amiro-lld / periphALtypes.h @ 65d08293
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1 | d6728c5b | Thomas Schöpping | /*
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2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
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7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
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14 | d6728c5b | Thomas Schöpping | |
15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
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16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #ifndef _AMIROLLD_PERIPHALTYPES_H_
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20 | #define _AMIROLLD_PERIPHALTYPES_H_
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21 | |||
22 | /*============================================================================*/
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23 | /* DEPENDENCIES */
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24 | /*============================================================================*/
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25 | |||
26 | cf1f756b | Thomas Schöpping | #include <alldconf.h> |
27 | d6728c5b | Thomas Schöpping | #include <stdint.h> |
28 | |||
29 | /*============================================================================*/
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30 | /* GENERAL */
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31 | /*============================================================================*/
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32 | |||
33 | /**
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34 | * @brief Time measurement type (in microseconds).
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35 | */
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36 | cf1f756b | Thomas Schöpping | #if !defined(AMIROLLD_CFG_TIME_SIZE)
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37 | #error "AMIROLLD_CFG_TIME_SIZE not defined in alldconf.h" |
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38 | #elif (AMIROLLD_CFG_TIME_SIZE == 8) |
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39 | typedef uint8_t apalTime_t;
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40 | #elif (AMIROLLD_CFG_TIME_SIZE == 16) |
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41 | typedef uint16_t apalTime_t;
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42 | #elif (AMIROLLD_CFG_TIME_SIZE == 32) |
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43 | typedef uint32_t apalTime_t;
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44 | #elif (AMIROLLD_CFG_TIME_SIZE == 64) |
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45 | typedef uint64_t apalTime_t;
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46 | #else
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47 | #error "AMIROLLD_CFG_TIME_SIZE must be 8, 16, 32 or 64!" |
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48 | #endif
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49 | d6728c5b | Thomas Schöpping | |
50 | /**
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51 | * @brief Status values used as return value for all (or most) function calls.
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52 | * @note The status can be used as mask of flags.
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53 | */
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54 | typedef enum { |
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55 | APAL_STATUS_OK = 0x00u, /**< success, no error occurred */ |
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56 | APAL_STATUS_SUCCESS = 0x00u, /**< success, no error occurred */ |
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57 | APAL_STATUS_ERROR = 0x01u, /**< failed, some unspecified error occured */ |
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58 | APAL_STATUS_FAILURE = 0x01u, /**< failed, some unspecified error occured */ |
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59 | APAL_STATUS_TIMEOUT = 0x02u, /**< failed, timeout occurred */ |
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60 | APAL_STATUS_INVALIDARGUMENTS = 0x04u, /**< failed, invalid arguments */ |
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61 | APAL_STATUS_UNAVAILABLE = 0x08u, /**< failed, function unavailable */ |
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62 | APAL_STATUS_WARNING = 0x10u, /**< success, but the result is probably not as expected */ |
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63 | } apalExitStatus_t; |
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64 | |||
65 | /*============================================================================*/
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66 | /* GPIO */
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67 | /*============================================================================*/
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68 | |||
69 | /**
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70 | * @brief Forward declaration.
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71 | * @details Struct must be defined in 'periphAL.h'.
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72 | */
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73 | typedef struct apalGpio_t apalGpio_t; |
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74 | |||
75 | /**
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76 | * @brief Status values to read/write a GPIO port.
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77 | */
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78 | typedef enum { |
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79 | APAL_GPIO_LOW = 0, /**< logical low state */ |
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80 | APAL_GPIO_HIGH = 1, /**< logical high state */ |
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81 | } apalGpioState_t; |
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82 | |||
83 | /**
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84 | * @brief Status values to turn a control GPIO 'on' and 'off'.
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85 | */
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86 | typedef enum { |
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87 | APAL_GPIO_OFF = 0, /**< logical 'turned off' state */ |
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88 | APAL_GPIO_ON = 1, /**< logical 'turned on' state */ |
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89 | } apalControlGpioState_t; |
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90 | |||
91 | /**
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92 | * @brief Polarity state of the control GPIO.
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93 | */
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94 | typedef enum { |
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95 | APAL_GPIO_ACTIVE_LOW = 0x00, /**< A logically low state is defined as 'on'. */ |
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96 | APAL_GPIO_ACTIVE_HIGH = 0x01, /**< A locically high state is defined as 'on'. */ |
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97 | } apalGpioActive_t; |
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98 | |||
99 | /**
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100 | cf1f756b | Thomas Schöpping | * @brief Signal direction for the control GPIO.
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101 | */
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102 | typedef enum { |
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103 | APAL_GPIO_DIRECTION_UNDEFINED = 0x00, /**< Signal direction is undefined. */ |
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104 | APAL_GPIO_DIRECTION_INPUT = 0x01, /**< Signal direction is input only. */ |
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105 | APAL_GPIO_DIRECTION_OUTPUT = 0x02, /**< Signal direction is output only */ |
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106 | APAL_GPIO_DIRECTION_BIDIRECTIONAL = 0x03, /**< Signal direction is bidirectional. */ |
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107 | } apalGpioDirection_t; |
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108 | |||
109 | /**
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110 | d6728c5b | Thomas Schöpping | * @brief Informative signal edge for input control GPIOs.
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111 | */
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112 | typedef enum { |
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113 | APAL_GPIO_EDGE_NONE = 0x00, /**< No edge indicates an interrupt. */ |
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114 | APAL_GPIO_EDGE_RISING = 0x01, /**< Rising edges indicate an interrupt. */ |
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115 | APAL_GPIO_EDGE_FALLING = 0x02, /**< Falling edges indicate an interrupt. */ |
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116 | APAL_GPIO_EDGE_BOTH = 0x03, /**< Both rising and falling edges indicate an interrupt. */ |
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117 | } apalGpioEdge_t; |
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118 | |||
119 | /**
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120 | cf1f756b | Thomas Schöpping | * @brief Inverts the value of the informative signal edge for interrupts.
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121 | * @details Rising edge is inverted to falling and vice versa.
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122 | * If none or both edges are enabled, the identical value is returned.
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123 | d6728c5b | Thomas Schöpping | */
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124 | cf1f756b | Thomas Schöpping | #define APAL_GPIO_EDGE_INVERT(edge) \
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125 | ((edge == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_EDGE_FALLING : \ |
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126 | (edge == APAL_GPIO_EDGE_FALLING) ? APAL_GPIO_EDGE_RISING : edge) \ |
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127 | d6728c5b | Thomas Schöpping | |
128 | /**
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129 | * @brief Control GPIO meta information
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130 | */
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131 | typedef struct { |
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132 | cf1f756b | Thomas Schöpping | apalGpioDirection_t direction : 2; /**< Direction configuration for according signals */ |
133 | d6728c5b | Thomas Schöpping | apalGpioActive_t active : 1; /**< Active state of the GPIO */ |
134 | apalGpioEdge_t edge : 2; /**< Edge configuration for according signals */ |
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135 | } apalGpioMeta_t; |
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136 | |||
137 | /**
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138 | * @brief Control GPIO type.
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139 | */
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140 | typedef struct { |
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141 | apalGpio_t* gpio; /**< The GPIO to use. */
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142 | apalGpioMeta_t meta; /**< Meta information about the GPIO. */
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143 | } apalControlGpio_t; |
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144 | |||
145 | /*============================================================================*/
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146 | /* PWM */
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147 | /*============================================================================*/
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148 | |||
149 | /**
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150 | * @brief PWM channel type.
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151 | */
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152 | typedef uint8_t apalPWMchannel_t;
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153 | |||
154 | /**
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155 | * @brief PWM width type.
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156 | */
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157 | typedef uint16_t apalPWMwidth_t;
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158 | |||
159 | /**
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160 | * @brief PWM frequency type.
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161 | */
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162 | typedef uint32_t apalPWMfrequency_t;
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163 | |||
164 | /**
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165 | * @brief PWM period time.
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166 | */
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167 | typedef uint32_t apalPWMperiod_t;
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168 | |||
169 | /**
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170 | * @brief PWM width limits and special values.
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171 | */
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172 | typedef enum { |
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173 | APAL_PWM_WIDTH_OFF = 0x0000u, /**< PWM off */ |
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174 | APAL_PWM_WIDTH_MIN = 0x0000u, /**< PWM minimum width */ |
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175 | APAL_PWM_WIDTH_MAX = 0xFFFFu, /**< PWM maximum width */ |
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176 | } apalPWMWidthLimit_t; |
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177 | |||
178 | /*============================================================================*/
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179 | /* QEI */
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180 | /*============================================================================*/
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181 | |||
182 | /**
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183 | * @brief QEI counter type.
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184 | */
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185 | typedef uint32_t apalQEICount_t;
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186 | |||
187 | /**
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188 | * @brief Direction of the QEI.
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189 | */
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190 | typedef enum { |
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191 | APAL_QEI_DIRECTION_UP = 0, /**< QEI counted up */ |
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192 | APAL_QEI_DIRECTION_DOWN = 1, /**< QEI counted down */ |
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193 | } apalQEIDirection_t; |
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194 | |||
195 | /*============================================================================*/
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196 | /* I2C */
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197 | /*============================================================================*/
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198 | |||
199 | /**
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200 | * @brief I2C address type.
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201 | */
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202 | typedef uint16_t apalI2Caddr_t;
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203 | |||
204 | /*============================================================================*/
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205 | /* SPI */
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206 | /*============================================================================*/
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207 | |||
208 | |||
209 | #endif /* _AMIROLLD_PERIPHALTYPES_H_ */ |