mch2022-template-app/factory_test/main/hardware.c

145 lines
4.4 KiB
C

#include "hardware.h"
#include <driver/spi_master.h>
#include <esp_log.h>
#include <driver/gpio.h>
#include "managed_i2c.h"
#include "logo.h"
#include "sdcard.h"
static const char *TAG = "hardware";
PCA9555 dev_pca9555 = {0};
BNO055 dev_bno055 = {0};
ILI9341 dev_ili9341 = {0};
ICE40 dev_ice40 = {0};
// Wrapper functions for linking the ICE40 component to the PCA9555 component
esp_err_t ice40_get_done_wrapper(bool* done) { return pca9555_get_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_CDONE, done); }
esp_err_t ice40_set_reset_wrapper(bool reset) { return pca9555_set_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_RESET, reset); }
esp_err_t hardware_init() {
esp_err_t res;
// Interrupts
res = gpio_install_isr_service(0);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing ISR service failed");
return res;
}
// System I2C bus
res = i2c_init(I2C_BUS_SYS, GPIO_I2C_SYS_SDA, GPIO_I2C_SYS_SCL, I2C_SPEED_SYS, false, false);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing system I2C bus failed");
return res;
}
// User I2C bus
res = i2c_init(I2C_BUS_EXT, GPIO_I2C_EXT_SDA, GPIO_I2C_EXT_SCL, I2C_SPEED_EXT, false, false);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing user I2C bus failed");
return res;
}
// SPI bus
spi_bus_config_t busConfiguration = {0};
busConfiguration.mosi_io_num = GPIO_SPI_MOSI;
busConfiguration.miso_io_num = GPIO_SPI_MISO;
busConfiguration.sclk_io_num = GPIO_SPI_CLK;
busConfiguration.quadwp_io_num = -1;
busConfiguration.quadhd_io_num = -1;
busConfiguration.max_transfer_sz = SPI_MAX_TRANSFER_SIZE;
res = spi_bus_initialize(SPI_BUS, &busConfiguration, SPI_DMA_CHANNEL);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing SPI bus failed");
return res;
}
// PCA9555 IO expander on system I2C bus
res = pca9555_init(&dev_pca9555, I2C_BUS_SYS, PCA9555_ADDR, GPIO_INT_PCA9555);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing PCA9555 failed");
return res;
}
res = pca9555_set_gpio_direction(&dev_pca9555, PCA9555_PIN_FPGA_RESET, true);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Setting the FPGA reset pin on the PCA9555 to output failed");
return res;
}
res = pca9555_set_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_RESET, false);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Setting the FPGA reset pin on the PCA9555 to low failed");
return res;
}
// FPGA
dev_ice40.spi_bus = SPI_BUS;
dev_ice40.pin_cs = GPIO_SPI_CS_FPGA;
dev_ice40.pin_done = -1;
dev_ice40.pin_reset = -1;
dev_ice40.pin_int = GPIO_INT_FPGA;
dev_ice40.spi_speed = 23000000; // 23MHz
dev_ice40.spi_max_transfer_size = SPI_MAX_TRANSFER_SIZE;
dev_ice40.get_done = ice40_get_done_wrapper;
dev_ice40.set_reset = ice40_set_reset_wrapper;
res = ice40_init(&dev_ice40);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing FPGA failed");
return res;
}
// LCD display
dev_ili9341.spi_bus = SPI_BUS;
dev_ili9341.pin_cs = GPIO_SPI_CS_LCD;
dev_ili9341.pin_dcx = GPIO_SPI_DC_LCD;
dev_ili9341.pin_reset = -1;
dev_ili9341.rotation = 1;
dev_ili9341.color_mode = true; // Blue and red channels are swapped
dev_ili9341.spi_speed = 60000000; // 60MHz
dev_ili9341.spi_max_transfer_size = SPI_MAX_TRANSFER_SIZE;
dev_ili9341.callback = NULL; // Callback for changing LCD mode between ESP32 and FPGA
res = ili9341_init(&dev_ili9341);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing LCD failed");
return res;
}
// Hack: show logo while the other hardware components initialize
res = ili9341_write(&dev_ili9341, logo);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Failed to write logo to LCD");
return res;
}
// BNO055 sensor on system I2C bus
res = bno055_init(&dev_bno055, I2C_BUS_SYS, BNO055_ADDR, GPIO_INT_BNO055, true);
if (res != ESP_OK) {
ESP_LOGE(TAG, "Initializing BNO055 failed");
return res;
}
//res = mount_sd(SD_CMD, SD_CLK, SD_D0, SD_PWR, "/sd", false, 5);
return res;
}
PCA9555* get_pca9555() {
return &dev_pca9555;
}
BNO055* get_bno055() {
return &dev_bno055;
}
ILI9341* get_ili9341() {
return &dev_ili9341;
}
ICE40* get_ice40() {
return &dev_ice40;
}