diff --git a/src/shared/drivers/i2c/I2C.cpp b/src/shared/drivers/i2c/I2C.cpp
index a58a3049de8b9ecd6e00cccffaee0ec45e846848..56b2a9f4d795205593d2ea57a5d7cdd5815874eb 100644
--- a/src/shared/drivers/i2c/I2C.cpp
+++ b/src/shared/drivers/i2c/I2C.cpp
@@ -32,39 +32,163 @@ I2C::I2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
}
bool I2C::read(const I2CDriver::I2CSlaveConfig &slaveConfig, void *buffer,
- const size_t &nBytes)
+ const size_t nBytes)
{
i2c.flushBus();
return i2c.read(slaveConfig, buffer, nBytes);
}
bool I2C::write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t &nBytes)
+ const void *buffer, const size_t nBytes)
{
i2c.flushBus();
return i2c.write(slaveConfig, buffer, nBytes);
}
bool I2C::readRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, uint8_t ®isterContent)
+ const uint8_t registerAddress, uint8_t ®isterContent)
{
i2c.flushBus();
return i2c.write(slaveConfig, ®isterAddress, 1, false) &&
i2c.read(slaveConfig, ®isterContent, 1);
}
+bool I2C::readRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ uint16_t ®isterContent)
+{
+ i2c.flushBus();
+ uint8_t buf[2] = {0};
+ if (i2c.write(slaveConfig, ®isterAddress, 1, false) &&
+ i2c.read(slaveConfig, buf, 2))
+ {
+ registerContent =
+ (slaveConfig.MSBFirst ? ((uint16_t)buf[0]) << 8 | buf[1]
+ : ((uint16_t)buf[1]) << 8 | buf[0]);
+ return true;
+ }
+ return false;
+}
+
+bool I2C::readRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ uint32_t ®isterContent)
+{
+ i2c.flushBus();
+ uint8_t buf[3] = {0};
+ if (i2c.write(slaveConfig, ®isterAddress, 1, false) &&
+ i2c.read(slaveConfig, buf, 3))
+ {
+ registerContent =
+ (slaveConfig.MSBFirst
+ ? ((uint32_t)buf[0]) << 16 | ((uint32_t)buf[1] << 8) | buf[2]
+ : ((uint32_t)buf[2]) << 16 | ((uint32_t)buf[1] << 8) | buf[0]);
+ return true;
+ }
+ return false;
+}
+
+bool I2C::readRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ uint32_t ®isterContent)
+{
+ i2c.flushBus();
+ uint8_t buf[4] = {0};
+ if (i2c.write(slaveConfig, ®isterAddress, 1, false) &&
+ i2c.read(slaveConfig, buf, 4))
+ {
+ registerContent =
+ (slaveConfig.MSBFirst
+ ? ((uint32_t)buf[0]) << 24 | ((uint32_t)buf[1] << 16) |
+ ((uint32_t)buf[2] << 8) | buf[3]
+ : ((uint32_t)buf[3]) << 24 | ((uint32_t)buf[2] << 16) |
+ ((uint32_t)buf[1] << 8) | buf[0]);
+ return true;
+ }
+ return false;
+}
+
bool I2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress,
- const uint8_t ®isterContent)
+ const uint8_t registerAddress,
+ const uint8_t registerContent)
{
const uint8_t reg[2] = {registerAddress, registerContent};
i2c.flushBus();
return i2c.write(slaveConfig, reg, 2);
}
+bool I2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ const uint16_t registerContent)
+{
+ i2c.flushBus();
+ if (slaveConfig.MSBFirst)
+ {
+ const uint8_t reg[3] = {registerAddress, // subAddr
+ (uint8_t)(registerContent >> 8), // MSB
+ (uint8_t)(registerContent)}; // LSB
+ return i2c.write(slaveConfig, reg, 3);
+ }
+ else
+ {
+ const uint8_t reg[3] = {registerAddress, // subAddr
+ (uint8_t)(registerContent), // LSB
+ (uint8_t)(registerContent >> 8)}; // MSB
+ return i2c.write(slaveConfig, reg, 3);
+ }
+}
+
+bool I2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ const uint32_t registerContent)
+{
+ i2c.flushBus();
+ if (slaveConfig.MSBFirst)
+ {
+ const uint8_t reg[4] = {registerAddress, // subAddr
+ (uint8_t)(registerContent >> 16), // MSB
+ (uint8_t)(registerContent >> 8), //
+ (uint8_t)registerContent}; // LSB
+ return i2c.write(slaveConfig, reg, 4);
+ }
+ else
+ {
+ const uint8_t reg[4] = {registerAddress, // subAddr
+ (uint8_t)(registerContent), // LSB
+ (uint8_t)(registerContent >> 8), //
+ (uint8_t)(registerContent >> 16)}; // MSB
+ return i2c.write(slaveConfig, reg, 4);
+ }
+}
+
+bool I2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ const uint32_t registerContent)
+{
+ i2c.flushBus();
+ if (slaveConfig.MSBFirst)
+ {
+ const uint8_t reg[5] = {registerAddress, // subAddr
+ (uint8_t)(registerContent >> 24), // MSB
+ (uint8_t)(registerContent >> 16), //
+ (uint8_t)(registerContent >> 8), //
+ (uint8_t)registerContent}; // LSB
+ return i2c.write(slaveConfig, reg, 5);
+ }
+ else
+ {
+ const uint8_t reg[5] = {registerAddress, // subAddr
+ (uint8_t)(registerContent), // LSB
+ (uint8_t)(registerContent >> 8), //
+ (uint8_t)(registerContent >> 16), //
+ (uint8_t)(registerContent >> 24)}; // MSB
+ return i2c.write(slaveConfig, reg, 5);
+ }
+}
+
bool I2C::readFromRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, void *buffer,
- const size_t &nBytes)
+ const uint8_t registerAddress, void *buffer,
+ const size_t nBytes)
{
i2c.flushBus();
return i2c.write(slaveConfig, ®isterAddress, 1, false) &&
@@ -86,38 +210,86 @@ SyncedI2C::SyncedI2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
}
bool SyncedI2C::read(const I2CDriver::I2CSlaveConfig &slaveConfig, void *buffer,
- const size_t &nBytes)
+ const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::read(slaveConfig, buffer, nBytes);
}
bool SyncedI2C::write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t &nBytes)
+ const void *buffer, const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::write(slaveConfig, buffer, nBytes);
}
bool SyncedI2C::readRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress,
+ const uint8_t registerAddress,
uint8_t ®isterContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister(slaveConfig, registerAddress, registerContent);
}
+bool SyncedI2C::readRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ uint16_t ®isterContent)
+{
+ miosix::Lock<miosix::FastMutex> lock(mutex);
+ return I2C::readRegister16(slaveConfig, registerAddress, registerContent);
+}
+
+bool SyncedI2C::readRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ uint32_t ®isterContent)
+{
+ miosix::Lock<miosix::FastMutex> lock(mutex);
+ return I2C::readRegister24(slaveConfig, registerAddress, registerContent);
+}
+
+bool SyncedI2C::readRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ uint32_t ®isterContent)
+{
+ miosix::Lock<miosix::FastMutex> lock(mutex);
+ return I2C::readRegister32(slaveConfig, registerAddress, registerContent);
+}
+
bool SyncedI2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress,
- const uint8_t ®isterContent)
+ const uint8_t registerAddress,
+ const uint8_t registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::writeRegister(slaveConfig, registerAddress, registerContent);
}
+bool SyncedI2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ const uint16_t registerContent)
+{
+ miosix::Lock<miosix::FastMutex> lock(mutex);
+ return I2C::writeRegister16(slaveConfig, registerAddress, registerContent);
+}
+
+bool SyncedI2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ const uint32_t registerContent)
+{
+ miosix::Lock<miosix::FastMutex> lock(mutex);
+ return I2C::writeRegister24(slaveConfig, registerAddress, registerContent);
+}
+
+bool SyncedI2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress,
+ const uint32_t registerContent)
+{
+ miosix::Lock<miosix::FastMutex> lock(mutex);
+ return I2C::writeRegister32(slaveConfig, registerAddress, registerContent);
+}
+
bool SyncedI2C::readFromRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, void *buffer,
- const size_t &nBytes)
+ const uint8_t registerAddress, void *buffer,
+ const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readFromRegister(slaveConfig, registerAddress, buffer, nBytes);
diff --git a/src/shared/drivers/i2c/I2C.h b/src/shared/drivers/i2c/I2C.h
index a97cbb99cf2bb3e00ea6f30c67402455ec2f9709..f9b7d01c5e5ef88f0130e070b1c16fa3a8f17b8a 100644
--- a/src/shared/drivers/i2c/I2C.h
+++ b/src/shared/drivers/i2c/I2C.h
@@ -71,7 +71,7 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig &slaveConfig,
- void *buffer, const size_t &nBytes);
+ void *buffer, const size_t nBytes);
/**
* @brief Non blocking write operation to write nBytes.
@@ -86,10 +86,10 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t &nBytes);
+ const void *buffer, const size_t nBytes);
/**
- * @brief Non blocking operation to read a 1-byte register from a slave.
+ * @brief Non blocking operation to read an 8-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
@@ -102,10 +102,58 @@ public:
*/
[[nodiscard]] bool readRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, uint8_t ®isterContent);
+ const uint8_t registerAddress, uint8_t ®isterContent);
/**
- * @brief Non blocking operation to write a 1-byte register from a slave.
+ * @brief Non blocking operation to read a 16-bit register from a slave.
+ *
+ * This method, if necessary, flushes the bus before the read operation is
+ * performed. In case of an error during the communication, this method
+ * returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent Where to store the content of the register.
+ * @returns True if the read is successful, false otherwise.
+ */
+ [[nodiscard]] bool readRegister16(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, uint16_t ®isterContent);
+
+ /**
+ * @brief Non blocking operation to read a 24-bit register from a slave.
+ *
+ * This method, if necessary, flushes the bus before the read operation is
+ * performed. In case of an error during the communication, this method
+ * returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent Where to store the content of the register.
+ * @returns True if the read is successful, false otherwise.
+ */
+ [[nodiscard]] bool readRegister24(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, uint32_t ®isterContent);
+
+ /**
+ * @brief Non blocking operation to read a 32-bit register from a slave.
+ *
+ * This method, if necessary, flushes the bus before the read operation is
+ * performed. In case of an error during the communication, this method
+ * returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent Where to store the content of the register.
+ * @returns True if the read is successful, false otherwise.
+ */
+ [[nodiscard]] bool readRegister32(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, uint32_t ®isterContent);
+
+ /**
+ * @brief Non blocking operation to write an 8-bit register from a slave.
*
* This method, if necessary, flushes the bus before the write operation is
* performed. In case of an error during the communication, this method
@@ -118,7 +166,55 @@ public:
*/
[[nodiscard]] bool writeRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, const uint8_t ®isterContent);
+ const uint8_t registerAddress, const uint8_t registerContent);
+
+ /**
+ * @brief Non blocking operation to write a 16-bit register from a slave.
+ *
+ * This method, if necessary, flushes the bus before the read operation is
+ * performed. In case of an error during the communication, this method
+ * returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent The content to write on the register.
+ * @returns True if the write is successful, false otherwise.
+ */
+ [[nodiscard]] bool writeRegister16(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, const uint16_t registerContent);
+
+ /**
+ * @brief Non blocking operation to write a 24-bit register from a slave.
+ *
+ * This method, if necessary, flushes the bus before the read operation is
+ * performed. In case of an error during the communication, this method
+ * returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent The content to write on the register.
+ * @returns True if the write is successful, false otherwise.
+ */
+ [[nodiscard]] bool writeRegister24(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, const uint32_t registerContent);
+
+ /**
+ * @brief Non blocking operation to write a 32-bit register from a slave.
+ *
+ * This method, if necessary, flushes the bus before the read operation is
+ * performed. In case of an error during the communication, this method
+ * returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent The content to write on the register.
+ * @returns True if the write is successful, false otherwise.
+ */
+ [[nodiscard]] bool writeRegister32(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, const uint32_t registerContent);
/**
* @brief Non blocking operation to read n-bytes from register from a slave.
@@ -135,7 +231,7 @@ public:
*/
[[nodiscard]] bool readFromRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, void *buffer, const size_t &nBytes);
+ const uint8_t registerAddress, void *buffer, const size_t nBytes);
/**
* @brief Non blocking operation to check if a slave is available.
@@ -200,7 +296,7 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig &slaveConfig,
- void *buffer, const size_t &nBytes);
+ void *buffer, const size_t nBytes);
/**
* @brief Write operation to write nBytes.
@@ -215,10 +311,10 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig &slaveConfig,
- const void *buffer, const size_t &nBytes);
+ const void *buffer, const size_t nBytes);
/**
- * @brief Read a one-byte register from the device.
+ * @brief Read an 8-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
@@ -231,10 +327,58 @@ public:
*/
[[nodiscard]] bool readRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, uint8_t ®isterContent);
+ const uint8_t registerAddress, uint8_t ®isterContent);
/**
- * @brief Write a one-byte register from the device.
+ * @brief Read a 16-bit register from the device.
+ *
+ * This method could have to wait that no other thread is trying to do some
+ * operation on the bus. In case of an error during the communication, this
+ * method returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent Where to store the content of the register.
+ * @returns True if the read is successful, false otherwise.
+ */
+ [[nodiscard]] bool readRegister16(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, uint16_t ®isterContent);
+
+ /**
+ * @brief Read a 24-bit register from the device.
+ *
+ * This method could have to wait that no other thread is trying to do some
+ * operation on the bus. In case of an error during the communication, this
+ * method returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent Where to store the content of the register.
+ * @returns True if the read is successful, false otherwise.
+ */
+ [[nodiscard]] bool readRegister24(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, uint32_t ®isterContent);
+
+ /**
+ * @brief Read a 32-bit register from the device.
+ *
+ * This method could have to wait that no other thread is trying to do some
+ * operation on the bus. In case of an error during the communication, this
+ * method returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent Where to store the content of the register.
+ * @returns True if the read is successful, false otherwise.
+ */
+ [[nodiscard]] bool readRegister32(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, uint32_t ®isterContent);
+
+ /**
+ * @brief Write an 8-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
@@ -247,7 +391,55 @@ public:
*/
[[nodiscard]] bool writeRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, const uint8_t ®isterContent);
+ const uint8_t registerAddress, const uint8_t registerContent);
+
+ /**
+ * @brief Write a 16-bit register from the device.
+ *
+ * This method could have to wait that no other thread is trying to do some
+ * operation on the bus. In case of an error during the communication, this
+ * method returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent The content to write on the register.
+ * @returns True if the write is successful, false otherwise.
+ */
+ [[nodiscard]] bool writeRegister16(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, const uint16_t registerContent);
+
+ /**
+ * @brief Write a 24-bit register from the device.
+ *
+ * This method could have to wait that no other thread is trying to do some
+ * operation on the bus. In case of an error during the communication, this
+ * method returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent The content to write on the register.
+ * @returns True if the write is successful, false otherwise.
+ */
+ [[nodiscard]] bool writeRegister24(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, const uint32_t registerContent);
+
+ /**
+ * @brief Write a 32-bit register from the device.
+ *
+ * This method could have to wait that no other thread is trying to do some
+ * operation on the bus. In case of an error during the communication, this
+ * method returns false immediately.
+ * @warning Check always if the operation succeeded or not!
+ * @param slaveConfig The configuration struct of the slave device.
+ * @param registerAddress Byte that represents the address of the register.
+ * @param registerContent The content to write on the register.
+ * @returns True if the write is successful, false otherwise.
+ */
+ [[nodiscard]] bool writeRegister32(
+ const I2CDriver::I2CSlaveConfig &slaveConfig,
+ const uint8_t registerAddress, const uint32_t registerContent);
/**
* @brief Read n-bytes from register from a slave.
@@ -264,7 +456,7 @@ public:
*/
[[nodiscard]] bool readFromRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
- const uint8_t ®isterAddress, void *buffer, const size_t &nBytes);
+ const uint8_t registerAddress, void *buffer, const size_t nBytes);
/**
* @brief Check if a slave is available.
diff --git a/src/shared/drivers/i2c/I2CDriver.h b/src/shared/drivers/i2c/I2CDriver.h
index f017422ce2256d53040d81e4a05eb388cfbeef7a..159a288c593210ae3342f7f7d840c7140e8a0be2 100644
--- a/src/shared/drivers/i2c/I2CDriver.h
+++ b/src/shared/drivers/i2c/I2CDriver.h
@@ -108,6 +108,8 @@ public:
///< addressing |6-bit unused|10-bit address|).
I2CDriver::Addressing addressing; ///< Addressing mode of the device.
I2CDriver::Speed speed; ///< Speed mode of the communication.
+ bool MSBFirst; ///< Registers with lower values are the MSB of
+ ///< multi-byte registers
} I2CSlaveConfig;
/**