amiro-lld / source / P9221R / v1 / alld_P9221R_v1.c @ 73345246
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1 | 6ef38c23 | Julia Niermann | /*
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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 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU Lesser General Public License as published by
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7 | 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 | GNU Lesser General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU Lesser General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | /**
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20 | * @file alld_P9221R_v1.c
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21 | *
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22 | * @brief Power Monitor function implementations
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23 | *
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24 | * @addtogroup lld_power
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25 | * @{
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26 | */
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27 | |||
28 | 54dbb62d | Julia Niermann | #include <alld_P9221R.h> |
29 | 6ef38c23 | Julia Niermann | |
30 | 54dbb62d | Julia Niermann | #if (defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1)) || defined(__DOXYGEN__) |
31 | 6ef38c23 | Julia Niermann | |
32 | /******************************************************************************/
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33 | /* LOCAL DEFINITIONS */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* EXPORTED VARIABLES */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* LOCAL TYPES */
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42 | /******************************************************************************/
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43 | |||
44 | /******************************************************************************/
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45 | /* LOCAL VARIABLES */
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46 | /******************************************************************************/
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47 | |||
48 | /******************************************************************************/
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49 | /* LOCAL FUNCTIONS */
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50 | /******************************************************************************/
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51 | |||
52 | /******************************************************************************/
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53 | /* EXPORTED FUNCTIONS */
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54 | /******************************************************************************/
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55 | |||
56 | |||
57 | /**
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58 | * @brief Read the value of one or more of the registers.
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59 | * @param[in] i2cd i2c driver
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60 | * @param[in] PRd p9221r driver
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61 | * @param[in] addr register address
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62 | * @param[out] data register content
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63 | * @param[in] num number of subsequent registers to read
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64 | * @param[in] timeout timeout
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65 | * @return An indicator whether the call was successfull
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66 | */
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67 | 9797f02a | Julia Niermann | apalExitStatus_t p9221r_lld_read_register(const P9221RDriver* const p9221r, const p9221r_lld_register_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
68 | 6ef38c23 | Julia Niermann | { |
69 | apalDbgAssert(p9221r != NULL);
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70 | apalDbgAssert(p9221r->i2cd != NULL);
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71 | apalDbgAssert(data != NULL);
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72 | |||
73 | 73345246 | Julia Niermann | uint8_t tx[2] = {(addr & 0xFF00) >> 8, addr & 0x00FF}; |
74 | |||
75 | apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), tx, 2, data, num, timeout);
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76 | c4db2363 | Julia Niermann | |
77 | 6ef38c23 | Julia Niermann | return status;
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78 | } |
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79 | |||
80 | /**
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81 | * @brief Write the value of one or more of the registers.
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82 | * @param[in] i2cd i2c driver
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83 | * @param[in] PRd p9221r driver
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84 | * @param[in] addr register address
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85 | * @param[in] data data to write
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86 | * @param[in] num number of subsequent registers to read
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87 | * @param[in] timeout timeout
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88 | * @return An indicator whether the call was successfull
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89 | */
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90 | 2344a771 | Julia Niermann | apalExitStatus_t p9221r_lld_write_register(const P9221RDriver* const p9221r, const p9221r_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout) |
91 | 6ef38c23 | Julia Niermann | { |
92 | apalDbgAssert(p9221r != NULL);
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93 | apalDbgAssert(p9221r->i2cd != NULL);
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94 | apalDbgAssert(data != NULL);
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95 | |||
96 | uint8_t buffer[1+2*num]; |
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97 | buffer[0] = addr;
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98 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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99 | buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
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100 | buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
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101 | } |
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102 | 2344a771 | Julia Niermann | return apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), buffer, 1+2*num, NULL, 0, timeout); |
103 | 6ef38c23 | Julia Niermann | } |
104 | |||
105 | 9797f02a | Julia Niermann | /**
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106 | * @brief Read the x_alignment.
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107 | * @param[in] i2cd i2c driver
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108 | * @param[in] PRd p9221r driver
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109 | * @param[out] x_alignment alignment register content
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110 | * @param[in] timeout timeout
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111 | * @return An indicator whether the call was successfull
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112 | */
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113 | a9c9cd33 | Ruben Lipperts | apalExitStatus_t p9221r_lld_read_x_alignment(const P9221RDriver* const p9221r, int8_t* const x_alignment, const apalTime_t timeout) |
114 | 9797f02a | Julia Niermann | { |
115 | d2281627 | Julia Niermann | uint8_t address = P9221R_LLD_REGISTER_ALIGNMENT_X; |
116 | apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), &address, 2, x_alignment, 1, timeout); // TODO check if implicit cast is ok (uint) |
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117 | 9797f02a | Julia Niermann | |
118 | return status;
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119 | } |
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120 | |||
121 | /**
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122 | * @brief Read the y_alignment.
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123 | * @param[in] i2cd i2c driver
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124 | * @param[in] PRd p9221r driver
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125 | * @param[out] y_alignment alignment register content
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126 | * @param[in] timeout timeout
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127 | * @return An indicator whether the call was successfull
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128 | */
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129 | a9c9cd33 | Ruben Lipperts | apalExitStatus_t p9221r_lld_read_y_alignment(const P9221RDriver* const p9221r, int8_t* const y_alignment, const apalTime_t timeout) |
130 | 9797f02a | Julia Niermann | { |
131 | d2281627 | Julia Niermann | uint8_t address = P9221R_LLD_REGISTER_ALIGNMENT_Y; |
132 | apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), &address, 2, y_alignment, 1, timeout); // TODO check if implicit cast is ok (uint) |
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133 | 9797f02a | Julia Niermann | |
134 | return status;
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135 | } |
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136 | |||
137 | /**
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138 | * @brief Read the voltage.
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139 | * @param[in] i2cd i2c driver
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140 | * @param[in] PRd p9221r driver
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141 | * @param[out] voltage voltage register content
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142 | * @param[in] timeout timeout
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143 | * @return An indicator whether the call was successfull
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144 | */
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145 | c89b966e | Ruben Lipperts | apalExitStatus_t p9221r_lld_read_voltage(const P9221RDriver* const p9221r, float* const voltage, const apalTime_t timeout) |
146 | 9797f02a | Julia Niermann | { |
147 | c89b966e | Ruben Lipperts | uint8_t addr = P9221R_LLD_REGISTER_OUTPUT_VOLTAGE_LSB; |
148 | uint8_t buffer[2];
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149 | uint16_t value; |
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150 | |||
151 | apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), (uint8_t*)&addr, 1, buffer, 2, timeout); |
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152 | value = ((buffer[1] << 8) & 0x0F) | buffer[0]; // 4MSB are in buffer[1] so we shift and mask, 8LSB are in buffer[0] |
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153 | *voltage = (((float) value) * 6 * 2.1)/4095.0; |
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154 | 9797f02a | Julia Niermann | |
155 | return status;
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156 | } |
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157 | |||
158 | /**
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159 | * @brief Read the current.
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160 | * @param[in] i2cd i2c driver
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161 | * @param[in] PRd p9221r driver
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162 | * @param[out] current register content
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163 | * @param[in] timeout timeout
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164 | * @return An indicator whether the call was successfull
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165 | */
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166 | c89b966e | Ruben Lipperts | apalExitStatus_t p9221r_lld_read_current(const P9221RDriver* const p9221r, float* const current, const apalTime_t timeout) |
167 | 9797f02a | Julia Niermann | { |
168 | c89b966e | Ruben Lipperts | uint8_t addr = P9221R_LLD_REGISTER_IOUT_CURRENT_LSB; |
169 | uint8_t buffer[2];
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170 | uint16_t value; |
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171 | |||
172 | apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), (uint8_t*)&addr, 1, buffer, 2, timeout); |
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173 | value = (buffer[1] << 8) | buffer[0]; // 8MSB are in buffer[1] so we shift, 8LSB are in buffer[0] |
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174 | *current = (((float) value) * 2 * 2.1)/4095.0; |
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175 | 9797f02a | Julia Niermann | |
176 | return status;
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177 | } |
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178 | |||
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180 | 54dbb62d | Julia Niermann | #endif /* defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1) */ |
181 | 6ef38c23 | Julia Niermann | |
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