amiro-lld / periphALtypes.h @ 8c47f14b
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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_PERIPHALTYPES_H
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#define AMIROLLD_PERIPHALTYPES_H
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/*============================================================================*/
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/* DEPENDENCIES */
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/*============================================================================*/
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#include <alldconf.h> |
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#include <stdint.h> |
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/*============================================================================*/
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/* GENERAL */
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/*============================================================================*/
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/**
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* @brief Time measurement type (in microseconds).
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*/
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#if !defined(AMIROLLD_CFG_TIME_SIZE)
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#error "AMIROLLD_CFG_TIME_SIZE not defined in alldconf.h" |
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#elif (AMIROLLD_CFG_TIME_SIZE == 8) |
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typedef uint8_t apalTime_t;
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#elif (AMIROLLD_CFG_TIME_SIZE == 16) |
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typedef uint16_t apalTime_t;
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#elif (AMIROLLD_CFG_TIME_SIZE == 32) |
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typedef uint32_t apalTime_t;
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#elif (AMIROLLD_CFG_TIME_SIZE == 64) |
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typedef uint64_t apalTime_t;
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#else
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#error "AMIROLLD_CFG_TIME_SIZE must be 8, 16, 32 or 64!" |
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#endif
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/**
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* @brief Status values used as return value for all (or most) function calls.
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* @note The status can be used as mask of flags.
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*/
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typedef enum { |
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APAL_STATUS_OK = 0x00u, /**< success, no error occurred */ |
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APAL_STATUS_SUCCESS = 0x00u, /**< success, no error occurred */ |
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APAL_STATUS_ERROR = 0x01u, /**< failed, some unspecified error occured */ |
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APAL_STATUS_FAILURE = 0x01u, /**< failed, some unspecified error occured */ |
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APAL_STATUS_TIMEOUT = 0x02u, /**< failed, timeout occurred */ |
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APAL_STATUS_INVALIDARGUMENTS = 0x04u, /**< failed, invalid arguments */ |
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APAL_STATUS_UNAVAILABLE = 0x08u, /**< failed, function unavailable */ |
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APAL_STATUS_WARNING = 0x10u, /**< success, but the result is probably not as expected */ |
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} apalExitStatus_t; |
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/*============================================================================*/
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/* GPIO */
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/*============================================================================*/
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/**
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* @brief Forward declaration.
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* @details Struct must be defined in 'periphAL.h'.
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*/
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typedef struct apalGpio_t apalGpio_t; |
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/**
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* @brief Status values to read/write a GPIO port.
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*/
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typedef enum { |
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APAL_GPIO_LOW = 0, /**< logical low state */ |
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APAL_GPIO_HIGH = 1, /**< logical high state */ |
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} apalGpioState_t; |
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/**
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* @brief Status values to turn a control GPIO 'on' and 'off'.
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*/
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typedef enum { |
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APAL_GPIO_OFF = 0, /**< logical 'turned off' state */ |
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APAL_GPIO_ON = 1, /**< logical 'turned on' state */ |
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} apalControlGpioState_t; |
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/**
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* @brief Polarity state of the control GPIO.
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*/
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typedef enum { |
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APAL_GPIO_ACTIVE_LOW = 0x00, /**< A logically low state is defined as 'on'. */ |
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APAL_GPIO_ACTIVE_HIGH = 0x01, /**< A locically high state is defined as 'on'. */ |
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} apalGpioActive_t; |
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/**
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* @brief Signal direction for the control GPIO.
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*/
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typedef enum { |
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APAL_GPIO_DIRECTION_UNDEFINED = 0x00, /**< Signal direction is undefined. */ |
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APAL_GPIO_DIRECTION_INPUT = 0x01, /**< Signal direction is input only. */ |
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APAL_GPIO_DIRECTION_OUTPUT = 0x02, /**< Signal direction is output only */ |
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APAL_GPIO_DIRECTION_BIDIRECTIONAL = 0x03, /**< Signal direction is bidirectional. */ |
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} apalGpioDirection_t; |
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/**
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* @brief Informative signal edge for input control GPIOs.
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*/
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typedef enum { |
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APAL_GPIO_EDGE_NONE = 0x00, /**< No edge indicates an interrupt. */ |
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APAL_GPIO_EDGE_RISING = 0x01, /**< Rising edges indicate an interrupt. */ |
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APAL_GPIO_EDGE_FALLING = 0x02, /**< Falling edges indicate an interrupt. */ |
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APAL_GPIO_EDGE_BOTH = 0x03, /**< Both rising and falling edges indicate an interrupt. */ |
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} apalGpioEdge_t; |
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/**
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* @brief Inverts the value of the informative signal edge for interrupts.
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* @details Rising edge is inverted to falling and vice versa.
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* If none or both edges are enabled, the identical value is returned.
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*/
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#define APAL_GPIO_EDGE_INVERT(edge) \
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((edge == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_EDGE_FALLING : \ |
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(edge == APAL_GPIO_EDGE_FALLING) ? APAL_GPIO_EDGE_RISING : edge) \ |
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/**
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* @brief Control GPIO meta information
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*/
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typedef struct { |
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apalGpioDirection_t direction : 2; /**< Direction configuration for according signals */ |
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apalGpioActive_t active : 1; /**< Active state of the GPIO */ |
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apalGpioEdge_t edge : 2; /**< Edge configuration for according signals */ |
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} apalGpioMeta_t; |
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/**
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* @brief Control GPIO type.
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*/
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typedef struct { |
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apalGpio_t* gpio; /**< The GPIO to use. */
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apalGpioMeta_t meta; /**< Meta information about the GPIO. */
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} apalControlGpio_t; |
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/*============================================================================*/
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/* PWM */
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/*============================================================================*/
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/**
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* @brief PWM channel type.
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*/
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typedef uint8_t apalPWMchannel_t;
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/**
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* @brief PWM width type.
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*/
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typedef uint16_t apalPWMwidth_t;
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/**
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* @brief PWM frequency type.
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*/
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typedef uint32_t apalPWMfrequency_t;
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/**
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* @brief PWM period time.
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*/
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typedef uint32_t apalPWMperiod_t;
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/**
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* @brief PWM width limits and special values.
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*/
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typedef enum { |
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APAL_PWM_WIDTH_OFF = 0x0000u, /**< PWM off */ |
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APAL_PWM_WIDTH_MIN = 0x0000u, /**< PWM minimum width */ |
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APAL_PWM_WIDTH_MAX = 0xFFFFu, /**< PWM maximum width */ |
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} apalPWMWidthLimit_t; |
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/*============================================================================*/
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/* QEI */
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/*============================================================================*/
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/**
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* @brief QEI counter type.
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*/
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typedef uint32_t apalQEICount_t;
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/**
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* @brief Direction of the QEI.
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*/
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typedef enum { |
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APAL_QEI_DIRECTION_UP = 0, /**< QEI counted up */ |
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APAL_QEI_DIRECTION_DOWN = 1, /**< QEI counted down */ |
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} apalQEIDirection_t; |
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/*============================================================================*/
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/* I2C */
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/*============================================================================*/
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/**
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* @brief I2C address type.
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*/
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typedef uint16_t apalI2Caddr_t;
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/*============================================================================*/
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/* SPI */
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/*============================================================================*/
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#endif /* AMIROLLD_PERIPHALTYPES_H */ |