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Merged
merged 2 commits into from
Dec 21, 2023
Merged

Addr pca interface #1335

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11d979e
changed pca95x4 inferface
Dec 20, 2023
5726ea5
Merge branch 'bitcraze:master' into AddrPCA_interface
atoums Dec 20, 2023
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8 changes: 5 additions & 3 deletions src/deck/drivers/src/multiranger.c
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ static bool mrInitSensor(VL53L1_Dev_t *pdev, uint32_t pca95pin, char *name)
bool status;

// Bring up VL53 by releasing XSHUT
pca95x4SetOutput(pca95pin);
pca95x4SetOutput(PCA95X4_DEFAULT_ADDRESS, pca95pin);
// Let VL53 boot
vTaskDelay(M2T(2));
// Init VL53
Expand Down Expand Up @@ -153,13 +153,15 @@ static void mrInit()

pca95x4Init();

pca95x4ConfigOutput(~(MR_PIN_UP |
pca95x4ConfigOutput(PCA95X4_DEFAULT_ADDRESS,
~(MR_PIN_UP |
MR_PIN_RIGHT |
MR_PIN_LEFT |
MR_PIN_FRONT |
MR_PIN_BACK));

pca95x4ClearOutput(MR_PIN_UP |
pca95x4ClearOutput(PCA95X4_DEFAULT_ADDRESS,
MR_PIN_UP |
MR_PIN_RIGHT |
MR_PIN_LEFT |
MR_PIN_FRONT |
Expand Down
16 changes: 9 additions & 7 deletions src/deck/drivers/src/oa.c
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Original file line number Diff line number Diff line change
Expand Up @@ -91,13 +91,15 @@ static void oaInit()

pca95x4Init();

pca95x4ConfigOutput(~(OA_PIN_UP |
pca95x4ConfigOutput(PCA95X4_DEFAULT_ADDRESS,
~(OA_PIN_UP |
OA_PIN_RIGHT |
OA_PIN_LEFT |
OA_PIN_FRONT |
OA_PIN_BACK));

pca95x4ClearOutput(OA_PIN_UP |
pca95x4ClearOutput(PCA95X4_DEFAULT_ADDRESS,
OA_PIN_UP |
OA_PIN_RIGHT |
OA_PIN_LEFT |
OA_PIN_FRONT |
Expand All @@ -118,39 +120,39 @@ static bool oaTest()
return false;
}

pca95x4SetOutput(OA_PIN_FRONT);
pca95x4SetOutput(PCA95X4_DEFAULT_ADDRESS, OA_PIN_FRONT);
if (vl53l0xInit(&devFront, I2C1_DEV, true)) {
DEBUG_PRINT("Init front sensor [OK]\n");
} else {
DEBUG_PRINT("Init front sensor [FAIL]\n");
pass = false;
}

pca95x4SetOutput(OA_PIN_BACK);
pca95x4SetOutput(PCA95X4_DEFAULT_ADDRESS, OA_PIN_BACK);
if (vl53l0xInit(&devBack, I2C1_DEV, true)) {
DEBUG_PRINT("Init back sensor [OK]\n");
} else {
DEBUG_PRINT("Init back sensor [FAIL]\n");
pass = false;
}

pca95x4SetOutput(OA_PIN_UP);
pca95x4SetOutput(PCA95X4_DEFAULT_ADDRESS, OA_PIN_UP);
if (vl53l0xInit(&devUp, I2C1_DEV, true)) {
DEBUG_PRINT("Init up sensor [OK]\n");
} else {
DEBUG_PRINT("Init up sensor [FAIL]\n");
pass = false;
}

pca95x4SetOutput(OA_PIN_LEFT);
pca95x4SetOutput(PCA95X4_DEFAULT_ADDRESS, OA_PIN_LEFT);
if (vl53l0xInit(&devLeft, I2C1_DEV, true)) {
DEBUG_PRINT("Init left sensor [OK]\n");
} else {
DEBUG_PRINT("Init left sensor [FAIL]\n");
pass = false;
}

pca95x4SetOutput(OA_PIN_RIGHT);
pca95x4SetOutput(PCA95X4_DEFAULT_ADDRESS, OA_PIN_RIGHT);
if (vl53l0xInit(&devRight, I2C1_DEV, true)) {
DEBUG_PRINT("Init right sensor [OK]\n");
} else {
Expand Down
4 changes: 2 additions & 2 deletions src/drivers/src/vl53l1x.c
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Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,8 @@
#define VL53L1_get_register_name(a,b)
#endif

// Set the start address 8 step after the VL53L0 dynamic addresses
static int nextI2CAddress = VL53L1X_DEFAULT_ADDRESS+8;
// Set the start address 1 step after the VL53L0 dynamic addresses
static int nextI2CAddress = VL53L1X_DEFAULT_ADDRESS+1;


bool vl53l1xInit(VL53L1_Dev_t *pdev, I2C_Dev *I2Cx)
Expand Down
8 changes: 4 additions & 4 deletions src/hal/interface/pca95x4.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,21 +53,21 @@ void pca95x4Init();
/**
* Test the PCA95X4 sub-system.
*/
bool pca95x4Test();
bool pca95x4Test(uint8_t devAddr);

/**
* Set the output register value.
*/
bool pca95x4ConfigOutput(uint32_t val);
bool pca95x4ConfigOutput(uint8_t devAddr, uint32_t val);

/**
* Set output bits.
*/
bool pca95x4SetOutput(uint32_t mask);
bool pca95x4SetOutput(uint8_t devAddr, uint32_t mask);

/**
* Reset output bits.
*/
bool pca95x4ClearOutput(uint32_t mask);
bool pca95x4ClearOutput(uint8_t devAddr, uint32_t mask);

#endif //__PCA95X4_H__
8 changes: 4 additions & 4 deletions src/hal/src/pca95x4.c
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ void pca95x4Init()
devAddr = PCA95X4_DEFAULT_ADDRESS;
}

bool pca95x4Test()
bool pca95x4Test(uint8_t devAddr)
{
uint8_t tb;
bool pass;
Expand All @@ -51,14 +51,14 @@ bool pca95x4Test()
return pass;
}

bool pca95x4ConfigOutput(uint32_t val) {
bool pca95x4ConfigOutput(uint8_t devAddr, uint32_t val) {
bool pass;

pass = i2cdevWriteByte(I2Cx, devAddr, PCA95X4_CONFIG_REG, val);
return pass;
}

bool pca95x4SetOutput(uint32_t mask) {
bool pca95x4SetOutput(uint8_t devAddr, uint32_t mask) {
uint8_t val;
bool pass;

Expand All @@ -69,7 +69,7 @@ bool pca95x4SetOutput(uint32_t mask) {
return pass;
}

bool pca95x4ClearOutput(uint32_t mask) {
bool pca95x4ClearOutput(uint8_t devAddr, uint32_t mask) {
uint8_t val;
bool pass;

Expand Down