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Forairaaaaa
92 lines
2.2 KiB
C++
92 lines
2.2 KiB
C++
/*
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* SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
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*
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* SPDX-License-Identifier: MIT
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*/
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#include "hal.h"
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#include "board/hal_bridge.h"
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#include "drivers/PY32IOExpander_Class/PY32IOExpander_Class.hpp"
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#include <mooncake_log.h>
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#include <memory>
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static const std::string_view _tag = "HAL-IOE";
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static std::unique_ptr<m5::PY32IOExpander_Class> _io_expander;
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void Hal::io_expander_init()
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{
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mclog::tagInfo(_tag, "init");
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auto i2c_bus = hal_bridge::board_get_i2c_bus();
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_io_expander = std::make_unique<m5::PY32IOExpander_Class>(i2c_bus);
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uint32_t start_tick = GetHAL().millis();
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// PY32 IO Expander may boot slowly, wait for it
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while (1) {
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vTaskDelay(pdMS_TO_TICKS(200));
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if (GetHAL().millis() - start_tick > 1200) {
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mclog::tagError(_tag, "init timeout");
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_io_expander.reset();
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break;
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}
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if (_io_expander->begin()) {
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break;
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}
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mclog::tagInfo(_tag, "init failed, retrying...");
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}
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if (_io_expander) {
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// VM EN
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_io_expander->setDirection(0, true); // Output
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_io_expander->setPullMode(0, true); // Pull-up
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GetHAL().setServoPowerEnabled(true);
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vTaskDelay(pdMS_TO_TICKS(200));
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// RGB
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_io_expander->setDirection(13, true); // Output
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_io_expander->setPullMode(13, true); // Pull-up
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_io_expander->setDriveMode(13, false); // Push-pull
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_io_expander->setLedCount(12);
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vTaskDelay(pdMS_TO_TICKS(200));
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GetHAL().showRgbColor(0, 0, 0);
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vTaskDelay(pdMS_TO_TICKS(50));
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GetHAL().showRgbColor(0, 0, 0);
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mclog::tagInfo(_tag, "init done");
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}
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}
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void Hal::setServoPowerEnabled(bool enabled)
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{
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if (!_io_expander) {
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return;
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}
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_io_expander->digitalWrite(0, enabled ? true : false);
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}
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void Hal::setRgbColor(uint8_t index, uint8_t r, uint8_t g, uint8_t b)
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{
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if (!_io_expander) {
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return;
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}
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_io_expander->setLedColor(index, r, g, b);
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}
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void Hal::refreshRgb()
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{
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if (!_io_expander) {
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return;
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}
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_io_expander->refreshLeds();
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}
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void Hal::showRgbColor(uint8_t r, uint8_t g, uint8_t b)
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{
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for (int i = 0; i < 12; i++) {
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setRgbColor(i, r, g, b);
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}
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refreshRgb();
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}
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