amiro-lld / periphALtypes.h @ 86e60b45
History | View | Annotate | Download (10.305 KB)
1 |
/*
|
---|---|
2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU Lesser General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU Lesser General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU Lesser General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
#ifndef AMIROLLD_PERIPHALTYPES_H
|
20 |
#define AMIROLLD_PERIPHALTYPES_H
|
21 |
|
22 |
/*============================================================================*/
|
23 |
/* DEPENDENCIES */
|
24 |
/*============================================================================*/
|
25 |
|
26 |
#include <amiro-lld.h> |
27 |
#include <stdint.h> |
28 |
|
29 |
/*============================================================================*/
|
30 |
/* GENERAL */
|
31 |
/*============================================================================*/
|
32 |
|
33 |
/**
|
34 |
* @brief Time measurement type (in microseconds).
|
35 |
*/
|
36 |
#if !defined(AMIROLLD_CFG_TIME_SIZE)
|
37 |
#error "AMIROLLD_CFG_TIME_SIZE not defined in alldconf.h" |
38 |
#elif (AMIROLLD_CFG_TIME_SIZE == 8) |
39 |
typedef uint8_t apalTime_t;
|
40 |
#elif (AMIROLLD_CFG_TIME_SIZE == 16) |
41 |
typedef uint16_t apalTime_t;
|
42 |
#elif (AMIROLLD_CFG_TIME_SIZE == 32) |
43 |
typedef uint32_t apalTime_t;
|
44 |
#elif (AMIROLLD_CFG_TIME_SIZE == 64) |
45 |
typedef uint64_t apalTime_t;
|
46 |
#else
|
47 |
#error "AMIROLLD_CFG_TIME_SIZE must be 8, 16, 32 or 64!" |
48 |
#endif
|
49 |
|
50 |
/**
|
51 |
* @brief Status values used as return value for all (or most) function calls.
|
52 |
* @note The status can be used as mask of flags.
|
53 |
*/
|
54 |
typedef int8_t apalExitStatus_t;
|
55 |
|
56 |
/**
|
57 |
* @brief Status value for success (no error or warning occurred).
|
58 |
*/
|
59 |
#define APAL_STATUS_OK ((apalExitStatus_t)0) |
60 |
#define APAL_STATUS_SUCCESS ((apalExitStatus_t)0) |
61 |
|
62 |
/**
|
63 |
* @brief Status value for unspecified failure.
|
64 |
*/
|
65 |
#define APAL_STATUS_ERROR ((apalExitStatus_t)-1) |
66 |
#define APAL_STATUS_FAILURE ((apalExitStatus_t)-1) |
67 |
|
68 |
/**
|
69 |
* @brief Status value for timeout failure.
|
70 |
*/
|
71 |
#define APAL_STATUS_TIMEOUT ((apalExitStatus_t)-2) |
72 |
|
73 |
/**
|
74 |
* @brief Status value for failure because of invalid arguments.
|
75 |
*/
|
76 |
#define APAL_STATUS_INVALIDARGUMENTS ((apalExitStatus_t)-4) |
77 |
|
78 |
/**
|
79 |
* @brief Status value for failure because the function is not available/implemented.
|
80 |
*/
|
81 |
#define APAL_STATUS_UNAVAILABLE ((apalExitStatus_t)-8) |
82 |
|
83 |
/**
|
84 |
* @brief Status value for unspecified warning.
|
85 |
*/
|
86 |
#define APAL_STATUS_WARNING ((apalExitStatus_t)1) |
87 |
|
88 |
/*============================================================================*/
|
89 |
/* GPIO */
|
90 |
/*============================================================================*/
|
91 |
|
92 |
/**
|
93 |
* @brief Forward declaration.
|
94 |
* @details Struct must be defined in 'periphAL.h'.
|
95 |
*/
|
96 |
typedef struct apalGpio_t apalGpio_t; |
97 |
|
98 |
/**
|
99 |
* @brief Status values to read/write a GPIO port.
|
100 |
*/
|
101 |
typedef uint8_t apalGpioState_t;
|
102 |
|
103 |
/**
|
104 |
* @brief GPIO physical low state.
|
105 |
*/
|
106 |
#define APAL_GPIO_LOW ((apalGpioState_t)0) |
107 |
|
108 |
/**
|
109 |
* @brief GPIO physical high state.
|
110 |
*/
|
111 |
#define APAL_GPIO_HIGH ((apalGpioState_t)1) |
112 |
|
113 |
/**
|
114 |
* @brief Invert a physical GPIO state.
|
115 |
*
|
116 |
* @param[in] state GPIO state to invert.
|
117 |
*
|
118 |
* @return Inverted physical GPIO state.
|
119 |
*/
|
120 |
#define APAL_GPIO_STATE_INVERT(state) ( \
|
121 |
(apalGpioState_t)state ^ APAL_GPIO_HIGH \ |
122 |
) |
123 |
|
124 |
/**
|
125 |
* @brief Logical status values to turn a control GPIO 'on' and 'off'.
|
126 |
*/
|
127 |
typedef uint8_t apalControlGpioState_t;
|
128 |
|
129 |
/**
|
130 |
* @brief GPIO logical off state.
|
131 |
*/
|
132 |
#define APAL_GPIO_OFF ((apalControlGpioState_t)0) |
133 |
|
134 |
/**
|
135 |
* @brief GPIO logical on state.
|
136 |
*/
|
137 |
#define APAL_GPIO_ON ((apalControlGpioState_t)1) |
138 |
|
139 |
/**
|
140 |
* @brief Polarity state of the control GPIO.
|
141 |
*/
|
142 |
typedef uint8_t apalGpioActive_t;
|
143 |
|
144 |
/**
|
145 |
* @brief The control GPIO is never defined to be 'on' (does not apply).
|
146 |
*/
|
147 |
#define APAL_GPIO_ACTIVE_NONE ((apalGpioActive_t)0) |
148 |
|
149 |
/**
|
150 |
* @brief The control GPIO is defined to be 'on' when it is phsically low.
|
151 |
*/
|
152 |
#define APAL_GPIO_ACTIVE_LOW ((apalGpioActive_t)1) |
153 |
|
154 |
/**
|
155 |
* @brief The control GPIO is defined to be 'on' when it is physically high.
|
156 |
*/
|
157 |
#define APAL_GPIO_ACTIVE_HIGH ((apalGpioActive_t)2) |
158 |
|
159 |
/**
|
160 |
* @brief The control GPIO is defined to be always 'on'.
|
161 |
*/
|
162 |
#define APAL_GPIO_ACTIVE_ANY ((apalGpioActive_t)3) |
163 |
|
164 |
/**
|
165 |
* @brief Invert a GPIO active state.
|
166 |
* @details The active state is inverted only if it was either low or high.
|
167 |
* In case it was set to none or any, the value is not modified.
|
168 |
*
|
169 |
* @param[in] active Active state to be inverted.
|
170 |
*
|
171 |
* @return Inverted active state.
|
172 |
*/
|
173 |
#define APAL_GPIO_ACTIVE_INVERT(active) ( \
|
174 |
(((apalGpioActive_t)active & APAL_GPIO_ACTIVE_LOW) ^ \ |
175 |
((apalGpioActive_t)active & APAL_GPIO_ACTIVE_HIGH)) ? \ |
176 |
((apalGpioActive_t)active ^ APAL_GPIO_ACTIVE_ANY) : \ |
177 |
((apalGpioActive_t)active) \ |
178 |
) |
179 |
|
180 |
/**
|
181 |
* @brief Signal direction for the control GPIO.
|
182 |
*/
|
183 |
typedef uint8_t apalGpioDirection_t;
|
184 |
|
185 |
/**
|
186 |
* @brief Signal direction for the control GPIO is undefined.
|
187 |
*/
|
188 |
#define APAL_GPIO_DIRECTION_UNDEFINED ((apalGpioDirection_t)0) |
189 |
|
190 |
/**
|
191 |
* @brief Signal direction for the control GPIO is input only.
|
192 |
*/
|
193 |
#define APAL_GPIO_DIRECTION_INPUT ((apalGpioDirection_t)1) |
194 |
|
195 |
/**
|
196 |
* @brief Signal direction for the control GPIO is output only.
|
197 |
*/
|
198 |
#define APAL_GPIO_DIRECTION_OUTPUT ((apalGpioDirection_t)2) |
199 |
|
200 |
/**
|
201 |
* @brief Signal direction for the control GPIO is didirectional.
|
202 |
*/
|
203 |
#define APAL_GPIO_DIRECTION_BIDIRECTIONAL ((apalGpioDirection_t)3) |
204 |
|
205 |
/**
|
206 |
* @brief Informative or effective signal edge for control GPIOs.
|
207 |
*/
|
208 |
typedef uint8_t apalGpioEdge_t;
|
209 |
|
210 |
/**
|
211 |
* @brief No edges indicate an interrupt or trigger an action.
|
212 |
*/
|
213 |
#define APAL_GPIO_EDGE_NONE ((apalGpioEdge_t)0) |
214 |
|
215 |
/**
|
216 |
* @brief Rising edges indicate an interrupt or trigger an action.
|
217 |
*/
|
218 |
#define APAL_GPIO_EDGE_RISING ((apalGpioEdge_t)1) |
219 |
|
220 |
/**
|
221 |
* @brief Falling edges indicate an interrupt or trigger an action.
|
222 |
*/
|
223 |
#define APAL_GPIO_EDGE_FALLING ((apalGpioEdge_t)2) |
224 |
|
225 |
/**
|
226 |
* @brief Both rising and falling edges indicate an interrupt or trigger an action.
|
227 |
*/
|
228 |
#define APAL_GPIO_EDGE_BOTH ((apalGpioEdge_t)3) |
229 |
|
230 |
/**
|
231 |
* @brief Inverts the value of the informative or effective signal edge for interrupts.
|
232 |
* @details Rising edge is inverted to falling and vice versa.
|
233 |
* If none or both edges are enabled, the identical value is returned.
|
234 |
*/
|
235 |
#define APAL_GPIO_EDGE_INVERT(edge) ( \
|
236 |
(((apalGpioEdge_t)edge & APAL_GPIO_EDGE_RISING) ^ \ |
237 |
((apalGpioEdge_t)edge & APAL_GPIO_EDGE_FALLING)) ? \ |
238 |
((apalGpioEdge_t)edge ^ APAL_GPIO_EDGE_BOTH) : \ |
239 |
((apalGpioEdge_t)edge) \ |
240 |
) |
241 |
|
242 |
/**
|
243 |
* @brief Control GPIO meta information
|
244 |
*/
|
245 |
typedef struct { |
246 |
apalGpioDirection_t direction : 2; /**< Direction configuration for according signals */ |
247 |
apalGpioActive_t active : 2; /**< Active state of the GPIO */ |
248 |
apalGpioEdge_t edge : 2; /**< Edge configuration for according signals */ |
249 |
} apalGpioMeta_t; |
250 |
|
251 |
/**
|
252 |
* @brief Control GPIO type.
|
253 |
*/
|
254 |
typedef struct { |
255 |
apalGpio_t* gpio; /**< The GPIO to use. */
|
256 |
apalGpioMeta_t meta; /**< Meta information about the GPIO. */
|
257 |
} apalControlGpio_t; |
258 |
|
259 |
/*============================================================================*/
|
260 |
/* PWM */
|
261 |
/*============================================================================*/
|
262 |
|
263 |
/**
|
264 |
* @brief PWM channel type.
|
265 |
*/
|
266 |
typedef uint8_t apalPWMchannel_t;
|
267 |
|
268 |
/**
|
269 |
* @brief PWM width type.
|
270 |
*/
|
271 |
typedef uint16_t apalPWMwidth_t;
|
272 |
|
273 |
/**
|
274 |
* @brief PWM frequency type.
|
275 |
*/
|
276 |
typedef uint32_t apalPWMfrequency_t;
|
277 |
|
278 |
/**
|
279 |
* @brief PWM period time.
|
280 |
*/
|
281 |
typedef uint32_t apalPWMperiod_t;
|
282 |
|
283 |
/**
|
284 |
* @brief PWM width to turn off the PWM.
|
285 |
*/
|
286 |
#define APAL_PWM_WIDTH_OFF ((apalPWMwidth_t)0x0000u) |
287 |
|
288 |
/**
|
289 |
* @brief Minimum allowed PWM width.
|
290 |
*/
|
291 |
#define APAL_PWM_WIDTH_MIN ((apalPWMwidth_t)0x0000u) |
292 |
|
293 |
/**
|
294 |
* @brief Maximum allowed PWM width.
|
295 |
*/
|
296 |
#define APAL_PWM_WIDTH_MAX ((apalPWMwidth_t)0xFFFFu) |
297 |
|
298 |
/*============================================================================*/
|
299 |
/* QEI */
|
300 |
/*============================================================================*/
|
301 |
|
302 |
/**
|
303 |
* @brief QEI counter type.
|
304 |
*/
|
305 |
typedef uint32_t apalQEICount_t;
|
306 |
|
307 |
/**
|
308 |
* @brief Direction of the QEI.
|
309 |
*/
|
310 |
typedef uint8_t apalQEIDirection_t;
|
311 |
|
312 |
/*
|
313 |
* @brief QEI counts upwards.
|
314 |
*/
|
315 |
#define APAL_QEI_DIRECTION_UP ((apalQEIDirection_t)0) |
316 |
|
317 |
/*
|
318 |
* @brief QEI counts downwards.
|
319 |
*/
|
320 |
#define APAL_QEI_DIRECTION_DOWN ((apalQEIDirection_t)1) |
321 |
|
322 |
/*============================================================================*/
|
323 |
/* I2C */
|
324 |
/*============================================================================*/
|
325 |
|
326 |
/**
|
327 |
* @brief I2C address type.
|
328 |
*/
|
329 |
typedef uint16_t apalI2Caddr_t;
|
330 |
|
331 |
/*============================================================================*/
|
332 |
/* SPI */
|
333 |
/*============================================================================*/
|
334 |
|
335 |
/* nothing defined for SPI */
|
336 |
|
337 |
#endif /* AMIROLLD_PERIPHALTYPES_H */ |