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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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/**
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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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#if defined(AMIROLLD_CFG_USE_A3906) || defined(__DOXYGEN__)
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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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inline apalExitStatus_t
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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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inline apalExitStatus_t
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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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inline apalExitStatus_t
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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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#endif /* defined(AMIROLLD_CFG_USE_A3906) */
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/** @} */