AMiRo-OS

/*

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

Copyright (C) 2016..2019  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/>.

*/

/**

 * @file    alld_P9221R_v1.c

 *

 * @brief   Power Monitor function implementations

 *

 * @addtogroup lld_power

 * @{

 */

#include <alld_P9221R.h>

#if (defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1)) || defined(__DOXYGEN__)

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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/**

 * @brief Read the value of one or more of the registers.

 * @param[in]   i2cd        i2c driver

 * @param[in]   PRd         p9221r driver

 * @param[in]   addr        register address

 * @param[out]  data        register content

 * @param[in]   num         number of subsequent registers to read

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

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)

{

  apalDbgAssert(p9221r != NULL);

  apalDbgAssert(p9221r->i2cd != NULL);

  apalDbgAssert(data != NULL);

  uint8_t buffer[num];

  apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), (uint8_t*)&addr, 2, buffer, num, timeout);

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

      data[dataIdx] = buffer[dataIdx];

  }

  return status;

}

/**

 * @brief Write the value of one or more of the registers.

 * @param[in]   i2cd        i2c driver

 * @param[in]   PRd         p9221r driver

 * @param[in]   addr        register address

 * @param[in]   data        data to write

 * @param[in]   num         number of subsequent registers to read

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

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)

{

  apalDbgAssert(p9221r != NULL);

  apalDbgAssert(p9221r->i2cd != NULL);

  apalDbgAssert(data != NULL);

  uint8_t buffer[1+2*num];

  buffer[0] = addr;

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

    buffer[dataIdx*2+1] = data[dataIdx] >> 8;

    buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu);

  }

  return apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), buffer, 1+2*num, NULL, 0, timeout);

}

/**

 * @brief Read the x_alignment.

 * @param[in]   i2cd        i2c driver

 * @param[in]   PRd         p9221r driver

 * @param[out]  x_alignment alignment register content

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

apalExitStatus_t p9221r_lld_read_x_alignment(const P9221RDriver* const p9221r, int8_t* const x_alignment, const apalTime_t timeout)

{

    uint8_t address = P9221R_LLD_REGISTER_ALIGNMENT_X;

    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)

    return status;

}

/**

 * @brief Read the y_alignment.

 * @param[in]   i2cd        i2c driver

 * @param[in]   PRd         p9221r driver

 * @param[out]  y_alignment alignment register content

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

apalExitStatus_t p9221r_lld_read_y_alignment(const P9221RDriver* const p9221r, int8_t* const y_alignment, const apalTime_t timeout)

{

    uint8_t address = P9221R_LLD_REGISTER_ALIGNMENT_Y;

    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)

    return status;

}

/**

 * @brief Read the voltage.

 * @param[in]   i2cd        i2c driver

 * @param[in]   PRd         p9221r driver

 * @param[out]  voltage     voltage register content

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

apalExitStatus_t p9221r_lld_read_voltage(const P9221RDriver* const p9221r, float* const voltage, const apalTime_t timeout)

{

    uint8_t addr = P9221R_LLD_REGISTER_OUTPUT_VOLTAGE_LSB;

    uint8_t buffer[2];

    uint16_t value;

    apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), (uint8_t*)&addr, 1, buffer, 2, timeout);

    value = ((buffer[1] << 8) & 0x0F) | buffer[0]; // 4MSB are in buffer[1] so we shift and mask, 8LSB are in buffer[0]

    *voltage = (((float) value) * 6 * 2.1)/4095.0;

    return status;

}

/**

 * @brief Read the current.

 * @param[in]   i2cd        i2c driver

 * @param[in]   PRd         p9221r driver

 * @param[out]  current     register content

 * @param[in]   timeout     timeout

 * @return                  An indicator whether the call was successfull

 */

apalExitStatus_t p9221r_lld_read_current(const P9221RDriver* const p9221r, float* const current, const apalTime_t timeout)

{

    uint8_t addr = P9221R_LLD_REGISTER_IOUT_CURRENT_LSB;

    uint8_t buffer[2];

    uint16_t value;

    apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), (uint8_t*)&addr, 1, buffer, 2, timeout);

    value = (buffer[1] << 8) | buffer[0]; // 8MSB are in buffer[1] so we shift, 8LSB are in buffer[0]

    *current = (((float) value) * 2 * 2.1)/4095.0;

    return status;

}

#endif /* defined(AMIROLLD_CFG_P9221R) && (AMIROLLD_CFG_P9221R == 1) */