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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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+            Thomas Schöpping
 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
 (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
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+GNU Lesser General Public License for more details.
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+            Thomas Schöpping
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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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+#ifndef AMIROLLD_PERIPHAL_H
 #define AMIROLLD_PERIPHAL_H
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+            Thomas Schöpping
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+#include <amiro-lld.h>
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+/*============================================================================*/
 /* VERSION                                                                    */
 /*============================================================================*/
 /**
  * @brief   The periphery abstraction layer interface major version.
  * @note    Changes of the major version imply incompatibilities.
  */
 #define PERIPHAL_VERSION_MAJOR    1
 /**
  * @brief   The periphery abstraction layer interface minor version.
  * @note    A higher minor version implies new functionalty, but all old interfaces are still available.
  */
 #define PERIPHAL_VERSION_MINOR    0
 /*============================================================================*/
 /* DEPENDENCIES                                                               */
 /*============================================================================*/
 /*============================================================================*/
 /* GENERAL                                                                    */
 /*============================================================================*/
 #ifdef __cplusplus
 extern "C" {
 #endif
 /**
  * @brief Delay execution by a specific number of microseconds.
+ *
  * @param[in]   us    Time to sleep until execution continues in microseconds.
  */
 void usleep(apalTime_t us);
 #ifdef __cplusplus
+}
 #endif
 /*============================================================================*/
 /* GPIO                                                                       */
 /*============================================================================*/
 typedef osGpio_t apalGpio_t;
 #ifdef __cplusplus
 extern "C" {
 #endif
 /**
  * @brief Read the current value of a GPIO pin.
+ *
  * @param[in]   gpio  GPIO to read.
  * @param[out]  val   Current value of the GPIO.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val);
 /**
  * @brief Set the value of a GPIO pin.
+ *
  * @param[in] gpio  GPIO to write.
  * @param[in] val   Value to set for the GPIO.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val);
 /**
  * @brief Toggle the output of a GPIO.
+ *
  * @param[in] gpio  GPIO to toggle.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalGpioToggle(apalGpio_t* gpio);
 /**
  * @brief Get the current on/off state of a control GPIO.
+ *
  * @param[in]   gpio  Control GPIO to read.
  * @param[out]  val   Current activation status of the control GPIO.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val);
 /**
  * @brief Turn a control GPIO 'on' or 'off' respectively.
+ *
  * @param[in] gpio  Control GPIO to set.
  * @param[in] val   Activation value to set for the control GPIO.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val);
 #ifdef __cplusplus
+}
 #endif
 /*============================================================================*/
 /* PWM                                                                        */
 /*============================================================================*/
 /**
  * @brief PWM driver type.
  */
 typedef osPWMDriver_t apalPWMDriver_t;
 #ifdef __cplusplus
 extern "C" {
 #endif
 /**
  * @brief   Set the PWM with given parameters.
+ *
  * @param[in] pwm       PWM driver to set.
  * @param[in] channel   Channel of the PWM driver to set.
  * @param[in] width     Width to set the channel to.
+ *
  * @return  The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width);
 /**
  * @brief   Retrieve the current frequency of the PWM.
+ *
  * @param[in]  pwm        PWM driver to read.
  * @param[out] frequency  The currently set frequency.
+ *
  * @return  The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency);
 /**
  * @brief   Retrieve the current period of the PWM.
+ *
  * @param[in]   pwm     PWM driver to read.
  * @param[out]  period  The currently set period.
+ *
  * @return  The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period);
 #ifdef __cplusplus
+}
 #endif
 /*============================================================================*/
 /* QEI                                                                        */
 /*============================================================================*/
 /**
  * @brief QEI driver type.
  */
 typedef osQEIDriver_t apaQEIDriver_t;
 #ifdef __cplusplus
 extern "C" {
 #endif
 /**
  * @brief Gets the direction of the last transition.
+ *
  * @param[in]   qei         The QEI driver to use.
  * @param[out]  direction   The direction of the last transition.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction);
 /**
  * @brief Gets the current position of the ecnoder.
+ *
  * @param[in]   qei       The QEI driver to use.
  * @param[out]  position  The current position of the encoder.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position);
 /**
  * @brief Gets the value range of the encoder.
+ *
  * @param[in]   qei     The QEI driver to use.
  * @param[out]  range   The value range of the encoder.
+ *
  * @return The status indicates whether the function call was successful.
  */
 apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range);
 #ifdef __cplusplus
+}
 #endif
 /*============================================================================*/
 /* I2C                                                                        */
 /*============================================================================*/
 /**
  * @brief I2C driver type.
  */
 typedef osI2CDriver_t apalI2CDriver_t;
 #ifdef __cplusplus
 extern "C" {
 #endif
 /**
  * @brief Transmit data and receive a response.
+ *
  * @param[in]   i2cd      The I2C driver to use.
  * @param[in]   addr      Address to write to.
  * @param[in]   txbuf     Buffer containing data to send.
  * @param[in]   txbytes   Number of bytes to send.
  * @param[out]  rxbuf     Buffer to store a response to.
  * @param[in]   rxbytes   Number of bytes to receive.
  * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
  * @return The status indicates whether the function call was succesful or a timeout occurred.
  */
 apalExitStatus_t apalI2CMasterTransmit(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, const uint8_t* const txbuf, const size_t txbytes, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout);
 /**
  * @brief Read data from a specific address.
+ *
  * @param[in]   i2cd      The I2C driver to use.
  * @param[in]   addr      Address to read.
  * @param[out]  rxbuf     Buffer to store the response to.
  * @param[in]   rxbytes   Number of bytes to receive.
  * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
  * @return The status indicates whether the function call was succesful or a timeout occurred.
  */
 apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout);
 #ifdef __cplusplus
+}
 #endif
 /*============================================================================*/
 /* SPI                                                                        */
 /*============================================================================*/
 /**
  * @brief SPI driver type.
  */
 typedef osSPIDriver_t apalSPIDriver_t;
 #ifdef __cplusplus
 extern "C" {
 #endif
 /**
  * @brief Transmit and receive data from SPI
+ *
  * @param[in]   spid      The SPI driver to use.
  * @param[in]   txData    Buffer containing data to send.
  * @param[out]  rxData    Buffer to store.
  * @param[in]   length    Number of bytes to send.
+ *
  * @return The status indicates whether the function call was succesful.
  */
 apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length);
 /**
  * @brief Receive data from SPI
+ *
  * @param[in]   spid      The SPI driver to use.
  * @param[out]  data      Buffer to store.
  * @param[in]   length    Number of bytes to send.
+ *
  * @return The status indicates whether the function call was succesful.
  */
 apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length);
 /**
  * @brief Transmit data to SPI
+ *
  * @param[in]   spid      The SPI driver to use.
  * @param[in]   data      Buffer containing data to send.
  * @param[in]   length    Number of bytes to send.
+ *
  * @return The status indicates whether the function call was succesful.
  */
 apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length);
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+/**
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+ * @brief Transmit data to SPI and receive data afterwards without releasing the bus in between.
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+            Robin Ewers
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+ * @param[in]   spid        The SPI driver to use.
  * @param[in]   txData      Transmit data buffer.
  * @param[in]   rxData      Receive data buffer.
  * @param[in]   txLength    Number of bytes to send.
  * @param[in]   rxLength    Number of bytes to receive.
-eea8bd
+            Robin Ewers
  * @return The status indicates whether the function call was succesful.
  */
 static inline apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength);
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+#ifdef __cplusplus
+}
 #endif
 /*============================================================================*/
 /* DEBUG                                                                      */
 /*============================================================================*/
 #ifdef __cplusplus
 extern "C" {
 #endif
 /**
  * @brief Assert function to check a given condition.
  * @note  Using a macro is preferable.
+ *
  * @param[in] c   The condition to check.
  */
 void apalDbgAssert(bool c);
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+/**
  * @brief Printf function for messages printed only in debug builds.
+ *
  * @param[in] fmt   Formatted string to print.
  */
 void apalDbgPrintf(fmt, ...);
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+#ifdef __cplusplus
+}
 #endif
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+#endif /* AMIROOS_PERIPHAL_H */