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amiro-os / periphery-lld / aos_periphAL.h @ dd56d656

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AMIROOS_PERIPHAL_H
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#define AMIROOS_PERIPHAL_H
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/*============================================================================*/
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/* DEPENDENCIES                                                               */
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/*============================================================================*/
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#include <aosconf.h>
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#include <hal.h>
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/*============================================================================*/
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/* DEBUG                                                                      */
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/*============================================================================*/
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#if (AMIROOS_CFG_DBG != true)
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#define apalDbgAssert(condition)
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#define apalDbgPrintf(fmt, ...)                 0
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#endif /* (AMIROOS_CFG_DBG == true) */
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/*============================================================================*/
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/* TIMING                                                                     */
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/*============================================================================*/
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#if (AMIROOS_CFG_DBG != true)
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#define apalSleep(us)   chThdSleep(chTimeUS2I((apalTime_t)us))
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#endif /* (AMIROOS_CFG_DBG == true) */
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/*============================================================================*/
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/* GPIO                                                                       */
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/*============================================================================*/
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#if (HAL_USE_PAL == TRUE) || defined(__DOXYGEN__)
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/**
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 * @brief GPIO driver type.
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 */
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typedef struct {
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  ioline_t line;
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} PACKED_VAR apalGpio_t;
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/**
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 * @brief   Converts an apalGpioEdge_t to an ChibiOS PAL edge.
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 */
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#define APAL2CH_EDGE(edge)                                            \
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  ((edge == APAL_GPIO_EDGE_RISING) ? PAL_EVENT_MODE_RISING_EDGE :     \
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    (edge == APAL_GPIO_EDGE_FALLING) ? PAL_EVENT_MODE_FALLING_EDGE :  \
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     (edge == APAL_GPIO_EDGE_BOTH) ? PAL_EVENT_MODE_BOTH_EDGES :      \
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      PAL_EVENT_MODE_DISABLED)
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#endif /* (HAL_USE_PAL == TRUE) */
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/*============================================================================*/
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/* PWM                                                                        */
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/*============================================================================*/
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#if (HAL_USE_PWM == TRUE) || defined (__DOXYGEN__)
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/**
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 * @brief PWM driver type.
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 */
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typedef PWMDriver apalPWMDriver_t;
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#endif /* (HAL_USE_PWM == TRUE) */
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/*============================================================================*/
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/* QEI                                                                        */
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/*============================================================================*/
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#if (HAL_USE_QEI == TRUE) || defined (__DOXYGEN__)
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/**
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 * @brief QEI driver type.
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 */
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typedef QEIDriver apalQEIDriver_t;
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#endif /* (HAL_USE_QEI == TRUE) */
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/*============================================================================*/
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/* I2C                                                                        */
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/*============================================================================*/
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#if (HAL_USE_I2C == TRUE) || defined(__DOXYGEN__)
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/**
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 * @brief I2C driver type.
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 */
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typedef I2CDriver apalI2CDriver_t;
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#endif /* (HAL_USE_I2C == TRUE) */
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/*============================================================================*/
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/* SPI                                                                        */
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/*============================================================================*/
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#if (HAL_USE_SPI == TRUE) || defined(__DOXYGEN__)
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/**
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 * @brief SPI driver type.
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 */
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typedef SPIDriver apalSPIDriver_t;
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/**
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 * @brief SPI confguration type.
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 */
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typedef SPIConfig apalSPIConfig_t;
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#endif /* (HAL_USE_SPI == TRUE) */
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#endif /* AMIROOS_PERIPHAL_H */