Merge pull request #70 from ISSUIUC/new-mk2-pins

MIDAS MK2.1 Port -- final software release v3

Author: mpkarpov-ui

MIDAS/lib/ADS7138Q1/ads7138-q1.cpp

@@ -23,7 +23,7 @@ static AdcRegReadResult adc_reg_read(uint8_t address, uint8_t reg_address) {
   WIRE.beginTransmission(address);
   WIRE.write(ADC_REG_READ);
   WIRE.write(reg_address);
-  if(!WIRE.endTransmission(true)){
+  if(WIRE.endTransmission(true) != 0){
     return AdcRegReadResult{.value=0, .error=AdcError::I2CError};
   }
   uint8_t ct = WIRE.requestFrom((int)address, 1, 1);
@@ -39,7 +39,7 @@ static AdcError adc_reg_write(uint8_t address, uint8_t reg_address, uint8_t data
   WIRE.write(ADC_REG_WRITE);
   WIRE.write(reg_address);
   WIRE.write(data);
-  if(!WIRE.endTransmission(true)){
+  if(WIRE.endTransmission(true) != 0){
     return AdcError::I2CError;
   }
   return AdcError::NoError;

MIDAS/lib/Adafruit BNO08x/src/Adafruit_BNO08x.cpp

@@ -40,7 +40,7 @@
 
 static Adafruit_SPIDevice *spi_dev = NULL; ///< Pointer to SPI bus interface
 static int8_t _int_pin;
-static GpioAddress _reset_pin(0, 0);
+static int _reset_pin;
 
 static Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
 static HardwareSerial *uart_dev = NULL;
@@ -82,7 +82,7 @@ static void hal_hardwareReset(void);
  *
  * @param reset_pin The arduino pin # connected to the BNO Reset pin
  */
-Adafruit_BNO08x::Adafruit_BNO08x(GpioAddress reset_pin) { _reset_pin = reset_pin; }
+Adafruit_BNO08x::Adafruit_BNO08x(int reset_pin) { _reset_pin = reset_pin; }
 
 /**
  * @brief Destroy the Adafruit_BNO08x::Adafruit_BNO08x object
@@ -626,12 +626,12 @@ static void hal_hardwareReset(void) {
 //  if (_reset_pin != -1) {
     // Serial.println("BNO08x Hardware reset");
 
-    gpioPinMode(_reset_pin, OUTPUT);
-    gpioDigitalWrite(_reset_pin, HIGH);
+    pinMode(_reset_pin, OUTPUT);
+    digitalWrite(_reset_pin, HIGH);
     delay(10);
-    gpioDigitalWrite(_reset_pin, LOW);
+    digitalWrite(_reset_pin, LOW);
     delay(10);
-    gpioDigitalWrite(_reset_pin, HIGH);
+    digitalWrite(_reset_pin, HIGH);
     delay(10);
 //  }
 }

MIDAS/lib/Adafruit BNO08x/src/Adafruit_BNO08x.h

@@ -40,7 +40,7 @@
  */
 class Adafruit_BNO08x {
 public:
-  Adafruit_BNO08x(GpioAddress reset_pin);
+  Adafruit_BNO08x(int reset_pin);
   ~Adafruit_BNO08x();
 
   bool begin_I2C(uint8_t i2c_addr = BNO08x_I2CADDR_DEFAULT,

MIDAS/lib/TCAL9539/TCAL9539.cpp

@@ -1,9 +1,6 @@
 #include"TCAL9539.h"
 #include<Wire.h>
 
-#define WIRE Wire
-
-
 static constexpr uint8_t REG_INPUT0 = 0x0;
 static constexpr uint8_t REG_INPUT1 = 0x1;
 static constexpr uint8_t REG_OUTPUT0 = 0x2;
@@ -13,24 +10,42 @@ static constexpr uint8_t POLARITY_INVERSION1 = 0x5;
 static constexpr uint8_t REG_CONFIG0 = 0x6;
 static constexpr uint8_t REG_CONFIG1 = 0x7;
 
-bool TCAL9539Init(){
-    uint8_t addrs[] = {GPIO0_ADDRESS, GPIO1_ADDRESS, GPIO2_ADDRESS};
+TwoWire& tcal_get_wire_by_id(int index) {
+    if(I2C_BUS_Map[index] == 0) {
+        return Wire; 
+    } else {
+        return Wire1;
+    }
+}
 
-    for(uint8_t addr : addrs){
-        Serial.print("Testing ");
-        Serial.println(addr);
-        WIRE.beginTransmission(addr);
-        WIRE.write(REG_OUTPUT0);
-        if(!WIRE.endTransmission()){
-            Serial.println("Failed at endTransmission");
+bool TCAL9539Init(int reset_pin){
+    pinMode(reset_pin, OUTPUT);
+    digitalWrite(reset_pin, HIGH);
+    delay(1);
+    digitalWrite(reset_pin, LOW);
+    delay(1);
+    digitalWrite(reset_pin, HIGH);
+
+    uint8_t addrs[] = {GPIO0_ADDRESS, GPIO1_ADDRESS, GPIO2_ADDRESS};
+    
+    for(int i = 0; i < std::size(addrs); i++){
+        TwoWire& wire = tcal_get_wire_by_id(i);
+        uint8_t addr = addrs[i];
+
+        wire.beginTransmission(addr);
+        wire.write(REG_OUTPUT0);
+        if(wire.endTransmission() != 0){
+            Serial.print("Failed at endTransmission ");
+            Serial.println(addr);
             return false;
         }
-        int ct = WIRE.requestFrom(addr, 1);
+        int ct = wire.requestFrom(addr, 1);
         if(ct != 1){
-            Serial.println("Failed at requestFrom");
+            Serial.print("Failed at requestFrom ");
+            Serial.println(addr);
             return false;
         }
-        int v = WIRE.read();
+        int v = wire.read();
         //REG_OUTPUT0 is set all ones on power up
         if(v != 0xff){
             Serial.println("Failed at REG_OUTPUT0");
@@ -44,10 +59,14 @@ static uint8_t pin_state[3][2] = {{0xff,0xff},{0xff,0xff},{0xff,0xff}};
 static uint8_t pin_config[3][2] = {{0xff,0xff},{0xff,0xff},{0xff,0xff}};
 
 GpioError gpioDigitalWrite(GpioAddress addr, int mode){
+
+
     if(!addr.is_valid) {
         return GpioError::InvalidPinError;
     }
 
+    TwoWire& wire = tcal_get_wire_by_id(addr.gpio_id);
+
     uint8_t current_state = pin_state[addr.gpio_id][addr.port_idx];
     if(mode == HIGH){
         current_state |= (1 << addr.pin_offset);
@@ -57,14 +76,15 @@ GpioError gpioDigitalWrite(GpioAddress addr, int mode){
         return GpioError::InvalidModeError;
     }
 
-    WIRE.beginTransmission(addr.gpio_address);
-    WIRE.write(REG_OUTPUT0 + addr.port_idx);
-    WIRE.write(current_state);
+    wire.beginTransmission(addr.gpio_address);
+    wire.write(REG_OUTPUT0 + addr.port_idx);
+    wire.write(current_state);
     pin_state[addr.gpio_id][addr.port_idx] = current_state;
-    if(!WIRE.endTransmission(true)){
+    int err = 0;
+    err = wire.endTransmission(true);
+    if(err != 0){
         return GpioError::I2CError;
     }
-
     return GpioError::NoError;
 }
 
@@ -73,18 +93,19 @@ GpioReadResult gpioDigitalRead(GpioAddress addr){
         return GpioReadResult{.value=LOW,.error=GpioError::InvalidPinError};
     }
 
-    WIRE.beginTransmission(addr.gpio_address);
-    WIRE.write(REG_INPUT0 + addr.port_idx);
-    if(!WIRE.endTransmission(true)){
+    TwoWire& wire = tcal_get_wire_by_id(addr.gpio_id);
+
+    wire.beginTransmission(addr.gpio_address);
+    wire.write(REG_INPUT0 + addr.port_idx);
+    if(wire.endTransmission(true) != 0){
         return GpioReadResult{.value=LOW,.error=GpioError::I2CError};
     }
-    int ct = WIRE.requestFrom(addr.gpio_address, 1);
+    int ct = wire.requestFrom(addr.gpio_address, 1);
     if(ct != 1){
         return GpioReadResult{.value=LOW,.error=GpioError::I2CError};
     }
-    
-    uint8_t val = WIRE.read();
 
+    uint8_t val = wire.read();    
     return GpioReadResult{.value=(val & (1 << addr.pin_offset)) != 0,.error=GpioError::NoError};
 }
 
@@ -93,6 +114,8 @@ GpioError gpioPinMode(GpioAddress addr, int mode){
         return GpioError::NoError;
     }
 
+    TwoWire& wire = tcal_get_wire_by_id(addr.gpio_id);
+
     uint8_t current_state = pin_config[addr.gpio_id][addr.port_idx];
 
     if(mode == INPUT){
@@ -102,20 +125,20 @@ GpioError gpioPinMode(GpioAddress addr, int mode){
     } else {
         return GpioError::InvalidModeError;
     }
+    
+    GpioError err = gpioDigitalWrite(addr, LOW);
+    if(err != GpioError::NoError){
+        return err;
+    }
 
-    GpioError err = gpioDigitalWrite(addr, LOW); //set pin low as default state
-    // if(err != GpioError::NoError){
-    //     return err;
-    // }
-
-    WIRE.beginTransmission(addr.gpio_address);
-    WIRE.write(REG_CONFIG0 + addr.port_idx);
-    WIRE.write(current_state);
+    //wirezero
+    wire.beginTransmission(addr.gpio_address);
+    wire.write(REG_CONFIG0 + addr.port_idx);
+    wire.write(current_state);
     pin_config[addr.gpio_id][addr.port_idx] = current_state;
 
-    if(!WIRE.endTransmission(true)){
+    if(wire.endTransmission(true) != 0){
         return GpioError::I2CError;
     }
-
     return GpioError::NoError;
-}
+}

MIDAS/lib/TCAL9539/TCAL9539.h

@@ -4,6 +4,7 @@
 static constexpr uint8_t GPIO0_ADDRESS = 0x74;
 static constexpr uint8_t GPIO1_ADDRESS = 0x75;
 static constexpr uint8_t GPIO2_ADDRESS = 0x77;
+static constexpr int I2C_BUS_Map[] = {1,0,0};
 
 static constexpr int GPIO_LOW_BIT_COUNT = 8;
 static constexpr int GPIO_HIGH_BIT_COUNT = 16;
@@ -52,7 +53,18 @@ struct GpioReadResult {
     GpioError error;
 };
 
-bool TCAL9539Init();
+bool TCAL9539Init(int reset_pin);
+
+/**
+ * wirenum: decides which wire to use on the GPIO
+ * pin: which pin to write or read signal from
+ * mode: the mode of the pin
+ * 
+ * wire = 0 means we are using our main i2c bus
+ * wire = 1 means we are using the pyro i2c bus
+ */
 GpioError gpioPinMode(GpioAddress pin, int mode);
+
 GpioError gpioDigitalWrite(GpioAddress pin, int mode);
+
 GpioReadResult gpioDigitalRead(GpioAddress pin);

MIDAS/platformio.ini

@@ -1,6 +1,7 @@
 [env:mcu_main_sustainer]
 platform = espressif32
 board = esp32-s3-devkitc-1
+; board = adafruit_feather_esp32s3
 framework = arduino
 extra_scripts =
     pre:extra_script.py
@@ -13,13 +14,14 @@ build_unflags =
     -std=gnu++11
 lib_deps =
     adafruit/Adafruit LIS3MDL@^1.2.1 ; Magnetometer driver
-    stevemarple/MicroNMEA@^2.0.6 ; NMEA Parsing library (for GPS messages)
+    sparkfun/SparkFun u-blox GNSS v3@^3.1.8 ; GPS
 
 build_src_filter = +<*> -<silsim/> +<hardware/> -<hilsim>
 
 [env:mcu_main_booster]
 platform = espressif32
 board = esp32-s3-devkitc-1
+; board = adafruit_feather_esp32s3
 framework = arduino
 extra_scripts =
     pre:extra_script.py
@@ -32,13 +34,13 @@ build_unflags =
     -std=gnu++11
 lib_deps =
     adafruit/Adafruit LIS3MDL@^1.2.1 ; Magnetometer driver
-    stevemarple/MicroNMEA@^2.0.6 ; NMEA Parsing library (for GPS messages)
+    sparkfun/SparkFun u-blox GNSS v3@^3.1.8 ; GPS
 
 build_src_filter = +<*> -<silsim/> +<hardware/> -<hilsim>
 
 [env:mcu_hilsim_sustainer]
 platform = espressif32
-board = esp32-s3-devkitc-1
+board = adafruit_feather_esp32s3
 framework = arduino
 extra_scripts =
     pre:extra_script.py
@@ -53,7 +55,7 @@ build_unflags =
 
 [env:mcu_hilsim_booster]
 platform = espressif32
-board = esp32-s3-devkitc-1
+board = adafruit_feather_esp32s3
 framework = arduino
 extra_scripts =
     pre:extra_script.py