amiro-lld / periphAL.h @ master
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| 1 | 1304b12b | Thomas Schöpping | /*
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| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | f69ec051 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
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| 4 | 1304b12b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU Lesser General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU Lesser General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU Lesser General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #ifndef AMIROLLD_PERIPHAL_H
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| 20 | #define AMIROLLD_PERIPHAL_H
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| 21 | |||
| 22 | #include <amiro-lld.h> |
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| 23 | |||
| 24 | /*============================================================================*/
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| 25 | /* VERSION */
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| 26 | /*============================================================================*/
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| 27 | |||
| 28 | /**
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| 29 | * @brief The periphery abstraction layer interface major version.
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| 30 | * @note Changes of the major version imply incompatibilities.
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| 31 | */
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| 32 | #define PERIPHAL_VERSION_MAJOR 1 |
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| 33 | |||
| 34 | /**
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| 35 | * @brief The periphery abstraction layer interface minor version.
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| 36 | * @note A higher minor version implies new functionalty, but all old interfaces are still available.
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| 37 | */
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| 38 | #define PERIPHAL_VERSION_MINOR 2 |
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| 39 | |||
| 40 | /*============================================================================*/
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| 41 | /* DEPENDENCIES */
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| 42 | /*============================================================================*/
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| 43 | |||
| 44 | #include <stdint.h> |
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| 45 | |||
| 46 | /*============================================================================*/
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| 47 | /* GENERAL */
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| 48 | /*============================================================================*/
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| 49 | |||
| 50 | /**
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| 51 | * @brief Status values used as return value for all (or most) function calls.
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| 52 | * @note The status can be used as mask of flags.
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| 53 | */
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| 54 | typedef int8_t apalExitStatus_t;
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| 55 | |||
| 56 | /**
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| 57 | * @brief Status value for success (no error or warning occurred).
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| 58 | */
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| 59 | #define APAL_STATUS_OK ((apalExitStatus_t)0) |
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| 60 | #define APAL_STATUS_SUCCESS ((apalExitStatus_t)0) |
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| 61 | |||
| 62 | /**
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| 63 | * @brief Status value for unspecified failure.
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| 64 | */
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| 65 | #define APAL_STATUS_ERROR ((apalExitStatus_t)-1) |
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| 66 | #define APAL_STATUS_FAILURE ((apalExitStatus_t)-1) |
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| 67 | |||
| 68 | /**
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| 69 | * @brief Status value for timeout failure.
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| 70 | */
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| 71 | #define APAL_STATUS_TIMEOUT ((apalExitStatus_t)-2) |
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| 72 | |||
| 73 | /**
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| 74 | * @brief Status value for failure because of invalid arguments.
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| 75 | */
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| 76 | #define APAL_STATUS_INVALIDARGUMENTS ((apalExitStatus_t)-4) |
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| 77 | |||
| 78 | /**
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| 79 | * @brief Status value for failure because the function is not available/implemented.
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| 80 | */
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| 81 | #define APAL_STATUS_UNAVAILABLE ((apalExitStatus_t)-8) |
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| 82 | |||
| 83 | /**
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| 84 | * @brief Status value for unspecified warning.
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| 85 | */
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| 86 | #define APAL_STATUS_WARNING ((apalExitStatus_t)1) |
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| 87 | |||
| 88 | /*============================================================================*/
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| 89 | /* DEBUG */
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| 90 | /*============================================================================*/
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| 91 | |||
| 92 | #if (AMIROLLD_CFG_DBG == true) || defined(__DOXYGEN__) |
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| 93 | |||
| 94 | #if defined(__cplusplus)
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| 95 | extern "C" { |
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| 96 | #endif /* defined(__cplusplus) */ |
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| 97 | |||
| 98 | #if !defined(apalDbgAssertMsg) || defined(__DOXYGEN__)
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| 99 | /**
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| 100 | * @brief Assert function to check a given condition and print a message string.
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| 101 | *
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| 102 | * @param[in] c The condition to check.
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| 103 | * @param[in] fmt Formatted message string to print.
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| 104 | */
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| 105 | void apalDbgAssertMsg(const bool c, const char* fmt, ...); |
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| 106 | #endif
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| 107 | |||
| 108 | #if !defined(apalDbgPrintf) || defined(__DOXYGEN__)
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| 109 | /**
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| 110 | * @brief Printf function for messages printed only in debug builds.
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| 111 | *
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| 112 | * @param[in] fmt Formatted string to print.
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| 113 | *
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| 114 | * return Number of printed characters.
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| 115 | */
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| 116 | int apalDbgPrintf(const char* fmt, ...); |
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| 117 | #endif
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| 118 | |||
| 119 | #if defined(__cplusplus)
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| 120 | } |
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| 121 | #endif /* defined(__cplusplus) */ |
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| 122 | |||
| 123 | /**
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| 124 | * @brief Assert function to check a given condition.
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| 125 | *
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| 126 | * @param[in] c The condition to check.
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| 127 | */
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| 128 | #define apalDbgAssert(c) apalDbgAssertMsg(c, "%s(%u): apalDbgAssert failed", __FILE__, __LINE__) |
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| 129 | |||
| 130 | #endif /* (AMIROLLD_CFG_DBG == true) */ |
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| 131 | |||
| 132 | /*============================================================================*/
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| 133 | /* TIMING */
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| 134 | /*============================================================================*/
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| 135 | |||
| 136 | /**
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| 137 | * @brief Time measurement type (in microseconds).
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| 138 | */
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| 139 | #if (AMIROLLD_CFG_TIME_SIZE == 8) |
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| 140 | typedef uint8_t apalTime_t;
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| 141 | #elif (AMIROLLD_CFG_TIME_SIZE == 16) |
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| 142 | typedef uint16_t apalTime_t;
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| 143 | #elif (AMIROLLD_CFG_TIME_SIZE == 32) |
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| 144 | typedef uint32_t apalTime_t;
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| 145 | #elif (AMIROLLD_CFG_TIME_SIZE == 64) |
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| 146 | typedef uint64_t apalTime_t;
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| 147 | #else
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| 148 | #error "AMIROLLD_CFG_TIME_SIZE must be 8, 16, 32 or 64" |
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| 149 | #endif
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| 150 | |||
| 151 | #ifdef __cplusplus
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| 152 | extern "C" { |
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| 153 | #endif
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| 154 | |||
| 155 | #if !defined(apalSleep) || defined(__DOXYGEN__)
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| 156 | /**
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| 157 | * @brief Delay execution by a specific number of microseconds.
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| 158 | *
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| 159 | * @param[in] us Time to sleep until execution continues in microseconds.
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| 160 | */
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| 161 | void apalSleep(apalTime_t us);
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| 162 | #endif
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| 163 | |||
| 164 | #ifdef __cplusplus
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| 165 | } |
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| 166 | #endif
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| 167 | |||
| 168 | /*============================================================================*/
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| 169 | /* GPIO */
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| 170 | /*============================================================================*/
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| 171 | |||
| 172 | #if (AMIROLLD_CFG_GPIO == true) || defined(__DOXYGEN__) |
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| 173 | |||
| 174 | /*
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| 175 | * The following type must be defined by the implementation:
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| 176 | *
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| 177 | * apalGpio_t
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| 178 | * Type to represent a GPIO object.
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| 179 | * Is only used via pointer by the API.
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| 180 | */
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| 181 | |||
| 182 | /**
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| 183 | * @brief Status values to read/write a GPIO port.
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| 184 | */
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| 185 | typedef uint8_t apalGpioState_t;
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| 186 | |||
| 187 | /**
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| 188 | * @brief GPIO physical low state.
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| 189 | */
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| 190 | #define APAL_GPIO_LOW ((apalGpioState_t)0) |
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| 191 | |||
| 192 | /**
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| 193 | * @brief GPIO physical high state.
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| 194 | */
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| 195 | #define APAL_GPIO_HIGH ((apalGpioState_t)1) |
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| 196 | |||
| 197 | /**
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| 198 | * @brief Invert a physical GPIO state.
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| 199 | *
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| 200 | * @param[in] state GPIO state to invert.
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| 201 | *
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| 202 | * @return Inverted physical GPIO state.
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| 203 | */
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| 204 | #define APAL_GPIO_STATE_INVERT(state) ( \
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| 205 | (apalGpioState_t)state ^ APAL_GPIO_HIGH \ |
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| 206 | ) |
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| 207 | |||
| 208 | /**
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| 209 | * @brief Logical status values to turn a control GPIO 'on' and 'off'.
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| 210 | */
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| 211 | typedef uint8_t apalControlGpioState_t;
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| 212 | |||
| 213 | /**
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| 214 | * @brief GPIO logical off state.
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| 215 | */
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| 216 | #define APAL_GPIO_OFF ((apalControlGpioState_t)0) |
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| 217 | |||
| 218 | /**
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| 219 | * @brief GPIO logical on state.
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| 220 | */
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| 221 | #define APAL_GPIO_ON ((apalControlGpioState_t)1) |
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| 222 | |||
| 223 | /**
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| 224 | * @brief Polarity state of the control GPIO.
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| 225 | */
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| 226 | typedef uint8_t apalGpioActive_t;
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| 227 | |||
| 228 | /**
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| 229 | * @brief The control GPIO is never defined to be 'on' (does not apply).
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| 230 | */
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| 231 | #define APAL_GPIO_ACTIVE_NONE ((apalGpioActive_t)0) |
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| 232 | |||
| 233 | /**
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| 234 | * @brief The control GPIO is defined to be 'on' when it is phsically low.
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| 235 | */
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| 236 | #define APAL_GPIO_ACTIVE_LOW ((apalGpioActive_t)1) |
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| 237 | |||
| 238 | /**
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| 239 | * @brief The control GPIO is defined to be 'on' when it is physically high.
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| 240 | */
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| 241 | #define APAL_GPIO_ACTIVE_HIGH ((apalGpioActive_t)2) |
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| 242 | |||
| 243 | /**
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| 244 | * @brief The control GPIO is defined to be always 'on'.
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| 245 | */
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| 246 | #define APAL_GPIO_ACTIVE_ANY ((apalGpioActive_t)3) |
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| 247 | |||
| 248 | /**
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| 249 | * @brief Invert a GPIO active state.
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| 250 | * @details The active state is inverted only if it was either low or high.
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| 251 | * In case it was set to none or any, the value is not modified.
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| 252 | *
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| 253 | * @param[in] active Active state to be inverted.
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| 254 | *
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| 255 | * @return Inverted active state.
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| 256 | */
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| 257 | #define APAL_GPIO_ACTIVE_INVERT(active) ( \
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| 258 | (((apalGpioActive_t)active & APAL_GPIO_ACTIVE_LOW) ^ \ |
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| 259 | ((apalGpioActive_t)active & APAL_GPIO_ACTIVE_HIGH)) ? \ |
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| 260 | ((apalGpioActive_t)active ^ APAL_GPIO_ACTIVE_ANY) : \ |
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| 261 | ((apalGpioActive_t)active) \ |
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| 262 | ) |
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| 263 | |||
| 264 | /**
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| 265 | * @brief Signal direction for the control GPIO.
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| 266 | */
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| 267 | typedef uint8_t apalGpioDirection_t;
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| 268 | |||
| 269 | /**
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| 270 | * @brief Signal direction for the control GPIO is undefined.
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| 271 | */
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| 272 | #define APAL_GPIO_DIRECTION_UNDEFINED ((apalGpioDirection_t)0) |
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| 273 | |||
| 274 | /**
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| 275 | * @brief Signal direction for the control GPIO is input only.
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| 276 | */
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| 277 | #define APAL_GPIO_DIRECTION_INPUT ((apalGpioDirection_t)1) |
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| 278 | |||
| 279 | /**
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| 280 | * @brief Signal direction for the control GPIO is output only.
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| 281 | */
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| 282 | #define APAL_GPIO_DIRECTION_OUTPUT ((apalGpioDirection_t)2) |
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| 283 | |||
| 284 | /**
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| 285 | * @brief Signal direction for the control GPIO is didirectional.
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| 286 | */
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| 287 | #define APAL_GPIO_DIRECTION_BIDIRECTIONAL ((apalGpioDirection_t)3) |
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| 288 | |||
| 289 | /**
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| 290 | * @brief Informative or effective signal edge for control GPIOs.
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| 291 | */
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| 292 | typedef uint8_t apalGpioEdge_t;
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| 293 | |||
| 294 | /**
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| 295 | * @brief No edges indicate an interrupt or trigger an action.
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| 296 | */
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| 297 | #define APAL_GPIO_EDGE_NONE ((apalGpioEdge_t)0) |
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| 298 | |||
| 299 | /**
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| 300 | * @brief Rising edges indicate an interrupt or trigger an action.
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| 301 | */
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| 302 | #define APAL_GPIO_EDGE_RISING ((apalGpioEdge_t)1) |
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| 303 | |||
| 304 | /**
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| 305 | * @brief Falling edges indicate an interrupt or trigger an action.
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| 306 | */
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| 307 | #define APAL_GPIO_EDGE_FALLING ((apalGpioEdge_t)2) |
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| 308 | |||
| 309 | /**
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| 310 | * @brief Both rising and falling edges indicate an interrupt or trigger an action.
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| 311 | */
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| 312 | #define APAL_GPIO_EDGE_BOTH ((apalGpioEdge_t)3) |
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| 313 | |||
| 314 | /**
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| 315 | * @brief Inverts the value of the informative or effective signal edge for interrupts.
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| 316 | * @details Rising edge is inverted to falling and vice versa.
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| 317 | * If none or both edges are enabled, the identical value is returned.
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| 318 | */
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| 319 | #define APAL_GPIO_EDGE_INVERT(edge) ( \
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| 320 | (((apalGpioEdge_t)edge & APAL_GPIO_EDGE_RISING) ^ \ |
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| 321 | ((apalGpioEdge_t)edge & APAL_GPIO_EDGE_FALLING)) ? \ |
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| 322 | ((apalGpioEdge_t)edge ^ APAL_GPIO_EDGE_BOTH) : \ |
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| 323 | ((apalGpioEdge_t)edge) \ |
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| 324 | ) |
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| 325 | |||
| 326 | /**
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| 327 | * @brief Control GPIO meta information
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| 328 | */
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| 329 | typedef struct { |
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| 330 | apalGpioDirection_t direction : 2; /**< Direction configuration for according signals */ |
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| 331 | apalGpioActive_t active : 2; /**< Active state of the GPIO */ |
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| 332 | apalGpioEdge_t edge : 2; /**< Edge configuration for according signals */ |
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| 333 | } apalGpioMeta_t; |
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| 334 | |||
| 335 | /**
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| 336 | * @brief Control GPIO type.
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| 337 | */
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| 338 | typedef struct { |
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| 339 | apalGpio_t* gpio; /**< The GPIO to use. */
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| 340 | apalGpioMeta_t meta; /**< Meta information about the GPIO. */
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| 341 | } apalControlGpio_t; |
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| 342 | |||
| 343 | #ifdef __cplusplus
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| 344 | extern "C" { |
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| 345 | #endif
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| 346 | |||
| 347 | #if !defined(apalGpioRead) || defined(__DOXYGEN__)
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| 348 | /**
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| 349 | * @brief Read the current value of a GPIO pin.
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| 350 | *
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| 351 | * @param[in] gpio GPIO to read.
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| 352 | * @param[out] val Current value of the GPIO.
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| 353 | *
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| 354 | * @return The status indicates whether the function call was successful.
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| 355 | */
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| 356 | apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val);
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| 357 | #endif
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| 358 | |||
| 359 | #if !defined(apalGpioWrite) || defined(__DOXYGEN__)
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| 360 | /**
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| 361 | * @brief Set the value of a GPIO pin.
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| 362 | *
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| 363 | * @param[in] gpio GPIO to write.
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| 364 | * @param[in] val Value to set for the GPIO.
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| 365 | *
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| 366 | * @return The status indicates whether the function call was successful.
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| 367 | */
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| 368 | apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val);
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| 369 | #endif
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| 370 | |||
| 371 | #if !defined(apalGpioToggle) || defined(__DOXYGEN__)
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| 372 | /**
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| 373 | * @brief Toggle the output of a GPIO.
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| 374 | *
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| 375 | * @param[in] gpio GPIO to toggle.
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| 376 | *
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| 377 | * @return The status indicates whether the function call was successful.
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| 378 | */
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| 379 | apalExitStatus_t apalGpioToggle(apalGpio_t* gpio); |
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| 380 | #endif
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| 381 | |||
| 382 | #if !defined(apalGpioIsInterruptEnabled) || defined(__DOXYGEN__)
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| 383 | /**
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| 384 | * @brief Return the interrupt enable status of the GPIO.
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| 385 | *
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| 386 | * @param[in] gpio GPIO to check.
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| 387 | * @param[out] enabled Flag, indicating whether interrupt is enabled for the GPIO.
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| 388 | *
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| 389 | * @return The status indicates whether the function call was successful.
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| 390 | */
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| 391 | apalExitStatus_t apalGpioIsInterruptEnabled(apalGpio_t* gpio, bool* const enabled); |
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| 392 | #endif
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| 393 | |||
| 394 | #if !defined(apalControlGpioGet) || defined(__DOXYGEN__)
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| 395 | /**
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| 396 | * @brief Get the current on/off state of a control GPIO.
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| 397 | *
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| 398 | * @param[in] gpio Control GPIO to read.
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| 399 | * @param[out] val Current activation status of the control GPIO.
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| 400 | *
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| 401 | * @return The status indicates whether the function call was successful.
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| 402 | */
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| 403 | apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val); |
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| 404 | #endif
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| 405 | |||
| 406 | #if !defined(apalControlGpioSet) || defined(__DOXYGEN__)
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| 407 | /**
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| 408 | * @brief Turn a control GPIO 'on' or 'off' respectively.
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| 409 | *
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| 410 | * @param[in] gpio Control GPIO to set.
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| 411 | * @param[in] val Activation value to set for the control GPIO.
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| 412 | *
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| 413 | * @return The status indicates whether the function call was successful.
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| 414 | */
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| 415 | apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val); |
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| 416 | #endif
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| 417 | |||
| 418 | #if !defined(apalControlGpioSetInterrupt) || defined(__DOXYGEN__)
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| 419 | /**
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| 420 | * @brief Enable or disable the interrupt event functionality.
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| 421 | *
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| 422 | * @param[in] cgpio Control GPIO to set.
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| 423 | * @param[in] enable Flag, indicating whether the interrupt shall be activated (true) or deactivated (false).
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| 424 | *
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| 425 | * @return The status indicates whether the function call was successful.
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| 426 | */
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| 427 | apalExitStatus_t apalControlGpioSetInterrupt(const apalControlGpio_t* const cgpio, const bool enable); |
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| 428 | #endif
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| 429 | |||
| 430 | #ifdef __cplusplus
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| 431 | } |
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| 432 | #endif
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| 433 | |||
| 434 | #endif /* (AMIROLLD_CFG_GPIO == true) */ |
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| 435 | |||
| 436 | /*============================================================================*/
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| 437 | /* PWM */
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| 438 | /*============================================================================*/
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| 439 | |||
| 440 | #if (AMIROLLD_CFG_PWM == true) || defined(__DOXYGEN__) |
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| 441 | |||
| 442 | /*
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| 443 | * The following type must be defined by the implementation:
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| 444 | *
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| 445 | * apalPWMDriver_t
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| 446 | * Type to represent a PWM driver object.
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| 447 | * Is only used via pointer by the API.
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| 448 | */
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| 449 | |||
| 450 | /**
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| 451 | * @brief PWM channel type.
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| 452 | */
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| 453 | typedef uint8_t apalPWMchannel_t;
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| 454 | |||
| 455 | /**
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| 456 | * @brief PWM width type.
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| 457 | */
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| 458 | typedef uint16_t apalPWMwidth_t;
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| 459 | |||
| 460 | /**
|
||
| 461 | * @brief PWM frequency type.
|
||
| 462 | */
|
||
| 463 | typedef uint32_t apalPWMfrequency_t;
|
||
| 464 | |||
| 465 | /**
|
||
| 466 | * @brief PWM period time.
|
||
| 467 | */
|
||
| 468 | typedef uint32_t apalPWMperiod_t;
|
||
| 469 | |||
| 470 | /**
|
||
| 471 | * @brief PWM width to turn off the PWM.
|
||
| 472 | */
|
||
| 473 | #define APAL_PWM_WIDTH_OFF ((apalPWMwidth_t)0x0000u) |
||
| 474 | |||
| 475 | /**
|
||
| 476 | * @brief Minimum allowed PWM width.
|
||
| 477 | */
|
||
| 478 | #define APAL_PWM_WIDTH_MIN ((apalPWMwidth_t)0x0000u) |
||
| 479 | |||
| 480 | /**
|
||
| 481 | * @brief Maximum allowed PWM width.
|
||
| 482 | */
|
||
| 483 | #define APAL_PWM_WIDTH_MAX ((apalPWMwidth_t)0xFFFFu) |
||
| 484 | |||
| 485 | #ifdef __cplusplus
|
||
| 486 | extern "C" { |
||
| 487 | #endif
|
||
| 488 | |||
| 489 | #if !defined(apalPWMSet) || defined(__DOXYGEN__)
|
||
| 490 | /**
|
||
| 491 | * @brief Set the PWM with given parameters.
|
||
| 492 | *
|
||
| 493 | * @param[in] pwm PWM driver to set.
|
||
| 494 | * @param[in] channel Channel of the PWM driver to set.
|
||
| 495 | * @param[in] width Width to set the channel to.
|
||
| 496 | *
|
||
| 497 | * @return The status indicates whether the function call was successful.
|
||
| 498 | */
|
||
| 499 | apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width); |
||
| 500 | #endif
|
||
| 501 | |||
| 502 | #if !defined(apalPWMGetFrequency) || defined(__DOXYGEN__)
|
||
| 503 | /**
|
||
| 504 | * @brief Retrieve the current frequency of the PWM.
|
||
| 505 | *
|
||
| 506 | * @param[in] pwm PWM driver to read.
|
||
| 507 | * @param[out] frequency The currently set frequency.
|
||
| 508 | *
|
||
| 509 | * @return The status indicates whether the function call was successful.
|
||
| 510 | */
|
||
| 511 | apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency);
|
||
| 512 | #endif
|
||
| 513 | |||
| 514 | #if !defined(apalPWMGetPeriod) || defined(__DOXYGEN__)
|
||
| 515 | /**
|
||
| 516 | * @brief Retrieve the current period of the PWM.
|
||
| 517 | *
|
||
| 518 | * @param[in] pwm PWM driver to read.
|
||
| 519 | * @param[out] period The currently set period.
|
||
| 520 | *
|
||
| 521 | * @return The status indicates whether the function call was successful.
|
||
| 522 | */
|
||
| 523 | apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period);
|
||
| 524 | #endif
|
||
| 525 | |||
| 526 | #ifdef __cplusplus
|
||
| 527 | } |
||
| 528 | #endif
|
||
| 529 | |||
| 530 | #endif /* (AMIROLLD_CFG_PWM == true) */ |
||
| 531 | |||
| 532 | /*============================================================================*/
|
||
| 533 | /* QEI */
|
||
| 534 | /*============================================================================*/
|
||
| 535 | |||
| 536 | #if (AMIROLLD_CFG_QEI == true) || defined(__DOXYGEN__) |
||
| 537 | |||
| 538 | /*
|
||
| 539 | * The following type must be defined by the implementation:
|
||
| 540 | *
|
||
| 541 | * apalQEIDriver_t
|
||
| 542 | * Type to represent a QEI driver object.
|
||
| 543 | * Is only used via pointer by the API.
|
||
| 544 | */
|
||
| 545 | |||
| 546 | /**
|
||
| 547 | * @brief QEI counter type.
|
||
| 548 | */
|
||
| 549 | typedef uint32_t apalQEICount_t;
|
||
| 550 | |||
| 551 | /**
|
||
| 552 | * @brief Direction of the QEI.
|
||
| 553 | */
|
||
| 554 | typedef uint8_t apalQEIDirection_t;
|
||
| 555 | |||
| 556 | /*
|
||
| 557 | * @brief QEI counts upwards.
|
||
| 558 | */
|
||
| 559 | #define APAL_QEI_DIRECTION_UP ((apalQEIDirection_t)0) |
||
| 560 | |||
| 561 | /*
|
||
| 562 | * @brief QEI counts downwards.
|
||
| 563 | */
|
||
| 564 | #define APAL_QEI_DIRECTION_DOWN ((apalQEIDirection_t)1) |
||
| 565 | |||
| 566 | #ifdef __cplusplus
|
||
| 567 | extern "C" { |
||
| 568 | #endif
|
||
| 569 | |||
| 570 | #if !defined(apalQEIGetDirection) || defined(__DOXYGEN__)
|
||
| 571 | /**
|
||
| 572 | * @brief Gets the direction of the last transition.
|
||
| 573 | *
|
||
| 574 | * @param[in] qei The QEI driver to use.
|
||
| 575 | * @param[out] direction The direction of the last transition.
|
||
| 576 | *
|
||
| 577 | * @return The status indicates whether the function call was successful.
|
||
| 578 | */
|
||
| 579 | apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction);
|
||
| 580 | #endif
|
||
| 581 | |||
| 582 | #if !defined(apalQEIGetPosition) || defined(__DOXYGEN__)
|
||
| 583 | /**
|
||
| 584 | * @brief Gets the current position of the ecnoder.
|
||
| 585 | *
|
||
| 586 | * @param[in] qei The QEI driver to use.
|
||
| 587 | * @param[out] position The current position of the encoder.
|
||
| 588 | *
|
||
| 589 | * @return The status indicates whether the function call was successful.
|
||
| 590 | */
|
||
| 591 | apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position);
|
||
| 592 | #endif
|
||
| 593 | |||
| 594 | #if !defined(apalQEIGetRange) || defined(__DOXYGEN__)
|
||
| 595 | /**
|
||
| 596 | * @brief Gets the value range of the encoder.
|
||
| 597 | *
|
||
| 598 | * @param[in] qei The QEI driver to use.
|
||
| 599 | * @param[out] range The value range of the encoder.
|
||
| 600 | *
|
||
| 601 | * @return The status indicates whether the function call was successful.
|
||
| 602 | */
|
||
| 603 | apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range);
|
||
| 604 | #endif
|
||
| 605 | |||
| 606 | #ifdef __cplusplus
|
||
| 607 | } |
||
| 608 | #endif
|
||
| 609 | |||
| 610 | #endif /* (AMIROLLD_CFG_QEI == true) */ |
||
| 611 | |||
| 612 | /*============================================================================*/
|
||
| 613 | /* I2C */
|
||
| 614 | /*============================================================================*/
|
||
| 615 | |||
| 616 | #if (AMIROLLD_CFG_I2C == true) || defined(__DOXYGEN__) |
||
| 617 | |||
| 618 | /*
|
||
| 619 | * The following type must be defined by the implementation:
|
||
| 620 | *
|
||
| 621 | * apalI2CDriver_t
|
||
| 622 | * Type to represent a I2C driver object.
|
||
| 623 | * Is only used via pointer by the API.
|
||
| 624 | */
|
||
| 625 | |||
| 626 | /**
|
||
| 627 | * @brief I2C address type.
|
||
| 628 | */
|
||
| 629 | typedef uint16_t apalI2Caddr_t;
|
||
| 630 | |||
| 631 | #ifdef __cplusplus
|
||
| 632 | extern "C" { |
||
| 633 | #endif
|
||
| 634 | |||
| 635 | #if !defined(apalI2CMasterTransmit) || defined(__DOXYGEN__)
|
||
| 636 | /**
|
||
| 637 | * @brief Transmit data and receive a response.
|
||
| 638 | *
|
||
| 639 | * @param[in] i2cd The I2C driver to use.
|
||
| 640 | * @param[in] addr Address to write to.
|
||
| 641 | * @param[in] txbuf Buffer containing data to send.
|
||
| 642 | * @param[in] txbytes Number of bytes to send.
|
||
| 643 | * @param[out] rxbuf Buffer to store a response to.
|
||
| 644 | * @param[in] rxbytes Number of bytes to receive.
|
||
| 645 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
| 646 | *
|
||
| 647 | * @return The status indicates whether the function call was succesful or a timeout occurred.
|
||
| 648 | */
|
||
| 649 | 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); |
||
| 650 | #endif
|
||
| 651 | |||
| 652 | #if !defined(apalI2CMasterReceive) || defined(__DOXYGEN__)
|
||
| 653 | /**
|
||
| 654 | * @brief Read data from a specific address.
|
||
| 655 | *
|
||
| 656 | * @param[in] i2cd The I2C driver to use.
|
||
| 657 | * @param[in] addr Address to read.
|
||
| 658 | * @param[out] rxbuf Buffer to store the response to.
|
||
| 659 | * @param[in] rxbytes Number of bytes to receive.
|
||
| 660 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
| 661 | *
|
||
| 662 | * @return The status indicates whether the function call was succesful or a timeout occurred.
|
||
| 663 | */
|
||
| 664 | apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout); |
||
| 665 | #endif
|
||
| 666 | |||
| 667 | #ifdef __cplusplus
|
||
| 668 | } |
||
| 669 | #endif
|
||
| 670 | |||
| 671 | #endif /* (AMIROLLD_CFG_I2C == true) */ |
||
| 672 | |||
| 673 | /*============================================================================*/
|
||
| 674 | /* SPI */
|
||
| 675 | /*============================================================================*/
|
||
| 676 | |||
| 677 | #if (AMIROLLD_CFG_SPI == true) || defined(__DOXYGEN__) |
||
| 678 | |||
| 679 | /*
|
||
| 680 | * The following types must be defined by the implementation:
|
||
| 681 | *
|
||
| 682 | * apalSPIDriver_t
|
||
| 683 | * Type to represent a SPI driver object.
|
||
| 684 | * Is only used via pointer by the API.
|
||
| 685 | *
|
||
| 686 | * apalSPIConfig_t
|
||
| 687 | * Type to represent SPI a configuration object.
|
||
| 688 | * Is only used via pointer by the API.
|
||
| 689 | */
|
||
| 690 | |||
| 691 | #ifdef __cplusplus
|
||
| 692 | extern "C" { |
||
| 693 | #endif
|
||
| 694 | |||
| 695 | #if !defined(apalSPITransmit) || defined(__DOXYGEN__)
|
||
| 696 | /**
|
||
| 697 | * @brief Transmit data to SPI.
|
||
| 698 | *
|
||
| 699 | * @param[in] spid The SPI driver to use.
|
||
| 700 | * @param[in] data Buffer containing data to send.
|
||
| 701 | * @param[in] length Number of bytes to send.
|
||
| 702 | *
|
||
| 703 | * @return The status indicates whether the function call was succesful.
|
||
| 704 | */
|
||
| 705 | apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length); |
||
| 706 | #endif
|
||
| 707 | |||
| 708 | #if !defined(apalSPIReceive) || defined(__DOXYGEN__)
|
||
| 709 | /**
|
||
| 710 | * @brief Receive data from SPI.
|
||
| 711 | *
|
||
| 712 | * @param[in] spid The SPI driver to use.
|
||
| 713 | * @param[out] data Buffer to store receied data.
|
||
| 714 | * @param[in] length Number of bytes to receive.
|
||
| 715 | *
|
||
| 716 | * @return The status indicates whether the function call was succesful.
|
||
| 717 | */
|
||
| 718 | apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length); |
||
| 719 | #endif
|
||
| 720 | |||
| 721 | #if !defined(apalSPITransmitAndReceive) || defined(__DOXYGEN__)
|
||
| 722 | /**
|
||
| 723 | * @brief Transmit data to SPI and receive data afterwards without releasing the bus in between.
|
||
| 724 | *
|
||
| 725 | * @param[in] spid The SPI driver to use.
|
||
| 726 | * @param[in] txData Transmit data buffer.
|
||
| 727 | * @param[in] rxData Receive data buffer.
|
||
| 728 | * @param[in] txLength Number of bytes to send.
|
||
| 729 | * @param[in] rxLength Number of bytes to receive.
|
||
| 730 | *
|
||
| 731 | * @return The status indicates whether the function call was succesful.
|
||
| 732 | */
|
||
| 733 | apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength); |
||
| 734 | #endif
|
||
| 735 | |||
| 736 | #if !defined(apalSPIExchange) || defined(__DOXYGEN__)
|
||
| 737 | /**
|
||
| 738 | * @brief Transmit and receive data from SPI simultaneously.
|
||
| 739 | *
|
||
| 740 | * @param[in] spid The SPI driver to use.
|
||
| 741 | * @param[in] txData Buffer containing data to send.
|
||
| 742 | * @param[out] rxData Buffer to store received data.
|
||
| 743 | * @param[in] length Number of bytes to send and receive.
|
||
| 744 | *
|
||
| 745 | * @return The status indicates whether the function call was succesful.
|
||
| 746 | */
|
||
| 747 | apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length); |
||
| 748 | #endif
|
||
| 749 | |||
| 750 | #if !defined(apalSPIReconfigure) || defined(__DOXYGEN__)
|
||
| 751 | /**
|
||
| 752 | * @brief Reconfigure an SPI driver.
|
||
| 753 | *
|
||
| 754 | * @param[in] spid The SPI driver to be reconfigured.
|
||
| 755 | * @param[in] config Configuration to apply.
|
||
| 756 | *
|
||
| 757 | * @return The status indicates whether the function call was succesful.
|
||
| 758 | */
|
||
| 759 | apalExitStatus_t apalSPIReconfigure(apalSPIDriver_t* spid, const apalSPIConfig_t* config);
|
||
| 760 | #endif
|
||
| 761 | |||
| 762 | #ifdef __cplusplus
|
||
| 763 | } |
||
| 764 | #endif
|
||
| 765 | |||
| 766 | #endif /* (AMIROLLD_CFG_SPI == true) */ |
||
| 767 | |||
| 768 | #endif /* AMIROOS_PERIPHAL_H */ |