amiro-lld / templates / periphAL.h @ 86e60b45
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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 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | d6728c5b | Thomas Schöpping | |
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 | 8c47f14b | Thomas Schöpping | #ifndef AMIROLLD_PERIPHAL_H
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20 | #define AMIROLLD_PERIPHAL_H
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21 | d6728c5b | Thomas Schöpping | |
22 | a627f4dd | Thomas Schöpping | #include <amiro-lld.h> |
23 | |||
24 | d6728c5b | Thomas Schöpping | /*============================================================================*/
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25 | /* VERSION */
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26 | /*============================================================================*/
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27 | |||
28 | /**
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29 | * @brief The periphery abstraction layer interface major version.
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30 | * @note Changes of the major version imply incompatibilities.
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31 | */
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32 | #define PERIPHAL_VERSION_MAJOR 1 |
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33 | |||
34 | /**
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35 | * @brief The periphery abstraction layer interface minor version.
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36 | * @note A higher minor version implies new functionalty, but all old interfaces are still available.
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37 | */
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38 | #define PERIPHAL_VERSION_MINOR 0 |
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39 | |||
40 | /*============================================================================*/
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41 | /* DEPENDENCIES */
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42 | /*============================================================================*/
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43 | |||
44 | /*============================================================================*/
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45 | /* GENERAL */
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46 | /*============================================================================*/
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47 | |||
48 | #ifdef __cplusplus
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49 | extern "C" { |
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50 | #endif
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51 | |||
52 | /**
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53 | * @brief Delay execution by a specific number of microseconds.
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54 | *
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55 | * @param[in] us Time to sleep until execution continues in microseconds.
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56 | */
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57 | void usleep(apalTime_t us);
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58 | |||
59 | #ifdef __cplusplus
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60 | } |
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61 | #endif
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62 | |||
63 | /*============================================================================*/
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64 | /* GPIO */
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65 | /*============================================================================*/
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66 | |||
67 | typedef osGpio_t apalGpio_t;
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68 | |||
69 | #ifdef __cplusplus
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70 | extern "C" { |
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71 | #endif
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72 | |||
73 | /**
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74 | * @brief Read the current value of a GPIO pin.
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75 | *
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76 | * @param[in] gpio GPIO to read.
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77 | * @param[out] val Current value of the GPIO.
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78 | *
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79 | * @return The status indicates whether the function call was successful.
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80 | */
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81 | apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val);
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82 | |||
83 | /**
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84 | * @brief Set the value of a GPIO pin.
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85 | *
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86 | * @param[in] gpio GPIO to write.
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87 | * @param[in] val Value to set for the GPIO.
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88 | *
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89 | * @return The status indicates whether the function call was successful.
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90 | */
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91 | apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val);
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92 | |||
93 | /**
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94 | * @brief Toggle the output of a GPIO.
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95 | *
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96 | * @param[in] gpio GPIO to toggle.
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97 | *
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98 | * @return The status indicates whether the function call was successful.
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99 | */
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100 | apalExitStatus_t apalGpioToggle(apalGpio_t* gpio); |
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101 | |||
102 | /**
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103 | * @brief Get the current on/off state of a control GPIO.
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104 | *
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105 | * @param[in] gpio Control GPIO to read.
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106 | * @param[out] val Current activation status of the control GPIO.
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107 | *
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108 | * @return The status indicates whether the function call was successful.
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109 | */
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110 | apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val); |
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111 | |||
112 | /**
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113 | * @brief Turn a control GPIO 'on' or 'off' respectively.
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114 | *
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115 | * @param[in] gpio Control GPIO to set.
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116 | * @param[in] val Activation value to set for the control GPIO.
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117 | *
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118 | * @return The status indicates whether the function call was successful.
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119 | */
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120 | apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val); |
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121 | |||
122 | #ifdef __cplusplus
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123 | } |
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124 | #endif
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125 | |||
126 | /*============================================================================*/
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127 | /* PWM */
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128 | /*============================================================================*/
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129 | |||
130 | /**
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131 | * @brief PWM driver type.
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132 | */
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133 | typedef osPWMDriver_t apalPWMDriver_t;
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134 | |||
135 | #ifdef __cplusplus
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136 | extern "C" { |
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137 | #endif
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138 | |||
139 | /**
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140 | * @brief Set the PWM with given parameters.
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141 | *
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142 | * @param[in] pwm PWM driver to set.
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143 | * @param[in] channel Channel of the PWM driver to set.
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144 | * @param[in] width Width to set the channel to.
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145 | *
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146 | * @return The status indicates whether the function call was successful.
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147 | */
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148 | apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width); |
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149 | |||
150 | /**
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151 | * @brief Retrieve the current frequency of the PWM.
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152 | *
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153 | * @param[in] pwm PWM driver to read.
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154 | * @param[out] frequency The currently set frequency.
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155 | *
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156 | * @return The status indicates whether the function call was successful.
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157 | */
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158 | apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency);
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159 | |||
160 | /**
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161 | * @brief Retrieve the current period of the PWM.
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162 | *
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163 | * @param[in] pwm PWM driver to read.
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164 | * @param[out] period The currently set period.
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165 | *
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166 | * @return The status indicates whether the function call was successful.
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167 | */
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168 | apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period);
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169 | |||
170 | #ifdef __cplusplus
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171 | } |
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172 | #endif
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173 | |||
174 | /*============================================================================*/
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175 | /* QEI */
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176 | /*============================================================================*/
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177 | |||
178 | /**
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179 | * @brief QEI driver type.
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180 | */
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181 | typedef osQEIDriver_t apaQEIDriver_t;
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182 | |||
183 | #ifdef __cplusplus
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184 | extern "C" { |
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185 | #endif
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186 | |||
187 | /**
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188 | * @brief Gets the direction of the last transition.
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189 | *
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190 | * @param[in] qei The QEI driver to use.
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191 | * @param[out] direction The direction of the last transition.
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192 | *
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193 | * @return The status indicates whether the function call was successful.
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194 | */
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195 | apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction);
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196 | |||
197 | /**
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198 | * @brief Gets the current position of the ecnoder.
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199 | *
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200 | * @param[in] qei The QEI driver to use.
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201 | * @param[out] position The current position of the encoder.
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202 | *
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203 | * @return The status indicates whether the function call was successful.
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204 | */
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205 | apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position);
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206 | |||
207 | /**
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208 | * @brief Gets the value range of the encoder.
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209 | *
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210 | * @param[in] qei The QEI driver to use.
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211 | * @param[out] range The value range of the encoder.
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212 | *
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213 | * @return The status indicates whether the function call was successful.
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214 | */
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215 | apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range);
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216 | |||
217 | #ifdef __cplusplus
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218 | } |
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219 | #endif
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220 | |||
221 | /*============================================================================*/
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222 | /* I2C */
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223 | /*============================================================================*/
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224 | |||
225 | /**
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226 | * @brief I2C driver type.
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227 | */
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228 | typedef osI2CDriver_t apalI2CDriver_t;
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229 | |||
230 | #ifdef __cplusplus
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231 | extern "C" { |
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232 | #endif
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233 | |||
234 | /**
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235 | * @brief Transmit data and receive a response.
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236 | *
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237 | * @param[in] i2cd The I2C driver to use.
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238 | * @param[in] addr Address to write to.
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239 | * @param[in] txbuf Buffer containing data to send.
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240 | * @param[in] txbytes Number of bytes to send.
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241 | * @param[out] rxbuf Buffer to store a response to.
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242 | * @param[in] rxbytes Number of bytes to receive.
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243 | * @param[in] timeout Timeout for the function to return (in microseconds).
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244 | *
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245 | * @return The status indicates whether the function call was succesful or a timeout occurred.
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246 | */
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247 | 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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248 | |||
249 | /**
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250 | * @brief Read data from a specific address.
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251 | *
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252 | * @param[in] i2cd The I2C driver to use.
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253 | * @param[in] addr Address to read.
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254 | * @param[out] rxbuf Buffer to store the response to.
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255 | * @param[in] rxbytes Number of bytes to receive.
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256 | * @param[in] timeout Timeout for the function to return (in microseconds).
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257 | *
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258 | * @return The status indicates whether the function call was succesful or a timeout occurred.
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259 | */
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260 | 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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261 | |||
262 | #ifdef __cplusplus
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263 | } |
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264 | #endif
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265 | |||
266 | /*============================================================================*/
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267 | /* SPI */
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268 | /*============================================================================*/
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269 | |||
270 | /**
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271 | * @brief SPI driver type.
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272 | */
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273 | typedef osSPIDriver_t apalSPIDriver_t;
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274 | |||
275 | #ifdef __cplusplus
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276 | extern "C" { |
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277 | #endif
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278 | |||
279 | /**
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280 | * @brief Transmit and receive data from SPI
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281 | *
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282 | * @param[in] spid The SPI driver to use.
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283 | * @param[in] txData Buffer containing data to send.
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284 | * @param[out] rxData Buffer to store.
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285 | * @param[in] length Number of bytes to send.
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286 | *
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287 | * @return The status indicates whether the function call was succesful.
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288 | */
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289 | apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length); |
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290 | |||
291 | /**
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292 | * @brief Receive data from SPI
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293 | *
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294 | * @param[in] spid The SPI driver to use.
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295 | * @param[out] data Buffer to store.
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296 | * @param[in] length Number of bytes to send.
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297 | *
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298 | * @return The status indicates whether the function call was succesful.
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299 | */
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300 | apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length); |
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301 | |||
302 | /**
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303 | * @brief Transmit data to SPI
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304 | *
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305 | * @param[in] spid The SPI driver to use.
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306 | * @param[in] data Buffer containing data to send.
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307 | * @param[in] length Number of bytes to send.
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308 | *
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309 | * @return The status indicates whether the function call was succesful.
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310 | */
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311 | apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length); |
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312 | |||
313 | 21eea8bd | Robin Ewers | /**
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314 | 65d08293 | Thomas Schöpping | * @brief Transmit data to SPI and receive data afterwards without releasing the bus in between.
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315 | 21eea8bd | Robin Ewers | *
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316 | 65d08293 | Thomas Schöpping | * @param[in] spid The SPI driver to use.
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317 | * @param[in] txData Transmit data buffer.
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318 | * @param[in] rxData Receive data buffer.
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319 | * @param[in] txLength Number of bytes to send.
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320 | * @param[in] rxLength Number of bytes to receive.
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321 | 21eea8bd | Robin Ewers | *
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322 | * @return The status indicates whether the function call was succesful.
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323 | */
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324 | 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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325 | |||
326 | d6728c5b | Thomas Schöpping | #ifdef __cplusplus
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327 | } |
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328 | #endif
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329 | |||
330 | /*============================================================================*/
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331 | /* DEBUG */
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332 | /*============================================================================*/
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333 | |||
334 | #ifdef __cplusplus
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335 | extern "C" { |
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336 | #endif
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337 | |||
338 | /**
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339 | * @brief Assert function to check a given condition.
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340 | * @note Using a macro is preferable.
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341 | *
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342 | * @param[in] c The condition to check.
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343 | */
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344 | void apalDbgAssert(bool c); |
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345 | |||
346 | 169b8f8e | Thomas Schöpping | /**
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347 | * @brief Printf function for messages printed only in debug builds.
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348 | *
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349 | * @param[in] fmt Formatted string to print.
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350 | */
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351 | void apalDbgPrintf(fmt, ...);
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352 | |||
353 | d6728c5b | Thomas Schöpping | #ifdef __cplusplus
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354 | } |
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355 | #endif
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356 | |||
357 | 8c47f14b | Thomas Schöpping | #endif /* AMIROOS_PERIPHAL_H */ |