amiro-lld / periphAL.h @ master
History | View | Annotate | Download (23.6 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU Lesser General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
#ifndef AMIROLLD_PERIPHAL_H
|
| 20 |
#define AMIROLLD_PERIPHAL_H
|
| 21 |
|
| 22 |
#include <amiro-lld.h> |
| 23 |
|
| 24 |
/*============================================================================*/
|
| 25 |
/* VERSION */
|
| 26 |
/*============================================================================*/
|
| 27 |
|
| 28 |
/**
|
| 29 |
* @brief The periphery abstraction layer interface major version.
|
| 30 |
* @note Changes of the major version imply incompatibilities.
|
| 31 |
*/
|
| 32 |
#define PERIPHAL_VERSION_MAJOR 1 |
| 33 |
|
| 34 |
/**
|
| 35 |
* @brief The periphery abstraction layer interface minor version.
|
| 36 |
* @note A higher minor version implies new functionalty, but all old interfaces are still available.
|
| 37 |
*/
|
| 38 |
#define PERIPHAL_VERSION_MINOR 2 |
| 39 |
|
| 40 |
/*============================================================================*/
|
| 41 |
/* DEPENDENCIES */
|
| 42 |
/*============================================================================*/
|
| 43 |
|
| 44 |
#include <stdint.h> |
| 45 |
|
| 46 |
/*============================================================================*/
|
| 47 |
/* GENERAL */
|
| 48 |
/*============================================================================*/
|
| 49 |
|
| 50 |
/**
|
| 51 |
* @brief Status values used as return value for all (or most) function calls.
|
| 52 |
* @note The status can be used as mask of flags.
|
| 53 |
*/
|
| 54 |
typedef int8_t apalExitStatus_t;
|
| 55 |
|
| 56 |
/**
|
| 57 |
* @brief Status value for success (no error or warning occurred).
|
| 58 |
*/
|
| 59 |
#define APAL_STATUS_OK ((apalExitStatus_t)0) |
| 60 |
#define APAL_STATUS_SUCCESS ((apalExitStatus_t)0) |
| 61 |
|
| 62 |
/**
|
| 63 |
* @brief Status value for unspecified failure.
|
| 64 |
*/
|
| 65 |
#define APAL_STATUS_ERROR ((apalExitStatus_t)-1) |
| 66 |
#define APAL_STATUS_FAILURE ((apalExitStatus_t)-1) |
| 67 |
|
| 68 |
/**
|
| 69 |
* @brief Status value for timeout failure.
|
| 70 |
*/
|
| 71 |
#define APAL_STATUS_TIMEOUT ((apalExitStatus_t)-2) |
| 72 |
|
| 73 |
/**
|
| 74 |
* @brief Status value for failure because of invalid arguments.
|
| 75 |
*/
|
| 76 |
#define APAL_STATUS_INVALIDARGUMENTS ((apalExitStatus_t)-4) |
| 77 |
|
| 78 |
/**
|
| 79 |
* @brief Status value for failure because the function is not available/implemented.
|
| 80 |
*/
|
| 81 |
#define APAL_STATUS_UNAVAILABLE ((apalExitStatus_t)-8) |
| 82 |
|
| 83 |
/**
|
| 84 |
* @brief Status value for unspecified warning.
|
| 85 |
*/
|
| 86 |
#define APAL_STATUS_WARNING ((apalExitStatus_t)1) |
| 87 |
|
| 88 |
/*============================================================================*/
|
| 89 |
/* DEBUG */
|
| 90 |
/*============================================================================*/
|
| 91 |
|
| 92 |
#if (AMIROLLD_CFG_DBG == true) || defined(__DOXYGEN__) |
| 93 |
|
| 94 |
#if defined(__cplusplus)
|
| 95 |
extern "C" { |
| 96 |
#endif /* defined(__cplusplus) */ |
| 97 |
|
| 98 |
#if !defined(apalDbgAssertMsg) || defined(__DOXYGEN__)
|
| 99 |
/**
|
| 100 |
* @brief Assert function to check a given condition and print a message string.
|
| 101 |
*
|
| 102 |
* @param[in] c The condition to check.
|
| 103 |
* @param[in] fmt Formatted message string to print.
|
| 104 |
*/
|
| 105 |
void apalDbgAssertMsg(const bool c, const char* fmt, ...); |
| 106 |
#endif
|
| 107 |
|
| 108 |
#if !defined(apalDbgPrintf) || defined(__DOXYGEN__)
|
| 109 |
/**
|
| 110 |
* @brief Printf function for messages printed only in debug builds.
|
| 111 |
*
|
| 112 |
* @param[in] fmt Formatted string to print.
|
| 113 |
*
|
| 114 |
* return Number of printed characters.
|
| 115 |
*/
|
| 116 |
int apalDbgPrintf(const char* fmt, ...); |
| 117 |
#endif
|
| 118 |
|
| 119 |
#if defined(__cplusplus)
|
| 120 |
} |
| 121 |
#endif /* defined(__cplusplus) */ |
| 122 |
|
| 123 |
/**
|
| 124 |
* @brief Assert function to check a given condition.
|
| 125 |
*
|
| 126 |
* @param[in] c The condition to check.
|
| 127 |
*/
|
| 128 |
#define apalDbgAssert(c) apalDbgAssertMsg(c, "%s(%u): apalDbgAssert failed", __FILE__, __LINE__) |
| 129 |
|
| 130 |
#endif /* (AMIROLLD_CFG_DBG == true) */ |
| 131 |
|
| 132 |
/*============================================================================*/
|
| 133 |
/* TIMING */
|
| 134 |
/*============================================================================*/
|
| 135 |
|
| 136 |
/**
|
| 137 |
* @brief Time measurement type (in microseconds).
|
| 138 |
*/
|
| 139 |
#if (AMIROLLD_CFG_TIME_SIZE == 8) |
| 140 |
typedef uint8_t apalTime_t;
|
| 141 |
#elif (AMIROLLD_CFG_TIME_SIZE == 16) |
| 142 |
typedef uint16_t apalTime_t;
|
| 143 |
#elif (AMIROLLD_CFG_TIME_SIZE == 32) |
| 144 |
typedef uint32_t apalTime_t;
|
| 145 |
#elif (AMIROLLD_CFG_TIME_SIZE == 64) |
| 146 |
typedef uint64_t apalTime_t;
|
| 147 |
#else
|
| 148 |
#error "AMIROLLD_CFG_TIME_SIZE must be 8, 16, 32 or 64" |
| 149 |
#endif
|
| 150 |
|
| 151 |
#ifdef __cplusplus
|
| 152 |
extern "C" { |
| 153 |
#endif
|
| 154 |
|
| 155 |
#if !defined(apalSleep) || defined(__DOXYGEN__)
|
| 156 |
/**
|
| 157 |
* @brief Delay execution by a specific number of microseconds.
|
| 158 |
*
|
| 159 |
* @param[in] us Time to sleep until execution continues in microseconds.
|
| 160 |
*/
|
| 161 |
void apalSleep(apalTime_t us);
|
| 162 |
#endif
|
| 163 |
|
| 164 |
#ifdef __cplusplus
|
| 165 |
} |
| 166 |
#endif
|
| 167 |
|
| 168 |
/*============================================================================*/
|
| 169 |
/* GPIO */
|
| 170 |
/*============================================================================*/
|
| 171 |
|
| 172 |
#if (AMIROLLD_CFG_GPIO == true) || defined(__DOXYGEN__) |
| 173 |
|
| 174 |
/*
|
| 175 |
* The following type must be defined by the implementation:
|
| 176 |
*
|
| 177 |
* apalGpio_t
|
| 178 |
* Type to represent a GPIO object.
|
| 179 |
* Is only used via pointer by the API.
|
| 180 |
*/
|
| 181 |
|
| 182 |
/**
|
| 183 |
* @brief Status values to read/write a GPIO port.
|
| 184 |
*/
|
| 185 |
typedef uint8_t apalGpioState_t;
|
| 186 |
|
| 187 |
/**
|
| 188 |
* @brief GPIO physical low state.
|
| 189 |
*/
|
| 190 |
#define APAL_GPIO_LOW ((apalGpioState_t)0) |
| 191 |
|
| 192 |
/**
|
| 193 |
* @brief GPIO physical high state.
|
| 194 |
*/
|
| 195 |
#define APAL_GPIO_HIGH ((apalGpioState_t)1) |
| 196 |
|
| 197 |
/**
|
| 198 |
* @brief Invert a physical GPIO state.
|
| 199 |
*
|
| 200 |
* @param[in] state GPIO state to invert.
|
| 201 |
*
|
| 202 |
* @return Inverted physical GPIO state.
|
| 203 |
*/
|
| 204 |
#define APAL_GPIO_STATE_INVERT(state) ( \
|
| 205 |
(apalGpioState_t)state ^ APAL_GPIO_HIGH \ |
| 206 |
) |
| 207 |
|
| 208 |
/**
|
| 209 |
* @brief Logical status values to turn a control GPIO 'on' and 'off'.
|
| 210 |
*/
|
| 211 |
typedef uint8_t apalControlGpioState_t;
|
| 212 |
|
| 213 |
/**
|
| 214 |
* @brief GPIO logical off state.
|
| 215 |
*/
|
| 216 |
#define APAL_GPIO_OFF ((apalControlGpioState_t)0) |
| 217 |
|
| 218 |
/**
|
| 219 |
* @brief GPIO logical on state.
|
| 220 |
*/
|
| 221 |
#define APAL_GPIO_ON ((apalControlGpioState_t)1) |
| 222 |
|
| 223 |
/**
|
| 224 |
* @brief Polarity state of the control GPIO.
|
| 225 |
*/
|
| 226 |
typedef uint8_t apalGpioActive_t;
|
| 227 |
|
| 228 |
/**
|
| 229 |
* @brief The control GPIO is never defined to be 'on' (does not apply).
|
| 230 |
*/
|
| 231 |
#define APAL_GPIO_ACTIVE_NONE ((apalGpioActive_t)0) |
| 232 |
|
| 233 |
/**
|
| 234 |
* @brief The control GPIO is defined to be 'on' when it is phsically low.
|
| 235 |
*/
|
| 236 |
#define APAL_GPIO_ACTIVE_LOW ((apalGpioActive_t)1) |
| 237 |
|
| 238 |
/**
|
| 239 |
* @brief The control GPIO is defined to be 'on' when it is physically high.
|
| 240 |
*/
|
| 241 |
#define APAL_GPIO_ACTIVE_HIGH ((apalGpioActive_t)2) |
| 242 |
|
| 243 |
/**
|
| 244 |
* @brief The control GPIO is defined to be always 'on'.
|
| 245 |
*/
|
| 246 |
#define APAL_GPIO_ACTIVE_ANY ((apalGpioActive_t)3) |
| 247 |
|
| 248 |
/**
|
| 249 |
* @brief Invert a GPIO active state.
|
| 250 |
* @details The active state is inverted only if it was either low or high.
|
| 251 |
* In case it was set to none or any, the value is not modified.
|
| 252 |
*
|
| 253 |
* @param[in] active Active state to be inverted.
|
| 254 |
*
|
| 255 |
* @return Inverted active state.
|
| 256 |
*/
|
| 257 |
#define APAL_GPIO_ACTIVE_INVERT(active) ( \
|
| 258 |
(((apalGpioActive_t)active & APAL_GPIO_ACTIVE_LOW) ^ \ |
| 259 |
((apalGpioActive_t)active & APAL_GPIO_ACTIVE_HIGH)) ? \ |
| 260 |
((apalGpioActive_t)active ^ APAL_GPIO_ACTIVE_ANY) : \ |
| 261 |
((apalGpioActive_t)active) \ |
| 262 |
) |
| 263 |
|
| 264 |
/**
|
| 265 |
* @brief Signal direction for the control GPIO.
|
| 266 |
*/
|
| 267 |
typedef uint8_t apalGpioDirection_t;
|
| 268 |
|
| 269 |
/**
|
| 270 |
* @brief Signal direction for the control GPIO is undefined.
|
| 271 |
*/
|
| 272 |
#define APAL_GPIO_DIRECTION_UNDEFINED ((apalGpioDirection_t)0) |
| 273 |
|
| 274 |
/**
|
| 275 |
* @brief Signal direction for the control GPIO is input only.
|
| 276 |
*/
|
| 277 |
#define APAL_GPIO_DIRECTION_INPUT ((apalGpioDirection_t)1) |
| 278 |
|
| 279 |
/**
|
| 280 |
* @brief Signal direction for the control GPIO is output only.
|
| 281 |
*/
|
| 282 |
#define APAL_GPIO_DIRECTION_OUTPUT ((apalGpioDirection_t)2) |
| 283 |
|
| 284 |
/**
|
| 285 |
* @brief Signal direction for the control GPIO is didirectional.
|
| 286 |
*/
|
| 287 |
#define APAL_GPIO_DIRECTION_BIDIRECTIONAL ((apalGpioDirection_t)3) |
| 288 |
|
| 289 |
/**
|
| 290 |
* @brief Informative or effective signal edge for control GPIOs.
|
| 291 |
*/
|
| 292 |
typedef uint8_t apalGpioEdge_t;
|
| 293 |
|
| 294 |
/**
|
| 295 |
* @brief No edges indicate an interrupt or trigger an action.
|
| 296 |
*/
|
| 297 |
#define APAL_GPIO_EDGE_NONE ((apalGpioEdge_t)0) |
| 298 |
|
| 299 |
/**
|
| 300 |
* @brief Rising edges indicate an interrupt or trigger an action.
|
| 301 |
*/
|
| 302 |
#define APAL_GPIO_EDGE_RISING ((apalGpioEdge_t)1) |
| 303 |
|
| 304 |
/**
|
| 305 |
* @brief Falling edges indicate an interrupt or trigger an action.
|
| 306 |
*/
|
| 307 |
#define APAL_GPIO_EDGE_FALLING ((apalGpioEdge_t)2) |
| 308 |
|
| 309 |
/**
|
| 310 |
* @brief Both rising and falling edges indicate an interrupt or trigger an action.
|
| 311 |
*/
|
| 312 |
#define APAL_GPIO_EDGE_BOTH ((apalGpioEdge_t)3) |
| 313 |
|
| 314 |
/**
|
| 315 |
* @brief Inverts the value of the informative or effective signal edge for interrupts.
|
| 316 |
* @details Rising edge is inverted to falling and vice versa.
|
| 317 |
* If none or both edges are enabled, the identical value is returned.
|
| 318 |
*/
|
| 319 |
#define APAL_GPIO_EDGE_INVERT(edge) ( \
|
| 320 |
(((apalGpioEdge_t)edge & APAL_GPIO_EDGE_RISING) ^ \ |
| 321 |
((apalGpioEdge_t)edge & APAL_GPIO_EDGE_FALLING)) ? \ |
| 322 |
((apalGpioEdge_t)edge ^ APAL_GPIO_EDGE_BOTH) : \ |
| 323 |
((apalGpioEdge_t)edge) \ |
| 324 |
) |
| 325 |
|
| 326 |
/**
|
| 327 |
* @brief Control GPIO meta information
|
| 328 |
*/
|
| 329 |
typedef struct { |
| 330 |
apalGpioDirection_t direction : 2; /**< Direction configuration for according signals */ |
| 331 |
apalGpioActive_t active : 2; /**< Active state of the GPIO */ |
| 332 |
apalGpioEdge_t edge : 2; /**< Edge configuration for according signals */ |
| 333 |
} apalGpioMeta_t; |
| 334 |
|
| 335 |
/**
|
| 336 |
* @brief Control GPIO type.
|
| 337 |
*/
|
| 338 |
typedef struct { |
| 339 |
apalGpio_t* gpio; /**< The GPIO to use. */
|
| 340 |
apalGpioMeta_t meta; /**< Meta information about the GPIO. */
|
| 341 |
} apalControlGpio_t; |
| 342 |
|
| 343 |
#ifdef __cplusplus
|
| 344 |
extern "C" { |
| 345 |
#endif
|
| 346 |
|
| 347 |
#if !defined(apalGpioRead) || defined(__DOXYGEN__)
|
| 348 |
/**
|
| 349 |
* @brief Read the current value of a GPIO pin.
|
| 350 |
*
|
| 351 |
* @param[in] gpio GPIO to read.
|
| 352 |
* @param[out] val Current value of the GPIO.
|
| 353 |
*
|
| 354 |
* @return The status indicates whether the function call was successful.
|
| 355 |
*/
|
| 356 |
apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val);
|
| 357 |
#endif
|
| 358 |
|
| 359 |
#if !defined(apalGpioWrite) || defined(__DOXYGEN__)
|
| 360 |
/**
|
| 361 |
* @brief Set the value of a GPIO pin.
|
| 362 |
*
|
| 363 |
* @param[in] gpio GPIO to write.
|
| 364 |
* @param[in] val Value to set for the GPIO.
|
| 365 |
*
|
| 366 |
* @return The status indicates whether the function call was successful.
|
| 367 |
*/
|
| 368 |
apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val);
|
| 369 |
#endif
|
| 370 |
|
| 371 |
#if !defined(apalGpioToggle) || defined(__DOXYGEN__)
|
| 372 |
/**
|
| 373 |
* @brief Toggle the output of a GPIO.
|
| 374 |
*
|
| 375 |
* @param[in] gpio GPIO to toggle.
|
| 376 |
*
|
| 377 |
* @return The status indicates whether the function call was successful.
|
| 378 |
*/
|
| 379 |
apalExitStatus_t apalGpioToggle(apalGpio_t* gpio); |
| 380 |
#endif
|
| 381 |
|
| 382 |
#if !defined(apalGpioIsInterruptEnabled) || defined(__DOXYGEN__)
|
| 383 |
/**
|
| 384 |
* @brief Return the interrupt enable status of the GPIO.
|
| 385 |
*
|
| 386 |
* @param[in] gpio GPIO to check.
|
| 387 |
* @param[out] enabled Flag, indicating whether interrupt is enabled for the GPIO.
|
| 388 |
*
|
| 389 |
* @return The status indicates whether the function call was successful.
|
| 390 |
*/
|
| 391 |
apalExitStatus_t apalGpioIsInterruptEnabled(apalGpio_t* gpio, bool* const enabled); |
| 392 |
#endif
|
| 393 |
|
| 394 |
#if !defined(apalControlGpioGet) || defined(__DOXYGEN__)
|
| 395 |
/**
|
| 396 |
* @brief Get the current on/off state of a control GPIO.
|
| 397 |
*
|
| 398 |
* @param[in] gpio Control GPIO to read.
|
| 399 |
* @param[out] val Current activation status of the control GPIO.
|
| 400 |
*
|
| 401 |
* @return The status indicates whether the function call was successful.
|
| 402 |
*/
|
| 403 |
apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val); |
| 404 |
#endif
|
| 405 |
|
| 406 |
#if !defined(apalControlGpioSet) || defined(__DOXYGEN__)
|
| 407 |
/**
|
| 408 |
* @brief Turn a control GPIO 'on' or 'off' respectively.
|
| 409 |
*
|
| 410 |
* @param[in] gpio Control GPIO to set.
|
| 411 |
* @param[in] val Activation value to set for the control GPIO.
|
| 412 |
*
|
| 413 |
* @return The status indicates whether the function call was successful.
|
| 414 |
*/
|
| 415 |
apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val); |
| 416 |
#endif
|
| 417 |
|
| 418 |
#if !defined(apalControlGpioSetInterrupt) || defined(__DOXYGEN__)
|
| 419 |
/**
|
| 420 |
* @brief Enable or disable the interrupt event functionality.
|
| 421 |
*
|
| 422 |
* @param[in] cgpio Control GPIO to set.
|
| 423 |
* @param[in] enable Flag, indicating whether the interrupt shall be activated (true) or deactivated (false).
|
| 424 |
*
|
| 425 |
* @return The status indicates whether the function call was successful.
|
| 426 |
*/
|
| 427 |
apalExitStatus_t apalControlGpioSetInterrupt(const apalControlGpio_t* const cgpio, const bool enable); |
| 428 |
#endif
|
| 429 |
|
| 430 |
#ifdef __cplusplus
|
| 431 |
} |
| 432 |
#endif
|
| 433 |
|
| 434 |
#endif /* (AMIROLLD_CFG_GPIO == true) */ |
| 435 |
|
| 436 |
/*============================================================================*/
|
| 437 |
/* PWM */
|
| 438 |
/*============================================================================*/
|
| 439 |
|
| 440 |
#if (AMIROLLD_CFG_PWM == true) || defined(__DOXYGEN__) |
| 441 |
|
| 442 |
/*
|
| 443 |
* The following type must be defined by the implementation:
|
| 444 |
*
|
| 445 |
* apalPWMDriver_t
|
| 446 |
* Type to represent a PWM driver object.
|
| 447 |
* Is only used via pointer by the API.
|
| 448 |
*/
|
| 449 |
|
| 450 |
/**
|
| 451 |
* @brief PWM channel type.
|
| 452 |
*/
|
| 453 |
typedef uint8_t apalPWMchannel_t;
|
| 454 |
|
| 455 |
/**
|
| 456 |
* @brief PWM width type.
|
| 457 |
*/
|
| 458 |
typedef uint16_t apalPWMwidth_t;
|
| 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 */ |