Diff: PsiSwarm/i2c.cpp

Revision:

5:598298aa4900

Parent:

0:8a5497a2e366

Child:

6:ff3c66f7372b

--- a/PsiSwarm/i2c.cpp	Mon Oct 12 12:39:35 2015 +0000
+++ b/PsiSwarm/i2c.cpp	Tue Oct 13 11:47:14 2015 +0000
@@ -22,8 +22,6 @@
 
 Timeout update_timeout;
 
-DigitalOut test_led(LED2);
-
 char test;
 
 void IF_set_IR_emitter_output(char emitter, char state)
@@ -146,16 +144,18 @@
     //Port 0 = PGDL; PGDR; PGDIR; UP; DOWN; LEFT; RIGHT; CENTER
     //Port 1 = ENC_LA; ENC_LB; ENC_RA; ENC_RB; ID0; ID1; ID2; ID3
     char data [3];
+    char okay = 1;
     data [0] = 0x06;    //Write config registers
     data [1] = 0xFF;    //All 8 pins in port 0 are inputs (1)
     data [2] = 0xFF;    //All 8 pins in port 1 are inputs (1)
     if(primary_i2c.write(GPIO_IC_ADDRESS,data,3,false) != 0) {
         system_warnings += 2;
+        okay = 0;
         debug("- WARNING: No I2C acknowledge for main GPIO IC\n");
     }
     //Set all inputs to polarity-inverted (so a logic low = 1)
     data [0] = 0x04;    //Write to polarity inversion ports
-    data [1] = 0xFF;    //Invert polarity of all bits in input port 0
+    data [1] = 0xF8;    //Invert polarity of all switch input bits in input port 0 [but not power-good inputs]
     data [2] = 0xFF;    //Invert polarity of all bits in input port 1
     primary_i2c.write(GPIO_IC_ADDRESS,data,3,false);
 
@@ -170,8 +170,10 @@
     gpio_byte0 = read_data[0];
     //char ret_val = (gpio_byte0 & 0xF8) >> 3;  //Returns a >0 value if a button is being pushed
     gpio_byte1 = read_data[1];
+    if(okay && testing_voltage_regulators_flag)debug("- Checking 3.3V voltage regulators\n");
     IF_parse_gpio_byte0(gpio_byte0);
     IF_parse_gpio_byte1(gpio_byte1);
+    testing_voltage_regulators_flag = 0;
     //Setup interrupt handler for GPIO interrupts
     gpio_interrupt.mode(PullUp);
     gpio_interrupt.rise(&IF_handle_gpio_interrupt);
@@ -214,6 +216,30 @@
         switch_byte = current_switch;
         switch_set = 1;
     }
+    if(((gpio_byte0 & 0x01)) != power_good_motor_left){
+        power_good_motor_left = (gpio_byte0 & 0x01);
+        if(!power_good_motor_left){
+            if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator left motor low\n");    
+        }
+        else if(testing_voltage_regulators_flag)debug("- Power good left motor v.reg\n");
+    } 
+    if(((gpio_byte0 & 0x02) >> 1) != power_good_motor_right){
+        power_good_motor_right = (gpio_byte0 & 0x02) >> 1;
+        if(!power_good_motor_right){
+            if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator right motor low\n");
+        }
+        else if(testing_voltage_regulators_flag)debug("- Power good right motor v.reg\n");
+    } 
+    if(((gpio_byte0 & 0x04) >> 2) != power_good_infrared){
+        power_good_infrared = (gpio_byte0 & 0x04) >> 2;
+        if(!power_good_infrared){
+            if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator infrared low\n");
+        }
+        else if(testing_voltage_regulators_flag)debug("- Power good infrared and aux v.reg\n");
+    } 
+    if(USE_LED4_FOR_VR_WARNINGS){
+         mbed_led4 = (!power_good_motor_left || !power_good_motor_right || !power_good_infrared);
+    }
 }
 
 void IF_parse_gpio_byte1(char byte)
@@ -249,7 +275,7 @@
 void IF_handle_gpio_interrupt()
 {
     test = 1-test;
-    test_led = test;
+    if(USE_LED3_FOR_INTERRUPTS) mbed_led3 = test;
     IF_update_gpio_inputs();
 }