amiro-lld / source / alld_pcal6524.c @ e3287406
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| 1 | e3287406 | Thomas Schöpping | /*
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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_pcal6524.c
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| 21 | * @brief GPIO extender function implementations.
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| 22 | *
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| 23 | * @addtogroup lld_gpioext
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | #include <alld_pcal6524.h> |
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| 28 | |||
| 29 | #if defined(AMIROLLD_CFG_USE_PCAL6524) || defined(__DOXYGEN__)
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| 30 | |||
| 31 | #include <string.h> |
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| 32 | |||
| 33 | /*============================================================================*/
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| 34 | /* local constants and functions */
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| 35 | /*============================================================================*/
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| 36 | |||
| 37 | #define _MAXIMUM_GROUP_SIZE 6 |
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| 38 | |||
| 39 | /*============================================================================*/
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| 40 | /* helper functions */
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| 41 | /*============================================================================*/
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| 42 | |||
| 43 | /**
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| 44 | * @brief Returns the size of the group for a specified command.
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| 45 | *
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| 46 | * @param[in] cmd Command to retrieve the group size for.
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| 47 | *
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| 48 | * @return The size of the group in bytes.
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| 49 | */
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| 50 | inline uint8_t pcal6524_lld_cmd_groupsize(const pcal6524_lld_cmd_t cmd) |
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| 51 | {
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| 52 | switch (cmd) {
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| 53 | case PCAL6524_LLD_CMD_OUTPUTCONFIGURATION:
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| 54 | case PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT:
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| 55 | return 1; |
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| 56 | case PCAL6524_LLD_CMD_SWITCHDEBOUNCEENABLE_P0:
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| 57 | case PCAL6524_LLD_CMD_SWITCHDEBOUNCEENABLE_P1:
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| 58 | return 2; |
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| 59 | case PCAL6524_LLD_CMD_INPUT_P0:
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| 60 | case PCAL6524_LLD_CMD_INPUT_P1:
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| 61 | case PCAL6524_LLD_CMD_INPUT_P2:
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| 62 | case PCAL6524_LLD_CMD_OUTPUT_P0:
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| 63 | case PCAL6524_LLD_CMD_OUTPUT_P1:
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| 64 | case PCAL6524_LLD_CMD_OUTPUT_P2:
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| 65 | case PCAL6524_LLD_CMD_POLARITYINVERSION_P0:
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| 66 | case PCAL6524_LLD_CMD_POLARITYINVERSION_P1:
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| 67 | case PCAL6524_LLD_CMD_POLARITYINVERSION_P2:
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| 68 | case PCAL6524_LLD_CMD_CONFIGURATION_P0:
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| 69 | case PCAL6524_LLD_CMD_CONFIGURATION_P1:
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| 70 | case PCAL6524_LLD_CMD_CONFIGURATION_P2:
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| 71 | case PCAL6524_LLD_CMD_INPUTLATCH_P0:
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| 72 | case PCAL6524_LLD_CMD_INPUTLATCH_P1:
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| 73 | case PCAL6524_LLD_CMD_INPUTLATCH_P2:
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| 74 | case PCAL6524_LLD_CMD_PUPDENABLE_P0:
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| 75 | case PCAL6524_LLD_CMD_PUPDENABLE_P1:
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| 76 | case PCAL6524_LLD_CMD_PUPDENABLE_P2:
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| 77 | case PCAL6524_LLD_CMD_PUPDSELECTION_P0:
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| 78 | case PCAL6524_LLD_CMD_PUPDSELECTION_P1:
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| 79 | case PCAL6524_LLD_CMD_PUPDSELECTION_P2:
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| 80 | case PCAL6524_LLD_CMD_INTERRUPTMASK_P0:
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| 81 | case PCAL6524_LLD_CMD_INTERRUPTMASK_P1:
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| 82 | case PCAL6524_LLD_CMD_INTERRUPTMASK_P2:
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| 83 | case PCAL6524_LLD_CMD_INTERRUPTSTATUS_P0:
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| 84 | case PCAL6524_LLD_CMD_INTERRUPTSTATUS_P1:
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| 85 | case PCAL6524_LLD_CMD_INTERRUPTSTATUS_P2:
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| 86 | case PCAL6524_LLD_CMD_INTERRUPTCLEAR_P0:
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| 87 | case PCAL6524_LLD_CMD_INTERRUPTCLEAR_P1:
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| 88 | case PCAL6524_LLD_CMD_INTERRUPTCLEAR_P2:
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| 89 | case PCAL6524_LLD_CMD_INPUTSTATUS_P0:
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| 90 | case PCAL6524_LLD_CMD_INPUTSTATUS_P1:
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| 91 | case PCAL6524_LLD_CMD_INPUTSTATUS_P2:
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| 92 | case PCAL6524_LLD_CMD_INDIVIDUALPINOUTPUTCONFIGURATION_P0:
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| 93 | case PCAL6524_LLD_CMD_INDIVIDUALPINOUTPUTCONFIGURATION_P1:
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| 94 | case PCAL6524_LLD_CMD_INDIVIDUALPINOUTPUTCONFIGURATION_P2:
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| 95 | return 3; |
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| 96 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A:
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| 97 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0B:
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| 98 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P1A:
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| 99 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P1B:
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| 100 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P2A:
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| 101 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P2B:
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| 102 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P0A:
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| 103 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P0B:
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| 104 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P1A:
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| 105 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B:
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| 106 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A:
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| 107 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B:
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| 108 | return 6; |
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| 109 | } |
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| 110 | // must never occur
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| 111 | apalDbgAssert(false);
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| 112 | return 0; |
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| 113 | } |
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| 114 | |||
| 115 | /*============================================================================*/
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| 116 | /* general register access */
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| 117 | /*============================================================================*/
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| 118 | |||
| 119 | // Reading the ID is currently not supported, since the required I²C sequence can not trivially executed via periphAL and ChibiOS/HAL.
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| 120 | ///**
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| 121 | // * @brief Read device ID and manufacturer information.
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| 122 | // *
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| 123 | // * @param[in] pcal6524d The PCAL6524 driver to use.
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| 124 | // * @param[out] info Pointer where to store the information data.
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| 125 | // * @param[in] timeout Timeout for the function to return.
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| 126 | // *
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| 127 | // * @return Indicator whether the function call was successful or a timeout occurred.
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| 128 | // */
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| 129 | //inline apalExitStatus_t
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| 130 | //pcal6524_lld_read_id(const PCAL6524Driver* const pcal6524d, pcal6524_lld_deviceid_t* const info, const apalTime_t timeout)
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| 131 | //{
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| 132 | // apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL);
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| 133 | // apalDbgAssert(info != NULL);
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| 134 | //
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| 135 | // const uint8_t txbuf = (uint8_t)pcal6524d->addr;
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| 136 | // return apalI2CMasterTransmit(pcal6524d->i2cd, PCAL6524_LLD_I2C_ADDR_DEVICEID, &txbuf, 1, info->raw, sizeof(info->raw), timeout);
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| 137 | //}
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| 138 | |||
| 139 | /**
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| 140 | * @brief Read 8bit data from any register.
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| 141 | *
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| 142 | * @param[in] pcal6524d The PCAL6524 driver to use.
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| 143 | * @param[in] reg Command register to read.
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| 144 | * @param[out] data Pointer to store the register data to.
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| 145 | * @param[in] timeout Timeout for the function to return (in microseconds).
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| 146 | *
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| 147 | * @return Indicator whether the function call was successful or a timeout occurred.
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| 148 | */
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| 149 | inline apalExitStatus_t
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| 150 | pcal6524_lld_read_reg(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, uint8_t* const data, const apalTime_t timeout) |
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| 151 | {
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| 152 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
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| 153 | apalDbgAssert(data != NULL);
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| 154 | |||
| 155 | const uint8_t txbuf = (uint8_t)reg;
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| 156 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, &txbuf, 1, data, 1, timeout); |
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| 157 | } |
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| 158 | |||
| 159 | /**
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| 160 | * @brief Write 8bit data to any (writable) register.
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| 161 | *
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| 162 | * @param[in] pcal6524d The PCAL6524 driver to use.
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| 163 | * @param[in] reg Command register to write to.
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| 164 | * @param[in] data Data to transmit.
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| 165 | * @param[in] timeout Timout for the function to return (in microseconds).
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| 166 | *
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| 167 | * @return Indicator whether the function call was successful or a timeout occurred.
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| 168 | */
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| 169 | inline apalExitStatus_t
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| 170 | pcal6524_lld_write_reg(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, const uint8_t data, const apalTime_t timeout) |
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| 171 | {
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| 172 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
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| 173 | |||
| 174 | uint8_t txbuf[2] = { (uint8_t)reg, data };
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| 175 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, txbuf, 2, NULL, 0, timeout); |
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| 176 | } |
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| 177 | |||
| 178 | /**
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| 179 | * @brief Read register group starting with an arbitrary register.
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| 180 | *
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| 181 | * @param[in] pcal6524d The PCAL6524 driver to use.
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| 182 | * @param[in] reg Command register to start at.
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| 183 | * @param[out] data Pointer to store rhe group data to.
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| 184 | * The reqired number of bytes depends on the group.
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| 185 | * @param[in] timeout Timeout for the function to return (in microseconds).
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| 186 | *
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| 187 | * @return Indicator whether the function call was successful or a timeout occurred.
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| 188 | */
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| 189 | inline apalExitStatus_t
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| 190 | pcal6524_lld_read_group(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, uint8_t* const data, const apalTime_t timeout) |
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| 191 | {
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| 192 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
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| 193 | apalDbgAssert(data != NULL);
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| 194 | |||
| 195 | const uint8_t txbuf = (uint8_t)reg;
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| 196 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, &txbuf, 1, data, pcal6524_lld_cmd_groupsize(reg), timeout); |
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| 197 | } |
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| 198 | |||
| 199 | /**
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| 200 | * @brief Write register group data to any (writable) register.
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| 201 | *
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| 202 | * @param[in] pcal6524d The PCAL6524 driver to use.
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| 203 | * @param[in] reg Command register to start at.
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| 204 | * @param[in] data Data to transmit.
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| 205 | * The reqired number of bytes depends on the group.
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| 206 | * @param[in] timeout Timout for the function to return (in microseconds).
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| 207 | *
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| 208 | * @return Indicator whether the function call was successful or a timeout occurred.
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| 209 | */
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| 210 | inline apalExitStatus_t
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| 211 | pcal6524_lld_write_group(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, const uint8_t* const data, const apalTime_t timeout) |
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| 212 | {
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| 213 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
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| 214 | apalDbgAssert(data != NULL);
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| 215 | |||
| 216 | uint8_t txbuf[_MAXIMUM_GROUP_SIZE + 1] = {(uint8_t)reg};
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| 217 | memcpy(&txbuf[1], data, pcal6524_lld_cmd_groupsize(reg));
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| 218 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, txbuf, pcal6524_lld_cmd_groupsize(reg) + 1, NULL, 0, timeout); |
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| 219 | } |
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| 220 | |||
| 221 | /**
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| 222 | * @brief Read multiple registers continously, starting at an arbitrary one.
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| 223 | *
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| 224 | * @param[in] pcal6524d The PCAL6524 driver to use.
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| 225 | * @param[in] reg Command register to start at.
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| 226 | * @param[out] data Pointer to store the group data to.
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| 227 | * @param[in] length Number of registers/bytes to read.
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| 228 | * @param[in] timeout Timeout for the function to return (in microseconds).
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| 229 | *
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| 230 | * @return Indicator whether the function call was successful or a timeout occurred.
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| 231 | */
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| 232 | inline apalExitStatus_t
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| 233 | pcal6524_lld_read_continuous(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, uint8_t* const data, const uint8_t length, const apalTime_t timeout) |
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| 234 | {
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| 235 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
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| 236 | apalDbgAssert(data != NULL);
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| 237 | apalDbgAssert(length <= PCAL6524_LLD_NUM_REGISTERS); |
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| 238 | |||
| 239 | uint8_t txbuf = (uint8_t)reg | PCAL6524_LLD_CMD_AUTOINCREMENT; |
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| 240 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, &txbuf, 1, data, length, timeout); |
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| 241 | } |
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| 242 | |||
| 243 | /**
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| 244 | * @brief Write multiple registers continously, starting at an arbitrary one.
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| 245 | *
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| 246 | * @param[in] pcal6524d The PCAL6524 driver to use.
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| 247 | * @param[in] reg Command register to start at.
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| 248 | * @param[in] data Pointer to the data to write.
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| 249 | * @param[in] length Number of registers/bytes to write.
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| 250 | * @param[in] timeout Timeout for the function to return (in microseconds).
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| 251 | *
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| 252 | * @return Indicator whether the function call was successful or a timeout occurred.
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| 253 | */
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| 254 | inline apalExitStatus_t
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| 255 | pcal6524_lld_write_continuous(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, const uint8_t* const data, const uint8_t length, const apalTime_t timeout) |
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| 256 | {
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| 257 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
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| 258 | apalDbgAssert(data != NULL);
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| 259 | apalDbgAssert(length <= PCAL6524_LLD_NUM_REGISTERS); |
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| 260 | |||
| 261 | uint8_t txbuf[PCAL6524_LLD_NUM_REGISTERS + 1] = {(uint8_t)reg | PCAL6524_LLD_CMD_AUTOINCREMENT};
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| 262 | memcpy(&txbuf[1], data, length);
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| 263 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, txbuf, length + 1, NULL, 0, timeout); |
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| 264 | } |
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| 265 | |||
| 266 | #endif /* defined(AMIROLLD_CFG_USE_PCAL6524) */ |
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| 267 | |||
| 268 | /** @} */ |