amiro-os / periphery-lld / periphAL.h @ f38aba21
History | View | Annotate | Download (22.652 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 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 |
#include <amiro-lld.h> |
| 23 |
|
| 24 |
/*============================================================================*/
|
| 25 |
/* VERSION */
|
| 26 |
/*============================================================================*/
|
| 27 |
|
| 28 |
/**
|
| 29 |
* @brief The periphery abstraction layer interface major version.
|
| 30 |
* @note Changes of the major version imply incompatibilities.
|
| 31 |
*/
|
| 32 |
#define PERIPHAL_VERSION_MAJOR 1 |
| 33 |
|
| 34 |
/**
|
| 35 |
* @brief The periphery abstraction layer interface minor version.
|
| 36 |
* @note A higher minor version implies new functionalty, but all old interfaces are still available.
|
| 37 |
*/
|
| 38 |
#define PERIPHAL_VERSION_MINOR 1 |
| 39 |
|
| 40 |
/*============================================================================*/
|
| 41 |
/* DEPENDENCIES */
|
| 42 |
/*============================================================================*/
|
| 43 |
|
| 44 |
#include <aosconf.h> |
| 45 |
#include <hal.h> |
| 46 |
|
| 47 |
/*============================================================================*/
|
| 48 |
/* DEBUG */
|
| 49 |
/*============================================================================*/
|
| 50 |
|
| 51 |
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__) |
| 52 |
|
| 53 |
#if defined(__cplusplus)
|
| 54 |
extern "C" { |
| 55 |
#endif /* defined(__cplusplus) */ |
| 56 |
void _apalDbgAssertMsg(const bool c, const char* fmt, ...); |
| 57 |
void apalDbgPrintf(const char* fmt, ...); |
| 58 |
#if defined(__cplusplus)
|
| 59 |
} |
| 60 |
#endif /* defined(__cplusplus) */ |
| 61 |
|
| 62 |
/**
|
| 63 |
* @brief Assert function to check a given condition.
|
| 64 |
*
|
| 65 |
* @param[in] c The condition to check.
|
| 66 |
*/
|
| 67 |
#define apalDbgAssert(c) _apalDbgAssertMsg(c, "%s(%u): apalDbgAssert failed", __FILE__, __LINE__) |
| 68 |
|
| 69 |
|
| 70 |
#else /* (AMIROOS_CFG_DBG != true) */ |
| 71 |
|
| 72 |
#define apalDbgAssert(constition)
|
| 73 |
#define apalDbgAssertMsg(condition, fmt, ...)
|
| 74 |
#define apalDbgPrintf(fmt, ...)
|
| 75 |
|
| 76 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
| 77 |
|
| 78 |
/*============================================================================*/
|
| 79 |
/* GENERAL */
|
| 80 |
/*============================================================================*/
|
| 81 |
|
| 82 |
/**
|
| 83 |
* @brief Delay execution by a specific number of microseconds.
|
| 84 |
*
|
| 85 |
* @param[in] us Time to sleep until execution continues in microseconds.
|
| 86 |
*/
|
| 87 |
static inline void apalSleep(apalTime_t us) |
| 88 |
{
|
| 89 |
// check if the specified time can be represented by the system
|
| 90 |
apalDbgAssert(us <= chTimeI2US(TIME_INFINITE)); |
| 91 |
|
| 92 |
const sysinterval_t interval = chTimeUS2I(us);
|
| 93 |
// TIME_IMMEDIATE makes no sense and would even cause system halt
|
| 94 |
if (interval != TIME_IMMEDIATE) {
|
| 95 |
chThdSleep(interval); |
| 96 |
} |
| 97 |
return;
|
| 98 |
} |
| 99 |
|
| 100 |
/*============================================================================*/
|
| 101 |
/* GPIO */
|
| 102 |
/*============================================================================*/
|
| 103 |
|
| 104 |
#if (HAL_USE_PAL == TRUE) || defined (__DOXYGEN__)
|
| 105 |
|
| 106 |
/**
|
| 107 |
* @brief GPIO driver type.
|
| 108 |
*/
|
| 109 |
struct apalGpio_t {
|
| 110 |
ioline_t line; |
| 111 |
} PACKED_VAR; |
| 112 |
|
| 113 |
/**
|
| 114 |
* @brief Read the current value of a GPIO pin.
|
| 115 |
*
|
| 116 |
* @param[in] gpio GPIO to read.
|
| 117 |
* @param[out] val Current value of the GPIO.
|
| 118 |
*
|
| 119 |
* @return The status indicates whether the function call was successful.
|
| 120 |
*/
|
| 121 |
static inline apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val) |
| 122 |
{
|
| 123 |
apalDbgAssert(gpio != NULL);
|
| 124 |
apalDbgAssert(val != NULL);
|
| 125 |
|
| 126 |
*val = (palReadLine(gpio->line) == PAL_HIGH) ? APAL_GPIO_HIGH : APAL_GPIO_LOW; |
| 127 |
return APAL_STATUS_OK;
|
| 128 |
} |
| 129 |
|
| 130 |
/**
|
| 131 |
* @brief Set the value of a GPIO pin.
|
| 132 |
*
|
| 133 |
* @param[in] gpio GPIO to write.
|
| 134 |
* @param[in] val Value to set for the GPIO.
|
| 135 |
*
|
| 136 |
* @return The status indicates whether the function call was successful.
|
| 137 |
*/
|
| 138 |
static inline apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val) |
| 139 |
{
|
| 140 |
apalDbgAssert(gpio != NULL);
|
| 141 |
|
| 142 |
// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
|
| 143 |
syssts_t sysstatus = chSysGetStatusAndLockX(); |
| 144 |
palWriteLine(gpio->line, (val == APAL_GPIO_HIGH) ? PAL_HIGH : PAL_LOW); |
| 145 |
chSysRestoreStatusX(sysstatus); |
| 146 |
return APAL_STATUS_OK;
|
| 147 |
} |
| 148 |
|
| 149 |
/**
|
| 150 |
* @brief Toggle the output of a GPIO.
|
| 151 |
*
|
| 152 |
* @param[in] gpio GPIO to toggle.
|
| 153 |
*
|
| 154 |
* @return The status indicates whether the function call was successful.
|
| 155 |
*/
|
| 156 |
static inline apalExitStatus_t apalGpioToggle(apalGpio_t* gpio) |
| 157 |
{
|
| 158 |
apalDbgAssert(gpio != NULL);
|
| 159 |
|
| 160 |
// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
|
| 161 |
syssts_t sysstatus = chSysGetStatusAndLockX(); |
| 162 |
palWriteLine(gpio->line, (palReadLine(gpio->line) == PAL_HIGH) ? PAL_LOW : PAL_HIGH); |
| 163 |
chSysRestoreStatusX(sysstatus); |
| 164 |
return APAL_STATUS_OK;
|
| 165 |
} |
| 166 |
|
| 167 |
/**
|
| 168 |
* @brief Return the interrupt enable status of the GPIO.
|
| 169 |
*
|
| 170 |
* @param[in] gpio GPIO to check.
|
| 171 |
* @param[out] enabled Flag, indicating whether interrupt is enabled for the GPIO.
|
| 172 |
*
|
| 173 |
* @return The status indicates whether the function call was successful.
|
| 174 |
*/
|
| 175 |
static inline apalExitStatus_t apalGpioIsInterruptEnabled(apalGpio_t* gpio, bool* const enabled) |
| 176 |
{
|
| 177 |
apalDbgAssert(gpio != NULL);
|
| 178 |
apalDbgAssert(enabled != NULL);
|
| 179 |
|
| 180 |
*enabled = palIsLineEventEnabledX(gpio->line); |
| 181 |
return APAL_STATUS_OK;
|
| 182 |
} |
| 183 |
|
| 184 |
/**
|
| 185 |
* @brief Get the current on/off state of a control GPIO.
|
| 186 |
*
|
| 187 |
* @param[in] gpio Control GPIO to read.
|
| 188 |
* @param[out] val Current activation status of the control GPIO.
|
| 189 |
*
|
| 190 |
* @return The status indicates whether the function call was successful.
|
| 191 |
*/
|
| 192 |
static inline apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val) |
| 193 |
{
|
| 194 |
apalDbgAssert(cgpio != NULL);
|
| 195 |
apalDbgAssert(cgpio->gpio != NULL);
|
| 196 |
apalDbgAssert(val != NULL);
|
| 197 |
|
| 198 |
*val = ((palReadLine(cgpio->gpio->line) == PAL_HIGH) ^ (cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH)) ? APAL_GPIO_OFF : APAL_GPIO_ON; |
| 199 |
return APAL_STATUS_OK;
|
| 200 |
} |
| 201 |
|
| 202 |
/**
|
| 203 |
* @brief Turn a control GPIO 'on' or 'off' respectively.
|
| 204 |
*
|
| 205 |
* @param[in] gpio Control GPIO to set.
|
| 206 |
* @param[in] val Activation value to set for the control GPIO.
|
| 207 |
*
|
| 208 |
* @return The status indicates whether the function call was successful.
|
| 209 |
*/
|
| 210 |
static inline apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val) |
| 211 |
{
|
| 212 |
apalDbgAssert(cgpio != NULL);
|
| 213 |
apalDbgAssert(cgpio->gpio != NULL);
|
| 214 |
apalDbgAssert(cgpio->meta.direction == APAL_GPIO_DIRECTION_OUTPUT || cgpio->meta.direction == APAL_GPIO_DIRECTION_BIDIRECTIONAL); |
| 215 |
|
| 216 |
// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
|
| 217 |
syssts_t sysstatus = chSysGetStatusAndLockX(); |
| 218 |
palWriteLine(cgpio->gpio->line, ((cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH) ^ (val == APAL_GPIO_ON)) ? PAL_LOW : PAL_HIGH); |
| 219 |
chSysRestoreStatusX(sysstatus); |
| 220 |
return APAL_STATUS_OK;
|
| 221 |
} |
| 222 |
|
| 223 |
/**
|
| 224 |
* @brief Converts an apalGpioEdge_t to an ChibiOS PAL edge.
|
| 225 |
*/
|
| 226 |
#define APAL2CH_EDGE(edge) \
|
| 227 |
((edge == APAL_GPIO_EDGE_RISING) ? PAL_EVENT_MODE_RISING_EDGE : \ |
| 228 |
(edge == APAL_GPIO_EDGE_FALLING) ? PAL_EVENT_MODE_FALLING_EDGE : \ |
| 229 |
(edge == APAL_GPIO_EDGE_BOTH) ? PAL_EVENT_MODE_BOTH_EDGES : \ |
| 230 |
PAL_EVENT_MODE_DISABLED) |
| 231 |
|
| 232 |
/**
|
| 233 |
* @brief Enable or disable the interrupt event functionality.
|
| 234 |
*
|
| 235 |
* @param[in] cgpio Control GPIO to set.
|
| 236 |
* @param[in] enable Flag, indicating whether the interrupt shall be activated (true) or deactivated (false).
|
| 237 |
*
|
| 238 |
* @return The status indicates whether the function call was successful.
|
| 239 |
*/
|
| 240 |
static inline apalExitStatus_t apalControlGpioSetInterrupt(const apalControlGpio_t* const cgpio, const bool enable) |
| 241 |
{
|
| 242 |
apalDbgAssert(cgpio != NULL);
|
| 243 |
apalDbgAssert(cgpio->gpio != NULL);
|
| 244 |
|
| 245 |
if (enable) {
|
| 246 |
apalDbgAssert(pal_lld_get_line_event(cgpio->gpio->line) != NULL);
|
| 247 |
palEnableLineEvent(cgpio->gpio->line, APAL2CH_EDGE(cgpio->meta.edge)); |
| 248 |
} else {
|
| 249 |
palDisableLineEvent(cgpio->gpio->line); |
| 250 |
} |
| 251 |
|
| 252 |
return APAL_STATUS_OK;
|
| 253 |
} |
| 254 |
|
| 255 |
#endif /* (HAL_USE_PAL == TRUE) */ |
| 256 |
|
| 257 |
/*============================================================================*/
|
| 258 |
/* PWM */
|
| 259 |
/*============================================================================*/
|
| 260 |
|
| 261 |
#if (HAL_USE_PWM == TRUE) || defined (__DOXYGEN__)
|
| 262 |
|
| 263 |
/**
|
| 264 |
* @brief PWM driver type.
|
| 265 |
*/
|
| 266 |
typedef PWMDriver apalPWMDriver_t;
|
| 267 |
|
| 268 |
/**
|
| 269 |
* @brief Set the PWM with given parameters.
|
| 270 |
*
|
| 271 |
* @param[in] pwm PWM driver to set.
|
| 272 |
* @param[in] channel Channel of the PWM driver to set.
|
| 273 |
* @param[in] width Width to set the channel to.
|
| 274 |
*
|
| 275 |
* @return The status indicates whether the function call was successful.
|
| 276 |
*/
|
| 277 |
static inline apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width) |
| 278 |
{
|
| 279 |
apalDbgAssert(pwm != NULL);
|
| 280 |
|
| 281 |
pwmEnableChannel(pwm, (pwmchannel_t)channel, pwm->period * ((float)width / (float)APAL_PWM_WIDTH_MAX) + 0.5f); |
| 282 |
return APAL_STATUS_OK;
|
| 283 |
} |
| 284 |
|
| 285 |
/**
|
| 286 |
* @brief Retrieve the current frequency of the PWM.
|
| 287 |
*
|
| 288 |
* @param[in] pwm PWM driver to read.
|
| 289 |
* @param[out] frequency The currently set frequency.
|
| 290 |
*
|
| 291 |
* @return The status indicates whether the function call was successful.
|
| 292 |
*/
|
| 293 |
static inline apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency) |
| 294 |
{
|
| 295 |
apalDbgAssert(pwm != NULL);
|
| 296 |
apalDbgAssert(frequency != NULL);
|
| 297 |
|
| 298 |
*frequency = pwm->config->frequency; |
| 299 |
return APAL_STATUS_OK;
|
| 300 |
} |
| 301 |
|
| 302 |
/**
|
| 303 |
* @brief Retrieve the current period of the PWM.
|
| 304 |
*
|
| 305 |
* @param[in] pwm PWM driver to read.
|
| 306 |
* @param[out] period The currently set period.
|
| 307 |
*
|
| 308 |
* @return The status indicates whether the function call was successful.
|
| 309 |
*/
|
| 310 |
static inline apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period) |
| 311 |
{
|
| 312 |
apalDbgAssert(pwm != NULL);
|
| 313 |
apalDbgAssert(period != NULL);
|
| 314 |
|
| 315 |
*period = pwm->period; |
| 316 |
return APAL_STATUS_OK;
|
| 317 |
} |
| 318 |
|
| 319 |
#endif /* (HAL_USE_PWM == TRUE) */ |
| 320 |
|
| 321 |
/*============================================================================*/
|
| 322 |
/* QEI */
|
| 323 |
/*============================================================================*/
|
| 324 |
|
| 325 |
#if (HAL_USE_QEI == TRUE) || defined (__DOXYGEN__)
|
| 326 |
|
| 327 |
/**
|
| 328 |
* @brief QEI driver type.
|
| 329 |
*/
|
| 330 |
typedef QEIDriver apalQEIDriver_t;
|
| 331 |
|
| 332 |
/**
|
| 333 |
* @brief Gets the direction of the last transition.
|
| 334 |
*
|
| 335 |
* @param[in] qei The QEI driver to use.
|
| 336 |
* @param[out] direction The direction of the last transition.
|
| 337 |
*
|
| 338 |
* @return The status indicates whether the function call was successful.
|
| 339 |
*/
|
| 340 |
static inline apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction) |
| 341 |
{
|
| 342 |
apalDbgAssert(qei != NULL);
|
| 343 |
apalDbgAssert(direction != NULL);
|
| 344 |
|
| 345 |
*direction = (qei_lld_get_direction(qei)) ? APAL_QEI_DIRECTION_DOWN : APAL_QEI_DIRECTION_UP; |
| 346 |
|
| 347 |
return APAL_STATUS_OK;
|
| 348 |
} |
| 349 |
|
| 350 |
/**
|
| 351 |
* @brief Gets the current position of the ecnoder.
|
| 352 |
*
|
| 353 |
* @param[in] qei The QEI driver to use.
|
| 354 |
* @param[out] position The current position of the encoder.
|
| 355 |
*
|
| 356 |
* @return The status indicates whether the function call was successful.
|
| 357 |
*/
|
| 358 |
static inline apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position) |
| 359 |
{
|
| 360 |
apalDbgAssert(qei != NULL);
|
| 361 |
apalDbgAssert(position != NULL);
|
| 362 |
|
| 363 |
*position = qei_lld_get_position(qei); |
| 364 |
|
| 365 |
return APAL_STATUS_OK;
|
| 366 |
} |
| 367 |
|
| 368 |
/**
|
| 369 |
* @brief Gets the value range of the encoder.
|
| 370 |
*
|
| 371 |
* @param[in] qei The QEI driver to use.
|
| 372 |
* @param[out] range The value range of the encoder.
|
| 373 |
*
|
| 374 |
* @return The status indicates whether the function call was successful.
|
| 375 |
*/
|
| 376 |
static inline apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range) |
| 377 |
{
|
| 378 |
apalDbgAssert(qei != NULL);
|
| 379 |
apalDbgAssert(range != NULL);
|
| 380 |
|
| 381 |
*range = qei_lld_get_range(qei); |
| 382 |
|
| 383 |
return APAL_STATUS_OK;
|
| 384 |
} |
| 385 |
|
| 386 |
#endif /* (HAL_USE_QEI == TRUE) */ |
| 387 |
|
| 388 |
/*============================================================================*/
|
| 389 |
/* I2C */
|
| 390 |
/*============================================================================*/
|
| 391 |
|
| 392 |
#if (HAL_USE_I2C == TRUE) || defined(__DOXYGEN__)
|
| 393 |
|
| 394 |
/**
|
| 395 |
* @brief I2C driver type.
|
| 396 |
*/
|
| 397 |
typedef I2CDriver apalI2CDriver_t;
|
| 398 |
|
| 399 |
/**
|
| 400 |
* @brief Transmit data and receive a response.
|
| 401 |
*
|
| 402 |
* @param[in] i2cd The I2C driver to use.
|
| 403 |
* @param[in] addr Address to write to.
|
| 404 |
* @param[in] txbuf Buffer containing data to send.
|
| 405 |
* @param[in] txbytes Number of bytes to send.
|
| 406 |
* @param[out] rxbuf Buffer to store a response to.
|
| 407 |
* @param[in] rxbytes Number of bytes to receive.
|
| 408 |
* @param[in] timeout Timeout for the function to return (in microseconds).
|
| 409 |
*
|
| 410 |
* @return The status indicates whether the function call was succesful or a timeout occurred.
|
| 411 |
*/
|
| 412 |
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) |
| 413 |
{
|
| 414 |
apalDbgAssert(i2cd != NULL);
|
| 415 |
|
| 416 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 417 |
// check whether the I2C driver was locked externally
|
| 418 |
const bool i2cd_locked_external = i2cd->mutex.owner == currp; |
| 419 |
if (!i2cd_locked_external) {
|
| 420 |
i2cAcquireBus(i2cd); |
| 421 |
} |
| 422 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 423 |
|
| 424 |
#pragma GCC diagnostic push
|
| 425 |
#pragma GCC diagnostic ignored "-Wtype-limits" |
| 426 |
#if defined(STM32F1XX_I2C)
|
| 427 |
// Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
|
| 428 |
msg_t status = MSG_OK; |
| 429 |
if (rxbytes == 1) { |
| 430 |
uint8_t buffer[2];
|
| 431 |
status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 432 |
rxbuf[0] = buffer[0]; |
| 433 |
} else {
|
| 434 |
status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) ); |
| 435 |
} |
| 436 |
#else /* defined(STM32F1XX_I2C) */ |
| 437 |
const msg_t status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 438 |
#endif /* defined(STM32F1XX_I2C) */ |
| 439 |
#pragma GCC diagnostic pop
|
| 440 |
|
| 441 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 442 |
if (!i2cd_locked_external) {
|
| 443 |
i2cReleaseBus(i2cd); |
| 444 |
} |
| 445 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 446 |
|
| 447 |
switch (status)
|
| 448 |
{
|
| 449 |
case MSG_OK:
|
| 450 |
#if defined(STM32F1XX_I2C)
|
| 451 |
return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING; |
| 452 |
#else /* defined(STM32F1XX_I2C) */ |
| 453 |
return APAL_STATUS_OK;
|
| 454 |
#endif /* defined(STM32F1XX_I2C) */ |
| 455 |
case MSG_TIMEOUT:
|
| 456 |
return APAL_STATUS_TIMEOUT;
|
| 457 |
case MSG_RESET:
|
| 458 |
default:
|
| 459 |
return APAL_STATUS_ERROR;
|
| 460 |
} |
| 461 |
} |
| 462 |
|
| 463 |
/**
|
| 464 |
* @brief Read data from a specific address.
|
| 465 |
*
|
| 466 |
* @param[in] i2cd The I2C driver to use.
|
| 467 |
* @param[in] addr Address to read.
|
| 468 |
* @param[out] rxbuf Buffer to store the response to.
|
| 469 |
* @param[in] rxbytes Number of bytes to receive.
|
| 470 |
* @param[in] timeout Timeout for the function to return (in microseconds).
|
| 471 |
*
|
| 472 |
* @return The status indicates whether the function call was succesful or a timeout occurred.
|
| 473 |
*/
|
| 474 |
static inline apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout) |
| 475 |
{
|
| 476 |
apalDbgAssert(i2cd != NULL);
|
| 477 |
|
| 478 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 479 |
// check whether the I2C driver was locked externally
|
| 480 |
const bool i2cd_locked_external = i2cd->mutex.owner == currp; |
| 481 |
if (!i2cd_locked_external) {
|
| 482 |
i2cAcquireBus(i2cd); |
| 483 |
} |
| 484 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 485 |
|
| 486 |
#pragma GCC diagnostic push
|
| 487 |
#pragma GCC diagnostic ignored "-Wtype-limits" |
| 488 |
#if defined(STM32F1XX_I2C)
|
| 489 |
// Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
|
| 490 |
msg_t status = MSG_OK; |
| 491 |
if (rxbytes == 1) { |
| 492 |
uint8_t buffer[2];
|
| 493 |
status = i2cMasterReceiveTimeout(i2cd, addr, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 494 |
rxbuf[0] = buffer[0]; |
| 495 |
} else {
|
| 496 |
status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) ); |
| 497 |
} |
| 498 |
#else /* defined(STM32F1XX_I2C) */ |
| 499 |
const msg_t status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 500 |
#endif /* defined(STM32F1XX_I2C) */ |
| 501 |
#pragma GCC diagnostic pop
|
| 502 |
|
| 503 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 504 |
if (!i2cd_locked_external) {
|
| 505 |
i2cReleaseBus(i2cd); |
| 506 |
} |
| 507 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 508 |
|
| 509 |
switch (status)
|
| 510 |
{
|
| 511 |
case MSG_OK:
|
| 512 |
#if defined(STM32F1XX_I2C)
|
| 513 |
return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING; |
| 514 |
#else /* defined(STM32F1XX_I2C) */ |
| 515 |
return APAL_STATUS_OK;
|
| 516 |
#endif /* defined(STM32F1XX_I2C) */ |
| 517 |
case MSG_TIMEOUT:
|
| 518 |
return APAL_STATUS_TIMEOUT;
|
| 519 |
case MSG_RESET:
|
| 520 |
default:
|
| 521 |
return APAL_STATUS_ERROR;
|
| 522 |
} |
| 523 |
} |
| 524 |
|
| 525 |
#endif /* (HAL_USE_I2C == TRUE) */ |
| 526 |
|
| 527 |
/*============================================================================*/
|
| 528 |
/* SPI */
|
| 529 |
/*============================================================================*/
|
| 530 |
|
| 531 |
#if (HAL_USE_SPI == TRUE) || defined(__DOXYGEN__)
|
| 532 |
|
| 533 |
/**
|
| 534 |
* @brief SPI driver type.
|
| 535 |
*/
|
| 536 |
typedef SPIDriver apalSPIDriver_t;
|
| 537 |
|
| 538 |
/**
|
| 539 |
* @brief SPI confguration type.
|
| 540 |
*/
|
| 541 |
typedef SPIConfig apalSPIConfig_t;
|
| 542 |
|
| 543 |
/**
|
| 544 |
* @brief Reconfigure an SPI driver.
|
| 545 |
*
|
| 546 |
* @param[in] spid The SPI driver to be reconfigured.
|
| 547 |
* @param[in] config Configuration to apply.
|
| 548 |
*
|
| 549 |
* @return The status indicates whether the function call was succesful.
|
| 550 |
*/
|
| 551 |
static inline apalExitStatus_t apalSPIReconfigure(apalSPIDriver_t* spid, const apalSPIConfig_t* config) |
| 552 |
{
|
| 553 |
apalDbgAssert(spid != NULL);
|
| 554 |
apalDbgAssert(config != NULL);
|
| 555 |
|
| 556 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 557 |
// check whether the SPI driver was locked externally
|
| 558 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 559 |
if (!spid_locked_external) {
|
| 560 |
spiAcquireBus(spid); |
| 561 |
} |
| 562 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 563 |
|
| 564 |
spiStop(spid); |
| 565 |
spiStart(spid, config); |
| 566 |
|
| 567 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 568 |
if (!spid_locked_external) {
|
| 569 |
spiReleaseBus(spid); |
| 570 |
} |
| 571 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 572 |
|
| 573 |
return APAL_STATUS_OK;
|
| 574 |
} |
| 575 |
|
| 576 |
/**
|
| 577 |
* @brief Transmit and receive data from SPI
|
| 578 |
*
|
| 579 |
* @param[in] spid The SPI driver to use.
|
| 580 |
* @param[in] txData Buffer containing data to send.
|
| 581 |
* @param[out] rxData Buffer to store.
|
| 582 |
* @param[in] length Number of bytes to send.
|
| 583 |
*
|
| 584 |
* @return The status indicates whether the function call was succesful.
|
| 585 |
*/
|
| 586 |
static inline apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length) |
| 587 |
{
|
| 588 |
apalDbgAssert(spid != NULL);
|
| 589 |
|
| 590 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 591 |
// check whether the SPI driver was locked externally
|
| 592 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 593 |
if (!spid_locked_external) {
|
| 594 |
spiAcquireBus(spid); |
| 595 |
} |
| 596 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 597 |
|
| 598 |
spiSelect(spid); |
| 599 |
spiExchange(spid, length, txData, rxData); |
| 600 |
spiUnselect(spid); |
| 601 |
|
| 602 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 603 |
if (!spid_locked_external) {
|
| 604 |
spiReleaseBus(spid); |
| 605 |
} |
| 606 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 607 |
|
| 608 |
return APAL_STATUS_OK;
|
| 609 |
} |
| 610 |
|
| 611 |
/**
|
| 612 |
* @brief Receive data from SPI
|
| 613 |
*
|
| 614 |
* @param[in] spid The SPI driver to use.
|
| 615 |
* @param[out] data Buffer to store.
|
| 616 |
* @param[in] length Number of bytes to send.
|
| 617 |
*
|
| 618 |
* @return The status indicates whether the function call was succesful.
|
| 619 |
*/
|
| 620 |
static inline apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length) |
| 621 |
{
|
| 622 |
apalDbgAssert(spid != NULL);
|
| 623 |
|
| 624 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 625 |
// check whether the SPI driver was locked externally
|
| 626 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 627 |
if (!spid_locked_external) {
|
| 628 |
spiAcquireBus(spid); |
| 629 |
} |
| 630 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 631 |
|
| 632 |
spiSelect(spid); |
| 633 |
spiReceive(spid, length, data); |
| 634 |
spiUnselect(spid); |
| 635 |
|
| 636 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 637 |
if (!spid_locked_external) {
|
| 638 |
spiReleaseBus(spid); |
| 639 |
} |
| 640 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 641 |
|
| 642 |
return APAL_STATUS_OK;
|
| 643 |
} |
| 644 |
|
| 645 |
/**
|
| 646 |
* @brief Transmit data to SPI
|
| 647 |
*
|
| 648 |
* @param[in] spid The SPI driver to use.
|
| 649 |
* @param[in] data Buffer containing data to send.
|
| 650 |
* @param[in] length Number of bytes to send.
|
| 651 |
*
|
| 652 |
* @return The status indicates whether the function call was succesful.
|
| 653 |
*/
|
| 654 |
static inline apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length) |
| 655 |
{
|
| 656 |
apalDbgAssert(spid != NULL);
|
| 657 |
|
| 658 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 659 |
// check whether the SPI driver was locked externally
|
| 660 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 661 |
if (!spid_locked_external) {
|
| 662 |
spiAcquireBus(spid); |
| 663 |
} |
| 664 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 665 |
|
| 666 |
spiSelect(spid); |
| 667 |
spiSend(spid, length, data); |
| 668 |
spiUnselect(spid); |
| 669 |
|
| 670 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 671 |
if (!spid_locked_external) {
|
| 672 |
spiReleaseBus(spid); |
| 673 |
} |
| 674 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 675 |
|
| 676 |
return APAL_STATUS_OK;
|
| 677 |
} |
| 678 |
|
| 679 |
/**
|
| 680 |
* @brief Transmit data to SPI and receive data afterwards without releasing the bus in between.
|
| 681 |
*
|
| 682 |
* @param spid The SPI driver to use.
|
| 683 |
* @param txData Transmit data buffer.
|
| 684 |
* @param rxData Receive data buffer.
|
| 685 |
* @param txLength Number of bytes to send.
|
| 686 |
* @param rxLength Number of bytes to receive.
|
| 687 |
*
|
| 688 |
* @return The status indicates whether the function call was succesful.
|
| 689 |
*/
|
| 690 |
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) |
| 691 |
{
|
| 692 |
apalDbgAssert(spid != NULL);
|
| 693 |
|
| 694 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 695 |
// check whether the SPI driver was locked externally
|
| 696 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 697 |
if (!spid_locked_external) {
|
| 698 |
spiAcquireBus(spid); |
| 699 |
} |
| 700 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 701 |
|
| 702 |
spiSelect(spid); |
| 703 |
spiSend(spid, txLength, txData); |
| 704 |
spiReceive(spid, rxLength, rxData); |
| 705 |
spiUnselect(spid); |
| 706 |
|
| 707 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 708 |
if (!spid_locked_external) {
|
| 709 |
spiReleaseBus(spid); |
| 710 |
} |
| 711 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 712 |
|
| 713 |
return APAL_STATUS_OK;
|
| 714 |
} |
| 715 |
|
| 716 |
#endif /* (HAL_USE_SPI == TRUE) */ |
| 717 |
|
| 718 |
#endif /* AMIROOS_PERIPHAL_H */ |