AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2020  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

/*============================================================================*/

/* DEPENDENCIES                                                               */

/*============================================================================*/

#include <aosconf.h>

#include <hal.h>

/*============================================================================*/

/* DEBUG                                                                      */

/*============================================================================*/

#if (AMIROOS_CFG_DBG != true)

#define apalDbgAssert(condition)

#define apalDbgPrintf(fmt, ...)                 0

#endif /* (AMIROOS_CFG_DBG == true) */

/*============================================================================*/

/* TIMING                                                                     */

/*============================================================================*/

#if (AMIROOS_CFG_DBG != true)

#define apalSleep(us)   chThdSleep(chTimeUS2I((apalTime_t)us))

#endif /* (AMIROOS_CFG_DBG == true) */

/*============================================================================*/

/* GPIO                                                                       */

/*============================================================================*/

#if (HAL_USE_PAL == TRUE) || defined(__DOXYGEN__)

/**

 * @brief GPIO driver type.

 */

typedef struct {

  ioline_t line;

} PACKED_VAR apalGpio_t;

/**

 * @brief   Converts an apalGpioEdge_t to an ChibiOS PAL edge.

 */

#define APAL2CH_EDGE(edge)                                            \

  ((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 :      \

      PAL_EVENT_MODE_DISABLED)

#endif /* (HAL_USE_PAL == TRUE) */

/*============================================================================*/

/* PWM                                                                        */

/*============================================================================*/

#if (HAL_USE_PWM == TRUE) || defined (__DOXYGEN__)

/**

 * @brief PWM driver type.

 */

typedef PWMDriver apalPWMDriver_t;

#endif /* (HAL_USE_PWM == TRUE) */

/*============================================================================*/

/* QEI                                                                        */

/*============================================================================*/

#if (HAL_USE_QEI == TRUE) || defined (__DOXYGEN__)

/**

 * @brief QEI driver type.

 */

typedef QEIDriver apalQEIDriver_t;

#endif /* (HAL_USE_QEI == TRUE) */

/*============================================================================*/

/* I2C                                                                        */

/*============================================================================*/

#if (HAL_USE_I2C == TRUE) || defined(__DOXYGEN__)

/**

 * @brief I2C driver type.

 */

typedef I2CDriver apalI2CDriver_t;

#endif /* (HAL_USE_I2C == TRUE) */

/*============================================================================*/

/* SPI                                                                        */

/*============================================================================*/

#if (HAL_USE_SPI == TRUE) || defined(__DOXYGEN__)

/**

 * @brief SPI driver type.

 */

typedef SPIDriver apalSPIDriver_t;

/**

 * @brief SPI confguration type.

 */

typedef SPIConfig apalSPIConfig_t;

#endif /* (HAL_USE_SPI == TRUE) */

#endif /* AMIROOS_PERIPHAL_H */