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-            e545e620
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2018  Thomas Schöpping et al.
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 #ifndef _AMIROOS_PERIPHAL_H_
 #define _AMIROOS_PERIPHAL_H_
 /*============================================================================*/
 /* 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                                                               */
 /*============================================================================*/
 #include <periphALtypes.h>
 #include <hal.h>
 #include <hal_qei.h>
 #include <aos_debug.h>
 /*============================================================================*/
 /* GENERAL                                                                    */
 /*============================================================================*/
 /**
  * @brief Delay execution by a specific number of microseconds.
+ *
  * @param[in]   us    Time to sleep until execution continues in microseconds.
  */
 static inline void usleep(apalTime_t us)
+{
   // check if the specified time can be represented by the system
-be0f
+  aosDbgCheck(us <= TIME_I2US(TIME_INFINITE));
-            e545e620
+            Thomas Schöpping
-be0f
+  const systime_t st = TIME_US2I(us);
-            e545e620
+  // TIME_IMMEDIATE makes no sense and would even cause system halt
   if (st != TIME_IMMEDIATE) {
     chThdSleep(st);
+  }
   return;
+}
 /*============================================================================*/
 /* GPIO                                                                       */
 /*============================================================================*/
 #if HAL_USE_PAL || defined (__DOXYGEN__)
 /**
  * @brief GPIO driver type.
  */
 struct apalGpio_t {
   /*
    * Workaround, since GPIOv2 (STM32F4XX) uses a different type than GPIOv1 (STM32F1XX).
    */
   #if defined(STM32F4XX)
   stm32_gpio_t* port;
   #elif defined(STM32F1XX)
   GPIO_TypeDef* port;
   #else
   void* port;
   #endif
   uint8_t pad;
 } PACKED_VAR;
 /**
  * @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.
  */
 static inline apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val)
+{
   aosDbgCheck(gpio != NULL);
   aosDbgCheck(val != NULL);
   *val = (palReadPad(gpio->port, gpio->pad) == PAL_HIGH) ? APAL_GPIO_HIGH : APAL_GPIO_LOW;
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val)
+{
   aosDbgCheck(gpio != NULL);
   // palWritePad() is not guaranteed to be atomic, thus the scheduler is locked.
   syssts_t sysstatus = chSysGetStatusAndLockX();
   palWritePad(gpio->port, gpio->pad, (val == APAL_GPIO_HIGH) ? PAL_HIGH : PAL_LOW);
   chSysRestoreStatusX(sysstatus);
   return APAL_STATUS_OK;
+}
 /**
  * @brief Toggle the output of a GPIO.
+ *
  * @param[in] gpio  GPIO to toggle.
+ *
  * @return The status indicates whether the function call was successful.
  */
 static inline apalExitStatus_t apalGpioToggle(apalGpio_t* gpio)
+{
   aosDbgCheck(gpio != NULL);
   // palWritePad() is not guaranteed to be atomic, thus the scheduler is locked.
   syssts_t sysstatus = chSysGetStatusAndLockX();
   palWritePad(gpio->port, gpio->pad, (palReadPad(gpio->port, gpio->pad) == PAL_HIGH) ? PAL_LOW : PAL_HIGH);
   chSysRestoreStatusX(sysstatus);
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val)
+{
   aosDbgCheck(cgpio != NULL);
   aosDbgCheck(cgpio->gpio != NULL);
   aosDbgCheck(val != NULL);
   *val = ((palReadPad(cgpio->gpio->port, cgpio->gpio->pad) == PAL_HIGH) ^ (cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH)) ? APAL_GPIO_OFF : APAL_GPIO_ON;
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val)
+{
   aosDbgCheck(cgpio != NULL);
   aosDbgCheck(cgpio->gpio != NULL);
   aosDbgCheck(cgpio->meta.direction == APAL_GPIO_DIRECTION_OUTPUT || cgpio->meta.direction == APAL_GPIO_DIRECTION_BIDIRECTIONAL);
   // palWritePad() is not guaranteed to be atomic, thus the scheduler is locked.
   syssts_t sysstatus = chSysGetStatusAndLockX();
   palWritePad(cgpio->gpio->port, cgpio->gpio->pad, ((cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH) ^ (val == APAL_GPIO_ON)) ? PAL_LOW : PAL_HIGH);
   chSysRestoreStatusX(sysstatus);
   return APAL_STATUS_OK;
+}
 #endif
-be0f
+#if HAL_USE_PAL || defined(__DOXYGEN__)
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Converts an apalGpioEdge_t to an ChibiOS EXT edge.
  */
 #define APAL2CH_EDGE(edge)                                        \
-be0f
+  ((edge == APAL_GPIO_EDGE_RISING) ? PAL_EVENT_MODE_RISING_EDGE :    \
     (edge == APAL_GPIO_EDGE_FALLING) ? PAL_EVENT_MODE_FALLING_EDGE : \
      (edge == APAL_GPIO_EDGE_BOTH) ? PAL_EVENT_MODE_BOTH_EDGES : 0)
-            e545e620
+            Thomas Schöpping
 #endif
 /*============================================================================*/
 /* PWM                                                                        */
 /*============================================================================*/
 #if HAL_USE_PWM || defined (__DOXYGEN__)
 /**
  * @brief PWM driver type.
  */
 typedef PWMDriver apalPWMDriver_t;
 /**
  * @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.
  */
 static inline apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width)
+{
   aosDbgCheck(pwm != NULL);
   pwmEnableChannel(pwm, (pwmchannel_t)channel, pwm->period * ((float)width / (float)APAL_PWM_WIDTH_MAX) + 0.5f);
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency)
+{
   aosDbgCheck(pwm != NULL);
   aosDbgCheck(frequency != NULL);
   *frequency = pwm->config->frequency;
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period)
+{
   aosDbgCheck(pwm != NULL);
   aosDbgCheck(period != NULL);
   *period = pwm->period;
   return APAL_STATUS_OK;
+}
 #endif
 /*============================================================================*/
 /* QEI                                                                        */
 /*============================================================================*/
 #if HAL_USE_QEI || defined (__DOXYGEN__)
 /**
  * @brief QEI driver type.
  */
 typedef QEIDriver apalQEIDriver_t;
 /**
  * @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.
  */
 static inline apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction)
+{
   aosDbgCheck(qei != NULL);
   aosDbgCheck(direction != NULL);
   *direction = (qei_lld_get_direction(qei)) ? APAL_QEI_DIRECTION_DOWN : APAL_QEI_DIRECTION_UP;
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position)
+{
   aosDbgCheck(qei != NULL);
   aosDbgCheck(position != NULL);
   *position = qei_lld_get_position(qei);
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range)
+{
   aosDbgCheck(qei != NULL);
   aosDbgCheck(range != NULL);
   *range = qei_lld_get_range(qei);
   return APAL_STATUS_OK;
+}
 #endif
 /*============================================================================*/
 /* I2C                                                                        */
 /*============================================================================*/
 #if HAL_USE_I2C || defined(__DOXYGEN__)
 /**
  * @brief I2C driver type.
  */
 typedef I2CDriver apalI2CDriver_t;
 /**
  * @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.
  */
 static inline 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)
+{
   aosDbgCheck(i2cd != NULL);
 #if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
   i2cAcquireBus(i2cd);
 #endif
 #if defined(STM32F1XX_I2C)
   // Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
   msg_t status = MSG_OK;
   if (rxbytes == 1) {
     uint8_t buffer[2];
-be0f
+    status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
-            e545e620
+    rxbuf[0] = buffer[0];
   } else {
-be0f
+    status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
-            e545e620
+            Thomas Schöpping
 #else
-be0f
+  const msg_t status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
-            e545e620
+#endif
 #if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
   i2cReleaseBus(i2cd);
 #endif
   switch (status)
+  {
     case MSG_OK:
 #if defined(STM32F1XX_I2C)
       return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING;
 #else
       return APAL_STATUS_OK;
 #endif
     case MSG_TIMEOUT:
       return APAL_STATUS_TIMEOUT;
     case MSG_RESET:
     default:
       return APAL_STATUS_ERROR;
+  }
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout)
+{
   aosDbgCheck(i2cd != NULL);
 #if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
   i2cAcquireBus(i2cd);
 #endif
 #if defined(STM32F1XX_I2C)
   // Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
   msg_t status = MSG_OK;
   if (rxbytes == 1) {
     uint8_t buffer[2];
-be0f
+    status = i2cMasterReceiveTimeout(i2cd, addr, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
-            e545e620
+    rxbuf[0] = buffer[0];
   } else {
-be0f
+    status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
-            e545e620
+            Thomas Schöpping
 #else
-be0f
+  const msg_t status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
-            e545e620
+#endif
 #if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
   i2cReleaseBus(i2cd);
 #endif
   switch (status)
+  {
     case MSG_OK:
 #if defined(STM32F1XX_I2C)
       return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING;
 #else
       return APAL_STATUS_OK;
 #endif
     case MSG_TIMEOUT:
       return APAL_STATUS_TIMEOUT;
     case MSG_RESET:
     default:
       return APAL_STATUS_ERROR;
+  }
+}
 #endif
 /*============================================================================*/
 /* SPI                                                                        */
 /*============================================================================*/
 #if HAL_USE_SPI || defined(__DOXYGEN__)
 /**
  * @brief SPI driver type.
  */
 typedef SPIDriver apalSPIDriver_t;
 /**
  * @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.
  */
 static inline apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length)
+{
   aosDbgCheck(spid != NULL);
 #if (SPI_USE_MUTUAL_EXCLUSION)
   spiAcquireBus(spid);
 #endif
   spiSelect(spid);
   spiExchange(spid, length, txData, rxData);
   spiUnselect(spid);
 #if (SPI_USE_MUTUAL_EXCLUSION)
   spiReleaseBus(spid);
 #endif
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length)
+{
   aosDbgCheck(spid != NULL);
 #if (SPI_USE_MUTUAL_EXCLUSION)
   spiAcquireBus(spid);
 #endif
   spiSelect(spid);
   spiReceive(spid, length, data);
   spiUnselect(spid);
 #if (SPI_USE_MUTUAL_EXCLUSION)
   spiReleaseBus(spid);
 #endif
   return APAL_STATUS_OK;
+}
 /**
  * @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.
  */
 static inline apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length)
+{
   aosDbgCheck(spid != NULL);
 #if (SPI_USE_MUTUAL_EXCLUSION)
   spiAcquireBus(spid);
 #endif
   spiSelect(spid);
   spiSend(spid, length, data);
   spiUnselect(spid);
 #if (SPI_USE_MUTUAL_EXCLUSION)
   spiReleaseBus(spid);
 #endif
   return APAL_STATUS_OK;
+}
 #endif
 /*============================================================================*/
 /* DEBUG                                                                      */
 /*============================================================================*/
 /**
  * @brief Assert function to check a given condition.
+ *
  * @param[in] c   The condition to check.
  */
 #define apalDbgAssert(c)   aosDbgAssert(c)
 #endif /* _AMIROOS_PERIPHAL_H_ */