AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_a3906.c

 * @brief   Motor driver functions.

 *

 * @addtogroup lld_motor

 * @{

 */

#include <alld_a3906.h>

#if defined(AMIROLLD_CFG_USE_A3906) || defined(__DOXYGEN__)

/**

 * @brief Sets the power state of the A3906.

 * @param[in]   a3906d      The A3906 driver.

 * @param[in]   power_state The new power state to set.

 *

 * @return The return status indicates whether the function call was successfull.

 */

inline apalExitStatus_t

a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state)

{

  apalDbgAssert(a3906 != NULL);

  // set the output of the pin depending on the activation property

  return apalControlGpioSet(a3906->power_pin, (power_state == A3906_LLD_POWER_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF);

}

/**

 * @brief Gets the current power state of the A3906.

 *

 * @param[in]   a3906d        The A3906 driver,

 * @param[out]  power_state   The currently set power state.

 *

 * @return The return status indicates whether the function call was successfull.

 */

inline apalExitStatus_t

a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state)

{

  apalDbgAssert(a3906 != NULL);

  apalDbgAssert(power_state != NULL);

  // get current activation state of power gpio

  apalControlGpioState_t gpio_state;

  apalExitStatus_t status = apalControlGpioGet(a3906->power_pin, &gpio_state);

  *power_state = gpio_state == APAL_GPIO_ON ? A3906_LLD_POWER_ON : A3906_LLD_POWER_OFF;

  return status;

}

/**

 * @brief Set the PWM width for one channel.

 *

 * @param[in]   pwmd      The PWM driver to use.

 * @param[in]   channel   The channel of the given PWM driver to set.

 * @param[in]   width     The new width to set the PWM to.

 *

 * @return The return status indicates whether the function call was successfull.

 */

inline apalExitStatus_t

a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width)

{

  apalDbgAssert(pwm != NULL);

  return apalPWMSet(pwm, channel, width);

}

#endif /* defined(AMIROLLD_CFG_USE_A3906) */

/** @} */