amiro-lld / drivers / PCAL6524 / v1 / alld_PCAL6524.c @ f0dd1ac4
History | View | Annotate | Download (11.792 KB)
| 1 | e3287406 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | f69ec051 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 | e3287406 | Thomas Schöpping | |
| 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 | 1d5bcc82 | Thomas Schöpping | * @file alld_PCAL6524.c
|
| 21 | e3287406 | Thomas Schöpping | * @brief GPIO extender function implementations.
|
| 22 | *
|
||
| 23 | * @addtogroup lld_gpioext
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | 1d5bcc82 | Thomas Schöpping | #include <alld_PCAL6524.h> |
| 28 | e3287406 | Thomas Schöpping | |
| 29 | #include <string.h> |
||
| 30 | |||
| 31 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 32 | /* LOCAL DEFINITIONS */
|
||
| 33 | /******************************************************************************/
|
||
| 34 | e3287406 | Thomas Schöpping | |
| 35 | fe058578 | Thomas Schöpping | #define MAXIMUM_GROUP_SIZE 6 |
| 36 | e3287406 | Thomas Schöpping | |
| 37 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 38 | /* EXPORTED VARIABLES */
|
||
| 39 | /******************************************************************************/
|
||
| 40 | |||
| 41 | /******************************************************************************/
|
||
| 42 | /* LOCAL TYPES */
|
||
| 43 | /******************************************************************************/
|
||
| 44 | |||
| 45 | /******************************************************************************/
|
||
| 46 | /* LOCAL VARIABLES */
|
||
| 47 | /******************************************************************************/
|
||
| 48 | |||
| 49 | /******************************************************************************/
|
||
| 50 | /* LOCAL FUNCTIONS */
|
||
| 51 | /******************************************************************************/
|
||
| 52 | |||
| 53 | /******************************************************************************/
|
||
| 54 | /* EXPORTED FUNCTIONS */
|
||
| 55 | /******************************************************************************/
|
||
| 56 | e3287406 | Thomas Schöpping | |
| 57 | /**
|
||
| 58 | * @brief Returns the size of the group for a specified command.
|
||
| 59 | *
|
||
| 60 | * @param[in] cmd Command to retrieve the group size for.
|
||
| 61 | *
|
||
| 62 | * @return The size of the group in bytes.
|
||
| 63 | */
|
||
| 64 | 21076167 | Thomas Schöpping | uint8_t pcal6524_lld_cmd_groupsize(const pcal6524_lld_cmd_t cmd)
|
| 65 | e3287406 | Thomas Schöpping | {
|
| 66 | switch (cmd) {
|
||
| 67 | case PCAL6524_LLD_CMD_OUTPUTCONFIGURATION:
|
||
| 68 | case PCAL6524_LLD_CMD_SWITCHDEBOUNCECOUNT:
|
||
| 69 | return 1; |
||
| 70 | case PCAL6524_LLD_CMD_SWITCHDEBOUNCEENABLE_P0:
|
||
| 71 | case PCAL6524_LLD_CMD_SWITCHDEBOUNCEENABLE_P1:
|
||
| 72 | return 2; |
||
| 73 | case PCAL6524_LLD_CMD_INPUT_P0:
|
||
| 74 | case PCAL6524_LLD_CMD_INPUT_P1:
|
||
| 75 | case PCAL6524_LLD_CMD_INPUT_P2:
|
||
| 76 | case PCAL6524_LLD_CMD_OUTPUT_P0:
|
||
| 77 | case PCAL6524_LLD_CMD_OUTPUT_P1:
|
||
| 78 | case PCAL6524_LLD_CMD_OUTPUT_P2:
|
||
| 79 | case PCAL6524_LLD_CMD_POLARITYINVERSION_P0:
|
||
| 80 | case PCAL6524_LLD_CMD_POLARITYINVERSION_P1:
|
||
| 81 | case PCAL6524_LLD_CMD_POLARITYINVERSION_P2:
|
||
| 82 | case PCAL6524_LLD_CMD_CONFIGURATION_P0:
|
||
| 83 | case PCAL6524_LLD_CMD_CONFIGURATION_P1:
|
||
| 84 | case PCAL6524_LLD_CMD_CONFIGURATION_P2:
|
||
| 85 | case PCAL6524_LLD_CMD_INPUTLATCH_P0:
|
||
| 86 | case PCAL6524_LLD_CMD_INPUTLATCH_P1:
|
||
| 87 | case PCAL6524_LLD_CMD_INPUTLATCH_P2:
|
||
| 88 | case PCAL6524_LLD_CMD_PUPDENABLE_P0:
|
||
| 89 | case PCAL6524_LLD_CMD_PUPDENABLE_P1:
|
||
| 90 | case PCAL6524_LLD_CMD_PUPDENABLE_P2:
|
||
| 91 | case PCAL6524_LLD_CMD_PUPDSELECTION_P0:
|
||
| 92 | case PCAL6524_LLD_CMD_PUPDSELECTION_P1:
|
||
| 93 | case PCAL6524_LLD_CMD_PUPDSELECTION_P2:
|
||
| 94 | case PCAL6524_LLD_CMD_INTERRUPTMASK_P0:
|
||
| 95 | case PCAL6524_LLD_CMD_INTERRUPTMASK_P1:
|
||
| 96 | case PCAL6524_LLD_CMD_INTERRUPTMASK_P2:
|
||
| 97 | case PCAL6524_LLD_CMD_INTERRUPTSTATUS_P0:
|
||
| 98 | case PCAL6524_LLD_CMD_INTERRUPTSTATUS_P1:
|
||
| 99 | case PCAL6524_LLD_CMD_INTERRUPTSTATUS_P2:
|
||
| 100 | case PCAL6524_LLD_CMD_INTERRUPTCLEAR_P0:
|
||
| 101 | case PCAL6524_LLD_CMD_INTERRUPTCLEAR_P1:
|
||
| 102 | case PCAL6524_LLD_CMD_INTERRUPTCLEAR_P2:
|
||
| 103 | case PCAL6524_LLD_CMD_INPUTSTATUS_P0:
|
||
| 104 | case PCAL6524_LLD_CMD_INPUTSTATUS_P1:
|
||
| 105 | case PCAL6524_LLD_CMD_INPUTSTATUS_P2:
|
||
| 106 | case PCAL6524_LLD_CMD_INDIVIDUALPINOUTPUTCONFIGURATION_P0:
|
||
| 107 | case PCAL6524_LLD_CMD_INDIVIDUALPINOUTPUTCONFIGURATION_P1:
|
||
| 108 | case PCAL6524_LLD_CMD_INDIVIDUALPINOUTPUTCONFIGURATION_P2:
|
||
| 109 | return 3; |
||
| 110 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0A:
|
||
| 111 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P0B:
|
||
| 112 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P1A:
|
||
| 113 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P1B:
|
||
| 114 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P2A:
|
||
| 115 | case PCAL6524_LLD_CMD_OUTPUTDRIVESTRENGTH_P2B:
|
||
| 116 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P0A:
|
||
| 117 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P0B:
|
||
| 118 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P1A:
|
||
| 119 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B:
|
||
| 120 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A:
|
||
| 121 | case PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B:
|
||
| 122 | return 6; |
||
| 123 | } |
||
| 124 | // must never occur
|
||
| 125 | apalDbgAssert(false);
|
||
| 126 | return 0; |
||
| 127 | } |
||
| 128 | |||
| 129 | /*============================================================================*/
|
||
| 130 | /* general register access */
|
||
| 131 | /*============================================================================*/
|
||
| 132 | |||
| 133 | // Reading the ID is currently not supported, since the required I²C sequence can not trivially executed via periphAL and ChibiOS/HAL.
|
||
| 134 | ///**
|
||
| 135 | // * @brief Read device ID and manufacturer information.
|
||
| 136 | // *
|
||
| 137 | // * @param[in] pcal6524d The PCAL6524 driver to use.
|
||
| 138 | // * @param[out] info Pointer where to store the information data.
|
||
| 139 | // * @param[in] timeout Timeout for the function to return.
|
||
| 140 | // *
|
||
| 141 | // * @return Indicator whether the function call was successful or a timeout occurred.
|
||
| 142 | // */
|
||
| 143 | 21076167 | Thomas Schöpping | //apalExitStatus_t pcal6524_lld_read_id(const PCAL6524Driver* const pcal6524d, pcal6524_lld_deviceid_t* const info, const apalTime_t timeout)
|
| 144 | e3287406 | Thomas Schöpping | //{
|
| 145 | // apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL);
|
||
| 146 | // apalDbgAssert(info != NULL);
|
||
| 147 | //
|
||
| 148 | // const uint8_t txbuf = (uint8_t)pcal6524d->addr;
|
||
| 149 | // return apalI2CMasterTransmit(pcal6524d->i2cd, PCAL6524_LLD_I2C_ADDR_DEVICEID, &txbuf, 1, info->raw, sizeof(info->raw), timeout);
|
||
| 150 | //}
|
||
| 151 | |||
| 152 | /**
|
||
| 153 | * @brief Read 8bit data from any register.
|
||
| 154 | *
|
||
| 155 | * @param[in] pcal6524d The PCAL6524 driver to use.
|
||
| 156 | * @param[in] reg Command register to read.
|
||
| 157 | * @param[out] data Pointer to store the register data to.
|
||
| 158 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
| 159 | *
|
||
| 160 | * @return Indicator whether the function call was successful or a timeout occurred.
|
||
| 161 | */
|
||
| 162 | 21076167 | Thomas Schöpping | apalExitStatus_t pcal6524_lld_read_reg(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, uint8_t* const data, const apalTime_t timeout) |
| 163 | e3287406 | Thomas Schöpping | {
|
| 164 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
||
| 165 | apalDbgAssert(data != NULL);
|
||
| 166 | |||
| 167 | const uint8_t txbuf = (uint8_t)reg;
|
||
| 168 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, &txbuf, 1, data, 1, timeout); |
||
| 169 | } |
||
| 170 | |||
| 171 | /**
|
||
| 172 | * @brief Write 8bit data to any (writable) register.
|
||
| 173 | *
|
||
| 174 | * @param[in] pcal6524d The PCAL6524 driver to use.
|
||
| 175 | * @param[in] reg Command register to write to.
|
||
| 176 | * @param[in] data Data to transmit.
|
||
| 177 | * @param[in] timeout Timout for the function to return (in microseconds).
|
||
| 178 | *
|
||
| 179 | * @return Indicator whether the function call was successful or a timeout occurred.
|
||
| 180 | */
|
||
| 181 | 21076167 | Thomas Schöpping | apalExitStatus_t pcal6524_lld_write_reg(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, const uint8_t data, const apalTime_t timeout) |
| 182 | e3287406 | Thomas Schöpping | {
|
| 183 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
||
| 184 | |||
| 185 | uint8_t txbuf[2] = { (uint8_t)reg, data };
|
||
| 186 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, txbuf, 2, NULL, 0, timeout); |
||
| 187 | } |
||
| 188 | |||
| 189 | /**
|
||
| 190 | * @brief Read register group starting with an arbitrary register.
|
||
| 191 | *
|
||
| 192 | * @param[in] pcal6524d The PCAL6524 driver to use.
|
||
| 193 | * @param[in] reg Command register to start at.
|
||
| 194 | * @param[out] data Pointer to store rhe group data to.
|
||
| 195 | * The reqired number of bytes depends on the group.
|
||
| 196 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
| 197 | *
|
||
| 198 | * @return Indicator whether the function call was successful or a timeout occurred.
|
||
| 199 | */
|
||
| 200 | 21076167 | Thomas Schöpping | apalExitStatus_t pcal6524_lld_read_group(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, uint8_t* const data, const apalTime_t timeout) |
| 201 | e3287406 | Thomas Schöpping | {
|
| 202 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
||
| 203 | apalDbgAssert(data != NULL);
|
||
| 204 | |||
| 205 | const uint8_t txbuf = (uint8_t)reg;
|
||
| 206 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, &txbuf, 1, data, pcal6524_lld_cmd_groupsize(reg), timeout); |
||
| 207 | } |
||
| 208 | |||
| 209 | /**
|
||
| 210 | * @brief Write register group data to any (writable) register.
|
||
| 211 | *
|
||
| 212 | * @param[in] pcal6524d The PCAL6524 driver to use.
|
||
| 213 | * @param[in] reg Command register to start at.
|
||
| 214 | * @param[in] data Data to transmit.
|
||
| 215 | * The reqired number of bytes depends on the group.
|
||
| 216 | * @param[in] timeout Timout for the function to return (in microseconds).
|
||
| 217 | *
|
||
| 218 | * @return Indicator whether the function call was successful or a timeout occurred.
|
||
| 219 | */
|
||
| 220 | 21076167 | Thomas Schöpping | apalExitStatus_t pcal6524_lld_write_group(const PCAL6524Driver* const pcal6524d, const pcal6524_lld_cmd_t reg, const uint8_t* const data, const apalTime_t timeout) |
| 221 | e3287406 | Thomas Schöpping | {
|
| 222 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
||
| 223 | apalDbgAssert(data != NULL);
|
||
| 224 | |||
| 225 | fe058578 | Thomas Schöpping | uint8_t txbuf[MAXIMUM_GROUP_SIZE + 1] = {(uint8_t)reg};
|
| 226 | e3287406 | Thomas Schöpping | memcpy(&txbuf[1], data, pcal6524_lld_cmd_groupsize(reg));
|
| 227 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, txbuf, pcal6524_lld_cmd_groupsize(reg) + 1, NULL, 0, timeout); |
||
| 228 | } |
||
| 229 | |||
| 230 | /**
|
||
| 231 | * @brief Read multiple registers continously, starting at an arbitrary one.
|
||
| 232 | *
|
||
| 233 | * @param[in] pcal6524d The PCAL6524 driver to use.
|
||
| 234 | * @param[in] reg Command register to start at.
|
||
| 235 | * @param[out] data Pointer to store the group data to.
|
||
| 236 | * @param[in] length Number of registers/bytes to read.
|
||
| 237 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
| 238 | *
|
||
| 239 | * @return Indicator whether the function call was successful or a timeout occurred.
|
||
| 240 | */
|
||
| 241 | 21076167 | Thomas Schöpping | apalExitStatus_t 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) |
| 242 | e3287406 | Thomas Schöpping | {
|
| 243 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
||
| 244 | apalDbgAssert(data != NULL);
|
||
| 245 | apalDbgAssert(length <= PCAL6524_LLD_NUM_REGISTERS); |
||
| 246 | |||
| 247 | uint8_t txbuf = (uint8_t)reg | PCAL6524_LLD_CMD_AUTOINCREMENT; |
||
| 248 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, &txbuf, 1, data, length, timeout); |
||
| 249 | } |
||
| 250 | |||
| 251 | /**
|
||
| 252 | * @brief Write multiple registers continously, starting at an arbitrary one.
|
||
| 253 | *
|
||
| 254 | * @param[in] pcal6524d The PCAL6524 driver to use.
|
||
| 255 | * @param[in] reg Command register to start at.
|
||
| 256 | * @param[in] data Pointer to the data to write.
|
||
| 257 | * @param[in] length Number of registers/bytes to write.
|
||
| 258 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
| 259 | *
|
||
| 260 | * @return Indicator whether the function call was successful or a timeout occurred.
|
||
| 261 | */
|
||
| 262 | 21076167 | Thomas Schöpping | apalExitStatus_t 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) |
| 263 | e3287406 | Thomas Schöpping | {
|
| 264 | apalDbgAssert(pcal6524d != NULL && pcal6524d->i2cd != NULL); |
||
| 265 | apalDbgAssert(data != NULL);
|
||
| 266 | apalDbgAssert(length <= PCAL6524_LLD_NUM_REGISTERS); |
||
| 267 | |||
| 268 | uint8_t txbuf[PCAL6524_LLD_NUM_REGISTERS + 1] = {(uint8_t)reg | PCAL6524_LLD_CMD_AUTOINCREMENT};
|
||
| 269 | memcpy(&txbuf[1], data, length);
|
||
| 270 | return apalI2CMasterTransmit(pcal6524d->i2cd, pcal6524d->addr, txbuf, length + 1, NULL, 0, timeout); |
||
| 271 | } |
||
| 272 | |||
| 273 | /** @} */
|