148 lines
5 KiB
C
148 lines
5 KiB
C
#include "hardware.h"
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#include <driver/spi_master.h>
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#include <esp_log.h>
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#include <driver/gpio.h>
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#include "managed_i2c.h"
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#include "sdcard.h"
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static const char *TAG = "hardware";
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static PCA9555 dev_pca9555 = {0};
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static BNO055 dev_bno055 = {0};
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static ILI9341 dev_ili9341 = {0};
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static ICE40 dev_ice40 = {0};
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// Wrapper functions for linking the ICE40 component to the PCA9555 component
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esp_err_t ice40_get_done_wrapper(bool* done) { return pca9555_get_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_CDONE, done); }
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esp_err_t ice40_set_reset_wrapper(bool reset) { return pca9555_set_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_RESET, reset); }
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esp_err_t hardware_init() {
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esp_err_t res;
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// Interrupts
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res = gpio_install_isr_service(0);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing ISR service failed");
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return res;
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}
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// System I2C bus
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res = i2c_init(I2C_BUS_SYS, GPIO_I2C_SYS_SDA, GPIO_I2C_SYS_SCL, I2C_SPEED_SYS, false, false);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing system I2C bus failed");
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return res;
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}
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// User I2C bus
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res = i2c_init(I2C_BUS_EXT, GPIO_I2C_EXT_SDA, GPIO_I2C_EXT_SCL, I2C_SPEED_EXT, false, false);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing user I2C bus failed");
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return res;
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}
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// SPI bus
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spi_bus_config_t busConfiguration = {0};
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busConfiguration.mosi_io_num = GPIO_SPI_MOSI;
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busConfiguration.miso_io_num = GPIO_SPI_MISO;
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busConfiguration.sclk_io_num = GPIO_SPI_CLK;
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busConfiguration.quadwp_io_num = -1;
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busConfiguration.quadhd_io_num = -1;
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busConfiguration.max_transfer_sz = SPI_MAX_TRANSFER_SIZE;
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res = spi_bus_initialize(SPI_BUS, &busConfiguration, SPI_DMA_CHANNEL);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing SPI bus failed");
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return res;
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}
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// PCA9555 IO expander on system I2C bus
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res = pca9555_init(&dev_pca9555, I2C_BUS_SYS, PCA9555_ADDR, GPIO_INT_PCA9555);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing PCA9555 failed");
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return res;
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}
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res = pca9555_set_gpio_direction(&dev_pca9555, PCA9555_PIN_FPGA_RESET, true);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Setting the FPGA reset pin on the PCA9555 to output failed");
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return res;
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}
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res = pca9555_set_gpio_value(&dev_pca9555, PCA9555_PIN_FPGA_RESET, false);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Setting the FPGA reset pin on the PCA9555 to low failed");
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return res;
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}
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_START, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_SELECT, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_MENU, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_HOME, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_JOY_LEFT, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_JOY_PRESS, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_JOY_DOWN, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_JOY_UP, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_JOY_RIGHT, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_BACK, true);
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pca9555_set_gpio_polarity(&dev_pca9555, PCA9555_PIN_BTN_ACCEPT, true);
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dev_pca9555.pin_state = 0; // Reset all pin states so that the interrupt function doesn't trigger all the handlers because we inverted the polarity
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// FPGA
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dev_ice40.spi_bus = SPI_BUS;
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dev_ice40.pin_cs = GPIO_SPI_CS_FPGA;
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dev_ice40.pin_done = -1;
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dev_ice40.pin_reset = -1;
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dev_ice40.pin_int = GPIO_INT_FPGA;
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dev_ice40.spi_speed = 23000000; // 23MHz
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dev_ice40.spi_max_transfer_size = SPI_MAX_TRANSFER_SIZE;
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dev_ice40.get_done = ice40_get_done_wrapper;
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dev_ice40.set_reset = ice40_set_reset_wrapper;
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res = ice40_init(&dev_ice40);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing FPGA failed");
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return res;
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}
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// LCD display
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dev_ili9341.spi_bus = SPI_BUS;
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dev_ili9341.pin_cs = GPIO_SPI_CS_LCD;
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dev_ili9341.pin_dcx = GPIO_SPI_DC_LCD;
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dev_ili9341.pin_reset = -1;
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dev_ili9341.rotation = 1;
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dev_ili9341.color_mode = true; // Blue and red channels are swapped
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dev_ili9341.spi_speed = 60000000; // 60MHz
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dev_ili9341.spi_max_transfer_size = SPI_MAX_TRANSFER_SIZE;
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dev_ili9341.callback = NULL; // Callback for changing LCD mode between ESP32 and FPGA
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res = ili9341_init(&dev_ili9341);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing LCD failed");
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return res;
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}
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// BNO055 sensor on system I2C bus
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res = bno055_init(&dev_bno055, I2C_BUS_SYS, BNO055_ADDR, GPIO_INT_BNO055, true);
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if (res != ESP_OK) {
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ESP_LOGE(TAG, "Initializing BNO055 failed");
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return res;
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}
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return res;
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}
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PCA9555* get_pca9555() {
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return &dev_pca9555;
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}
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BNO055* get_bno055() {
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return &dev_bno055;
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}
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ILI9341* get_ili9341() {
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return &dev_ili9341;
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}
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ICE40* get_ice40() {
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return &dev_ice40;
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}
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