gpio_ext_pca95xx.c

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/*
 * Copyright (C) Tom van Dijk <tomvand@users.noreply.github.com>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#include "modules/gpio_ext/gpio_ext_pca95xx.h"
 
#include "modules/gpio_ext/gpio_ext_common.h"
#include "generated/airframe.h"
#include "peripherals/pca95xx.h"
#include "mcu_periph/i2c.h"
 
#include <stdbool.h>
 
 
#ifdef GPIO_EXT_PCA95XX_I2C_PERIPH1
#define GPIO_EXT_PCA95XX_I2C_PERIPH1_PTR &(GPIO_EXT_PCA95XX_I2C_PERIPH1)
#else
#define GPIO_EXT_PCA95XX_I2C_PERIPH1_PTR NULL
#endif
#ifdef GPIO_EXT_PCA95XX_I2C_PERIPH2
#define GPIO_EXT_PCA95XX_I2C_PERIPH2_PTR &(GPIO_EXT_PCA95XX_I2C_PERIPH2)
#else
#define GPIO_EXT_PCA95XX_I2C_PERIPH2_PTR NULL
#endif
#ifdef GPIO_EXT_PCA95XX_I2C_PERIPH3
#define GPIO_EXT_PCA95XX_I2C_PERIPH3_PTR &(GPIO_EXT_PCA95XX_I2C_PERIPH3)
#else
#define GPIO_EXT_PCA95XX_I2C_PERIPH3_PTR NULL
#endif
#ifdef GPIO_EXT_PCA95XX_I2C_PERIPH4
#define GPIO_EXT_PCA95XX_I2C_PERIPH4_PTR &(GPIO_EXT_PCA95XX_I2C_PERIPH4)
#else
#define GPIO_EXT_PCA95XX_I2C_PERIPH4_PTR NULL
#endif
static struct i2c_periph * const i2c_periph[] = {
    GPIO_EXT_PCA95XX_I2C_PERIPH1_PTR,
    GPIO_EXT_PCA95XX_I2C_PERIPH2_PTR,
    GPIO_EXT_PCA95XX_I2C_PERIPH3_PTR,
    GPIO_EXT_PCA95XX_I2C_PERIPH4_PTR,
};
 
#ifndef GPIO_EXT_PCA95XX_I2C_ADDRESS1
#define GPIO_EXT_PCA95XX_I2C_ADDRESS1 0x00
#endif
#ifndef GPIO_EXT_PCA95XX_I2C_ADDRESS2
#define GPIO_EXT_PCA95XX_I2C_ADDRESS2 0x00
#endif
#ifndef GPIO_EXT_PCA95XX_I2C_ADDRESS3
#define GPIO_EXT_PCA95XX_I2C_ADDRESS3 0x00
#endif
#ifndef GPIO_EXT_PCA95XX_I2C_ADDRESS4
#define GPIO_EXT_PCA95XX_I2C_ADDRESS4 0x00
#endif
static const uint8_t i2c_addr[] = {
    GPIO_EXT_PCA95XX_I2C_ADDRESS1,
    GPIO_EXT_PCA95XX_I2C_ADDRESS2,
    GPIO_EXT_PCA95XX_I2C_ADDRESS3,
    GPIO_EXT_PCA95XX_I2C_ADDRESS4,
};
 
#ifndef GPIO_EXT_PCA95XX_BLOCKING1
#define GPIO_EXT_PCA95XX_BLOCKING1 TRUE
#endif
#ifndef GPIO_EXT_PCA95XX_BLOCKING2
#define GPIO_EXT_PCA95XX_BLOCKING2 TRUE
#endif
#ifndef GPIO_EXT_PCA95XX_BLOCKING3
#define GPIO_EXT_PCA95XX_BLOCKING3 TRUE
#endif
#ifndef GPIO_EXT_PCA95XX_BLOCKING4
#define GPIO_EXT_PCA95XX_BLOCKING4 TRUE
#endif
static const bool blocking[] = {
    GPIO_EXT_PCA95XX_BLOCKING1,
    GPIO_EXT_PCA95XX_BLOCKING1,
    GPIO_EXT_PCA95XX_BLOCKING1,
    GPIO_EXT_PCA95XX_BLOCKING1,
};
 
 
static void gpio_ext_pca95xx_setup_output(uint32_t port, uint32_t gpios);
static void gpio_ext_pca95xx_setup_input(uint32_t port, uint32_t gpios);
static uint32_t gpio_ext_pca95xx_get(uint32_t port, uint32_t gpios);
static void gpio_ext_pca95xx_set(uint32_t port, uint32_t gpios);
static void gpio_ext_pca95xx_clear(uint32_t port, uint32_t gpios);
static void gpio_ext_pca95xx_toggle(uint32_t port, uint32_t gpios);
 
 
struct gpio_ext_functions pca95xx_functions = {
    gpio_ext_pca95xx_setup_output,
    gpio_ext_pca95xx_setup_input,
    gpio_ext_pca95xx_get,
    gpio_ext_pca95xx_set,
    gpio_ext_pca95xx_clear,
    gpio_ext_pca95xx_toggle,
};
 
 
struct gpio_ext_pca95xx_impl_t {
  struct pca95xx periph;
  uint8_t output_reg;
  uint8_t config_reg;
  bool initialized;
};
static struct gpio_ext_pca95xx_impl_t impl[GPIOEXT_NB]; // Initialized 0, so .initialized = false!
 
 
static void gpio_ext_pca95xx_lazy_init(uint32_t port) {
  int i = port - GPIOEXT1;
  if (impl[i].initialized) return;
  /* Set up pca95xx implementation struct */
  impl[i].output_reg = 0xFF;
  impl[i].config_reg = 0xFF;
  /* Set up pca95xx peripheral */
  pca95xx_init(&impl[i].periph, i2c_periph[i], i2c_addr[i]);
  /* Configure pins as input (default) and wait for IC to wake up */
  do {
    pca95xx_configure(&impl[i].periph, 0xFF, true);
  } while (impl[i].periph.i2c_trans.status != I2CTransSuccess);
  /* Mark initialization complete */
  impl[i].initialized = true;
}
 
 
static void gpio_ext_pca95xx_setup_output(uint32_t port, uint32_t gpios) {
  gpio_ext_pca95xx_lazy_init(port);
  int i = port - GPIOEXT1;
  impl[i].config_reg &= ~gpios;
  pca95xx_configure(&impl[i].periph, impl[i].config_reg, blocking[i]);
}
 
static void gpio_ext_pca95xx_setup_input(uint32_t port, uint32_t gpios) {
  gpio_ext_pca95xx_lazy_init(port);
  int i = port - GPIOEXT1;
  impl[i].config_reg |= gpios;
  pca95xx_configure(&impl[i].periph, impl[i].config_reg, blocking[i]);
}
 
static uint32_t gpio_ext_pca95xx_get(uint32_t port, uint32_t gpios) {
  int i = port - GPIOEXT1;
  uint8_t result;
  pca95xx_get_input(&impl[i].periph, gpios, &result);
  return result;
}
 
static void gpio_ext_pca95xx_set(uint32_t port, uint32_t gpios) {
  int i = port - GPIOEXT1;
  impl[i].output_reg |= gpios;
  pca95xx_set_output(&impl[i].periph, impl[i].output_reg, blocking[i]);
}
 
static void gpio_ext_pca95xx_clear(uint32_t port, uint32_t gpios) {
  int i = port - GPIOEXT1;
  impl[i].output_reg &= ~gpios;
  pca95xx_set_output(&impl[i].periph, impl[i].output_reg, blocking[i]);
}
 
static void gpio_ext_pca95xx_toggle(uint32_t port, uint32_t gpios) {
  int i = port - GPIOEXT1;
  impl[i].output_reg ^= gpios;
  pca95xx_set_output(&impl[i].periph, impl[i].output_reg, blocking[i]);
}