AMiRo-LLD is a compilation of low-level hardware drivers for the base version of the Autonomous Mini Robot (AMiRo) [1]. It provides directional interfaces for an operating system to access the drivers and for the drivers to access the communication infrastructure via the operating system. Copyright (C) 2016..2019 Thomas Schöpping et al. (a complete list of all authors is given below) 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 . This research/work was supported by the Cluster of Excellence Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is funded by the German Research Foundation (DFG). Authors: - Thomas Schöpping - Marc Rothmann References: [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A modular & customizable open-source mini robot platform," 2016 20th International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, 2016, pp. 687-692. ################################################################################ # # # RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE # # RR RR EE AA AA DD DD MMM MMM EE # # RR RR EE AA AA DD DD MMMM MMMM EE # # RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE # # RR RR EE AAAAAAAAA DD DD MM MM EE # # RR RR EE AA AA DD DD MM MM EE # # RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE # # # ################################################################################ AMiRo-LLD is a compilation of low-level hardware drivers, originally developed for the Autonomous Mini Robot (AMiRo) [1]. It provides a modular design, so that each driver can be (de)activated individually as required. Interface functions allow for bidirectional comunication with an operating system. On the one hand drivers access according hardware interfaces via defined interface functions (which need to be implemented by the operating system) and any applications (or the operating system itself) can take advantage of the drivers by their individual interfaces. The abstraction layer of the hardware interfaces is called "periphAL", which is defined by this project. Although this compilation was originally designed to be used in combination with the AMiRo operating system (AMiRo-OS; cf. https://opensource.cit-ec.de/projects/amiro-os/), it is not limited to this use case. The included drivers may be used for any purpose and contributions of further drivers, even if the according hardware is not present on the AMiRo platform, are highly appreciated. The files are structured as follows: * include/ Each driver defines exactly one include header in this directory. By convention these files are named by the form alld_.h is a placeholder for the exact name of the according hardware, or the product familiy, if the driver is compatible with all parts. * source/ Any source files are placed in this directory. Usually there is a single file for each driver. If multiple files are necessary, these should be placed in an accordingly named subfolder. Names of folders and files should comply to the aforementioned convention. * templates/ AMiRo-LLD requires an implementation of the defined interface and an configuration header to be accessible in the include paths at compile time. Template files for both can be found in this folder. It is recommended to place according implementations of these templated not in the AMiRo-LLD project, but the superproject which includes AMiRo-LLD. * / The project root directory contains this file, a license.html file as well as a Makefile that allows to easily integrate the project. Furthermore, two interface headers are provided: amiro-lld.h and periphALtypes.h. These are entry points for any utilizing superproject, so it is not required (and not recommanded) to include each driver individually. ================================================================================