amiro-lld / source / alld_a3906.c @ 3fb3c6e7
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file alld_a3906.c
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* @brief Motor driver functions.
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*
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* @addtogroup lld_motor
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* @{
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*/
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#include <alld_a3906.h> |
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#if defined(AMIROLLD_CFG_USE_A3906) || defined(__DOXYGEN__)
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/**
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* @brief Sets the power state of the A3906.
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* @param[in] a3906d The A3906 driver.
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* @param[in] power_state The new power state to set.
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*
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* @return The return status indicates whether the function call was successfull.
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*/
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inline apalExitStatus_t
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a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state) |
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{
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apalDbgAssert(a3906 != NULL);
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// set the output of the pin depending on the activation property
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return apalControlGpioSet(a3906->power_pin, (power_state == A3906_LLD_POWER_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF);
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} |
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/**
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* @brief Gets the current power state of the A3906.
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*
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* @param[in] a3906d The A3906 driver,
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* @param[out] power_state The currently set power state.
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*
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* @return The return status indicates whether the function call was successfull.
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*/
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inline apalExitStatus_t
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a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state) |
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{
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apalDbgAssert(a3906 != NULL);
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apalDbgAssert(power_state != NULL);
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// get current activation state of power gpio
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apalControlGpioState_t gpio_state; |
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apalExitStatus_t status = apalControlGpioGet(a3906->power_pin, &gpio_state); |
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*power_state = gpio_state == APAL_GPIO_ON ? A3906_LLD_POWER_ON : A3906_LLD_POWER_OFF; |
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return status;
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} |
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/**
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* @brief Set the PWM width for one channel.
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*
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* @param[in] pwmd The PWM driver to use.
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* @param[in] channel The channel of the given PWM driver to set.
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* @param[in] width The new width to set the PWM to.
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*
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* @return The return status indicates whether the function call was successfull.
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*/
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inline apalExitStatus_t
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a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width) |
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{
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apalDbgAssert(pwm != NULL);
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return apalPWMSet(pwm, channel, width);
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} |
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#endif /* defined(AMIROLLD_CFG_USE_A3906) */ |
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/** @} */
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