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