74 lines
2 KiB
C
74 lines
2 KiB
C
#include "hardware.h"
|
|
#include <driver/spi_master.h>
|
|
#include <esp_log.h>
|
|
#include <driver/gpio.h>
|
|
#include "managed_i2c.h"
|
|
|
|
static const char *TAG = "hardware";
|
|
|
|
PCA9555 pca9555;
|
|
BNO055 bno055;
|
|
|
|
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;
|
|
}
|
|
|
|
// 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;
|
|
}
|
|
|
|
// 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;
|
|
}
|
|
|
|
// PCA9555 IO expander on system I2C bus
|
|
res = pca9555_init(&pca9555, I2C_BUS_SYS, PCA9555_ADDR, GPIO_INT_PCA9555);
|
|
if (res != ESP_OK) {
|
|
ESP_LOGE(TAG, "Initializing PCA9555 failed");
|
|
return res;
|
|
}
|
|
|
|
// BNO055 sensor on system I2C bus
|
|
|
|
res = bno055_init(&bno055, I2C_BUS_SYS, BNO055_ADDR, GPIO_INT_BNO055, true);
|
|
if (res != ESP_OK) {
|
|
ESP_LOGE(TAG, "Initializing BNO055 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;
|
|
}
|
|
|
|
return res;
|
|
}
|
|
|
|
PCA9555* get_pca9555() {
|
|
return &pca9555;
|
|
}
|
|
|
|
BNO055* get_bno055() {
|
|
return &bno055;
|
|
}
|