amiro-lld / templates / periphAL.h @ 76350eab
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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..2019 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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#ifndef AMIROLLD_PERIPHAL_H
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#define AMIROLLD_PERIPHAL_H
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#include <amiro-lld.h> |
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/*============================================================================*/
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/* VERSION */
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/*============================================================================*/
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/**
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* @brief The periphery abstraction layer interface major version.
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* @note Changes of the major version imply incompatibilities.
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*/
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#define PERIPHAL_VERSION_MAJOR 1 |
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/**
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* @brief The periphery abstraction layer interface minor version.
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* @note A higher minor version implies new functionalty, but all old interfaces are still available.
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*/
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#define PERIPHAL_VERSION_MINOR 0 |
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/*============================================================================*/
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/* DEPENDENCIES */
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/*============================================================================*/
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/*============================================================================*/
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/* GENERAL */
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/*============================================================================*/
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Delay execution by a specific number of microseconds.
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*
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* @param[in] us Time to sleep until execution continues in microseconds.
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*/
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void usleep(apalTime_t us);
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#ifdef __cplusplus
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} |
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#endif
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/*============================================================================*/
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/* GPIO */
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/*============================================================================*/
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typedef osGpio_t apalGpio_t;
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Read the current value of a GPIO pin.
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*
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* @param[in] gpio GPIO to read.
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* @param[out] val Current value of the GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val);
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/**
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* @brief Set the value of a GPIO pin.
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*
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* @param[in] gpio GPIO to write.
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* @param[in] val Value to set for the GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val);
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/**
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* @brief Toggle the output of a GPIO.
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*
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* @param[in] gpio GPIO to toggle.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalGpioToggle(apalGpio_t* gpio); |
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/**
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* @brief Get the current on/off state of a control GPIO.
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*
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* @param[in] gpio Control GPIO to read.
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* @param[out] val Current activation status of the control GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val); |
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/**
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* @brief Turn a control GPIO 'on' or 'off' respectively.
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*
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* @param[in] gpio Control GPIO to set.
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* @param[in] val Activation value to set for the control GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val); |
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#ifdef __cplusplus
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} |
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#endif
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/*============================================================================*/
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/* PWM */
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/*============================================================================*/
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/**
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* @brief PWM driver type.
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*/
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typedef osPWMDriver_t apalPWMDriver_t;
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Set the PWM with given parameters.
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*
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* @param[in] pwm PWM driver to set.
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* @param[in] channel Channel of the PWM driver to set.
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* @param[in] width Width to set the channel to.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width); |
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/**
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* @brief Retrieve the current frequency of the PWM.
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*
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* @param[in] pwm PWM driver to read.
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* @param[out] frequency The currently set frequency.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency);
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/**
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* @brief Retrieve the current period of the PWM.
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*
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* @param[in] pwm PWM driver to read.
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* @param[out] period The currently set period.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period);
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#ifdef __cplusplus
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} |
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#endif
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/*============================================================================*/
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/* QEI */
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/*============================================================================*/
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/**
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* @brief QEI driver type.
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*/
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typedef osQEIDriver_t apaQEIDriver_t;
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Gets the direction of the last transition.
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*
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* @param[in] qei The QEI driver to use.
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* @param[out] direction The direction of the last transition.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction);
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/**
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* @brief Gets the current position of the ecnoder.
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*
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* @param[in] qei The QEI driver to use.
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* @param[out] position The current position of the encoder.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position);
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/**
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* @brief Gets the value range of the encoder.
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*
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* @param[in] qei The QEI driver to use.
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* @param[out] range The value range of the encoder.
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*
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* @return The status indicates whether the function call was successful.
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*/
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apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range);
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#ifdef __cplusplus
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} |
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#endif
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/*============================================================================*/
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/* I2C */
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/*============================================================================*/
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/**
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* @brief I2C driver type.
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*/
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typedef osI2CDriver_t apalI2CDriver_t;
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Transmit data and receive a response.
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*
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* @param[in] i2cd The I2C driver to use.
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* @param[in] addr Address to write to.
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* @param[in] txbuf Buffer containing data to send.
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* @param[in] txbytes Number of bytes to send.
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* @param[out] rxbuf Buffer to store a response to.
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* @param[in] rxbytes Number of bytes to receive.
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* @param[in] timeout Timeout for the function to return (in microseconds).
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*
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* @return The status indicates whether the function call was succesful or a timeout occurred.
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*/
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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); |
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/**
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* @brief Read data from a specific address.
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*
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* @param[in] i2cd The I2C driver to use.
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* @param[in] addr Address to read.
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* @param[out] rxbuf Buffer to store the response to.
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* @param[in] rxbytes Number of bytes to receive.
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* @param[in] timeout Timeout for the function to return (in microseconds).
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*
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* @return The status indicates whether the function call was succesful or a timeout occurred.
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*/
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apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout); |
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#ifdef __cplusplus
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} |
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#endif
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/*============================================================================*/
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/* SPI */
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/*============================================================================*/
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/**
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* @brief SPI driver type.
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*/
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typedef osSPIDriver_t apalSPIDriver_t;
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Transmit and receive data from SPI
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*
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* @param[in] spid The SPI driver to use.
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* @param[in] txData Buffer containing data to send.
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* @param[out] rxData Buffer to store.
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* @param[in] length Number of bytes to send.
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*
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* @return The status indicates whether the function call was succesful.
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*/
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apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length); |
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/**
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* @brief Receive data from SPI
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*
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* @param[in] spid The SPI driver to use.
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* @param[out] data Buffer to store.
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* @param[in] length Number of bytes to send.
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*
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* @return The status indicates whether the function call was succesful.
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*/
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apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length); |
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/**
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* @brief Transmit data to SPI
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*
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* @param[in] spid The SPI driver to use.
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* @param[in] data Buffer containing data to send.
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* @param[in] length Number of bytes to send.
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*
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* @return The status indicates whether the function call was succesful.
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*/
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apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length); |
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/**
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* @brief Transmit data to SPI and receive data afterwards without releasing the bus in between.
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*
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* @param[in] spid The SPI driver to use.
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* @param[in] txData Transmit data buffer.
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* @param[in] rxData Receive data buffer.
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* @param[in] txLength Number of bytes to send.
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* @param[in] rxLength Number of bytes to receive.
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*
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* @return The status indicates whether the function call was succesful.
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*/
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static inline apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength); |
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#ifdef __cplusplus
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} |
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#endif
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/*============================================================================*/
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/* DEBUG */
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/*============================================================================*/
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Assert function to check a given condition.
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* @note Using a macro is preferable.
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*
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* @param[in] c The condition to check.
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*/
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void apalDbgAssert(bool c); |
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/**
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* @brief Printf function for messages printed only in debug builds.
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*
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* @param[in] fmt Formatted string to print.
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*/
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void apalDbgPrintf(fmt, ...);
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#ifdef __cplusplus
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} |
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#endif
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#endif /* AMIROOS_PERIPHAL_H */ |
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