Diff: robotic_fish_6/ButtonBoard.cpp

Revision:

0:c3a329a5b05d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robotic_fish_6/ButtonBoard.cpp	Tue Jan 14 19:17:05 2020 +0000
@@ -0,0 +1,321 @@
+// buttons.cpp
+
+#include "ButtonBoard.h"
+
+extern "C" void mbed_reset();
+
+ButtonBoard::ButtonBoard(PinName sda, PinName scl, PinName int1, PinName int2) :
+    _i2c(sda, scl),
+    _int1(int1),
+    _int2(int2),
+    _callbackFunction(NULL),
+    _button_state(0)
+{
+    // Initialize callback table
+    for (int i=0; i < BTTN_COUNT; i++)
+    {
+        _callback_table_valid[i] = false;
+    }
+    
+    // Set I2C frequency to fast-mode 400KHz
+    _i2c.frequency(400000L);
+    
+    ///// Configuration
+    bool bd1_failure = false;
+    bool bd2_failure = false;
+    
+    // Configure input latching
+    out_buf[0] = 0x44;  // Input latch register
+    out_buf[1] = 0x00;  // Don't need latching on output
+    out_buf[1] = 0x00;  // Latch them all
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 3);
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 3);
+    
+    // Disable pull-ups
+    out_buf[0] = 0x46;  // Pull-up/down enable register
+    out_buf[1] = 0x00;  // Don't need on outputs
+    out_buf[2] = 0x00;  // Don't need
+    out_buf[3] = 0xFF;  // Select pull-ups
+    out_buf[4] = 0xFF;
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 5);
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 5);
+    
+    // Configure outputs as open-drain
+    out_buf[0] = 0x4F;  // Output port config register
+    out_buf[1] = 0x02;  // Port 1 to open drain
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 2);
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 2);
+    
+    // Reset output register high
+    _led_ports = 0xFFFF; // All LED's off
+    out_buf[0] = 0x02; // Output register
+    out_buf[1] = _led_ports & 0xFF; 
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 2);
+    out_buf[2] = _led_ports>>8;
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 2);
+    
+    // Configure ports as input or outputs
+    out_buf[0] = 0x06;  // Configuration registers
+    out_buf[1] = 0x00;  // Port 1 -> Output
+    out_buf[2] = 0xFF;  // Port 2 <- Input 
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 3); 
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 3); 
+    
+    // Read input registers to clear interrupts
+    out_buf[0] = 0x00; // Input registers
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 1, true); 
+    bd1_failure |= _i2c.read(ADDR_BOARD_1, out_buf, 2);  // Read registers
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 1, true); 
+    bd2_failure |= _i2c.read(ADDR_BOARD_2, out_buf, 2);  // Read registers
+    
+    // Disable interrupt masking on inputs
+    out_buf[0] = 0x4A;  // Interrupt mask register
+    out_buf[1] = 0xFF;  // Mask outputs
+    out_buf[2] = 0xFF;  // Don't mask inputs
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 3);
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 3);
+    
+    // Disable interrupt masking on inputs
+    out_buf[0] = 0x4A;  // Interrupt mask register
+    out_buf[1] = 0xFF;  // Mask outputs
+    out_buf[2] = 0x00;  // Don't mask inputs
+    bd1_failure |= _i2c.write(ADDR_BOARD_1, out_buf, 3);
+    bd2_failure |= _i2c.write(ADDR_BOARD_2, out_buf, 3);
+    
+    if (bd1_failure)
+    {
+        // serial.printf("Nack recieved while configuring button board 1\n");
+        bd1_failure = false;
+    }
+    if (bd2_failure)
+    {
+        // serial.printf("Nack recieved while configuring button board 2\n");
+        bd2_failure = false;
+    }
+    
+    // Enable mbed interrupt lines
+    _int1.fall(this, &ButtonBoard::_int1_handler);
+    _int2.fall(this, &ButtonBoard::_int2_handler);
+    _int1.mode(PullUp);
+    _int2.mode(PullUp);
+    
+    // Register callbacks
+    //registerCallback(BTTN_RESET, &mbed_reset);
+    
+}
+
+ButtonBoard::~ButtonBoard()
+{
+}
+
+void ButtonBoard::_int1_handler()
+{
+    _fall_handler(ADDR_BOARD_1);
+}
+
+void ButtonBoard::_int2_handler()
+{
+    _fall_handler(ADDR_BOARD_2);
+}
+
+void ButtonBoard::_fall_handler(char board)
+{    
+    char int_status;
+    char input_port;
+    char masked_port;
+    
+    int board_offset;
+    if (board == ADDR_BOARD_1)
+    {
+        board_offset = 0;
+    }
+    else
+    {
+        board_offset = BTTN_COUNT_BOARD_1;
+    }
+    
+    // Poll board for interrupt source byte and input reg byte
+    out_buf[0] = 0x4d; // Port 1 Interrupt status
+    _i2c.write(board, out_buf, 1);
+    _i2c.read(board, &int_status, 1);
+    
+    out_buf[0] = 0x01; // Port 1 input register
+    _i2c.write(board, out_buf, 1);
+    _i2c.read(board, &input_port, 1);
+    
+    // Use int status to mask input port (input goes low when button depressed)
+    // int status will always indicate which button changed
+    // masked_port will also indicate button if button is pressed, but will be 0 if button is released
+    masked_port = int_status & (~input_port);
+    if(masked_port)
+        _button_state |= int_status;
+    else
+        _button_state &= ~int_status;
+    
+    for (int i=0; i<8; i++)
+    {
+        // For every high bit in masked port
+        if (masked_port & (1<<i))
+        {
+            // Call corresponding callback
+            int cb_i = i+board_offset;
+            if (_callback_table_valid[cb_i] == true)
+            {
+                _callback_table[cb_i].call();
+            }
+        }
+    }
+    // Call master callback
+    if(_callbackFunction != NULL)
+        _callbackFunction(int_status, masked_port, _button_state);
+}
+
+
+void ButtonBoard::registerCallback(uint32_t button, FunctionPointer p)
+{
+    if (button < BTTN_COUNT)
+    { 
+        _callback_table[button] = p;
+        _callback_table_valid[button] = true;
+    }
+}
+
+void ButtonBoard::registerCallback(void (*p)(char buttonMask, bool pressed, char curState))
+{
+    _callbackFunction = p;
+}
+
+//void ButtonBoard::setLED(uint32_t led, bool val)
+//{
+//    if (led > BTTN_COUNT)
+//    {
+//        // invalid, skip
+//        return;
+//    }
+//    
+//    char board;
+//    
+//    if (led < BTTN_COUNT_BOARD_1)
+//    {
+//        // Address first board
+//        board = ADDR_BOARD_1;
+//    }
+//    else
+//    {
+//        // Address second board
+//        board = ADDR_BOARD_2;
+//        led = led - BTTN_COUNT_BOARD_1;
+//    }
+//    
+//    bool fail = false;
+//    
+//    // Read port state
+//    char port_state;
+//    out_buf[0] = 0x02; // Port 0 output register
+//    
+//    fail |= _i2c.write(board, out_buf, 1, true);
+//    fail |= _i2c.read(board, &port_state, 1);
+//    
+//    if (val == true)
+//    {
+//        // Turn LED on by clearing bit
+//        port_state &= ~(1<<led);
+//    }
+//    else
+//    {
+//        // Turn LED off by raising bit
+//        port_state |= (1<<led);
+//    }
+//    
+//    // Now write to board
+//    out_buf[0] = 0x02; // Port 0 output register
+//    out_buf[1] = port_state;
+//    
+//    fail |= _i2c.write(board, out_buf, 2);
+//    
+//    if (fail)
+//    {
+//        // serial.printf("Nack recieved when writing LED %d on Board %d", led, board);
+//    }
+//    else
+//    {
+//        _led_ports = port_state<<(8*board) + _led_ports & (~(0xFF<<(8*board)));
+//    }
+//}
+
+void ButtonBoard::setLEDs(char mask, bool turnOn, char board /* = ADDR_BOARD_1 */)
+{
+    bool fail = false;
+    
+    // Read port state
+    char port_state;
+    out_buf[0] = 0x02; // Port 0 output register
+    
+    fail |= _i2c.write(board, out_buf, 1, true);
+    fail |= _i2c.read(board, &port_state, 1);
+    
+    if(turnOn == true)
+    {
+        // Turn LEDs on by clearing bits
+        port_state &= ~(mask);
+    }
+    else
+    {
+        // Turn LEDs off by raising bits
+        port_state |= (mask);
+    }
+    
+    // Now write to board
+    out_buf[0] = 0x02; // Port 0 output register
+    out_buf[1] = port_state;
+    
+    fail |= _i2c.write(board, out_buf, 2);
+    
+    if(fail)
+    {
+        // serial.printf("Nack recieved when writing LED %d on Board %d", led, board);
+        //printf("button board write failed\n");
+    }
+    else
+    {
+        //_led_ports = port_state<<(8*board) + _led_ports & (~(0xFF<<(8*board)));
+        _led_ports = port_state;
+    }
+}
+
+char ButtonBoard::getLEDs(char ledMask, char board /* = ADDR_BOARD_1 */)
+{
+    return ~_led_ports & ledMask;
+//    bool fail = false;
+//    
+//    // Read port state
+//    char port_state;
+//    out_buf[0] = 0x02; // Port 0 output register
+//    
+//    fail |= _i2c.write(board, out_buf, 1, true);
+//    fail |= _i2c.read(board, &port_state, 1);
+//    
+//    return ~port_state & ledMask;
+}
+
+char ButtonBoard::getButtons(char buttonMask, char board /* = ADDR_BOARD_1 */)
+{
+    return _button_state & buttonMask;
+}
+
+//uint16_t ButtonBoard::readInputs()
+//{
+//    char b1_p1;
+//    char b2_p1;
+//    
+//    out_buf[0] = 0x01;
+//    _i2c.write(ADDR_BOARD_1, out_buf, 1, true);
+//    _i2c.read(ADDR_BOARD_1, &b1_p1, 1);
+//    
+//    _i2c.write(ADDR_BOARD_2, out_buf, 1, true);
+//    _i2c.read(ADDR_BOARD_2, &b2_p1, 1);
+//    
+//    uint16_t out = (b2_p1<<8) | b1_p1;
+//    
+//    return out;
+//}