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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file    alld_mpr121.c
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 * @brief   Touch Sensor function implementations.
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 *
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 * @addtogroup lld_touch
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 * @{
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 */
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#include <alld_mpr121.h>
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#if defined(AMIROLLD_CFG_USE_MPR121) || defined(__DOXYGEN__)
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#include <string.h>
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/******************************************************************************/
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/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES                                                         */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES                                                                */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES                                                            */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS                                                            */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS                                                         */
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/******************************************************************************/
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/**
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 * @brief Read one or more of the internal registers of the mpr121.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   regaddr Address of the register
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 * @param[in]   offset  Offset to be added to the register address
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 * @param[in]   size    Size of the data to be read
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 * @param[out]  data    The data that has been Read
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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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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{
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  apalDbgAssert(mprd != NULL && mprd->i2cd != NULL);
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  apalDbgAssert(data != NULL);
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  uint8_t addr = regaddr + offset;
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  return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, &addr, 1, data, size, timeout);
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}
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/**
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 * @brief Write to one or more of the internal registers of the mpr121.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   regaddr Address of the register
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 * @param[in]   offset  Offset to be added to the register address
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 * @param[in]   size    Size of the data to be read
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 * @param[in]   data    The data that will be written
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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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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{
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  apalDbgAssert(mprd != NULL && mprd->i2cd != NULL);
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  apalDbgAssert(data != NULL);
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  uint8_t buffer[size+1];
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  buffer[0] = regaddr + offset;
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  memcpy(buffer+1, data, size);
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  return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, size+1, NULL, 0, timeout);
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}
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/**
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 * @brief Perform a soft reset of the mpr121.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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mpr121_lld_soft_reset(const MPR121Driver* const mprd, const  apalTime_t timeout)
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{
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  apalDbgAssert(mprd != NULL && mprd->i2cd != NULL);
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  uint8_t buffer[2] = {MPR121_LLD_REGISTER_SOFT_RESET, MPR121_LLD_I2C_SOFTRESET};
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  return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, 2, NULL, 0, timeout);
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}
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/**
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 * @brief Read the filtered data of the mpr121 sensors.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   index   The index of the sensor from which reading should be started
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 * @param[in]   num     Number of consecutive sensors to read
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 * @param[in]   data    The data that has been read
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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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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{
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  apalDbgAssert(data != NULL);
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  uint8_t buffer[2*num];
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  apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_FILTERED_DATA, index*2, num*2, buffer, timeout);
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  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
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    data[dataIdx] = (((uint16_t)buffer[2*dataIdx+1]) << 8) | buffer[dataIdx*2];
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  }
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  return status;
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}
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/**
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 * @brief Read the baseline data of the mpr121 sensors.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   index   The index of the sensor from which reading should be started
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 * @param[in]   num     Number of consecutive sensors to read
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 * @param[in]   data    The data that has been read
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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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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{
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  return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_BASELINE, index, num, data, timeout);
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}
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/**
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 * @brief Read the electrode data of the mpr121 sensors.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   index   The index of the sensor from which reading should be started
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 * @param[in]   num     Number of consecutive sensors to read
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 * @param[in]   data    The data that has been read
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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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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{
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  return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_ELE_CURRENT, index, num, data, timeout);
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}
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/**
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 * @brief Write a configuration to the mpr121.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   cfg     The configuration to be written
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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mpr121_lld_write_config(const MPR121Driver* const mprd, const mpr121_lld_config_t cfg, const apalTime_t timeout)
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{
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  const apalExitStatus_t status = mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg.values, timeout);
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  if (status != APAL_STATUS_OK) {
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    return status;
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  } else {
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    return mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg.values[5]), timeout);
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  }
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}
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/**
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 * @brief Read a configuration from the mpr121.
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 * @param[in]   mprd    MPR121 Driver
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 * @param[in]   cfg     The configuration to be written
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 * @param[in]   timeout Timeout for the I2C Bus
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 *
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 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
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 */
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inline apalExitStatus_t
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mpr121_lld_read_config(const MPR121Driver* const mprd, mpr121_lld_config_t* const cfg, const apalTime_t timeout)
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{
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  const apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg->values, timeout);
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  if (status != APAL_STATUS_OK) {
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    return status;
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  } else {
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    return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg->values[5]), timeout);
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  }
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}
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#endif /* defined(AMIROLLD_CFG_USE_MPR121) */
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/** @} */