Revision 9466e34d
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################################################################################ |
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# AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous # |
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# Mini Robot (AMiRo) platform. # |
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# Copyright (C) 2016..2019 Thomas Schöpping et al. # |
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# # |
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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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# # |
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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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# # |
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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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# This research/work was supported by the Cluster of Excellence Cognitive # |
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
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# funded by the German Research Foundation (DFG). # |
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################################################################################ |
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# absolute path to this directory |
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AMIROLLD_DIR := $(dir $(lastword $(MAKEFILE_LIST))) |
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# include paths |
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AMIROLLD_INC = $(AMIROLLD_DIR) \ |
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$(sort $(dir $(wildcard $(AMIROLLD_DIR)include/?*/))) |
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# C sources |
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AMIROLLD_CSRC = $(shell find $(AMIROLLD_DIR)source/ -type f -regex "$(AMIROLLD_DIR)source/.+\.[Cc]") |
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| drivers/A3906/v1/alld_A3906.c | ||
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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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|
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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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| 7 |
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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| 9 |
|
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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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GNU Lesser General Public License for more details. |
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| 14 |
|
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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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/** |
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* @file alld_A3906.c |
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* @brief Motor driver functions. |
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* |
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* @addtogroup lld_motor |
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* @{
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*/ |
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#include <alld_A3906.h> |
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/******************************************************************************/ |
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/* LOCAL DEFINITIONS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXPORTED VARIABLES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL TYPES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL VARIABLES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL FUNCTIONS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXPORTED FUNCTIONS */ |
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/******************************************************************************/ |
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/** |
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* @brief Sets the power state of the A3906. |
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* @param[in] a3906d The A3906 driver. |
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* @param[in] power_state The new power state to set. |
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* |
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* @return The return status indicates whether the function call was successfull. |
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*/ |
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apalExitStatus_t a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state) |
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{
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apalDbgAssert(a3906 != NULL); |
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// set the output of the pin depending on the activation property |
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return apalControlGpioSet(a3906->power_pin, (power_state == A3906_LLD_POWER_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF); |
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} |
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/** |
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* @brief Gets the current power state of the A3906. |
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* |
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* @param[in] a3906d The A3906 driver, |
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* @param[out] power_state The currently set power state. |
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* |
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* @return The return status indicates whether the function call was successfull. |
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*/ |
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apalExitStatus_t a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state) |
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{
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apalDbgAssert(a3906 != NULL); |
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apalDbgAssert(power_state != NULL); |
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// get current activation state of power gpio |
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apalControlGpioState_t gpio_state; |
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apalExitStatus_t status = apalControlGpioGet(a3906->power_pin, &gpio_state); |
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*power_state = gpio_state == APAL_GPIO_ON ? A3906_LLD_POWER_ON : A3906_LLD_POWER_OFF; |
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return status; |
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} |
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/** |
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* @brief Set the PWM width for one channel. |
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* |
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* @param[in] pwmd The PWM driver to use. |
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* @param[in] channel The channel of the given PWM driver to set. |
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* @param[in] width The new width to set the PWM to. |
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* |
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* @return The return status indicates whether the function call was successfull. |
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*/ |
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apalExitStatus_t a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width) |
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{
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apalDbgAssert(pwm != NULL); |
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return apalPWMSet(pwm, channel, width); |
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} |
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/** @} */ |
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| drivers/A3906/v1/alld_A3906.h | ||
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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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|
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This program is free software: you can redistribute it and/or modify |
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| 6 |
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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| 9 |
|
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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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| 13 |
GNU Lesser General Public License for more details. |
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| 14 |
|
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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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/** |
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* @file alld_A3906.h |
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* @brief Motor driver macros and structures. |
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* |
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* @addtogroup lld_motor |
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* @{
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*/ |
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#ifndef AMIROLLD_A3906_H |
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#define AMIROLLD_A3906_H |
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#include <amiro-lld.h> |
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
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/** |
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* @brief Active state of power pin. |
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*/ |
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#define A3906_LLD_POWER_PIN_ACTIVE_STATE APAL_GPIO_ACTIVE_HIGH |
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/******************************************************************************/ |
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/* SETTINGS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* CHECKS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/** |
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* @brief A3906 driver struct. |
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*/ |
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typedef struct {
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const apalControlGpio_t* power_pin; /**< @brief GPIO to enable/disable power of the A3906. */ |
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} A3906Driver; |
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/** |
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* @brief Power state of the A3906. |
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*/ |
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typedef enum {
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A3906_LLD_POWER_OFF = 0x00, /**< 'power off' state */ |
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A3906_LLD_POWER_ON = 0x01, /**< 'power on' state */ |
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} a3906_lld_power_t; |
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/******************************************************************************/ |
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/* MACROS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXTERN DECLARATIONS */ |
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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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apalExitStatus_t a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state); |
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apalExitStatus_t a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state); |
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apalExitStatus_t a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width); |
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#ifdef __cplusplus |
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} |
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#endif |
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
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#endif /* AMIROLLD_A3906_H */ |
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/** @} */ |
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| drivers/AT24C01B/v1/alld_AT24C01B.c | ||
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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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|
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This program is free software: you can redistribute it and/or modify |
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| 6 |
it under the terms of the GNU Lesser General Public License as published by |
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| 7 |
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 |
|
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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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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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|
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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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/** |
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* @file alld_AT24C01B.c |
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* @brief EEPROM function implementations. |
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* |
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* @addtogroup lld_eeprom |
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* @{
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*/ |
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#include <alld_AT24C01B.h> |
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#include <string.h> |
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/******************************************************************************/ |
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/* LOCAL DEFINITIONS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXPORTED VARIABLES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL TYPES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL VARIABLES */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* LOCAL FUNCTIONS */ |
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/******************************************************************************/ |
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/******************************************************************************/ |
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/* EXPORTED FUNCTIONS */ |
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/******************************************************************************/ |
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/** |
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* @brief Acknowledgement polling to check if a write operation finished. |
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* @param[in] at24c01b The eeprom driver to use. |
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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 return status indicates whether the function call was succesfull or a timeout occurred. |
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*/ |
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apalExitStatus_t at24c01b_lld_poll_ack(const AT24C01BDriver* const at24c01b, const apalTime_t timeout) |
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{
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apalDbgAssert(at24c01b != NULL); |
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uint8_t tmp = 0; |
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return apalI2CMasterReceive(at24c01b->i2cd, (AT24C01B_LLD_I2C_ADDR_FIXED | at24c01b->addr), &tmp, 1, timeout); |
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} |
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/** |
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* @brief Read the data from the eeprom starting at the current address. |
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* @param[in] at24c01b The eeprom driver to use. |
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* @param[out] data The data read from the AT24C01B. |
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* @param[in] num The amount of bytes to read. |
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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 return status indicates whether the function call was succesfull or a timeout occurred. |
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*/ |
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apalExitStatus_t at24c01b_lld_read_current_address(const AT24C01BDriver* const at24c01b, uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
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{
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apalDbgAssert(at24c01b != NULL); |
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apalDbgAssert(data != NULL); |
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return apalI2CMasterReceive(at24c01b->i2cd, (AT24C01B_LLD_I2C_ADDR_FIXED | at24c01b->addr), data, num, timeout); |
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} |
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/** |
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* @brief Read the data from the eeprom starting at a given address. |
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* @param[in] at24c01b The eeprom driver to use. |
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* @param[in] addr The address to read. |
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* @param[out] data The data read from the AT24C01B. |
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* @param[in] num The amount of bytes to read. |
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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 return status indicates whether the function call was succesfull or a timeout occurred. |
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*/ |
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apalExitStatus_t at24c01b_lld_read(const AT24C01BDriver* const at24c01b, const uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
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{
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apalDbgAssert(at24c01b != NULL); |
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apalDbgAssert(data != NULL); |
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apalDbgAssert(addr + num <= AT24C01B_LLD_SIZE_BYTES); |
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apalExitStatus_t status = apalI2CMasterTransmit(at24c01b->i2cd, (AT24C01B_LLD_I2C_ADDR_FIXED | at24c01b->addr), &addr, 1, NULL, 0, timeout); |
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if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
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return apalI2CMasterReceive(at24c01b->i2cd, (AT24C01B_LLD_I2C_ADDR_FIXED | at24c01b->addr), data, num, timeout); |
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} else {
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return status; |
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} |
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} |
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/** |
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* @brief Write a byte to the eeprom. |
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* @param[in] at24c01b The eeprom driver to use. |
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* @param[in] addr The address to start writing. |
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* @param[out] data The data to be written to the AT24C01BN. |
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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 return status indicates whether the function call was succesfull or a timeout occurred. |
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*/ |
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apalExitStatus_t at24c01b_lld_write_byte(const AT24C01BDriver* const at24c01b, const uint8_t addr, const uint8_t data, const apalTime_t timeout) |
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{
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apalDbgAssert(at24c01b != NULL); |
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const uint8_t writedata[2] = {addr, data};
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return apalI2CMasterTransmit(at24c01b->i2cd, (AT24C01B_LLD_I2C_ADDR_FIXED | at24c01b->addr), writedata, 2, NULL, 0, timeout); |
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} |
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/** |
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* @brief Write a page to the eeprom. |
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* @param[in] at24c01b The eeprom driver to use. |
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* @param[in] addr The address to start writing. |
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* @param[in] data The data to be written to the AT24C01BN. |
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* @param[in] num The amount of bytes to write. |
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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 return status indicates whether the function call was succesfull or a timeout occurred. |
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*/ |
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apalExitStatus_t at24c01b_lld_write_page(const AT24C01BDriver* const at24c01b, const uint8_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
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{
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apalDbgAssert(at24c01b != NULL); |
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apalDbgAssert(data != NULL); |
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uint8_t writedata[num+1]; |
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writedata[0] = addr; |
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memcpy(&writedata[1], data, num); |
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return apalI2CMasterTransmit(at24c01b->i2cd, (AT24C01B_LLD_I2C_ADDR_FIXED | at24c01b->addr), writedata, num+1, NULL, 0, timeout); |
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} |
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|
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/** @} */ |
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|
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| drivers/AT24C01B/v1/alld_AT24C01B.h | ||
|---|---|---|
| 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. |
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|
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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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|
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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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|
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/** |
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* @file alld_AT24C01B.h |
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* @brief EEPROM macros and structures. |
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* |
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* @addtogroup lld_eeprom |
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* @{
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*/ |
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|
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#ifndef AMIROLLD_AT24C01B_H |
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#define AMIROLLD_AT24C01B_H |
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|
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#include <amiro-lld.h> |
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
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|
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/** |
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* @brief Memory size of the EEPROM in bits. |
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*/ |
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#define AT24C01B_LLD_SIZE_BITS 1024 |
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|
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/** |
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* @brief Memory size of the EEPROM in bytes |
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*/ |
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#define AT24C01B_LLD_SIZE_BYTES 128 |
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|
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|
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/** |
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* @brief Size of a page in bytes |
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*/ |
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#define AT24C01B_LLD_PAGE_SIZE_BYTES 8 |
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|
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/** |
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* @brief Time in microseconds a write operation takes to complete (I2C will not respond). |
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* @note The system should wait slightly longer. |
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*/ |
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#define AT24C01B_LLD_WRITECYCLETIME_US 5000 |
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|
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/** |
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* @brief Maximum I2C frequency. |
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*/ |
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#define AT24C01B_LLD_I2C_MAXFREQUENCY 400000 |
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|
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/** |
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* @brief Maximum I2C frequency at 5V. |
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*/ |
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#define AT24C01B_LLD_I2C_MAXFREQUENCY_5V 1000000 |
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