amiro-lld / source / MPR121 / v1 / alld_MPR121_v1.c @ 5d0950c9
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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 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 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 | 1d5bcc82 | Thomas Schöpping | #if (defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1)) || defined(__DOXYGEN__) |
| 30 | d6728c5b | Thomas Schöpping | |
| 31 | #include <string.h> |
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| 32 | |||
| 33 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 34 | /* LOCAL DEFINITIONS */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* EXPORTED VARIABLES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL TYPES */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* LOCAL VARIABLES */
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| 47 | /******************************************************************************/
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| 48 | |||
| 49 | /******************************************************************************/
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| 50 | /* LOCAL FUNCTIONS */
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| 51 | /******************************************************************************/
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| 52 | |||
| 53 | /******************************************************************************/
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| 54 | /* EXPORTED FUNCTIONS */
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| 55 | /******************************************************************************/
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| 56 | |||
| 57 | d6728c5b | Thomas Schöpping | /**
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| 58 | * @brief Read one or more of the internal registers of the mpr121.
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| 59 | * @param[in] mprd MPR121 Driver
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| 60 | * @param[in] regaddr Address of the register
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| 61 | * @param[in] offset Offset to be added to the register address
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| 62 | * @param[in] size Size of the data to be read
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| 63 | * @param[out] data The data that has been Read
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| 64 | * @param[in] timeout Timeout for the I2C Bus
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| 65 | *
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| 66 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 67 | */
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| 68 | 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) |
| 69 | d6728c5b | Thomas Schöpping | {
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| 70 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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| 71 | apalDbgAssert(data != NULL);
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| 72 | |||
| 73 | uint8_t addr = regaddr + offset; |
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| 74 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, &addr, 1, data, size, timeout); |
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| 75 | } |
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| 76 | |||
| 77 | /**
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| 78 | * @brief Write to one or more of the internal registers of the mpr121.
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| 79 | * @param[in] mprd MPR121 Driver
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| 80 | * @param[in] regaddr Address of the register
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| 81 | * @param[in] offset Offset to be added to the register address
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| 82 | * @param[in] size Size of the data to be read
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| 83 | * @param[in] data The data that will be written
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| 84 | * @param[in] timeout Timeout for the I2C Bus
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| 85 | *
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| 86 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 87 | */
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| 88 | 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) |
| 89 | d6728c5b | Thomas Schöpping | {
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| 90 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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| 91 | apalDbgAssert(data != NULL);
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| 92 | |||
| 93 | uint8_t buffer[size+1];
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| 94 | buffer[0] = regaddr + offset;
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| 95 | memcpy(buffer+1, data, size);
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| 96 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, size+1, NULL, 0, timeout); |
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| 97 | } |
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| 98 | |||
| 99 | /**
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| 100 | * @brief Perform a soft reset of the mpr121.
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| 101 | * @param[in] mprd MPR121 Driver
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| 102 | * @param[in] timeout Timeout for the I2C Bus
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| 103 | *
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| 104 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 105 | */
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| 106 | 21076167 | Thomas Schöpping | apalExitStatus_t mpr121_lld_soft_reset(const MPR121Driver* const mprd, const apalTime_t timeout) |
| 107 | d6728c5b | Thomas Schöpping | {
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| 108 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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| 109 | |||
| 110 | uint8_t buffer[2] = {MPR121_LLD_REGISTER_SOFT_RESET, MPR121_LLD_I2C_SOFTRESET};
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| 111 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, 2, NULL, 0, timeout); |
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| 112 | } |
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| 113 | |||
| 114 | /**
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| 115 | * @brief Read the filtered data of the mpr121 sensors.
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| 116 | * @param[in] mprd MPR121 Driver
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| 117 | * @param[in] index The index of the sensor from which reading should be started
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| 118 | * @param[in] num Number of consecutive sensors to read
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| 119 | * @param[in] data The data that has been read
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| 120 | * @param[in] timeout Timeout for the I2C Bus
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| 121 | *
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| 122 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 123 | */
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| 124 | 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) |
| 125 | d6728c5b | Thomas Schöpping | {
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| 126 | apalDbgAssert(data != NULL);
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| 127 | |||
| 128 | uint8_t buffer[2*num];
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| 129 | apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_FILTERED_DATA, index*2, num*2, buffer, timeout); |
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| 130 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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| 131 | data[dataIdx] = (((uint16_t)buffer[2*dataIdx+1]) << 8) | buffer[dataIdx*2]; |
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| 132 | } |
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| 133 | return status;
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| 134 | } |
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| 135 | |||
| 136 | /**
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| 137 | * @brief Read the baseline data of the mpr121 sensors.
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| 138 | * @param[in] mprd MPR121 Driver
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| 139 | * @param[in] index The index of the sensor from which reading should be started
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| 140 | * @param[in] num Number of consecutive sensors to read
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| 141 | * @param[in] data The data that has been read
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| 142 | * @param[in] timeout Timeout for the I2C Bus
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| 143 | *
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| 144 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 145 | */
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| 146 | 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) |
| 147 | d6728c5b | Thomas Schöpping | {
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| 148 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_BASELINE, index, num, data, timeout);
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| 149 | } |
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| 150 | |||
| 151 | /**
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| 152 | * @brief Read the electrode data of the mpr121 sensors.
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| 153 | * @param[in] mprd MPR121 Driver
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| 154 | * @param[in] index The index of the sensor from which reading should be started
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| 155 | * @param[in] num Number of consecutive sensors to read
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| 156 | * @param[in] data The data that has been read
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| 157 | * @param[in] timeout Timeout for the I2C Bus
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| 158 | *
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| 159 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 160 | */
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| 161 | 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) |
| 162 | d6728c5b | Thomas Schöpping | {
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| 163 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_ELE_CURRENT, index, num, data, timeout);
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| 164 | } |
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| 165 | |||
| 166 | /**
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| 167 | * @brief Write a configuration to the mpr121.
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| 168 | * @param[in] mprd MPR121 Driver
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| 169 | * @param[in] cfg The configuration to be written
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| 170 | * @param[in] timeout Timeout for the I2C Bus
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| 171 | *
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| 172 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 173 | */
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| 174 | 21076167 | Thomas Schöpping | apalExitStatus_t mpr121_lld_write_config(const MPR121Driver* const mprd, const mpr121_lld_config_t cfg, const apalTime_t timeout) |
| 175 | d6728c5b | Thomas Schöpping | {
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| 176 | const apalExitStatus_t status = mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg.values, timeout); |
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| 177 | if (status != APAL_STATUS_OK) {
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| 178 | return status;
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| 179 | } else {
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| 180 | return mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg.values[5]), timeout); |
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| 181 | } |
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| 182 | } |
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| 183 | |||
| 184 | /**
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| 185 | * @brief Read a configuration from the mpr121.
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| 186 | * @param[in] mprd MPR121 Driver
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| 187 | * @param[in] cfg The configuration to be written
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| 188 | * @param[in] timeout Timeout for the I2C Bus
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| 189 | *
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| 190 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 191 | */
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| 192 | 21076167 | Thomas Schöpping | apalExitStatus_t mpr121_lld_read_config(const MPR121Driver* const mprd, mpr121_lld_config_t* const cfg, const apalTime_t timeout) |
| 193 | d6728c5b | Thomas Schöpping | {
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| 194 | const apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg->values, timeout); |
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| 195 | if (status != APAL_STATUS_OK) {
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| 196 | return status;
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| 197 | } else {
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| 198 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg->values[5]), timeout); |
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| 199 | } |
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| 200 | } |
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| 201 | |||
| 202 | 1d5bcc82 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1) */ |
| 203 | 5e2f673b | Marc Rothmann | |
| 204 | /** @} */ |