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Added HAL docs, improved HAL init&locking (#218)

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This commit is contained in:
Ken Van Hoeylandt
2025-02-12 18:12:20 +01:00
committed by GitHub
parent b7f39f883d
commit 2e86d4774b
16 changed files with 333 additions and 302 deletions
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TactilityHeadless/Include/Tactility/hal/i2c/I2c.h
+49 -12
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@@ -1,15 +1,17 @@
#pragma once
#include "./I2cCompat.h"
#include "Tactility/Lockable.h"
#include <Tactility/RtosCompat.h>
#include <climits>
#include <string>
#include <vector>
namespace tt::hal::i2c {
constexpr TickType_t defaultTimeout = 10 / portTICK_PERIOD_MS;
enum class InitMode {
ByTactility, // Tactility will initialize it in the correct bootup phase
ByExternal, // The device is already initialized and Tactility should assume it works
@@ -36,22 +38,57 @@ enum class Status {
Unknown
};
bool init(const std::vector<i2c::Configuration>& configurations);
/**
* Reconfigure a port with the provided settings.
* @warning This fails when the HAL Configuration does not allow for reinit.
* @warning This fails when the HAL Configuration does not allow for mutation of the device.
* @param[in] port the port to reconfigure
* @param[in] configuration the new configuration
* @return true on success
*/
bool configure(i2c_port_t port, const i2c_config_t& configuration);
/**
* Start the bus for the specified port.
* Devices might be started automatically at boot if their HAL configuration requires it.
*/
bool start(i2c_port_t port);
/** Stop the bus for the specified port. */
bool stop(i2c_port_t port);
/** @return true if the bus is started */
bool isStarted(i2c_port_t port);
bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
bool masterReadRegister(i2c_port_t port, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout);
bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
bool masterWriteRegisterArray(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout);
bool masterHasDeviceAtAddress(i2c_port_t port, uint8_t address, TickType_t timeout);
/** Read bytes in master mode. */
bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout = defaultTimeout);
bool lock(i2c_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
bool unlock(i2c_port_t port);
/** Read bytes from the specified register in master mode. */
bool masterReadRegister(i2c_port_t port, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout = defaultTimeout);
/** Write bytes in master mode. */
bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout = defaultTimeout);
/** Write bytes to a register in master mode */
bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout = defaultTimeout);
/**
* Write multiple values to multiple registers in master mode.
* The input is as follows: { register1, value1, register2, value2, ... }
* @return false if any of the write operations failed
*/
bool masterWriteRegisterArray(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout = defaultTimeout);
/** Write bytes and then read the response bytes in master mode*/
bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout = defaultTimeout);
/** @return true when a device is detected at the specified address */
bool masterHasDeviceAtAddress(i2c_port_t port, uint8_t address, TickType_t timeout = defaultTimeout);
/**
* The lock for the specified bus.
* This can be used when calling native I2C functionality outside of Tactility.
*/
Lockable& getLock(i2c_port_t port);
} // namespace