amiro-lld / source / alld_a3906.c @ 8c47f14b
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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 | 5e2f673b | Marc Rothmann | /**
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20 | * @file alld_a3906.c
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21 | * @brief Motor driver functions.
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22 | *
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23 | * @addtogroup lld_motor
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24 | * @{
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25 | */
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26 | |||
27 | d6728c5b | Thomas Schöpping | #include <alld_a3906.h> |
28 | |||
29 | #if defined(AMIROLLD_CFG_USE_A3906) || defined(__DOXYGEN__)
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30 | |||
31 | /**
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32 | * @brief Sets the power state of the A3906.
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33 | * @param[in] a3906d The A3906 driver.
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34 | * @param[in] power_state The new power state to set.
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35 | *
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36 | * @return The return status indicates whether the function call was successfull.
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37 | */
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38 | inline apalExitStatus_t
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39 | a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state) |
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40 | { |
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41 | apalDbgAssert(a3906 != NULL);
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42 | |||
43 | // set the output of the pin depending on the activation property
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44 | cf1f756b | Thomas Schöpping | return apalControlGpioSet(a3906->power_pin, (power_state == A3906_LLD_POWER_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF);
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45 | d6728c5b | Thomas Schöpping | } |
46 | |||
47 | /**
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48 | * @brief Gets the current power state of the A3906.
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49 | *
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50 | * @param[in] a3906d The A3906 driver,
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51 | * @param[out] power_state The currently set power state.
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52 | *
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53 | * @return The return status indicates whether the function call was successfull.
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54 | */
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55 | inline apalExitStatus_t
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56 | a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state) |
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57 | { |
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58 | apalDbgAssert(a3906 != NULL);
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59 | apalDbgAssert(power_state != NULL);
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60 | |||
61 | // get current activation state of power gpio
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62 | apalControlGpioState_t gpio_state; |
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63 | cf1f756b | Thomas Schöpping | apalExitStatus_t status = apalControlGpioGet(a3906->power_pin, &gpio_state); |
64 | d6728c5b | Thomas Schöpping | *power_state = gpio_state == APAL_GPIO_ON ? A3906_LLD_POWER_ON : A3906_LLD_POWER_OFF; |
65 | return status;
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66 | } |
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67 | |||
68 | /**
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69 | * @brief Set the PWM width for one channel.
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70 | *
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71 | * @param[in] pwmd The PWM driver to use.
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72 | * @param[in] channel The channel of the given PWM driver to set.
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73 | * @param[in] width The new width to set the PWM to.
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74 | *
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75 | * @return The return status indicates whether the function call was successfull.
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76 | */
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77 | inline apalExitStatus_t
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78 | a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width) |
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79 | { |
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80 | apalDbgAssert(pwm != NULL);
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81 | |||
82 | return apalPWMSet(pwm, channel, width);
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83 | } |
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84 | |||
85 | #endif /* defined(AMIROLLD_CFG_USE_A3906) */ |
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86 | 5e2f673b | Marc Rothmann | |
87 | /** @} */ |