amiro-os / periphery-lld / aos_periphAL.h @ ded1ded7
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| 1 | dd56d656 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
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| 4 | dd56d656 | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #ifndef AMIROOS_PERIPHAL_H
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| 20 | #define AMIROOS_PERIPHAL_H
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| 21 | |||
| 22 | /*============================================================================*/
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| 23 | /* DEPENDENCIES */
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| 24 | /*============================================================================*/
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| 25 | |||
| 26 | #include <aosconf.h> |
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| 27 | ded1ded7 | Thomas Schöpping | #include <alldconf.h> |
| 28 | dd56d656 | Thomas Schöpping | #include <hal.h> |
| 29 | |||
| 30 | /*============================================================================*/
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| 31 | /* DEBUG */
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| 32 | /*============================================================================*/
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| 33 | |||
| 34 | ded1ded7 | Thomas Schöpping | #if (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG != true) |
| 35 | dd56d656 | Thomas Schöpping | |
| 36 | ded1ded7 | Thomas Schöpping | #define apalDbgAssertMsg(condition, fmt, ...)
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| 37 | dd56d656 | Thomas Schöpping | |
| 38 | #define apalDbgPrintf(fmt, ...) 0 |
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| 39 | |||
| 40 | ded1ded7 | Thomas Schöpping | #endif /* (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG != true) */ |
| 41 | dd56d656 | Thomas Schöpping | |
| 42 | /*============================================================================*/
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| 43 | /* TIMING */
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| 44 | /*============================================================================*/
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| 45 | |||
| 46 | #if (AMIROOS_CFG_DBG != true) |
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| 47 | |||
| 48 | #define apalSleep(us) chThdSleep(chTimeUS2I((apalTime_t)us))
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| 49 | |||
| 50 | #endif /* (AMIROOS_CFG_DBG == true) */ |
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| 51 | |||
| 52 | /*============================================================================*/
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| 53 | /* GPIO */
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| 54 | /*============================================================================*/
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| 55 | |||
| 56 | #if (HAL_USE_PAL == TRUE) || defined(__DOXYGEN__)
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| 57 | |||
| 58 | /**
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| 59 | * @brief GPIO driver type.
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| 60 | */
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| 61 | typedef struct { |
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| 62 | ioline_t line; |
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| 63 | } PACKED_VAR apalGpio_t; |
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| 64 | |||
| 65 | /**
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| 66 | * @brief Converts an apalGpioEdge_t to an ChibiOS PAL edge.
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| 67 | */
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| 68 | #define APAL2CH_EDGE(edge) \
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| 69 | ((edge == APAL_GPIO_EDGE_RISING) ? PAL_EVENT_MODE_RISING_EDGE : \ |
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| 70 | (edge == APAL_GPIO_EDGE_FALLING) ? PAL_EVENT_MODE_FALLING_EDGE : \ |
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| 71 | (edge == APAL_GPIO_EDGE_BOTH) ? PAL_EVENT_MODE_BOTH_EDGES : \ |
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| 72 | PAL_EVENT_MODE_DISABLED) |
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| 73 | |||
| 74 | #endif /* (HAL_USE_PAL == TRUE) */ |
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| 75 | |||
| 76 | /*============================================================================*/
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| 77 | /* PWM */
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| 78 | /*============================================================================*/
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| 79 | |||
| 80 | #if (HAL_USE_PWM == TRUE) || defined (__DOXYGEN__)
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| 81 | |||
| 82 | /**
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| 83 | * @brief PWM driver type.
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| 84 | */
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| 85 | typedef PWMDriver apalPWMDriver_t;
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| 86 | |||
| 87 | #endif /* (HAL_USE_PWM == TRUE) */ |
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| 88 | |||
| 89 | /*============================================================================*/
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| 90 | /* QEI */
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| 91 | /*============================================================================*/
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| 92 | |||
| 93 | #if (HAL_USE_QEI == TRUE) || defined (__DOXYGEN__)
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| 94 | |||
| 95 | /**
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| 96 | * @brief QEI driver type.
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| 97 | */
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| 98 | typedef QEIDriver apalQEIDriver_t;
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| 99 | |||
| 100 | #endif /* (HAL_USE_QEI == TRUE) */ |
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| 101 | |||
| 102 | /*============================================================================*/
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| 103 | /* I2C */
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| 104 | /*============================================================================*/
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| 105 | |||
| 106 | #if (HAL_USE_I2C == TRUE) || defined(__DOXYGEN__)
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| 107 | |||
| 108 | /**
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| 109 | * @brief I2C driver type.
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| 110 | */
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| 111 | typedef I2CDriver apalI2CDriver_t;
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| 112 | |||
| 113 | #endif /* (HAL_USE_I2C == TRUE) */ |
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| 114 | |||
| 115 | /*============================================================================*/
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| 116 | /* SPI */
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| 117 | /*============================================================================*/
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| 118 | |||
| 119 | #if (HAL_USE_SPI == TRUE) || defined(__DOXYGEN__)
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| 120 | |||
| 121 | /**
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| 122 | * @brief SPI driver type.
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| 123 | */
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| 124 | typedef SPIDriver apalSPIDriver_t;
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| 125 | |||
| 126 | /**
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| 127 | * @brief SPI confguration type.
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| 128 | */
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| 129 | typedef SPIConfig apalSPIConfig_t;
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| 130 | |||
| 131 | #endif /* (HAL_USE_SPI == TRUE) */ |
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| 132 | |||
| 133 | #endif /* AMIROOS_PERIPHAL_H */ |