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/>.

*/

#include <periphAL.h>

#include <amiroos.h>

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

/* DEBUG                                                                      */

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

#if (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG == true)

#include <chprintf.h>

void apalDbgAssertMsg(const bool c, const char* fmt, ...)

{

  if (!c) {

    va_list ap;

    va_start(ap, fmt);

    chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap);

    va_end(ap);

    chThdExit(MSG_RESET);

  }

  return;

}

int apalDbgPrintf(const char* fmt, ...)

{

  va_list ap;

  va_start(ap, fmt);

  const int chars = chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap);

  va_end(ap);

  return chars;

}

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

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

/* TIMING                                                                     */

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

#if (AMIROOS_CFG_DBG == true)

void apalSleep(apalTime_t us)

{

  // check if the specified time can be represented by the system

  apalDbgAssert(us <= chTimeI2US(TIME_INFINITE));

  const sysinterval_t interval = chTimeUS2I(us);

  // TIME_IMMEDIATE makes no sense and would even cause system halt

  if (interval != TIME_IMMEDIATE) {

    chThdSleep(interval);

  }

  return;

}

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

apalTime_t apalGetTime(void)

{

  aos_timestamp_t uptime;

  aosSysGetUptime(&uptime);

  return uptime & ~((apalTime_t)0);

}

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

/* GPIO                                                                       */

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

#if (HAL_USE_PAL == TRUE)

apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val)

{

  apalDbgAssert(gpio != NULL);

  apalDbgAssert(val != NULL);

  *val = (palReadLine(gpio->line) == PAL_HIGH) ? APAL_GPIO_HIGH : APAL_GPIO_LOW;

  return APAL_STATUS_OK;

}

apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val)

{

  apalDbgAssert(gpio != NULL);

  // palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.

  syssts_t sysstatus = chSysGetStatusAndLockX();

  palWriteLine(gpio->line, (val == APAL_GPIO_HIGH) ? PAL_HIGH : PAL_LOW);

  chSysRestoreStatusX(sysstatus);

  return APAL_STATUS_OK;

}

apalExitStatus_t apalGpioToggle(apalGpio_t* gpio)

{

  apalDbgAssert(gpio != NULL);

  // palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.

  syssts_t sysstatus = chSysGetStatusAndLockX();

  palWriteLine(gpio->line, (palReadLine(gpio->line) == PAL_HIGH) ? PAL_LOW : PAL_HIGH);

  chSysRestoreStatusX(sysstatus);

  return APAL_STATUS_OK;

}

apalExitStatus_t apalGpioIsInterruptEnabled(apalGpio_t* gpio, bool* const enabled)

{

  apalDbgAssert(gpio != NULL);

  apalDbgAssert(enabled != NULL);

  *enabled = palIsLineEventEnabledX(gpio->line);

  return APAL_STATUS_OK;

}

apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val)

{

  apalDbgAssert(cgpio != NULL);

  apalDbgAssert(cgpio->gpio != NULL);

  apalDbgAssert(val != NULL);

  *val = ((palReadLine(cgpio->gpio->line) == PAL_HIGH) ^ (cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH)) ? APAL_GPIO_OFF : APAL_GPIO_ON;

  return APAL_STATUS_OK;

}

apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val)

{

  apalDbgAssert(cgpio != NULL);

  apalDbgAssert(cgpio->gpio != NULL);

  apalDbgAssert(cgpio->meta.direction == APAL_GPIO_DIRECTION_OUTPUT || cgpio->meta.direction == APAL_GPIO_DIRECTION_BIDIRECTIONAL);

  // palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.

  syssts_t sysstatus = chSysGetStatusAndLockX();

  palWriteLine(cgpio->gpio->line, ((cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH) ^ (val == APAL_GPIO_ON)) ? PAL_LOW : PAL_HIGH);

  chSysRestoreStatusX(sysstatus);

  return APAL_STATUS_OK;

}

apalExitStatus_t apalControlGpioSetInterrupt(const apalControlGpio_t* const cgpio, const bool enable)

{

  apalDbgAssert(cgpio != NULL);

  apalDbgAssert(cgpio->gpio != NULL);

  if (enable) {

    apalDbgAssert(pal_lld_get_line_event(cgpio->gpio->line) != NULL);

    palEnableLineEvent(cgpio->gpio->line, APAL2CH_EDGE(cgpio->meta.edge));

  } else {

    palDisableLineEvent(cgpio->gpio->line);

  }

  return APAL_STATUS_OK;

}

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

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

/* PWM                                                                        */

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

#if (HAL_USE_PWM == TRUE)

apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width)

{

  apalDbgAssert(pwm != NULL);

  pwmEnableChannel(pwm, (pwmchannel_t)channel, pwm->period * ((float)width / (float)APAL_PWM_WIDTH_MAX) + 0.5f);

  return APAL_STATUS_OK;

}

apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency)

{

  apalDbgAssert(pwm != NULL);

  apalDbgAssert(frequency != NULL);

  *frequency = pwm->config->frequency;

  return APAL_STATUS_OK;

}

apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period)

{

  apalDbgAssert(pwm != NULL);

  apalDbgAssert(period != NULL);

  *period = pwm->period;

  return APAL_STATUS_OK;

}

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

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

/* QEI                                                                        */

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

#if (HAL_USE_QEI == TRUE)

apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction)

{

  apalDbgAssert(qei != NULL);

  apalDbgAssert(direction != NULL);

  *direction = (qei_lld_get_direction(qei)) ? APAL_QEI_DIRECTION_DOWN : APAL_QEI_DIRECTION_UP;

  return APAL_STATUS_OK;

}

apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position)

{

  apalDbgAssert(qei != NULL);

  apalDbgAssert(position != NULL);

  *position = qei_lld_get_position(qei);

  return APAL_STATUS_OK;

}

apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range)

{

  apalDbgAssert(qei != NULL);

  apalDbgAssert(range != NULL);

  *range = qei_lld_get_range(qei);

  return APAL_STATUS_OK;

}

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

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

/* I2C                                                                        */

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

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

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)

{

  apalDbgAssert(i2cd != NULL);

#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)

  // check whether the I2C driver was locked externally

  const bool i2cd_locked_external = i2cd->mutex.owner == currp;

  if (!i2cd_locked_external) {

    i2cAcquireBus(i2cd);

  }

#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */

#pragma GCC diagnostic push

#pragma GCC diagnostic ignored "-Wtype-limits"

#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];

    status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );

    rxbuf[0] = buffer[0];

  } else {

    status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );

  }

#else /* defined(STM32F1XX_I2C) */

  const msg_t status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );

#endif /* defined(STM32F1XX_I2C) */

#pragma GCC diagnostic pop

#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)

  if (!i2cd_locked_external) {

    i2cReleaseBus(i2cd);

  }

#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */

  switch (status)

  {

    case MSG_OK:

#if defined(STM32F1XX_I2C)

      return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING;

#else /* defined(STM32F1XX_I2C) */

      return APAL_STATUS_OK;

#endif /* defined(STM32F1XX_I2C) */

    case MSG_TIMEOUT:

      return APAL_STATUS_TIMEOUT;

    case MSG_RESET:

    default:

      return APAL_STATUS_ERROR;

  }

}

apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout)

{

  apalDbgAssert(i2cd != NULL);

#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)

  // check whether the I2C driver was locked externally

  const bool i2cd_locked_external = i2cd->mutex.owner == currp;

  if (!i2cd_locked_external) {

    i2cAcquireBus(i2cd);

  }

#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */

#pragma GCC diagnostic push

#pragma GCC diagnostic ignored "-Wtype-limits"

#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];

    status = i2cMasterReceiveTimeout(i2cd, addr, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );

    rxbuf[0] = buffer[0];

  } else {

    status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );

  }

#else /* defined(STM32F1XX_I2C) */

  const msg_t status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );

#endif /* defined(STM32F1XX_I2C) */

#pragma GCC diagnostic pop

#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)

  if (!i2cd_locked_external) {

    i2cReleaseBus(i2cd);

  }

#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */

  switch (status)

  {

    case MSG_OK:

#if defined(STM32F1XX_I2C)

      return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING;

#else /* defined(STM32F1XX_I2C) */

      return APAL_STATUS_OK;

#endif /* defined(STM32F1XX_I2C) */

    case MSG_TIMEOUT:

      return APAL_STATUS_TIMEOUT;

    case MSG_RESET:

    default:

      return APAL_STATUS_ERROR;

  }

}

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

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

/* SPI                                                                        */

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

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

apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length)

{

  apalDbgAssert(spid != NULL);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  // check whether the SPI driver was locked externally

  const bool spid_locked_external = spid->mutex.owner == currp;

  if (!spid_locked_external) {

    spiAcquireBus(spid);

  }

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

  spiSelect(spid);

  spiSend(spid, length, data);

  spiUnselect(spid);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  if (!spid_locked_external) {

    spiReleaseBus(spid);

  }

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

  return APAL_STATUS_OK;

}

apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length)

{

  apalDbgAssert(spid != NULL);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  // check whether the SPI driver was locked externally

  const bool spid_locked_external = spid->mutex.owner == currp;

  if (!spid_locked_external) {

    spiAcquireBus(spid);

  }

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

  spiSelect(spid);

  spiReceive(spid, length, data);

  spiUnselect(spid);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  if (!spid_locked_external) {

    spiReleaseBus(spid);

  }

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

  return APAL_STATUS_OK;

}

apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength)

{

  apalDbgAssert(spid != NULL);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  // check whether the SPI driver was locked externally

  const bool spid_locked_external = spid->mutex.owner == currp;

  if (!spid_locked_external) {

    spiAcquireBus(spid);

  }

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

  spiSelect(spid);

  spiSend(spid, txLength, txData);

  spiReceive(spid, rxLength, rxData);

  spiUnselect(spid);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  if (!spid_locked_external) {

    spiReleaseBus(spid);

  }

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

  return APAL_STATUS_OK;

}

apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length)

{

  apalDbgAssert(spid != NULL);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  // check whether the SPI driver was locked externally

  const bool spid_locked_external = spid->mutex.owner == currp;

  if (!spid_locked_external) {

    spiAcquireBus(spid);

  }

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

  spiSelect(spid);

  spiExchange(spid, length, txData, rxData);

  spiUnselect(spid);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  if (!spid_locked_external) {

    spiReleaseBus(spid);

  }

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

  return APAL_STATUS_OK;

}

apalExitStatus_t apalSPIReconfigure(apalSPIDriver_t* spid, const apalSPIConfig_t* config)

{

  apalDbgAssert(spid != NULL);

  apalDbgAssert(config != NULL);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  // check whether the SPI driver was locked externally

  const bool spid_locked_external = spid->mutex.owner == currp;

  if (!spid_locked_external) {

    spiAcquireBus(spid);

  }

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

  spiStop(spid);

  spiStart(spid, config);

#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)

  if (!spid_locked_external) {

    spiReleaseBus(spid);

  }

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

  return APAL_STATUS_OK;

}

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