amiro-lld / source / MPR121 / v1 / alld_MPR121_v1.c @ 78cc79d4
History | View | Annotate | Download (8.791 KB)
| 1 | d6728c5b | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
|
||
| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
|
| 7 | d6728c5b | Thomas Schöpping | 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 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
|
| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
|
| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 | */
|
||
| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
|
| 20 | * @file alld_mpr121.c
|
||
| 21 | * @brief Touch Sensor function implementations.
|
||
| 22 | *
|
||
| 23 | * @addtogroup lld_touch
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 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> |
||
| 32 | |||
| 33 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 34 | /* LOCAL DEFINITIONS */
|
||
| 35 | /******************************************************************************/
|
||
| 36 | |||
| 37 | /******************************************************************************/
|
||
| 38 | /* EXPORTED VARIABLES */
|
||
| 39 | /******************************************************************************/
|
||
| 40 | |||
| 41 | /******************************************************************************/
|
||
| 42 | /* LOCAL TYPES */
|
||
| 43 | /******************************************************************************/
|
||
| 44 | |||
| 45 | /******************************************************************************/
|
||
| 46 | /* LOCAL VARIABLES */
|
||
| 47 | /******************************************************************************/
|
||
| 48 | |||
| 49 | /******************************************************************************/
|
||
| 50 | /* LOCAL FUNCTIONS */
|
||
| 51 | /******************************************************************************/
|
||
| 52 | |||
| 53 | /******************************************************************************/
|
||
| 54 | /* EXPORTED FUNCTIONS */
|
||
| 55 | /******************************************************************************/
|
||
| 56 | |||
| 57 | d6728c5b | Thomas Schöpping | /**
|
| 58 | * @brief Read one or more of the internal registers of the mpr121.
|
||
| 59 | * @param[in] mprd MPR121 Driver
|
||
| 60 | * @param[in] regaddr Address of the register
|
||
| 61 | * @param[in] offset Offset to be added to the register address
|
||
| 62 | * @param[in] size Size of the data to be read
|
||
| 63 | * @param[out] data The data that has been Read
|
||
| 64 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 65 | *
|
||
| 66 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 67 | */
|
||
| 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 | {
|
| 70 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
||
| 71 | apalDbgAssert(data != NULL);
|
||
| 72 | |||
| 73 | uint8_t addr = regaddr + offset; |
||
| 74 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, &addr, 1, data, size, timeout); |
||
| 75 | } |
||
| 76 | |||
| 77 | /**
|
||
| 78 | * @brief Write to one or more of the internal registers of the mpr121.
|
||
| 79 | * @param[in] mprd MPR121 Driver
|
||
| 80 | * @param[in] regaddr Address of the register
|
||
| 81 | * @param[in] offset Offset to be added to the register address
|
||
| 82 | * @param[in] size Size of the data to be read
|
||
| 83 | * @param[in] data The data that will be written
|
||
| 84 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 85 | *
|
||
| 86 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 87 | */
|
||
| 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 | {
|
| 90 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
||
| 91 | apalDbgAssert(data != NULL);
|
||
| 92 | |||
| 93 | uint8_t buffer[size+1];
|
||
| 94 | buffer[0] = regaddr + offset;
|
||
| 95 | memcpy(buffer+1, data, size);
|
||
| 96 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, size+1, NULL, 0, timeout); |
||
| 97 | } |
||
| 98 | |||
| 99 | /**
|
||
| 100 | * @brief Perform a soft reset of the mpr121.
|
||
| 101 | * @param[in] mprd MPR121 Driver
|
||
| 102 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 103 | *
|
||
| 104 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 105 | */
|
||
| 106 | 21076167 | Thomas Schöpping | apalExitStatus_t mpr121_lld_soft_reset(const MPR121Driver* const mprd, const apalTime_t timeout) |
| 107 | d6728c5b | Thomas Schöpping | {
|
| 108 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
||
| 109 | |||
| 110 | uint8_t buffer[2] = {MPR121_LLD_REGISTER_SOFT_RESET, MPR121_LLD_I2C_SOFTRESET};
|
||
| 111 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, 2, NULL, 0, timeout); |
||
| 112 | } |
||
| 113 | |||
| 114 | /**
|
||
| 115 | * @brief Read the filtered data of the mpr121 sensors.
|
||
| 116 | * @param[in] mprd MPR121 Driver
|
||
| 117 | * @param[in] index The index of the sensor from which reading should be started
|
||
| 118 | * @param[in] num Number of consecutive sensors to read
|
||
| 119 | * @param[in] data The data that has been read
|
||
| 120 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 121 | *
|
||
| 122 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 123 | */
|
||
| 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 | {
|
| 126 | apalDbgAssert(data != NULL);
|
||
| 127 | |||
| 128 | uint8_t buffer[2*num];
|
||
| 129 | apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_FILTERED_DATA, index*2, num*2, buffer, timeout); |
||
| 130 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
||
| 131 | data[dataIdx] = (((uint16_t)buffer[2*dataIdx+1]) << 8) | buffer[dataIdx*2]; |
||
| 132 | } |
||
| 133 | return status;
|
||
| 134 | } |
||
| 135 | |||
| 136 | /**
|
||
| 137 | * @brief Read the baseline data of the mpr121 sensors.
|
||
| 138 | * @param[in] mprd MPR121 Driver
|
||
| 139 | * @param[in] index The index of the sensor from which reading should be started
|
||
| 140 | * @param[in] num Number of consecutive sensors to read
|
||
| 141 | * @param[in] data The data that has been read
|
||
| 142 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 143 | *
|
||
| 144 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 145 | */
|
||
| 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 | {
|
| 148 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_BASELINE, index, num, data, timeout);
|
||
| 149 | } |
||
| 150 | |||
| 151 | /**
|
||
| 152 | * @brief Read the electrode data of the mpr121 sensors.
|
||
| 153 | * @param[in] mprd MPR121 Driver
|
||
| 154 | * @param[in] index The index of the sensor from which reading should be started
|
||
| 155 | * @param[in] num Number of consecutive sensors to read
|
||
| 156 | * @param[in] data The data that has been read
|
||
| 157 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 158 | *
|
||
| 159 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 160 | */
|
||
| 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 | {
|
| 163 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_ELE_CURRENT, index, num, data, timeout);
|
||
| 164 | } |
||
| 165 | |||
| 166 | /**
|
||
| 167 | * @brief Write a configuration to the mpr121.
|
||
| 168 | * @param[in] mprd MPR121 Driver
|
||
| 169 | * @param[in] cfg The configuration to be written
|
||
| 170 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 171 | *
|
||
| 172 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 173 | */
|
||
| 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 | {
|
| 176 | const apalExitStatus_t status = mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg.values, timeout); |
||
| 177 | if (status != APAL_STATUS_OK) {
|
||
| 178 | return status;
|
||
| 179 | } else {
|
||
| 180 | return mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg.values[5]), timeout); |
||
| 181 | } |
||
| 182 | } |
||
| 183 | |||
| 184 | /**
|
||
| 185 | * @brief Read a configuration from the mpr121.
|
||
| 186 | * @param[in] mprd MPR121 Driver
|
||
| 187 | * @param[in] cfg The configuration to be written
|
||
| 188 | * @param[in] timeout Timeout for the I2C Bus
|
||
| 189 | *
|
||
| 190 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 191 | */
|
||
| 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 | {
|
| 194 | const apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg->values, timeout); |
||
| 195 | if (status != APAL_STATUS_OK) {
|
||
| 196 | return status;
|
||
| 197 | } else {
|
||
| 198 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg->values[5]), timeout); |
||
| 199 | } |
||
| 200 | } |
||
| 201 | |||
| 202 | 1d5bcc82 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_MPR121) && (AMIROLLD_CFG_MPR121 == 1) */ |
| 203 | 5e2f673b | Marc Rothmann | |
| 204 | /** @} */ |