amiro-lld / drivers / MPR121 / v1 / alld_MPR121.c @ 15f74f80
History | View | Annotate | Download (8.633 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers 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 Lesser 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 Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file alld_mpr121.c
|
| 21 |
* @brief Touch Sensor function implementations.
|
| 22 |
*
|
| 23 |
* @addtogroup lld_touch
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <alld_MPR121.h> |
| 28 |
|
| 29 |
#include <string.h> |
| 30 |
|
| 31 |
/******************************************************************************/
|
| 32 |
/* LOCAL DEFINITIONS */
|
| 33 |
/******************************************************************************/
|
| 34 |
|
| 35 |
/******************************************************************************/
|
| 36 |
/* EXPORTED VARIABLES */
|
| 37 |
/******************************************************************************/
|
| 38 |
|
| 39 |
/******************************************************************************/
|
| 40 |
/* LOCAL TYPES */
|
| 41 |
/******************************************************************************/
|
| 42 |
|
| 43 |
/******************************************************************************/
|
| 44 |
/* LOCAL VARIABLES */
|
| 45 |
/******************************************************************************/
|
| 46 |
|
| 47 |
/******************************************************************************/
|
| 48 |
/* LOCAL FUNCTIONS */
|
| 49 |
/******************************************************************************/
|
| 50 |
|
| 51 |
/******************************************************************************/
|
| 52 |
/* EXPORTED FUNCTIONS */
|
| 53 |
/******************************************************************************/
|
| 54 |
|
| 55 |
/**
|
| 56 |
* @brief Read one or more of the internal registers of the mpr121.
|
| 57 |
* @param[in] mprd MPR121 Driver
|
| 58 |
* @param[in] regaddr Address of the register
|
| 59 |
* @param[in] offset Offset to be added to the register address
|
| 60 |
* @param[in] size Size of the data to be read
|
| 61 |
* @param[out] data The data that has been Read
|
| 62 |
* @param[in] timeout Timeout for the I2C Bus
|
| 63 |
*
|
| 64 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 65 |
*/
|
| 66 |
apalExitStatus_t mpr121_lld_read_register(const MPR121Driver* const mprd, const mpr121_lld_register_t regaddr, const uint8_t offset, const uint8_t size, uint8_t* const data, const apalTime_t timeout) |
| 67 |
{
|
| 68 |
apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
| 69 |
apalDbgAssert(data != NULL);
|
| 70 |
|
| 71 |
uint8_t addr = regaddr + offset; |
| 72 |
return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, &addr, 1, data, size, timeout); |
| 73 |
} |
| 74 |
|
| 75 |
/**
|
| 76 |
* @brief Write to one or more of the internal registers of the mpr121.
|
| 77 |
* @param[in] mprd MPR121 Driver
|
| 78 |
* @param[in] regaddr Address of the register
|
| 79 |
* @param[in] offset Offset to be added to the register address
|
| 80 |
* @param[in] size Size of the data to be read
|
| 81 |
* @param[in] data The data that will be written
|
| 82 |
* @param[in] timeout Timeout for the I2C Bus
|
| 83 |
*
|
| 84 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 85 |
*/
|
| 86 |
apalExitStatus_t mpr121_lld_write_register(const MPR121Driver* const mprd, const mpr121_lld_register_t regaddr, const uint8_t offset, const uint8_t size, const uint8_t* const data, const apalTime_t timeout) |
| 87 |
{
|
| 88 |
apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
| 89 |
apalDbgAssert(data != NULL);
|
| 90 |
|
| 91 |
uint8_t buffer[size+1];
|
| 92 |
buffer[0] = regaddr + offset;
|
| 93 |
memcpy(buffer+1, data, size);
|
| 94 |
return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, size+1, NULL, 0, timeout); |
| 95 |
} |
| 96 |
|
| 97 |
/**
|
| 98 |
* @brief Perform a soft reset of the mpr121.
|
| 99 |
* @param[in] mprd MPR121 Driver
|
| 100 |
* @param[in] timeout Timeout for the I2C Bus
|
| 101 |
*
|
| 102 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 103 |
*/
|
| 104 |
apalExitStatus_t mpr121_lld_soft_reset(const MPR121Driver* const mprd, const apalTime_t timeout) |
| 105 |
{
|
| 106 |
apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
| 107 |
|
| 108 |
uint8_t buffer[2] = {MPR121_LLD_REGISTER_SOFT_RESET, MPR121_LLD_I2C_SOFTRESET};
|
| 109 |
return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, 2, NULL, 0, timeout); |
| 110 |
} |
| 111 |
|
| 112 |
/**
|
| 113 |
* @brief Read the filtered data of the mpr121 sensors.
|
| 114 |
* @param[in] mprd MPR121 Driver
|
| 115 |
* @param[in] index The index of the sensor from which reading should be started
|
| 116 |
* @param[in] num Number of consecutive sensors to read
|
| 117 |
* @param[in] data The data that has been read
|
| 118 |
* @param[in] timeout Timeout for the I2C Bus
|
| 119 |
*
|
| 120 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 121 |
*/
|
| 122 |
apalExitStatus_t mpr121_lld_read_filtered_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint16_t* const data, const apalTime_t timeout) |
| 123 |
{
|
| 124 |
apalDbgAssert(data != NULL);
|
| 125 |
|
| 126 |
uint8_t buffer[2*num];
|
| 127 |
apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_FILTERED_DATA, index*2, num*2, buffer, timeout); |
| 128 |
for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
| 129 |
data[dataIdx] = (((uint16_t)buffer[2*dataIdx+1]) << 8) | buffer[dataIdx*2]; |
| 130 |
} |
| 131 |
return status;
|
| 132 |
} |
| 133 |
|
| 134 |
/**
|
| 135 |
* @brief Read the baseline data of the mpr121 sensors.
|
| 136 |
* @param[in] mprd MPR121 Driver
|
| 137 |
* @param[in] index The index of the sensor from which reading should be started
|
| 138 |
* @param[in] num Number of consecutive sensors to read
|
| 139 |
* @param[in] data The data that has been read
|
| 140 |
* @param[in] timeout Timeout for the I2C Bus
|
| 141 |
*
|
| 142 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 143 |
*/
|
| 144 |
apalExitStatus_t mpr121_lld_read_baseline_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint8_t* const data, const apalTime_t timeout) |
| 145 |
{
|
| 146 |
return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_BASELINE, index, num, data, timeout);
|
| 147 |
} |
| 148 |
|
| 149 |
/**
|
| 150 |
* @brief Read the electrode data of the mpr121 sensors.
|
| 151 |
* @param[in] mprd MPR121 Driver
|
| 152 |
* @param[in] index The index of the sensor from which reading should be started
|
| 153 |
* @param[in] num Number of consecutive sensors to read
|
| 154 |
* @param[in] data The data that has been read
|
| 155 |
* @param[in] timeout Timeout for the I2C Bus
|
| 156 |
*
|
| 157 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 158 |
*/
|
| 159 |
apalExitStatus_t mpr121_lld_read_electrode_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint8_t* const data, const apalTime_t timeout) |
| 160 |
{
|
| 161 |
return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_ELE_CURRENT, index, num, data, timeout);
|
| 162 |
} |
| 163 |
|
| 164 |
/**
|
| 165 |
* @brief Write a configuration to the mpr121.
|
| 166 |
* @param[in] mprd MPR121 Driver
|
| 167 |
* @param[in] cfg The configuration to be written
|
| 168 |
* @param[in] timeout Timeout for the I2C Bus
|
| 169 |
*
|
| 170 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 171 |
*/
|
| 172 |
apalExitStatus_t mpr121_lld_write_config(const MPR121Driver* const mprd, const mpr121_lld_config_t cfg, const apalTime_t timeout) |
| 173 |
{
|
| 174 |
const apalExitStatus_t status = mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg.values, timeout); |
| 175 |
if (status != APAL_STATUS_OK) {
|
| 176 |
return status;
|
| 177 |
} else {
|
| 178 |
return mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg.values[5]), timeout); |
| 179 |
} |
| 180 |
} |
| 181 |
|
| 182 |
/**
|
| 183 |
* @brief Read a configuration from the mpr121.
|
| 184 |
* @param[in] mprd MPR121 Driver
|
| 185 |
* @param[in] cfg The configuration to be written
|
| 186 |
* @param[in] timeout Timeout for the I2C Bus
|
| 187 |
*
|
| 188 |
* @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
| 189 |
*/
|
| 190 |
apalExitStatus_t mpr121_lld_read_config(const MPR121Driver* const mprd, mpr121_lld_config_t* const cfg, const apalTime_t timeout) |
| 191 |
{
|
| 192 |
const apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg->values, timeout); |
| 193 |
if (status != APAL_STATUS_OK) {
|
| 194 |
return status;
|
| 195 |
} else {
|
| 196 |
return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg->values[5]), timeout); |
| 197 |
} |
| 198 |
} |
| 199 |
|
| 200 |
/** @} */
|
| 201 |
|