amiro-os / periphery-lld / aos_periphAL.c @ ded1ded7
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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..2020 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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#include <periphAL.h> |
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#include <amiroos.h> |
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/*============================================================================*/
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/* DEBUG */
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/*============================================================================*/
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#if (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG == true) |
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#include <chprintf.h> |
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void apalDbgAssertMsg(const bool c, const char* fmt, ...) |
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{
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if (!c) {
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va_list ap; |
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va_start(ap, fmt); |
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chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap); |
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va_end(ap); |
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chThdExit(MSG_RESET); |
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} |
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return;
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} |
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int apalDbgPrintf(const char* fmt, ...) |
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{
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va_list ap; |
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va_start(ap, fmt); |
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const int chars = chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap); |
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va_end(ap); |
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return chars;
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} |
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#endif /* (AMIROLLD_CFG_DBG == true) && (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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void apalSleep(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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apalDbgAssert(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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#endif /* (AMIROOS_CFG_DBG == true) */ |
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apalTime_t apalGetTime(void)
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{
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aos_timestamp_t uptime; |
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aosSysGetUptime(&uptime); |
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return uptime & ~((apalTime_t)0); |
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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 == TRUE)
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apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val)
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{
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apalDbgAssert(gpio != NULL);
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apalDbgAssert(val != NULL);
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*val = (palReadLine(gpio->line) == PAL_HIGH) ? APAL_GPIO_HIGH : APAL_GPIO_LOW; |
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return APAL_STATUS_OK;
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} |
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apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val)
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{
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apalDbgAssert(gpio != NULL);
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// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
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syssts_t sysstatus = chSysGetStatusAndLockX(); |
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palWriteLine(gpio->line, (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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apalExitStatus_t apalGpioToggle(apalGpio_t* gpio) |
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{
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apalDbgAssert(gpio != NULL);
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// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
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syssts_t sysstatus = chSysGetStatusAndLockX(); |
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palWriteLine(gpio->line, (palReadLine(gpio->line) == 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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apalExitStatus_t apalGpioIsInterruptEnabled(apalGpio_t* gpio, bool* const enabled) |
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{
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apalDbgAssert(gpio != NULL);
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apalDbgAssert(enabled != NULL);
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*enabled = palIsLineEventEnabledX(gpio->line); |
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return APAL_STATUS_OK;
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} |
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apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val) |
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{
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apalDbgAssert(cgpio != NULL);
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apalDbgAssert(cgpio->gpio != NULL);
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apalDbgAssert(val != NULL);
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*val = ((palReadLine(cgpio->gpio->line) == 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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apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val) |
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{
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apalDbgAssert(cgpio != NULL);
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apalDbgAssert(cgpio->gpio != NULL);
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apalDbgAssert(cgpio->meta.direction == APAL_GPIO_DIRECTION_OUTPUT || cgpio->meta.direction == APAL_GPIO_DIRECTION_BIDIRECTIONAL); |
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// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
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syssts_t sysstatus = chSysGetStatusAndLockX(); |
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palWriteLine(cgpio->gpio->line, ((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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apalExitStatus_t apalControlGpioSetInterrupt(const apalControlGpio_t* const cgpio, const bool enable) |
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{
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apalDbgAssert(cgpio != NULL);
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apalDbgAssert(cgpio->gpio != NULL);
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if (enable) {
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apalDbgAssert(pal_lld_get_line_event(cgpio->gpio->line) != NULL);
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palEnableLineEvent(cgpio->gpio->line, APAL2CH_EDGE(cgpio->meta.edge)); |
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} else {
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palDisableLineEvent(cgpio->gpio->line); |
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} |
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return APAL_STATUS_OK;
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} |
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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)
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apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width) |
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{
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apalDbgAssert(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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apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency)
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{
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apalDbgAssert(pwm != NULL);
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apalDbgAssert(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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apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period)
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{
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apalDbgAssert(pwm != NULL);
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apalDbgAssert(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 /* (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)
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apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction)
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{
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apalDbgAssert(qei != NULL);
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apalDbgAssert(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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apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position)
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{
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apalDbgAssert(qei != NULL);
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apalDbgAssert(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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apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range)
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{
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apalDbgAssert(qei != NULL);
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apalDbgAssert(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 /* (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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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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apalDbgAssert(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 /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
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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 /* defined(STM32F1XX_I2C) */ |
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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 /* defined(STM32F1XX_I2C) */ |
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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 /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
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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 /* defined(STM32F1XX_I2C) */ |
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return APAL_STATUS_OK;
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#endif /* defined(STM32F1XX_I2C) */ |
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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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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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apalDbgAssert(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 /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
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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 /* defined(STM32F1XX_I2C) */ |
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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 /* defined(STM32F1XX_I2C) */ |
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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 /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
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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 /* defined(STM32F1XX_I2C) */ |
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return APAL_STATUS_OK;
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#endif /* defined(STM32F1XX_I2C) */ |
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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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#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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apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length) |
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{
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apalDbgAssert(spid != NULL);
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#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
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// check whether the SPI driver was locked externally
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const bool spid_locked_external = spid->mutex.owner == currp; |
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if (!spid_locked_external) {
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spiAcquireBus(spid); |
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} |
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#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
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spiSelect(spid); |
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spiSend(spid, length, data); |
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spiUnselect(spid); |
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#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
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if (!spid_locked_external) {
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spiReleaseBus(spid); |
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} |
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#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
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return APAL_STATUS_OK;
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} |
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apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length) |
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{
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apalDbgAssert(spid != NULL);
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#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
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// check whether the SPI driver was locked externally
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const bool spid_locked_external = spid->mutex.owner == currp; |
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if (!spid_locked_external) {
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spiAcquireBus(spid); |
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} |
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#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
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spiSelect(spid); |
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spiReceive(spid, length, data); |
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spiUnselect(spid); |
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#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
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if (!spid_locked_external) {
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spiReleaseBus(spid); |
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} |
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#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
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return APAL_STATUS_OK;
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} |
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apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength) |
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{
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apalDbgAssert(spid != NULL);
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#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
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// check whether the SPI driver was locked externally
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const bool spid_locked_external = spid->mutex.owner == currp; |
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if (!spid_locked_external) {
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spiAcquireBus(spid); |
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} |
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#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
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spiSelect(spid); |
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spiSend(spid, txLength, txData); |
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spiReceive(spid, rxLength, rxData); |
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spiUnselect(spid); |
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#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
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if (!spid_locked_external) {
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spiReleaseBus(spid); |
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} |
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#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
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return APAL_STATUS_OK;
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} |
| 445 |
|
| 446 |
apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length) |
| 447 |
{
|
| 448 |
apalDbgAssert(spid != NULL);
|
| 449 |
|
| 450 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 451 |
// check whether the SPI driver was locked externally
|
| 452 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 453 |
if (!spid_locked_external) {
|
| 454 |
spiAcquireBus(spid); |
| 455 |
} |
| 456 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 457 |
|
| 458 |
spiSelect(spid); |
| 459 |
spiExchange(spid, length, txData, rxData); |
| 460 |
spiUnselect(spid); |
| 461 |
|
| 462 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 463 |
if (!spid_locked_external) {
|
| 464 |
spiReleaseBus(spid); |
| 465 |
} |
| 466 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 467 |
|
| 468 |
return APAL_STATUS_OK;
|
| 469 |
} |
| 470 |
|
| 471 |
apalExitStatus_t apalSPIReconfigure(apalSPIDriver_t* spid, const apalSPIConfig_t* config)
|
| 472 |
{
|
| 473 |
apalDbgAssert(spid != NULL);
|
| 474 |
apalDbgAssert(config != NULL);
|
| 475 |
|
| 476 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 477 |
// check whether the SPI driver was locked externally
|
| 478 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 479 |
if (!spid_locked_external) {
|
| 480 |
spiAcquireBus(spid); |
| 481 |
} |
| 482 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 483 |
|
| 484 |
spiStop(spid); |
| 485 |
spiStart(spid, config); |
| 486 |
|
| 487 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 488 |
if (!spid_locked_external) {
|
| 489 |
spiReleaseBus(spid); |
| 490 |
} |
| 491 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 492 |
|
| 493 |
return APAL_STATUS_OK;
|
| 494 |
} |
| 495 |
|
| 496 |
#endif /* (HAL_USE_SPI == TRUE) */ |