amiro-os / periphery-lld / aos_periphAL.h @ ded1ded7
History | View | Annotate | Download (4.4 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
#ifndef AMIROOS_PERIPHAL_H
|
| 20 |
#define AMIROOS_PERIPHAL_H
|
| 21 |
|
| 22 |
/*============================================================================*/
|
| 23 |
/* DEPENDENCIES */
|
| 24 |
/*============================================================================*/
|
| 25 |
|
| 26 |
#include <aosconf.h> |
| 27 |
#include <alldconf.h> |
| 28 |
#include <hal.h> |
| 29 |
|
| 30 |
/*============================================================================*/
|
| 31 |
/* DEBUG */
|
| 32 |
/*============================================================================*/
|
| 33 |
|
| 34 |
#if (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG != true) |
| 35 |
|
| 36 |
#define apalDbgAssertMsg(condition, fmt, ...)
|
| 37 |
|
| 38 |
#define apalDbgPrintf(fmt, ...) 0 |
| 39 |
|
| 40 |
#endif /* (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG != true) */ |
| 41 |
|
| 42 |
/*============================================================================*/
|
| 43 |
/* TIMING */
|
| 44 |
/*============================================================================*/
|
| 45 |
|
| 46 |
#if (AMIROOS_CFG_DBG != true) |
| 47 |
|
| 48 |
#define apalSleep(us) chThdSleep(chTimeUS2I((apalTime_t)us))
|
| 49 |
|
| 50 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
| 51 |
|
| 52 |
/*============================================================================*/
|
| 53 |
/* GPIO */
|
| 54 |
/*============================================================================*/
|
| 55 |
|
| 56 |
#if (HAL_USE_PAL == TRUE) || defined(__DOXYGEN__)
|
| 57 |
|
| 58 |
/**
|
| 59 |
* @brief GPIO driver type.
|
| 60 |
*/
|
| 61 |
typedef struct { |
| 62 |
ioline_t line; |
| 63 |
} PACKED_VAR apalGpio_t; |
| 64 |
|
| 65 |
/**
|
| 66 |
* @brief Converts an apalGpioEdge_t to an ChibiOS PAL edge.
|
| 67 |
*/
|
| 68 |
#define APAL2CH_EDGE(edge) \
|
| 69 |
((edge == APAL_GPIO_EDGE_RISING) ? PAL_EVENT_MODE_RISING_EDGE : \ |
| 70 |
(edge == APAL_GPIO_EDGE_FALLING) ? PAL_EVENT_MODE_FALLING_EDGE : \ |
| 71 |
(edge == APAL_GPIO_EDGE_BOTH) ? PAL_EVENT_MODE_BOTH_EDGES : \ |
| 72 |
PAL_EVENT_MODE_DISABLED) |
| 73 |
|
| 74 |
#endif /* (HAL_USE_PAL == TRUE) */ |
| 75 |
|
| 76 |
/*============================================================================*/
|
| 77 |
/* PWM */
|
| 78 |
/*============================================================================*/
|
| 79 |
|
| 80 |
#if (HAL_USE_PWM == TRUE) || defined (__DOXYGEN__)
|
| 81 |
|
| 82 |
/**
|
| 83 |
* @brief PWM driver type.
|
| 84 |
*/
|
| 85 |
typedef PWMDriver apalPWMDriver_t;
|
| 86 |
|
| 87 |
#endif /* (HAL_USE_PWM == TRUE) */ |
| 88 |
|
| 89 |
/*============================================================================*/
|
| 90 |
/* QEI */
|
| 91 |
/*============================================================================*/
|
| 92 |
|
| 93 |
#if (HAL_USE_QEI == TRUE) || defined (__DOXYGEN__)
|
| 94 |
|
| 95 |
/**
|
| 96 |
* @brief QEI driver type.
|
| 97 |
*/
|
| 98 |
typedef QEIDriver apalQEIDriver_t;
|
| 99 |
|
| 100 |
#endif /* (HAL_USE_QEI == TRUE) */ |
| 101 |
|
| 102 |
/*============================================================================*/
|
| 103 |
/* I2C */
|
| 104 |
/*============================================================================*/
|
| 105 |
|
| 106 |
#if (HAL_USE_I2C == TRUE) || defined(__DOXYGEN__)
|
| 107 |
|
| 108 |
/**
|
| 109 |
* @brief I2C driver type.
|
| 110 |
*/
|
| 111 |
typedef I2CDriver apalI2CDriver_t;
|
| 112 |
|
| 113 |
#endif /* (HAL_USE_I2C == TRUE) */ |
| 114 |
|
| 115 |
/*============================================================================*/
|
| 116 |
/* SPI */
|
| 117 |
/*============================================================================*/
|
| 118 |
|
| 119 |
#if (HAL_USE_SPI == TRUE) || defined(__DOXYGEN__)
|
| 120 |
|
| 121 |
/**
|
| 122 |
* @brief SPI driver type.
|
| 123 |
*/
|
| 124 |
typedef SPIDriver apalSPIDriver_t;
|
| 125 |
|
| 126 |
/**
|
| 127 |
* @brief SPI confguration type.
|
| 128 |
*/
|
| 129 |
typedef SPIConfig apalSPIConfig_t;
|
| 130 |
|
| 131 |
#endif /* (HAL_USE_SPI == TRUE) */ |
| 132 |
|
| 133 |
#endif /* AMIROOS_PERIPHAL_H */ |