236 lines
9.0 KiB
C++
236 lines
9.0 KiB
C++
#pragma once
|
|
|
|
#include "hardware/i2c.h"
|
|
#include "hardware/gpio.h"
|
|
#include "common/pimoroni_common.hpp"
|
|
#include "common/pimoroni_i2c.hpp"
|
|
|
|
namespace pimoroni {
|
|
|
|
class IOExpander {
|
|
//--------------------------------------------------
|
|
// Constants
|
|
//--------------------------------------------------
|
|
private:
|
|
// These values encode our desired pin function: IO, ADC, PWM
|
|
// alongwide the GPIO MODE for that port and pin (section 8.1)
|
|
// 1st and 2nd bits encode the gpio state
|
|
// 3rd and 4th bits encode the IO mode (i.e. IO, PWM, ADC)
|
|
// the 5th bit additionally encodes the default output state
|
|
static const uint8_t PIN_MODE_IO = 0b00000; // General IO mode, IE: not ADC or PWM
|
|
static const uint8_t PIN_MODE_QB = 0b00000; // Output, Quasi-Bidirectional mode
|
|
static const uint8_t PIN_MODE_PP = 0b00001; // Output, Push-Pull mode
|
|
static const uint8_t PIN_MODE_IN = 0b00010; // Input-only (high-impedance)
|
|
static const uint8_t PIN_MODE_PU = 0b10000; // Input (with pull-up)
|
|
static const uint8_t PIN_MODE_OD = 0b00011; // Output, Open-Drain mode
|
|
static const uint8_t PIN_MODE_PWM = 0b00101; // PWM, Output, Push-Pull mode
|
|
static const uint8_t PIN_MODE_ADC = 0b01010; // ADC, Input-only (high-impedance)
|
|
|
|
public:
|
|
static const uint8_t DEFAULT_I2C_ADDRESS = 0x18;
|
|
|
|
static const uint16_t CHIP_ID = 0xE26A;
|
|
static const uint8_t CHIP_VERSION = 2;
|
|
|
|
static const uint8_t PIN_IN = PIN_MODE_IN; // 0b00010
|
|
static const uint8_t PIN_IN_PULL_UP = PIN_MODE_PU; // 0b10000
|
|
static const uint8_t PIN_IN_PU = PIN_MODE_PU; // 0b10000
|
|
static const uint8_t PIN_OUT = PIN_MODE_PP; // 0b00001
|
|
static const uint8_t PIN_OD = PIN_MODE_OD; // 0b00001
|
|
static const uint8_t PIN_PWM = PIN_MODE_PWM; // 0b00101
|
|
static const uint8_t PIN_ADC = PIN_MODE_ADC; // 0b01010
|
|
|
|
static const uint8_t NUM_PINS = 14;
|
|
|
|
static const uint16_t LOW = 0;
|
|
static const uint16_t HIGH = 1;
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Subclasses
|
|
//--------------------------------------------------
|
|
private:
|
|
class Pin {
|
|
public:
|
|
//--------------------------------------------------
|
|
// Enums
|
|
//--------------------------------------------------
|
|
enum IOType {
|
|
TYPE_IO = 0b00,
|
|
TYPE_PWM = 0b01,
|
|
TYPE_ADC = 0b10,
|
|
TYPE_ADC_OR_PWM = 0b11
|
|
};
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Constants
|
|
//--------------------------------------------------
|
|
private:
|
|
// The PxM1 and PxM2 registers encode GPIO MODE
|
|
// 0 0 = Quasi-bidirectional
|
|
// 0 1 = Push-pull
|
|
// 1 0 = Input-only (high-impedance)
|
|
// 1 1 = Open-drain
|
|
static const uint8_t PxM1[4]; // [reg::P0M1, reg::P1M1, -1, reg::P3M1]
|
|
static const uint8_t PxM2[4]; // [reg::P0M2, reg::P1M2, -1, reg::P3M2]
|
|
|
|
// The Px input register
|
|
static const uint8_t Px[4]; // [reg::P0, reg::P1, -1, reg::P3]
|
|
|
|
// The PxS Schmitt trigger register
|
|
static const uint8_t PxS[4]; // [reg::P0S, reg::P1S, -1, reg::P3S]
|
|
static const uint8_t MASK_P[4]; // [reg::INT_MASK_P0, reg::INT_MASK_P1, -1, reg::INT_MASK_P3]
|
|
|
|
static const uint8_t PWML[6]; // [reg::PWM0L, reg::PWM1L, reg::PWM2L, reg::PWM3L, reg::PWM4L, reg::PWM5L]
|
|
static const uint8_t PWMH[6]; // [reg::PWM0H, reg::PWM1H, reg::PWM2H, reg::PWM3H, reg::PWM4H, reg::PWM5H]
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Variables
|
|
//--------------------------------------------------
|
|
private:
|
|
const IOType type;
|
|
uint8_t mode;
|
|
public:
|
|
const uint8_t port;
|
|
const uint8_t pin;
|
|
const uint8_t adc_channel;
|
|
const uint8_t pwm_channel;
|
|
|
|
const uint8_t reg_m1;
|
|
const uint8_t reg_m2;
|
|
const uint8_t reg_p;
|
|
const uint8_t reg_ps;
|
|
const uint8_t reg_int_mask_p;
|
|
|
|
const uint8_t reg_io_pwm;
|
|
const uint8_t reg_pwml;
|
|
const uint8_t reg_pwmh;
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Constructors
|
|
//--------------------------------------------------
|
|
private:
|
|
Pin(uint8_t port, uint8_t pin); // Constructor for IO pin
|
|
Pin(uint8_t port, uint8_t pin, uint8_t pwm_channel, uint8_t reg_iopwm); // Constructor for PWM pin
|
|
Pin(uint8_t port, uint8_t pin, uint8_t adc_channel); // Constructor for ADC pin
|
|
Pin(uint8_t port, uint8_t pin, uint8_t adc_channel, uint8_t pwm_channel, uint8_t reg_iopwm); // Constructor for ADC or PWM pin
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Methods
|
|
//--------------------------------------------------
|
|
public:
|
|
static Pin io(uint8_t port, uint8_t pin); // Nicer function for creating an IO pin
|
|
static Pin pwm(uint8_t port, uint8_t pin, uint8_t channel, uint8_t reg_iopwm); // Nicer function for creating a PWM pin
|
|
static Pin adc(uint8_t port, uint8_t pin, uint8_t channel); // Nicer function for creating an ADC pin
|
|
static Pin adc_or_pwm(uint8_t port, uint8_t pin, uint8_t adc_channel, uint8_t pwm_channel, uint8_t reg_iopwm); // Nicer function for creating an ADC or PWM pin
|
|
|
|
IOType get_type(void);
|
|
uint8_t get_mode(void);
|
|
void set_mode(uint8_t mode);
|
|
|
|
bool mode_supported(uint8_t mode);
|
|
};
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Variables
|
|
//--------------------------------------------------
|
|
private:
|
|
I2C *i2c;
|
|
|
|
// interface pins with our standard defaults where appropriate
|
|
int8_t address = DEFAULT_I2C_ADDRESS;
|
|
uint interrupt = PIN_UNUSED;
|
|
|
|
uint32_t timeout;
|
|
bool debug;
|
|
float vref;
|
|
int16_t encoder_offset[4];
|
|
int16_t encoder_last[4];
|
|
Pin pins[NUM_PINS];
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Constructors/Destructor
|
|
//--------------------------------------------------
|
|
public:
|
|
IOExpander() :
|
|
IOExpander(new I2C(), DEFAULT_I2C_ADDRESS, PIN_UNUSED, timeout, debug) {};
|
|
|
|
IOExpander(uint8_t address, uint32_t timeout = 1, bool debug = false) :
|
|
IOExpander(new I2C(), address, PIN_UNUSED, timeout, debug) {};
|
|
|
|
IOExpander(uint8_t address, uint sda, uint scl, uint interrupt = PIN_UNUSED, uint32_t timeout = 1, bool debug = false) :
|
|
IOExpander(new I2C(sda, scl), address, interrupt, timeout, debug) {};
|
|
|
|
// TODO remove MicroPython-binding compatibility constructors
|
|
IOExpander(I2C *i2c, uint8_t address=DEFAULT_I2C_ADDRESS, uint interrupt = PIN_UNUSED, uint32_t timeout = 1, bool debug = false);
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Methods
|
|
//--------------------------------------------------
|
|
public:
|
|
bool init(bool skip_chip_id_check = false);
|
|
|
|
// For print access in micropython
|
|
i2c_inst_t* get_i2c() const;
|
|
int get_address() const;
|
|
int get_sda() const;
|
|
int get_scl() const;
|
|
int get_int() const;
|
|
|
|
uint16_t get_chip_id();
|
|
|
|
void set_address(uint8_t address);
|
|
|
|
float get_adc_vref();
|
|
void set_adc_vref(float vref);
|
|
|
|
void enable_interrupt_out(bool pin_swap = false);
|
|
void disable_interrupt_out();
|
|
bool get_interrupt_flag();
|
|
void clear_interrupt_flag();
|
|
bool set_pin_interrupt(uint8_t pin, bool enabled);
|
|
|
|
void pwm_load(bool wait_for_load = true);
|
|
bool pwm_loading();
|
|
void pwm_clear(bool wait_for_clear = true);
|
|
bool pwm_clearing();
|
|
bool set_pwm_control(uint8_t divider);
|
|
void set_pwm_period(uint16_t value, bool load = true);
|
|
|
|
uint8_t get_mode(uint8_t pin);
|
|
void set_mode(uint8_t pin, uint8_t mode, bool schmitt_trigger = false, bool invert = false);
|
|
|
|
int16_t input(uint8_t pin, uint32_t adc_timeout = 1);
|
|
float input_as_voltage(uint8_t pin, uint32_t adc_timeout = 1);
|
|
|
|
void output(uint8_t pin, uint16_t value, bool load = true);
|
|
|
|
void setup_rotary_encoder(uint8_t channel, uint8_t pin_a, uint8_t pin_b, uint8_t pin_c = 0, bool count_microsteps = false);
|
|
int16_t read_rotary_encoder(uint8_t channel);
|
|
void clear_rotary_encoder(uint8_t channel);
|
|
|
|
private:
|
|
uint8_t i2c_reg_read_uint8(uint8_t reg);
|
|
void i2c_reg_write_uint8(uint8_t reg, uint8_t value);
|
|
|
|
uint8_t get_bit(uint8_t reg, uint8_t bit);
|
|
void set_bits(uint8_t reg, uint8_t bits);
|
|
void set_bit(uint8_t reg, uint8_t bit);
|
|
void clr_bits(uint8_t reg, uint8_t bits);
|
|
void clr_bit(uint8_t reg, uint8_t bit);
|
|
void change_bit(uint8_t reg, uint8_t bit, bool state);
|
|
|
|
void wait_for_flash();
|
|
|
|
uint32_t millis();
|
|
};
|
|
|
|
}
|