amiro-os / periphery-lld / periphAL.h @ ddf34c3d
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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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#include <amiro-lld.h> |
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/*============================================================================*/
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/* VERSION */
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/*============================================================================*/
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/**
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* @brief The periphery abstraction layer interface major version.
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* @note Changes of the major version imply incompatibilities.
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*/
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#define PERIPHAL_VERSION_MAJOR 1 |
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/**
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* @brief The periphery abstraction layer interface minor version.
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* @note A higher minor version implies new functionalty, but all old interfaces are still available.
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*/
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#define PERIPHAL_VERSION_MINOR 0 |
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/*============================================================================*/
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/* DEPENDENCIES */
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/*============================================================================*/
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#include <hal.h> |
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/*============================================================================*/
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/* GENERAL */
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/*============================================================================*/
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/**
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* @brief Delay execution by a specific number of microseconds.
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*
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* @param[in] us Time to sleep until execution continues in microseconds.
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*/
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static inline void usleep(apalTime_t us) |
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{
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// check if the specified time can be represented by the system
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chDbgCheck(us <= chTimeI2US(TIME_INFINITE)); |
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const sysinterval_t interval = chTimeUS2I(us);
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// TIME_IMMEDIATE makes no sense and would even cause system halt
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if (interval != TIME_IMMEDIATE) {
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chThdSleep(interval); |
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} |
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return;
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} |
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/*============================================================================*/
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/* GPIO */
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/*============================================================================*/
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#if HAL_USE_PAL || defined (__DOXYGEN__)
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/**
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* @brief GPIO driver type.
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*/
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struct apalGpio_t {
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ioportid_t port; |
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iopadid_t pad; |
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} PACKED_VAR; |
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/**
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* @brief Read the current value of a GPIO pin.
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*
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* @param[in] gpio GPIO to read.
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* @param[out] val Current value of the GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val) |
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{
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chDbgCheck(gpio != NULL);
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chDbgCheck(val != NULL);
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*val = (palReadPad(gpio->port, gpio->pad) == PAL_HIGH) ? APAL_GPIO_HIGH : APAL_GPIO_LOW; |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Set the value of a GPIO pin.
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*
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* @param[in] gpio GPIO to write.
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* @param[in] val Value to set for the GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val) |
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{
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chDbgCheck(gpio != NULL);
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// palWritePad() is not guaranteed to be atomic, thus the scheduler is locked.
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syssts_t sysstatus = chSysGetStatusAndLockX(); |
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palWritePad(gpio->port, gpio->pad, (val == APAL_GPIO_HIGH) ? PAL_HIGH : PAL_LOW); |
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chSysRestoreStatusX(sysstatus); |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Toggle the output of a GPIO.
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*
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* @param[in] gpio GPIO to toggle.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalGpioToggle(apalGpio_t* gpio) |
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{
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chDbgCheck(gpio != NULL);
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// palWritePad() is not guaranteed to be atomic, thus the scheduler is locked.
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syssts_t sysstatus = chSysGetStatusAndLockX(); |
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palWritePad(gpio->port, gpio->pad, (palReadPad(gpio->port, gpio->pad) == PAL_HIGH) ? PAL_LOW : PAL_HIGH); |
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chSysRestoreStatusX(sysstatus); |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Get the current on/off state of a control GPIO.
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*
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* @param[in] gpio Control GPIO to read.
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* @param[out] val Current activation status of the control GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val) |
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{
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chDbgCheck(cgpio != NULL);
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chDbgCheck(cgpio->gpio != NULL);
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chDbgCheck(val != NULL);
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*val = ((palReadPad(cgpio->gpio->port, cgpio->gpio->pad) == PAL_HIGH) ^ (cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH)) ? APAL_GPIO_OFF : APAL_GPIO_ON; |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Turn a control GPIO 'on' or 'off' respectively.
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*
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* @param[in] gpio Control GPIO to set.
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* @param[in] val Activation value to set for the control GPIO.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val) |
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{
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chDbgCheck(cgpio != NULL);
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chDbgCheck(cgpio->gpio != NULL);
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chDbgCheck(cgpio->meta.direction == APAL_GPIO_DIRECTION_OUTPUT || cgpio->meta.direction == APAL_GPIO_DIRECTION_BIDIRECTIONAL); |
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// palWritePad() is not guaranteed to be atomic, thus the scheduler is locked.
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syssts_t sysstatus = chSysGetStatusAndLockX(); |
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palWritePad(cgpio->gpio->port, cgpio->gpio->pad, ((cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH) ^ (val == APAL_GPIO_ON)) ? PAL_LOW : PAL_HIGH); |
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chSysRestoreStatusX(sysstatus); |
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return APAL_STATUS_OK;
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} |
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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 : 0)
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#endif
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/*============================================================================*/
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/* PWM */
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/*============================================================================*/
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#if HAL_USE_PWM || 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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/**
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* @brief Set the PWM with given parameters.
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*
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* @param[in] pwm PWM driver to set.
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* @param[in] channel Channel of the PWM driver to set.
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* @param[in] width Width to set the channel to.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width) |
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{
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chDbgCheck(pwm != NULL);
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pwmEnableChannel(pwm, (pwmchannel_t)channel, pwm->period * ((float)width / (float)APAL_PWM_WIDTH_MAX) + 0.5f); |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Retrieve the current frequency of the PWM.
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*
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* @param[in] pwm PWM driver to read.
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* @param[out] frequency The currently set frequency.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency) |
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{
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chDbgCheck(pwm != NULL);
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chDbgCheck(frequency != NULL);
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*frequency = pwm->config->frequency; |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Retrieve the current period of the PWM.
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*
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* @param[in] pwm PWM driver to read.
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* @param[out] period The currently set period.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period) |
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{
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chDbgCheck(pwm != NULL);
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chDbgCheck(period != NULL);
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*period = pwm->period; |
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return APAL_STATUS_OK;
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} |
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#endif
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/*============================================================================*/
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/* QEI */
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/*============================================================================*/
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#if HAL_USE_QEI || 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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/**
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* @brief Gets the direction of the last transition.
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*
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* @param[in] qei The QEI driver to use.
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* @param[out] direction The direction of the last transition.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction) |
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{
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chDbgCheck(qei != NULL);
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chDbgCheck(direction != NULL);
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*direction = (qei_lld_get_direction(qei)) ? APAL_QEI_DIRECTION_DOWN : APAL_QEI_DIRECTION_UP; |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Gets the current position of the ecnoder.
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*
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* @param[in] qei The QEI driver to use.
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* @param[out] position The current position of the encoder.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position) |
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{
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chDbgCheck(qei != NULL);
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chDbgCheck(position != NULL);
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*position = qei_lld_get_position(qei); |
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return APAL_STATUS_OK;
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} |
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/**
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* @brief Gets the value range of the encoder.
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*
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* @param[in] qei The QEI driver to use.
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* @param[out] range The value range of the encoder.
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*
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* @return The status indicates whether the function call was successful.
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*/
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static inline apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range) |
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{
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chDbgCheck(qei != NULL);
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chDbgCheck(range != NULL);
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*range = qei_lld_get_range(qei); |
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return APAL_STATUS_OK;
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} |
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#endif
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/*============================================================================*/
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/* I2C */
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/*============================================================================*/
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#if HAL_USE_I2C || 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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/**
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* @brief Transmit data and receive a response.
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*
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* @param[in] i2cd The I2C driver to use.
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* @param[in] addr Address to write to.
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* @param[in] txbuf Buffer containing data to send.
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* @param[in] txbytes Number of bytes to send.
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* @param[out] rxbuf Buffer to store a response to.
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* @param[in] rxbytes Number of bytes to receive.
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* @param[in] timeout Timeout for the function to return (in microseconds).
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*
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* @return The status indicates whether the function call was succesful or a timeout occurred.
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*/
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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) |
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{
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chDbgCheck(i2cd != NULL);
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#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
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// check whether the I2C driver was locked externally
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const bool i2cd_locked_external = i2cd->mutex.owner == currp; |
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if (!i2cd_locked_external) {
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i2cAcquireBus(i2cd); |
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} |
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#endif
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wtype-limits" |
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#if defined(STM32F1XX_I2C)
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// Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
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msg_t status = MSG_OK; |
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if (rxbytes == 1) { |
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uint8_t buffer[2];
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status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
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rxbuf[0] = buffer[0]; |
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} else {
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status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) ); |
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} |
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#else
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const msg_t status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
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#endif
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#pragma GCC diagnostic pop
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#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
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if (!i2cd_locked_external) {
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i2cReleaseBus(i2cd); |
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} |
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#endif
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switch (status)
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{
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case MSG_OK:
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#if defined(STM32F1XX_I2C)
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return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING; |
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#else
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return APAL_STATUS_OK;
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#endif
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case MSG_TIMEOUT:
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return APAL_STATUS_TIMEOUT;
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case MSG_RESET:
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default:
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return APAL_STATUS_ERROR;
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} |
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} |
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/**
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* @brief Read data from a specific address.
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*
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* @param[in] i2cd The I2C driver to use.
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* @param[in] addr Address to read.
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* @param[out] rxbuf Buffer to store the response to.
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* @param[in] rxbytes Number of bytes to receive.
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* @param[in] timeout Timeout for the function to return (in microseconds).
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*
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* @return The status indicates whether the function call was succesful or a timeout occurred.
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*/
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static inline apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout) |
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{
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chDbgCheck(i2cd != NULL);
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#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
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// check whether the I2C driver was locked externally
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const bool i2cd_locked_external = i2cd->mutex.owner == currp; |
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if (!i2cd_locked_external) {
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i2cAcquireBus(i2cd); |
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} |
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#endif
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wtype-limits" |
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#if defined(STM32F1XX_I2C)
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// Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
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msg_t status = MSG_OK; |
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if (rxbytes == 1) { |
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uint8_t buffer[2];
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status = i2cMasterReceiveTimeout(i2cd, addr, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
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rxbuf[0] = buffer[0]; |
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} else {
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status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) ); |
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} |
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#else
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const msg_t status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
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#endif
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#pragma GCC diagnostic pop
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#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
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if (!i2cd_locked_external) {
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i2cReleaseBus(i2cd); |
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} |
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#endif
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switch (status)
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{
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case MSG_OK:
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#if defined(STM32F1XX_I2C)
|
| 441 |
return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING; |
| 442 |
#else
|
| 443 |
return APAL_STATUS_OK;
|
| 444 |
#endif
|
| 445 |
case MSG_TIMEOUT:
|
| 446 |
return APAL_STATUS_TIMEOUT;
|
| 447 |
case MSG_RESET:
|
| 448 |
default:
|
| 449 |
return APAL_STATUS_ERROR;
|
| 450 |
} |
| 451 |
} |
| 452 |
|
| 453 |
#endif
|
| 454 |
|
| 455 |
/*============================================================================*/
|
| 456 |
/* SPI */
|
| 457 |
/*============================================================================*/
|
| 458 |
|
| 459 |
#if HAL_USE_SPI || defined(__DOXYGEN__)
|
| 460 |
|
| 461 |
/**
|
| 462 |
* @brief SPI driver type.
|
| 463 |
*/
|
| 464 |
typedef SPIDriver apalSPIDriver_t;
|
| 465 |
|
| 466 |
/**
|
| 467 |
* @brief Transmit and receive data from SPI
|
| 468 |
*
|
| 469 |
* @param[in] spid The SPI driver to use.
|
| 470 |
* @param[in] txData Buffer containing data to send.
|
| 471 |
* @param[out] rxData Buffer to store.
|
| 472 |
* @param[in] length Number of bytes to send.
|
| 473 |
*
|
| 474 |
* @return The status indicates whether the function call was succesful.
|
| 475 |
*/
|
| 476 |
static inline apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length) |
| 477 |
{
|
| 478 |
chDbgCheck(spid != NULL);
|
| 479 |
|
| 480 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 481 |
// check whether the SPI driver was locked externally
|
| 482 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 483 |
if (!spid_locked_external) {
|
| 484 |
spiAcquireBus(spid); |
| 485 |
} |
| 486 |
#endif
|
| 487 |
|
| 488 |
spiSelect(spid); |
| 489 |
spiExchange(spid, length, txData, rxData); |
| 490 |
spiUnselect(spid); |
| 491 |
|
| 492 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 493 |
if (!spid_locked_external) {
|
| 494 |
spiReleaseBus(spid); |
| 495 |
} |
| 496 |
#endif
|
| 497 |
|
| 498 |
return APAL_STATUS_OK;
|
| 499 |
} |
| 500 |
|
| 501 |
/**
|
| 502 |
* @brief Receive data from SPI
|
| 503 |
*
|
| 504 |
* @param[in] spid The SPI driver to use.
|
| 505 |
* @param[out] data Buffer to store.
|
| 506 |
* @param[in] length Number of bytes to send.
|
| 507 |
*
|
| 508 |
* @return The status indicates whether the function call was succesful.
|
| 509 |
*/
|
| 510 |
static inline apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length) |
| 511 |
{
|
| 512 |
chDbgCheck(spid != NULL);
|
| 513 |
|
| 514 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 515 |
// check whether the SPI driver was locked externally
|
| 516 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 517 |
if (!spid_locked_external) {
|
| 518 |
spiAcquireBus(spid); |
| 519 |
} |
| 520 |
#endif
|
| 521 |
|
| 522 |
spiSelect(spid); |
| 523 |
spiReceive(spid, length, data); |
| 524 |
spiUnselect(spid); |
| 525 |
|
| 526 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 527 |
if (!spid_locked_external) {
|
| 528 |
spiReleaseBus(spid); |
| 529 |
} |
| 530 |
#endif
|
| 531 |
|
| 532 |
return APAL_STATUS_OK;
|
| 533 |
} |
| 534 |
|
| 535 |
/**
|
| 536 |
* @brief Transmit data to SPI
|
| 537 |
*
|
| 538 |
* @param[in] spid The SPI driver to use.
|
| 539 |
* @param[in] data Buffer containing data to send.
|
| 540 |
* @param[in] length Number of bytes to send.
|
| 541 |
*
|
| 542 |
* @return The status indicates whether the function call was succesful.
|
| 543 |
*/
|
| 544 |
static inline apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length) |
| 545 |
{
|
| 546 |
chDbgCheck(spid != NULL);
|
| 547 |
|
| 548 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 549 |
// check whether the SPI driver was locked externally
|
| 550 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 551 |
if (!spid_locked_external) {
|
| 552 |
spiAcquireBus(spid); |
| 553 |
} |
| 554 |
#endif
|
| 555 |
|
| 556 |
spiSelect(spid); |
| 557 |
spiSend(spid, length, data); |
| 558 |
spiUnselect(spid); |
| 559 |
|
| 560 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 561 |
if (!spid_locked_external) {
|
| 562 |
spiReleaseBus(spid); |
| 563 |
} |
| 564 |
#endif
|
| 565 |
|
| 566 |
return APAL_STATUS_OK;
|
| 567 |
} |
| 568 |
|
| 569 |
/**
|
| 570 |
* @brief Transmit data to SPI and receive data afterwards without releasing the bus in between
|
| 571 |
*
|
| 572 |
* @param spid The SPI driver to use.
|
| 573 |
* @param txData Transmit data buffer.
|
| 574 |
* @param rxData Receive data buffer.
|
| 575 |
* @param txLength Number of bytes to send.
|
| 576 |
* @param rxLength Number of bytes to receive.
|
| 577 |
*
|
| 578 |
* @return The status indicates whether the function call was succesful.
|
| 579 |
*/
|
| 580 |
static inline apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength) |
| 581 |
{
|
| 582 |
chDbgCheck(spid != NULL);
|
| 583 |
|
| 584 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 585 |
// check whether the SPI driver was locked externally
|
| 586 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 587 |
if (!spid_locked_external) {
|
| 588 |
spiAcquireBus(spid); |
| 589 |
} |
| 590 |
#endif
|
| 591 |
|
| 592 |
spiSelect(spid); |
| 593 |
spiSend(spid, txLength, txData); |
| 594 |
spiReceive(spid, rxLength, rxData); |
| 595 |
spiUnselect(spid); |
| 596 |
|
| 597 |
#if (SPI_USE_MUTUAL_EXCLUSION)
|
| 598 |
if (!spid_locked_external) {
|
| 599 |
spiReleaseBus(spid); |
| 600 |
} |
| 601 |
#endif
|
| 602 |
|
| 603 |
return APAL_STATUS_OK;
|
| 604 |
} |
| 605 |
|
| 606 |
#endif
|
| 607 |
|
| 608 |
/*============================================================================*/
|
| 609 |
/* DEBUG */
|
| 610 |
/*============================================================================*/
|
| 611 |
|
| 612 |
/**
|
| 613 |
* @brief Assert function to check a given condition.
|
| 614 |
*
|
| 615 |
* @param[in] c The condition to check.
|
| 616 |
*/
|
| 617 |
#define apalDbgAssert(c) chDbgAssert(c, "") |
| 618 |
|
| 619 |
|
| 620 |
/**
|
| 621 |
* @brief Printf function for messages printed only in debug builds.
|
| 622 |
*
|
| 623 |
* @param[in] fmt Formatted string to print.
|
| 624 |
*/
|
| 625 |
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__) |
| 626 |
#define apalDbgPrintf(fmt, ...) chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__) |
| 627 |
#else
|
| 628 |
#define apalDbgPrintf(fmt, ...) { \
|
| 629 |
(void)(fmt); \
|
| 630 |
} |
| 631 |
#endif
|
| 632 |
|
| 633 |
#endif /* AMIROOS_PERIPHAL_H */ |