amiro-lld / drivers / MPR121 / v1 / alld_MPR121.c @ 3ed0cc4d
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| 1 | d6728c5b | Thomas Schöpping | /*
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| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | f69ec051 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
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| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
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| 7 | d6728c5b | Thomas Schöpping | 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 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
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| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
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| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
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| 20 | * @file alld_mpr121.c
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| 21 | * @brief Touch Sensor function implementations.
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| 22 | *
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| 23 | * @addtogroup lld_touch
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | 1d5bcc82 | Thomas Schöpping | #include <alld_MPR121.h> |
| 28 | d6728c5b | Thomas Schöpping | |
| 29 | #include <string.h> |
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| 30 | |||
| 31 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 32 | /* LOCAL DEFINITIONS */
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| 33 | /******************************************************************************/
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| 34 | |||
| 35 | /******************************************************************************/
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| 36 | /* EXPORTED VARIABLES */
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| 37 | /******************************************************************************/
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| 38 | |||
| 39 | /******************************************************************************/
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| 40 | /* LOCAL TYPES */
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| 41 | /******************************************************************************/
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| 42 | |||
| 43 | /******************************************************************************/
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| 44 | /* LOCAL VARIABLES */
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| 45 | /******************************************************************************/
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| 46 | |||
| 47 | /******************************************************************************/
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| 48 | /* LOCAL FUNCTIONS */
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| 49 | /******************************************************************************/
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| 50 | |||
| 51 | /******************************************************************************/
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| 52 | /* EXPORTED FUNCTIONS */
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| 53 | /******************************************************************************/
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| 54 | |||
| 55 | d6728c5b | Thomas Schöpping | /**
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| 56 | * @brief Read one or more of the internal registers of the mpr121.
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| 57 | * @param[in] mprd MPR121 Driver
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| 58 | * @param[in] regaddr Address of the register
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| 59 | * @param[in] offset Offset to be added to the register address
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| 60 | * @param[in] size Size of the data to be read
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| 61 | * @param[out] data The data that has been Read
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| 62 | * @param[in] timeout Timeout for the I2C Bus
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| 63 | *
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| 64 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 65 | */
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| 66 | 21076167 | Thomas Schöpping | 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 | d6728c5b | Thomas Schöpping | {
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| 68 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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| 69 | apalDbgAssert(data != NULL);
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| 70 | |||
| 71 | uint8_t addr = regaddr + offset; |
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| 72 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, &addr, 1, data, size, timeout); |
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| 73 | } |
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| 74 | |||
| 75 | /**
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| 76 | * @brief Write to one or more of the internal registers of the mpr121.
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| 77 | * @param[in] mprd MPR121 Driver
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| 78 | * @param[in] regaddr Address of the register
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| 79 | * @param[in] offset Offset to be added to the register address
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| 80 | * @param[in] size Size of the data to be read
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| 81 | * @param[in] data The data that will be written
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| 82 | * @param[in] timeout Timeout for the I2C Bus
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| 83 | *
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| 84 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 85 | */
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| 86 | 21076167 | Thomas Schöpping | 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 | d6728c5b | Thomas Schöpping | {
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| 88 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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| 89 | apalDbgAssert(data != NULL);
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| 90 | |||
| 91 | uint8_t buffer[size+1];
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| 92 | buffer[0] = regaddr + offset;
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| 93 | memcpy(buffer+1, data, size);
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| 94 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, size+1, NULL, 0, timeout); |
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| 95 | } |
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| 96 | |||
| 97 | /**
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| 98 | * @brief Perform a soft reset of the mpr121.
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| 99 | * @param[in] mprd MPR121 Driver
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| 100 | * @param[in] timeout Timeout for the I2C Bus
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| 101 | *
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| 102 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 103 | */
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| 104 | 21076167 | Thomas Schöpping | apalExitStatus_t mpr121_lld_soft_reset(const MPR121Driver* const mprd, const apalTime_t timeout) |
| 105 | d6728c5b | Thomas Schöpping | {
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| 106 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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| 107 | |||
| 108 | uint8_t buffer[2] = {MPR121_LLD_REGISTER_SOFT_RESET, MPR121_LLD_I2C_SOFTRESET};
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| 109 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, 2, NULL, 0, timeout); |
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| 110 | } |
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| 111 | |||
| 112 | /**
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| 113 | * @brief Read the filtered data of the mpr121 sensors.
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| 114 | * @param[in] mprd MPR121 Driver
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| 115 | * @param[in] index The index of the sensor from which reading should be started
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| 116 | * @param[in] num Number of consecutive sensors to read
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| 117 | * @param[in] data The data that has been read
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| 118 | * @param[in] timeout Timeout for the I2C Bus
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| 119 | *
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| 120 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 121 | */
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| 122 | 21076167 | Thomas Schöpping | 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 | d6728c5b | Thomas Schöpping | {
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| 124 | apalDbgAssert(data != NULL);
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| 125 | |||
| 126 | uint8_t buffer[2*num];
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| 127 | apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_FILTERED_DATA, index*2, num*2, buffer, timeout); |
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| 128 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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| 129 | data[dataIdx] = (((uint16_t)buffer[2*dataIdx+1]) << 8) | buffer[dataIdx*2]; |
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| 130 | } |
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| 131 | return status;
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| 132 | } |
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| 133 | |||
| 134 | /**
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| 135 | * @brief Read the baseline data of the mpr121 sensors.
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| 136 | * @param[in] mprd MPR121 Driver
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| 137 | * @param[in] index The index of the sensor from which reading should be started
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| 138 | * @param[in] num Number of consecutive sensors to read
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| 139 | * @param[in] data The data that has been read
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| 140 | * @param[in] timeout Timeout for the I2C Bus
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| 141 | *
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| 142 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 143 | */
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| 144 | 21076167 | Thomas Schöpping | 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 | d6728c5b | Thomas Schöpping | {
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| 146 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_BASELINE, index, num, data, timeout);
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| 147 | } |
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| 148 | |||
| 149 | /**
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| 150 | * @brief Read the electrode data of the mpr121 sensors.
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| 151 | * @param[in] mprd MPR121 Driver
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| 152 | * @param[in] index The index of the sensor from which reading should be started
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| 153 | * @param[in] num Number of consecutive sensors to read
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| 154 | * @param[in] data The data that has been read
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| 155 | * @param[in] timeout Timeout for the I2C Bus
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| 156 | *
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| 157 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 158 | */
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| 159 | 21076167 | Thomas Schöpping | 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 | d6728c5b | Thomas Schöpping | {
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| 161 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_ELE_CURRENT, index, num, data, timeout);
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| 162 | } |
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| 163 | |||
| 164 | /**
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| 165 | * @brief Write a configuration to the mpr121.
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| 166 | * @param[in] mprd MPR121 Driver
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| 167 | * @param[in] cfg The configuration to be written
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| 168 | * @param[in] timeout Timeout for the I2C Bus
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| 169 | *
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| 170 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 171 | */
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| 172 | 21076167 | Thomas Schöpping | apalExitStatus_t mpr121_lld_write_config(const MPR121Driver* const mprd, const mpr121_lld_config_t cfg, const apalTime_t timeout) |
| 173 | d6728c5b | Thomas Schöpping | {
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| 174 | const apalExitStatus_t status = mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg.values, timeout); |
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| 175 | if (status != APAL_STATUS_OK) {
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| 176 | return status;
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| 177 | } else {
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| 178 | return mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg.values[5]), timeout); |
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| 179 | } |
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| 180 | } |
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| 181 | |||
| 182 | /**
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| 183 | * @brief Read a configuration from the mpr121.
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| 184 | * @param[in] mprd MPR121 Driver
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| 185 | * @param[in] cfg The configuration to be written
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| 186 | * @param[in] timeout Timeout for the I2C Bus
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| 187 | *
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| 188 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 189 | */
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| 190 | 21076167 | Thomas Schöpping | apalExitStatus_t mpr121_lld_read_config(const MPR121Driver* const mprd, mpr121_lld_config_t* const cfg, const apalTime_t timeout) |
| 191 | d6728c5b | Thomas Schöpping | {
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| 192 | const apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg->values, timeout); |
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| 193 | if (status != APAL_STATUS_OK) {
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| 194 | return status;
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| 195 | } else {
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| 196 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg->values[5]), timeout); |
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| 197 | } |
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| 198 | } |
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| 199 | |||
| 200 | 5e2f673b | Marc Rothmann | /** @} */
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