amiro-lld / source / alld_mpr121.c @ ef078306
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1 | d6728c5b | 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 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | d6728c5b | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
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7 | d6728c5b | Thomas Schöpping | 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 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
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14 | d6728c5b | Thomas Schöpping | |
15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
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16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 5e2f673b | Marc Rothmann | /**
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20 | * @file alld_mpr121.c
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21 | * @brief Touch Sensor function implementations.
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22 | *
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23 | * @addtogroup lld_touch
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24 | * @{
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25 | */
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26 | |||
27 | d6728c5b | Thomas Schöpping | #include <alld_mpr121.h> |
28 | |||
29 | #if defined(AMIROLLD_CFG_USE_MPR121) || defined(__DOXYGEN__)
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30 | |||
31 | #include <string.h> |
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32 | |||
33 | ef078306 | Thomas Schöpping | /******************************************************************************/
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34 | /* LOCAL DEFINITIONS */
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35 | /******************************************************************************/
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36 | |||
37 | /******************************************************************************/
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38 | /* EXPORTED VARIABLES */
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39 | /******************************************************************************/
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40 | |||
41 | /******************************************************************************/
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42 | /* LOCAL TYPES */
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43 | /******************************************************************************/
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44 | |||
45 | /******************************************************************************/
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46 | /* LOCAL VARIABLES */
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47 | /******************************************************************************/
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48 | |||
49 | /******************************************************************************/
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50 | /* LOCAL FUNCTIONS */
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51 | /******************************************************************************/
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52 | |||
53 | /******************************************************************************/
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54 | /* EXPORTED FUNCTIONS */
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55 | /******************************************************************************/
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56 | |||
57 | d6728c5b | Thomas Schöpping | /**
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58 | * @brief Read one or more of the internal registers of the mpr121.
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59 | * @param[in] mprd MPR121 Driver
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60 | * @param[in] regaddr Address of the register
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61 | * @param[in] offset Offset to be added to the register address
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62 | * @param[in] size Size of the data to be read
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63 | * @param[out] data The data that has been Read
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64 | * @param[in] timeout Timeout for the I2C Bus
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65 | *
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66 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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67 | */
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68 | inline apalExitStatus_t
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69 | 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) |
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70 | { |
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71 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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72 | apalDbgAssert(data != NULL);
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73 | |||
74 | uint8_t addr = regaddr + offset; |
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75 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, &addr, 1, data, size, timeout); |
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76 | } |
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77 | |||
78 | /**
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79 | * @brief Write to one or more of the internal registers of the mpr121.
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80 | * @param[in] mprd MPR121 Driver
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81 | * @param[in] regaddr Address of the register
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82 | * @param[in] offset Offset to be added to the register address
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83 | * @param[in] size Size of the data to be read
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84 | * @param[in] data The data that will be written
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85 | * @param[in] timeout Timeout for the I2C Bus
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86 | *
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87 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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88 | */
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89 | inline apalExitStatus_t
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90 | 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) |
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91 | { |
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92 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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93 | apalDbgAssert(data != NULL);
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94 | |||
95 | uint8_t buffer[size+1];
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96 | buffer[0] = regaddr + offset;
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97 | memcpy(buffer+1, data, size);
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98 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, size+1, NULL, 0, timeout); |
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99 | } |
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100 | |||
101 | /**
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102 | * @brief Perform a soft reset of the mpr121.
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103 | * @param[in] mprd MPR121 Driver
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104 | * @param[in] timeout Timeout for the I2C Bus
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105 | *
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106 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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107 | */
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108 | inline apalExitStatus_t
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109 | mpr121_lld_soft_reset(const MPR121Driver* const mprd, const apalTime_t timeout) |
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110 | { |
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111 | apalDbgAssert(mprd != NULL && mprd->i2cd != NULL); |
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112 | |||
113 | uint8_t buffer[2] = {MPR121_LLD_REGISTER_SOFT_RESET, MPR121_LLD_I2C_SOFTRESET};
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114 | return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, 2, NULL, 0, timeout); |
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115 | } |
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116 | |||
117 | /**
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118 | * @brief Read the filtered data of the mpr121 sensors.
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119 | * @param[in] mprd MPR121 Driver
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120 | * @param[in] index The index of the sensor from which reading should be started
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121 | * @param[in] num Number of consecutive sensors to read
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122 | * @param[in] data The data that has been read
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123 | * @param[in] timeout Timeout for the I2C Bus
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124 | *
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125 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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126 | */
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127 | inline apalExitStatus_t
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128 | 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) |
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129 | { |
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130 | apalDbgAssert(data != NULL);
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131 | |||
132 | uint8_t buffer[2*num];
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133 | apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_FILTERED_DATA, index*2, num*2, buffer, timeout); |
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134 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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135 | data[dataIdx] = (((uint16_t)buffer[2*dataIdx+1]) << 8) | buffer[dataIdx*2]; |
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136 | } |
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137 | return status;
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138 | } |
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139 | |||
140 | /**
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141 | * @brief Read the baseline data of the mpr121 sensors.
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142 | * @param[in] mprd MPR121 Driver
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143 | * @param[in] index The index of the sensor from which reading should be started
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144 | * @param[in] num Number of consecutive sensors to read
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145 | * @param[in] data The data that has been read
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146 | * @param[in] timeout Timeout for the I2C Bus
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147 | *
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148 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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149 | */
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150 | inline apalExitStatus_t
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151 | 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) |
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152 | { |
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153 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_BASELINE, index, num, data, timeout);
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154 | } |
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155 | |||
156 | /**
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157 | * @brief Read the electrode data of the mpr121 sensors.
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158 | * @param[in] mprd MPR121 Driver
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159 | * @param[in] index The index of the sensor from which reading should be started
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160 | * @param[in] num Number of consecutive sensors to read
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161 | * @param[in] data The data that has been read
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162 | * @param[in] timeout Timeout for the I2C Bus
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163 | *
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164 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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165 | */
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166 | inline apalExitStatus_t
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167 | 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) |
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168 | { |
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169 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_ELE_CURRENT, index, num, data, timeout);
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170 | } |
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171 | |||
172 | /**
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173 | * @brief Write a configuration to the mpr121.
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174 | * @param[in] mprd MPR121 Driver
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175 | * @param[in] cfg The configuration to be written
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176 | * @param[in] timeout Timeout for the I2C Bus
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177 | *
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178 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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179 | */
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180 | inline apalExitStatus_t
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181 | mpr121_lld_write_config(const MPR121Driver* const mprd, const mpr121_lld_config_t cfg, const apalTime_t timeout) |
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182 | { |
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183 | const apalExitStatus_t status = mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg.values, timeout); |
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184 | if (status != APAL_STATUS_OK) {
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185 | return status;
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186 | } else {
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187 | return mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg.values[5]), timeout); |
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188 | } |
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189 | } |
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190 | |||
191 | /**
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192 | * @brief Read a configuration from the mpr121.
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193 | * @param[in] mprd MPR121 Driver
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194 | * @param[in] cfg The configuration to be written
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195 | * @param[in] timeout Timeout for the I2C Bus
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196 | *
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197 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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198 | */
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199 | inline apalExitStatus_t
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200 | mpr121_lld_read_config(const MPR121Driver* const mprd, mpr121_lld_config_t* const cfg, const apalTime_t timeout) |
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201 | { |
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202 | const apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg->values, timeout); |
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203 | if (status != APAL_STATUS_OK) {
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204 | return status;
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205 | } else {
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206 | return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg->values[5]), timeout); |
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207 | } |
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208 | } |
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209 | |||
210 | #endif /* defined(AMIROLLD_CFG_USE_MPR121) */ |
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211 | 5e2f673b | Marc Rothmann | |
212 | /** @} */ |