amiro-lld / drivers / AT42QT1050 / v1 / alld_AT42QT1050.c @ d55455fa
History | View | Annotate | Download (9.11 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU Lesser General Public License as published by
|
| 7 |
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 |
GNU Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file alld_AT42QT1050.c
|
| 21 |
* @brief Touch sensor function implementations.
|
| 22 |
*
|
| 23 |
* @addtogroup lld_touch
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <alld_AT42QT1050.h> |
| 28 |
#include <math.h> |
| 29 |
|
| 30 |
/******************************************************************************/
|
| 31 |
/* LOCAL DEFINITIONS */
|
| 32 |
/******************************************************************************/
|
| 33 |
#define AT42QT1050_LLD_WATCHDOGTIME_MAX 125000 |
| 34 |
#define AT42QT1050_LLD_INITIALIZATION_TIME_MAX 30000 |
| 35 |
|
| 36 |
/******************************************************************************/
|
| 37 |
/* EXPORTED VARIABLES */
|
| 38 |
/******************************************************************************/
|
| 39 |
|
| 40 |
/******************************************************************************/
|
| 41 |
/* LOCAL TYPES */
|
| 42 |
/******************************************************************************/
|
| 43 |
|
| 44 |
/******************************************************************************/
|
| 45 |
/* LOCAL VARIABLES */
|
| 46 |
/******************************************************************************/
|
| 47 |
|
| 48 |
/******************************************************************************/
|
| 49 |
/* LOCAL FUNCTIONS */
|
| 50 |
/******************************************************************************/
|
| 51 |
|
| 52 |
/******************************************************************************/
|
| 53 |
/* EXPORTED FUNCTIONS */
|
| 54 |
/******************************************************************************/
|
| 55 |
|
| 56 |
/**
|
| 57 |
* @brief Read 8bit data from any register.
|
| 58 |
*
|
| 59 |
* @param[in] at42qt1050d The AT42QT1050 driver to use.
|
| 60 |
* @param[in] reg Register address to read from.
|
| 61 |
* @param[out] data Pointer to store the register data to.
|
| 62 |
* @param[in] timeout Timeout for the function to return (in microseconds).
|
| 63 |
*
|
| 64 |
* @return Indicator whether the function call was successful or a timeout occurred.
|
| 65 |
*/
|
| 66 |
apalExitStatus_t at42qt1050_lld_read_reg(const AT42QT1050Driver* at42qt1050d, const at42qt1050_lld_register_t reg, uint8_t* const data, const apalTime_t timeout) |
| 67 |
{
|
| 68 |
apalDbgAssert(at42qt1050d != NULL && at42qt1050d->i2cd != NULL); |
| 69 |
apalDbgAssert(data != NULL);
|
| 70 |
|
| 71 |
const uint8_t txbuf = (uint8_t)reg;
|
| 72 |
return apalI2CMasterTransmit(at42qt1050d->i2cd, at42qt1050d->addr, &txbuf, 1, data, 1, timeout); |
| 73 |
} |
| 74 |
|
| 75 |
/**
|
| 76 |
* @brief Write 8bit data to any (writable) register.
|
| 77 |
*
|
| 78 |
* @param[in] at42qt1050d The AT42QT1050 driver to use.
|
| 79 |
* @param[in] reg Register address to write to.
|
| 80 |
* @param[in] data Data to transmit.
|
| 81 |
* @param[in] timeout Timeout for the function to return (in microseconds).
|
| 82 |
*
|
| 83 |
* @return Indicator whether the function call was successful or a timeout occurred.
|
| 84 |
*/
|
| 85 |
apalExitStatus_t at42qt1050_lld_write_reg(const AT42QT1050Driver* at42qt1050d, const at42qt1050_lld_register_t reg, const uint8_t data, const apalTime_t timeout) |
| 86 |
{
|
| 87 |
apalDbgAssert(at42qt1050d != NULL && at42qt1050d->i2cd != NULL); |
| 88 |
|
| 89 |
const uint8_t txbuf[2] = { (uint8_t)reg, data }; |
| 90 |
return apalI2CMasterTransmit(at42qt1050d->i2cd, at42qt1050d->addr, txbuf, 2, NULL, 0, timeout); |
| 91 |
} |
| 92 |
|
| 93 |
/**
|
| 94 |
* @brief Read signal information of a key.
|
| 95 |
*
|
| 96 |
* @param[in] at42qt1050d The AT42QT1050 driver to use.
|
| 97 |
* @param[in] key Key to read the signal information of.
|
| 98 |
* @param[out] signal Pointer to store the data to.
|
| 99 |
* @param[in] timeout Timeout for the function to return (in microseconds).
|
| 100 |
*
|
| 101 |
* @return Indicator whether the function call was successful or a timeout occurred.
|
| 102 |
*/
|
| 103 |
apalExitStatus_t at42qt1050_lld_read_keyssignal(const AT42QT1050Driver* at42qt1050d, const uint8_t key, uint16_t* signal, const apalTime_t timeout) |
| 104 |
{
|
| 105 |
apalDbgAssert(at42qt1050d != NULL && at42qt1050d->i2cd != NULL); |
| 106 |
apalDbgAssert(key < AT42QT1050_LLD_NUM_KEYS); |
| 107 |
apalDbgAssert(signal != NULL);
|
| 108 |
|
| 109 |
const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_KEYSIGNAL_0, key);
|
| 110 |
uint8_t rxbuf[2];
|
| 111 |
const apalExitStatus_t status = apalI2CMasterTransmit(at42qt1050d->i2cd, at42qt1050d->addr, &txbuf, 1, rxbuf, 2, timeout); |
| 112 |
*signal = (rxbuf[0] << 8) | rxbuf[1]; |
| 113 |
return status;
|
| 114 |
} |
| 115 |
|
| 116 |
/**
|
| 117 |
* @brief Read reference data of a key.
|
| 118 |
*
|
| 119 |
* @param[in] at42qt1050d The AT42QT1050 driver to use.
|
| 120 |
* @param[in] key Key to read the signal information of.
|
| 121 |
* @param[out] refdata Pointer to store the data to.
|
| 122 |
* @param[in] timeout Timeout for the function to return (in microseconds).
|
| 123 |
*
|
| 124 |
* @return Indicator whether the function call was successful or a timeout occurred.
|
| 125 |
*/
|
| 126 |
apalExitStatus_t at42qt1050_lld_read_referencedata(const AT42QT1050Driver* at42qt1050d, const uint8_t key, uint16_t* refdata, const apalTime_t timeout) |
| 127 |
{
|
| 128 |
apalDbgAssert(at42qt1050d != NULL && at42qt1050d->i2cd != NULL); |
| 129 |
apalDbgAssert(key < AT42QT1050_LLD_NUM_KEYS); |
| 130 |
apalDbgAssert(refdata != NULL);
|
| 131 |
|
| 132 |
const at42qt1050_lld_register_t txbuf = at42qt1050_lld_addr_calc(AT42QT1050_LLD_REG_REFERENCEDATA_0, key);
|
| 133 |
uint8_t rxbuf[2];
|
| 134 |
const apalExitStatus_t status = apalI2CMasterTransmit(at42qt1050d->i2cd, at42qt1050d->addr, &txbuf, 1, rxbuf, 2, timeout); |
| 135 |
*refdata = (rxbuf[0] << 8) | rxbuf[1]; |
| 136 |
return status;
|
| 137 |
} |
| 138 |
|
| 139 |
/**
|
| 140 |
* @brief Soft Reset of the device
|
| 141 |
*
|
| 142 |
* @param[in] at42qt1050d The AT42QT1050 driver to use.
|
| 143 |
* @param[in] timeout Timeout for the function to return (in microseconds).
|
| 144 |
* @param[in] wait4wakeup Wait for device wakeup (timeout must be > 155 ms)
|
| 145 |
*
|
| 146 |
* @return Indicator whether the function call was successful or a timeout occurred.
|
| 147 |
*/
|
| 148 |
inline apalExitStatus_t at42qt1050_lld_reset_safe(const AT42QT1050Driver* at42qt1050d, const bool wait4wakeup, const apalTime_t timeout) { |
| 149 |
if(wait4wakeup)
|
| 150 |
apalDbgAssert(timeout >= AT42QT1050_LLD_WATCHDOGTIME_MAX+AT42QT1050_LLD_INITIALIZATION_TIME_MAX); |
| 151 |
|
| 152 |
return at42qt1050_lld_reset(at42qt1050d, timeout-(AT42QT1050_LLD_WATCHDOGTIME_MAX+AT42QT1050_LLD_INITIALIZATION_TIME_MAX), wait4wakeup);
|
| 153 |
} |
| 154 |
|
| 155 |
/**
|
| 156 |
* @brief Soft Reset of the device
|
| 157 |
*
|
| 158 |
* @param[in] at42qt1050d The AT42QT1050 driver to use.
|
| 159 |
* @param[in] timeout Timeout for the i2c call (in microseconds).
|
| 160 |
* @param[in] wait4wakeup Wait for device wakeup (155 ms)
|
| 161 |
*
|
| 162 |
* @return Indicator whether the function call was successful or a timeout occurred.
|
| 163 |
*/
|
| 164 |
inline apalExitStatus_t at42qt1050_lld_reset(const AT42QT1050Driver* at42qt1050d, const apalTime_t timeout, const bool wait4wakeup) { |
| 165 |
apalDbgAssert(at42qt1050d != NULL && at42qt1050d->i2cd != NULL); |
| 166 |
|
| 167 |
const apalExitStatus_t status = at42qt1050_lld_write_reg(
|
| 168 |
at42qt1050d, AT42QT1050_LLD_REG_RESET_CALIBRATE, AT42QT1050_LLD_RESETCALIBRATE_RESET, timeout); |
| 169 |
if(wait4wakeup)
|
| 170 |
usleep(AT42QT1050_LLD_WATCHDOGTIME_MAX+AT42QT1050_LLD_INITIALIZATION_TIME_MAX+timeout); // watchdog timer+initialization -> datasheet
|
| 171 |
return status;
|
| 172 |
} |
| 173 |
|
| 174 |
/**
|
| 175 |
* @brief Convert a 4 bit pulse value to the representing number of samples.
|
| 176 |
* @details Calculation: <#samples> = 2^(<pulse value>)
|
| 177 |
*
|
| 178 |
* @param[in] pulse Pulse value.
|
| 179 |
*
|
| 180 |
* @return Resulting sample count.
|
| 181 |
*/
|
| 182 |
uint16_t at42qt1050_lld_pulse2samples(const uint8_t pulse)
|
| 183 |
{
|
| 184 |
apalDbgAssert(pulse <= 0x0Fu);
|
| 185 |
|
| 186 |
return (1 << pulse); |
| 187 |
} |
| 188 |
|
| 189 |
/**
|
| 190 |
* @brief Convert a desired number of samples to the according (theoretical) pulse value.
|
| 191 |
* @details Calculation: <pulse value> = log2(<#samples>)
|
| 192 |
*
|
| 193 |
* @param[in] samples Desired number of samples.
|
| 194 |
*
|
| 195 |
* @return The (theoretical) value to set to the pulse register.
|
| 196 |
*/
|
| 197 |
float at42qt1050_lld_samples2pulse(const uint16_t samples) |
| 198 |
{
|
| 199 |
return log2f(samples);
|
| 200 |
} |
| 201 |
|
| 202 |
/**
|
| 203 |
* @brief Convert a 4 bit scale value to the accoring scaling factor.
|
| 204 |
* @details Calculation: <scaling factor> = 2^(<scale value>)
|
| 205 |
*
|
| 206 |
* @param[in] scale Scale value.
|
| 207 |
*
|
| 208 |
* @return Resulting scaling factor.
|
| 209 |
*/
|
| 210 |
uint16_t at42qt1050_lld_scale2scaling(const uint8_t scale)
|
| 211 |
{
|
| 212 |
apalDbgAssert(scale <= 0x0Fu);
|
| 213 |
|
| 214 |
return (1 << scale); |
| 215 |
} |
| 216 |
|
| 217 |
/**
|
| 218 |
* @brief Convert a desired scaling factor to the according (theoretical) scale value.
|
| 219 |
* @details Calculation: <scale value> = log2(<scaling factor>
|
| 220 |
* )
|
| 221 |
* @param[in] factor Desired scaling factor.
|
| 222 |
*
|
| 223 |
* @return The (theoretcial) value to set to the scale register.
|
| 224 |
*/
|
| 225 |
float at42qt1050_lld_scaling2scale(const uint16_t factor) |
| 226 |
{
|
| 227 |
return log2f(factor);
|
| 228 |
} |
| 229 |
|
| 230 |
/** @} */
|
| 231 |
|