Device migrations and driver implementations (#564)

2026-07-15 12:46:24 +02:00
parent 8af6204ba1
commit bd8fdfd858
55 changed files with 1695 additions and 447 deletions
@@ -0,0 +1,169 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <drivers/tca9534.h>
+#include <tca9534_module.h>
+#include <tactility/device.h>
+#include <tactility/driver.h>
+#include <tactility/drivers/gpio_controller.h>
+#include <tactility/drivers/gpio_descriptor.h>
+#include <tactility/drivers/i2c_controller.h>
+#include <tactility/log.h>
+
+#define TAG "TCA9534"
+
+#define GET_CONFIG(device) (static_cast<const Tca9534Config*>((device)->config))
+
+constexpr auto TCA9534_REGISTER_INPUT = 0x00;
+constexpr auto TCA9534_REGISTER_OUTPUT = 0x01;
+constexpr auto TCA9534_REGISTER_POLARITY = 0x02;
+constexpr auto TCA9534_REGISTER_CONFIG = 0x03;
+
+static error_t start(Device* device) {
+    auto* parent = device_get_parent(device);
+    if (device_get_type(parent) != &I2C_CONTROLLER_TYPE) {
+        LOG_E(TAG, "Parent device is not I2C");
+        return ERROR_RESOURCE;
+    }
+
+    return gpio_controller_init_descriptors(device, 8, nullptr);
+}
+
+static error_t stop(Device* device) {
+    check(gpio_controller_deinit_descriptors(device) == ERROR_NONE);
+    return ERROR_NONE;
+}
+
+extern "C" {
+
+static error_t set_level(GpioDescriptor* descriptor, bool high) {
+    auto* device = descriptor->controller;
+    auto* parent = device_get_parent(device);
+    auto address = GET_CONFIG(device)->address;
+    uint8_t bit = 1 << descriptor->pin;
+
+    return high
+        ? i2c_controller_register8_set_bits(parent, address, TCA9534_REGISTER_OUTPUT, bit, portMAX_DELAY)
+        : i2c_controller_register8_reset_bits(parent, address, TCA9534_REGISTER_OUTPUT, bit, portMAX_DELAY);
+}
+
+static error_t get_level(GpioDescriptor* descriptor, bool* high) {
+    auto* device = descriptor->controller;
+    auto* parent = device_get_parent(device);
+    auto address = GET_CONFIG(device)->address;
+    uint8_t bits;
+
+    error_t err = i2c_controller_register8_get(parent, address, TCA9534_REGISTER_INPUT, &bits, portMAX_DELAY);
+    if (err != ERROR_NONE) {
+        return err;
+    }
+
+    *high = (bits & (1 << descriptor->pin)) != 0;
+    return ERROR_NONE;
+}
+
+static error_t set_flags(GpioDescriptor* descriptor, gpio_flags_t flags) {
+    // The TCA9534 only supports direction and polarity inversion. Pull-up/down and
+    // high-impedance are not present in its register map.
+    if (flags & (GPIO_FLAG_PULL_UP | GPIO_FLAG_PULL_DOWN | GPIO_FLAG_HIGH_IMPEDANCE)) {
+        return ERROR_NOT_SUPPORTED;
+    }
+
+    // The polarity register only inverts what's read back from an input pin;
+    // set_level() still drives outputs at the raw level. Accepting ACTIVE_LOW
+    // on an output would silently not do what it implies.
+    if ((flags & GPIO_FLAG_ACTIVE_LOW) && (flags & GPIO_FLAG_DIRECTION_OUTPUT)) {
+        return ERROR_NOT_SUPPORTED;
+    }
+
+    auto* device = descriptor->controller;
+    auto* parent = device_get_parent(device);
+    auto address = GET_CONFIG(device)->address;
+    uint8_t bit = 1 << descriptor->pin;
+    error_t err;
+
+    // Direction: configuration bit is 1 for input, 0 for output.
+    if (flags & GPIO_FLAG_DIRECTION_OUTPUT) {
+        err = i2c_controller_register8_reset_bits(parent, address, TCA9534_REGISTER_CONFIG, bit, portMAX_DELAY);
+    } else {
+        err = i2c_controller_register8_set_bits(parent, address, TCA9534_REGISTER_CONFIG, bit, portMAX_DELAY);
+    }
+
+    if (err != ERROR_NONE) {
+        return err;
+    }
+
+    // Polarity inversion (mainly relevant for active-low inputs).
+    if (flags & GPIO_FLAG_ACTIVE_LOW) {
+        err = i2c_controller_register8_set_bits(parent, address, TCA9534_REGISTER_POLARITY, bit, portMAX_DELAY);
+    } else {
+        err = i2c_controller_register8_reset_bits(parent, address, TCA9534_REGISTER_POLARITY, bit, portMAX_DELAY);
+    }
+
+    return err;
+}
+
+static error_t get_flags(GpioDescriptor* descriptor, gpio_flags_t* flags) {
+    auto* device = descriptor->controller;
+    auto* parent = device_get_parent(device);
+    auto address = GET_CONFIG(device)->address;
+    uint8_t bit = 1 << descriptor->pin;
+    uint8_t val;
+    error_t err;
+
+    gpio_flags_t f = GPIO_FLAG_NONE;
+
+    err = i2c_controller_register8_get(parent, address, TCA9534_REGISTER_CONFIG, &val, portMAX_DELAY);
+    if (err != ERROR_NONE) return err;
+    f |= (val & bit) ? GPIO_FLAG_DIRECTION_INPUT : GPIO_FLAG_DIRECTION_OUTPUT;
+
+    err = i2c_controller_register8_get(parent, address, TCA9534_REGISTER_POLARITY, &val, portMAX_DELAY);
+    if (err != ERROR_NONE) return err;
+    f |= (val & bit) ? GPIO_FLAG_ACTIVE_LOW : GPIO_FLAG_ACTIVE_HIGH;
+
+    *flags = f;
+    return ERROR_NONE;
+}
+
+static error_t get_native_pin_number(GpioDescriptor* descriptor, void* pin_number) {
+    return ERROR_NOT_SUPPORTED;
+}
+
+static error_t add_callback(GpioDescriptor* descriptor, void (*callback)(void*), void* arg) {
+    return ERROR_NOT_SUPPORTED;
+}
+
+static error_t remove_callback(GpioDescriptor* descriptor) {
+    return ERROR_NOT_SUPPORTED;
+}
+
+static error_t enable_interrupt(GpioDescriptor* descriptor) {
+    return ERROR_NOT_SUPPORTED;
+}
+
+static error_t disable_interrupt(GpioDescriptor* descriptor) {
+    return ERROR_NOT_SUPPORTED;
+}
+
+const static GpioControllerApi tca9534_gpio_api = {
+    .set_level = set_level,
+    .get_level = get_level,
+    .set_flags = set_flags,
+    .get_flags = get_flags,
+    .get_native_pin_number = get_native_pin_number,
+    .add_callback = add_callback,
+    .remove_callback = remove_callback,
+    .enable_interrupt = enable_interrupt,
+    .disable_interrupt = disable_interrupt
+};
+
+Driver tca9534_driver = {
+    .name = "tca9534",
+    .compatible = (const char*[]) { "ti,tca9534", nullptr },
+    .start_device = start,
+    .stop_device = stop,
+    .api = static_cast<const void*>(&tca9534_gpio_api),
+    .device_type = &GPIO_CONTROLLER_TYPE,
+    .owner = &tca9534_module,
+    .internal = nullptr
+};
+
+}