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amiro-lld / periphALtypes.h @ cf1f756b

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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..2018  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_ */