AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <alld_bq27500.h>

#if defined(AMIROLLD_CFG_USE_BQ27500) || defined(__DOXYGEN__)

#include <string.h>

/**

 * @brief Read the battery low Gpio pin.

 * @param[in]   bqd       The bq27500 driver

 * @param[out]  batlow    The battery low state

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_read_batlow(const BQ27500Driver* const bq27500, bq27500_lld_batlow_t* const batlow)

{

  apalDbgAssert(bq27500 != NULL);

  apalDbgAssert(batlow != NULL);

  apalControlGpioState_t gpio_state;

  apalExitStatus_t status = apalControlGpioGet(&bq27500->gpio_batlow, &gpio_state);

  *batlow = (gpio_state == APAL_GPIO_ON) ? BQ27500_LLD_BATTERY_LOW : BQ27500_LLD_BATTERY_NOT_LOW;

  return status;

}

/**

 * @brief Read the battery good Gpio pin.

 * @param[in]   bqd       The bq27500 driver

 * @param[out]  batgood   The battery good state

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_read_batgood(const BQ27500Driver* const bq27500, bq27500_lld_batgood_t* const batgood)

{

  apalDbgAssert(bq27500 != NULL);

  apalDbgAssert(batgood != NULL);

  apalControlGpioState_t gpio_state;

  apalExitStatus_t status = apalControlGpioGet(&bq27500->gpio_batgood, &gpio_state);

  *batgood = (gpio_state == APAL_GPIO_ON) ? BQ27500_LLD_BATTERY_GOOD : BQ27500_LLD_BATTERY_NOT_GOOD;

  return status;

}

/**

 * @brief Execute one of the standard commands.

 * @param[in]   i2cd      The I2C Driver

 * @param[in]   cmd       The command to be executed

 * @param[out]  dst       The return value of the command

 * @param[in]   timeout   Timeout of the I2C bus

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_std_command(const BQ27500Driver* const bq27500, const bq27500_lld_std_command_t cmd, uint16_t* const dst, const apalTime_t timeout)

{

  apalDbgAssert(bq27500 != NULL);

  apalDbgAssert(dst != NULL);

  uint8_t buffer[2];

  apalExitStatus_t status = apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, (uint8_t*)&cmd, 1, buffer, 2, timeout);

  *dst = (uint16_t)((buffer[1] << 8) | buffer[0]);

  return status;

}

/**

 * @brief Execute one of the control sub commands.

 * @param[in]   i2cd      The I2C Driver

 * @param[in]   cmd       The sub command to be executed

 * @param[in]   timeout   Timeout of the I2C bus

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_sub_command_call(const BQ27500Driver* const bq27500, const bq27500_lld_control_subcmd_t cmd, const apalTime_t timeout)

{

  apalDbgAssert(bq27500 != NULL);

  uint8_t buffer[3] = {BQ27500_LLD_STD_CMD_Control, (uint8_t)(cmd & 0x00FFu), (uint8_t)((cmd & 0xFF00u) >> 8)};

  return apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, buffer, 3, NULL, 0, timeout);

}

/**

 * @brief Read the return value of a previously executed control sub command.

 * @param[in]   i2cd      The I2C Driver

 * @param[out]  data      The data read from the sub command

 * @param[in]   timeout   Timeout of the I2C bus

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_sub_command_read(const BQ27500Driver* const bq27500, uint16_t* const data, const apalTime_t timeout)

{

  apalDbgAssert(bq27500 != NULL);

  apalDbgAssert(data != NULL);

  uint8_t buffer[3] = {0, 0, 0};

  apalExitStatus_t status = apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, buffer, 1, &buffer[1], 2, timeout);

  *data = (uint16_t)((buffer[2] << 8) | buffer[1]);

  return status;

}

/**

 * @brief Execute on of the extended commands.

 * @param[in]   i2cd      The I2C Driver

 * @param[in]   cmd       The ext command to be executed

 * @param[in]   rw        Use the command in read or write mode

 * @param[in]   buffer    A buffer for input and output

 * @param[in]   length    length of the buffer

 * @param[in]   offset    Offset for reading or writing

 * @param[in]   timeout   Timeout of the I2C bus

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_ext_command(const BQ27500Driver* const bq27500, const bq27500_lld_ext_command_t cmd, const bq27500_lld_ext_cmd_access_t rw, uint8_t* const buffer, const uint8_t length, const uint8_t offset, const apalTime_t timeout)

{

  apalDbgAssert(bq27500 != NULL);

  apalDbgAssert(buffer != NULL);

  uint8_t in_buffer[1+length];

  in_buffer[0] = cmd + offset;

  if (rw == BQ27500_LLD_EXT_CMD_WRITE) {

    memcpy(in_buffer+1, buffer, length);

  }

  uint8_t txbytes = 1 + ((rw == BQ27500_LLD_EXT_CMD_WRITE) ? length : 0);

  uint8_t rxbytes = ((rw == BQ27500_LLD_EXT_CMD_READ) ? length : 0);

  return apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, in_buffer, txbytes, ((rw == BQ27500_LLD_EXT_CMD_READ) ? buffer : NULL), rxbytes, timeout);

}

/**

 * @brief Send data via the CTNL command.

 * @param[in]   i2cd      The I2C Driver

 * @param[in]   data      Data to be sent

 * @param[in]   timeout   Timeout of the I2C bus

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_send_ctnl_data(const BQ27500Driver* const bq27500, const uint16_t data, const apalTime_t timeout)

{

  apalDbgAssert(bq27500 != NULL);

  uint8_t buffer[3] = {BQ27500_LLD_STD_CMD_Control, (uint8_t)(data & 0x00FFu), (uint8_t)((data & 0xFF00u) >> 8)};

  return apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, buffer, 3, NULL, 0, timeout);

}

/**

 * @bried Computes the checksum of blockdata.

 * @param[in]   blockdata   Data to compute the checksum of (32 byte buffer)

 * @param[out]  sum         The computed checksum

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

bq27500_lld_compute_blockdata_checksum(const uint8_t* const blockdata, uint8_t* const sum)

{

  apalDbgAssert(blockdata != NULL);

  apalDbgAssert(sum != NULL);

  *sum = 0;

  for (uint8_t dataIdx = 0; dataIdx < 32; dataIdx++) {

    *sum += blockdata[dataIdx];

  }

  *sum = 0xFF - *sum;

  return APAL_STATUS_SUCCESS;

}

#endif /* defined(AMIROLLD_CFG_USE_BQ27500) */