING) ^                           \

   ((apalGpioEdge_t)edge & APAL_GPIO_EDGE_FALLING)) ?                         \

  ((apalGpioEdge_t)edge ^ APAL_GPIO_EDGE_BOTH) :                              \

  ((apalGpioEdge_t)edge)                                                      \

)

/**

 * @brief Control GPIO meta information

 */

typedef struct {

  apalGpioDirection_t direction : 2;  /**< Direction configuration for according signals */

  apalGpioActive_t active       : 2;  /**< Active state of the GPIO */

  apalGpioEdge_t edge           : 2;  /**< Edge configuration for according signals */

} apalGpioMeta_t;

/**

 * @brief Control GPIO type.

 */

typedef struct {

  apalGpio_t* gpio;     /**< The GPIO to use.                 */

  apalGpioMeta_t meta;  /**< Meta information about the GPIO. */

} apalControlGpio_t;

#ifdef __cplusplus

extern "C" {

#endif

#if !defined(apalGpioRead) || defined(__DOXYGEN__)

  /**

   * @brief Read the current value of a GPIO pin.

   *

   * @param[in]   gpio  GPIO to read.

   * @param[out]  val   Current value of the GPIO.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val);

#endif

#if !defined(apalGpioWrite) || defined(__DOXYGEN__)

  /**

   * @brief Set the value of a GPIO pin.

   *

   * @param[in] gpio  GPIO to write.

   * @param[in] val   Value to set for the GPIO.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val);

#endif

#if !defined(apalGpioToggle) || defined(__DOXYGEN__)

  /**

   * @brief Toggle the output of a GPIO.

   *

   * @param[in] gpio  GPIO to toggle.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalGpioToggle(apalGpio_t* gpio);

#endif

#if !defined(apalGpioIsInterruptEnabled) || defined(__DOXYGEN__)

  /**

   * @brief Return the interrupt enable status of the GPIO.

   *

   * @param[in]   gpio      GPIO to check.

   * @param[out]  enabled   Flag, indicating whether interrupt is enabled for the GPIO.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalGpioIsInterruptEnabled(apalGpio_t* gpio, bool* const enabled);

#endif

#if !defined(apalControlGpioGet) || defined(__DOXYGEN__)

  /**

   * @brief Get the current on/off state of a control GPIO.

   *

   * @param[in]   gpio  Control GPIO to read.

   * @param[out]  val   Current activation status of the control GPIO.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val);

#endif

#if !defined(apalControlGpioSet) || defined(__DOXYGEN__)

  /**

   * @brief Turn a control GPIO 'on' or 'off' respectively.

   *

   * @param[in] gpio  Control GPIO to set.

   * @param[in] val   Activation value to set for the control GPIO.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val);

#endif

#if !defined(apalControlGpioSetInterrupt) || defined(__DOXYGEN__)

  /**

   * @brief   Enable or disable the interrupt event functionality.

   *

   * @param[in] cgpio   Control GPIO to set.

   * @param[in] enable  Flag, indicating whether the interrupt shall be activated (true) or deactivated (false).

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalControlGpioSetInterrupt(const apalControlGpio_t* const cgpio, const bool enable);

#endif

#ifdef __cplusplus

}

#endif

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

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

/* PWM                                                                        */

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

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

/*

 * The following type must be defined by the implementation:

 *

 * apalPWMDriver_t

 *   Type to represent a PWM driver object.

 *   Is only used via pointer by the API.

 */

/**

 * @brief PWM channel type.

 */

typedef uint8_t   apalPWMchannel_t;

/**

 * @brief PWM width type.

 */

typedef uint16_t  apalPWMwidth_t;

/**

 * @brief PWM frequency type.

 */

typedef uint32_t  apalPWMfrequency_t;

/**

 * @brief PWM period time.

 */

typedef uint32_t  apalPWMperiod_t;

/**

 * @brief   PWM width to turn off the PWM.

 */

#define APAL_PWM_WIDTH_OFF                      ((apalPWMwidth_t)0x0000u)

/**

 * @brief   Minimum allowed PWM width.

 */

#define APAL_PWM_WIDTH_MIN                      ((apalPWMwidth_t)0x0000u)

/**

 * @brief   Maximum allowed PWM width.

 */

#define APAL_PWM_WIDTH_MAX                      ((apalPWMwidth_t)0xFFFFu)

#ifdef __cplusplus

extern "C" {

#endif

#if !defined(apalPWMSet) || defined(__DOXYGEN__)

  /**

   * @brief   Set the PWM with given parameters.

   *

   * @param[in] pwm       PWM driver to set.

   * @param[in] channel   Channel of the PWM driver to set.

   * @param[in] width     Width to set the channel to.

   *

   * @return  The status indicates whether the function call was successful.

   */

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

#endif

#if !defined(apalPWMGetFrequency) || defined(__DOXYGEN__)

  /**

   * @brief   Retrieve the current frequency of the PWM.

   *

   * @param[in]  pwm        PWM driver to read.

   * @param[out] frequency  The currently set frequency.

   *

   * @return  The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency);

#endif

#if !defined(apalPWMGetPeriod) || defined(__DOXYGEN__)

  /**

   * @brief   Retrieve the current period of the PWM.

   *

   * @param[in]   pwm     PWM driver to read.

   * @param[out]  period  The currently set period.

   *

   * @return  The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period);

#endif

#ifdef __cplusplus

}

#endif

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

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

/* QEI                                                                        */

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

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

/*

 * The following type must be defined by the implementation:

 *

 * apalQEIDriver_t

 *   Type to represent a QEI driver object.

 *   Is only used via pointer by the API.

 */

/**

 * @brief QEI counter type.

 */

typedef uint32_t  apalQEICount_t;

/**

 * @brief Direction of the QEI.

 */

typedef uint8_t apalQEIDirection_t;

/*

 * @brief   QEI counts upwards.

 */

#define APAL_QEI_DIRECTION_UP                   ((apalQEIDirection_t)0)

/*

 * @brief   QEI counts downwards.

 */

#define APAL_QEI_DIRECTION_DOWN                 ((apalQEIDirection_t)1)

#ifdef __cplusplus

extern "C" {

#endif

#if !defined(apalQEIGetDirection) || defined(__DOXYGEN__)

  /**

   * @brief Gets the direction of the last transition.

   *

   * @param[in]   qei         The QEI driver to use.

   * @param[out]  direction   The direction of the last transition.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction);

#endif

#if !defined(apalQEIGetPosition) || defined(__DOXYGEN__)

  /**

   * @brief Gets the current position of the ecnoder.

   *

   * @param[in]   qei       The QEI driver to use.

   * @param[out]  position  The current position of the encoder.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position);

#endif

#if !defined(apalQEIGetRange) || defined(__DOXYGEN__)

  /**

   * @brief Gets the value range of the encoder.

   *

   * @param[in]   qei     The QEI driver to use.

   * @param[out]  range   The value range of the encoder.

   *

   * @return The status indicates whether the function call was successful.

   */

  apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range);

#endif

#ifdef __cplusplus

}

#endif

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

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

/* I2C                                                                        */

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

#if (AMIROLLD_CFG_I2C == true) || defined(__DOXYGEN__)

/*

 * The following type must be defined by the implementation:

 *

 * apalI2CDriver_t

 *   Type to represent a I2C driver object.

 *   Is only used via pointer by the API.

 */

/**

 * @brief I2C address type.

 */

typedef uint16_t apalI2Caddr_t;

#ifdef __cplusplus

extern "C" {

#endif

#if !defined(apalI2CMasterTransmit) || defined(__DOXYGEN__)

  /**

   * @brief Transmit data and receive a response.

   *

   * @param[in]   i2cd      The I2C driver to use.

   * @param[in]   addr      Address to write to.

   * @param[in]   txbuf     Buffer containing data to send.

   * @param[in]   txbytes   Number of bytes to send.

   * @param[out]  rxbuf     Buffer to store a response to.

   * @param[in]   rxbytes   Number of bytes to receive.

   * @param[in]   timeout   Timeout for the function to return (in microseconds).

   *

   * @return The status indicates whether the function call was succesful or a timeout occurred.

   */

  apalExitStatus_t apalI2CMasterTransmit(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, const uint8_t* const txbuf, const size_t txbytes, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout);

#endif

#if !defined(apalI2CMasterReceive) || defined(__DOXYGEN__)

  /**

   * @brief Read data from a specific address.

   *

   * @param[in]   i2cd      The I2C driver to use.

   * @param[in]   addr      Address to read.

   * @param[out]  rxbuf     Buffer to store the response to.

   * @param[in]   rxbytes   Number of bytes to receive.

   * @param[in]   timeout   Timeout for the function to return (in microseconds).

   *

   * @return The status indicates whether the function call was succesful or a timeout occurred.

   */

  apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout);

#endif

#ifdef __cplusplus

}

#endif

#endif /* (AMIROLLD_CFG_I2C == true) */

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

/* SPI                                                                        */

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

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

/*

 * The following types must be defined by the implementation:

 *

 * apalSPIDriver_t

 *   Type to represent a SPI driver object.

 *   Is only used via pointer by the API.

 *

 * apalSPIConfig_t

 *   Type to represent SPI a configuration object.

 *   Is only used via pointer by the API.

 */

#ifdef __cplusplus

extern "C" {

#endif

#if !defined(apalSPITransmit) || defined(__DOXYGEN__)

  /**

   * @brief Transmit data to SPI.

   *

   * @param[in]   spid      The SPI driver to use.

   * @param[in]   data      Buffer containing data to send.

   * @param[in]   length    Number of bytes to send.

   *

   * @return The status indicates whether the function call was succesful.

   */

  apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length);

#endif

#if !defined(apalSPIReceive) || defined(__DOXYGEN__)

  /**

   * @brief Receive data from SPI.

   *

   * @param[in]   spid      The SPI driver to use.

   * @param[out]  data      Buffer to store receied data.

   * @param[in]   length    Number of bytes to receive.

   *

   * @return The status indicates whether the function call was succesful.

   */

  apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length);

#endif

#if !defined(apalSPITransmitAndReceive) || defined(__DOXYGEN__)

  /**

   * @brief Transmit data to SPI and receive data afterwards without releasing the bus in between.

   *

   * @param[in]   spid        The SPI driver to use.

   * @param[in]   txData      Transmit data buffer.

   * @param[in]   rxData      Receive data buffer.

   * @param[in]   txLength    Number of bytes to send.

   * @param[in]   rxLength    Number of bytes to receive.

   *

   * @return The status indicates whether the function call was succesful.

   */

  apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength);

#endif

#if !defined(apalSPIExchange) || defined(__DOXYGEN__)

  /**

   * @brief Transmit and receive data from SPI simultaneously.

   *

   * @param[in]   spid      The SPI driver to use.

   * @param[in]   txData    Buffer containing data to send.

   * @param[out]  rxData    Buffer to store received data.

   * @param[in]   length    Number of bytes to send and receive.

   *

   * @return The status indicates whether the function call was succesful.

   */

  apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length);

#endif

#if !defined(apalSPIReconfigure) || defined(__DOXYGEN__)

  /**

   * @brief Reconfigure an SPI driver.

   *

   * @param[in] spid    The SPI driver to be reconfigured.

   * @param[in] config  Configuration to apply.

   *

   * @return The status indicates whether the function call was succesful.

   */

  apalExitStatus_t apalSPIReconfigure(apalSPIDriver_t* spid, const apalSPIConfig_t* config);

#endif

#ifdef __cplusplus

}

#endif

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

#endif /* AMIROOS_PERIPHAL_H */