AMiRo-OS

#include <chdebug.h>

namespace amiro {

template <bool ignore_deselect>

PCA9544<ignore_deselect>::

PCA9544(I2CDriver *driver, const uint8_t master_id) :

	I2CMultiplexer(driver),

	master_id(master_id),

	selected(-1) {

	chDbgCheck(master_id <= 0x07u, "PCA9544 ctor master_id");

	this->tx_params.addr = (PCA9544::SLA | this->master_id);

	this->rx_params.addr = (PCA9544::SLA | this->master_id);

}

template <bool ignore_deselect>

msg_t

PCA9544<ignore_deselect>::

select(const uint8_t bus_id) {

	chDbgCheck(bus_id <= 0x03u, "PCA9544 select bus_id");

	uint8_t tmp = PCA9544::BUS_ON | bus_id;

	if (bus_id == this->selected)

		return RDY_OK;

	this->selected = bus_id;

	this->tx_params.txbuf = &tmp;

	this->tx_params.txbytes = 1;

	this->tx_params.rxbytes = 0;

	return this->masterTransmit(&this->tx_params); // TODO select timeout

}

template <>

inline msg_t

PCA9544<true>::

deselect() {

	return RDY_OK;

}

template <>

inline msg_t

PCA9544<false>::

deselect() {

	uint8_t tmp = PCA9544::BUS_OFF;

	this->selected = -1;

	this->tx_params.txbuf = &tmp;

	this->tx_params.txbytes = 1;

	this->tx_params.rxbytes = 0;

	return this->masterTransmit(&this->tx_params); // TODO select timeout

}

template <bool ignore_deselect>

uint8_t

PCA9544<ignore_deselect>::

getInterruptSource() {

	uint8_t tmp;

	this->rx_params.rxbuf = &tmp;

	this->rx_params.rxbytes = 1;

	this->masterReceive(&this->rx_params); // TODO select timeout

	return tmp;

}

template <bool ignore_deselect>

uint8_t

PCA9544<ignore_deselect>::

getCheck(void) {

	const int8_t rxBufferMask = 0x07; /** We are only intrested in the first three bits*/

	int8_t txBuffer, resTx, resRx;

	uint8_t rxBuffer[2];

	// Copy the data, because some virtual driver can write into it

	I2CTxParams tx_params = this->tx_params;

	I2CRxParams rx_params = this->rx_params;

	tx_params.txbuf = (uint8_t*) &txBuffer;

	tx_params.txbytes = 1;

	tx_params.rxbytes = 0;

	rx_params.rxbuf = rxBuffer;

	rx_params.rxbytes = 2; /** This is a bug workaround: 1 byte is impossible to read*/

	for (txBuffer = rxBufferMask; txBuffer >= 0x00; txBuffer--) {

		this->acquireBus();

		resTx = this->masterTransmit(&tx_params);

		resRx = this->masterReceive(&rx_params);

		this->releaseBus();

		// Failed to transmit

		if (resTx != RDY_OK || resRx != RDY_OK) {

			break;

		}

		// Check data written to MUX register

		if (txBuffer != (rxBuffer[0] & rxBufferMask)) {

			break;

		}

	}

	// Data analysis

	if (txBuffer != -1) {

		return PCA9544::CHECK_FAIL;

	} else {

		return PCA9544::CHECK_OK;

	}

}

} /* amiro */