mirror of https://github.com/ArduPilot/ardupilot
98 lines
2.6 KiB
C++
98 lines
2.6 KiB
C++
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#include "AP_ICEngine_config.h"
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/*
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support for TCA9554 for starter control on I2C
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*/
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#if AP_ICENGINE_TCA9554_STARTER_ENABLED
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#include "AP_ICEngine.h"
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extern const AP_HAL::HAL& hal;
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/*
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* TCA9554 output register mapping for PMB Rev E
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* P0 = PMU_EN - PMU output ON/OFF (CN6 pin 2)
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* P1 = ECU_EN - Unused (previously Engine Kill Switch)
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* P2 = I2C_P2 - Unused
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* P3 = LED (active low)
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* P4 = PMU_START - Crank Direction (CN6 pin 5)
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* P5 = PMU_ARM - Crank Signal (CN6 pin 6)
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* P6 = PMU_STAT_IN - Unused
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* P7 = PMU_STAT - Unused
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*/
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#define TCA9554_I2C_BUS 1
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#define TCA9554_I2C_ADDR 0x20
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#define TCA9554_OUTPUT 0x01 // Output Port register address. Outgoing logic levels
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#define TCA9554_OUT_DEFAULT 0x30 // 0011 0000
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#define TCA9554_CONF 0x03 // Configuration Port register address [0 = Output]
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#define TCA9554_PINS 0xC2 // Set all used ports to outputs = 1100 0010
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/*
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initialise TCA9554
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*/
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bool AP_ICEngine_TCA9554::TCA9554_init()
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{
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dev_TCA9554 = std::move(hal.i2c_mgr->get_device(TCA9554_I2C_BUS, TCA9554_I2C_ADDR));
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if (!dev_TCA9554) {
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return false;
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}
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WITH_SEMAPHORE(dev_TCA9554->get_semaphore());
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// setup 1 checked registers
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dev_TCA9554->setup_checked_registers(1);
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dev_TCA9554->set_retries(10);
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// set outputs
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bool ret = dev_TCA9554->write_register(TCA9554_OUTPUT, TCA9554_OUT_DEFAULT);
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if (!ret) {
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return false;
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}
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ret = dev_TCA9554->write_register(TCA9554_CONF, TCA9554_PINS, true);
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if (!ret) {
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return false;
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}
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dev_TCA9554->set_retries(1);
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return true;
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}
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/*
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set the state of the i2c controller
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*/
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void AP_ICEngine_TCA9554::TCA9554_set(TCA9554_state_t value)
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{
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - last_reg_check_ms > 100) {
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/*
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register checking at 10Hz allows us to cope with the i2c
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device being power cycled after boot
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*/
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last_reg_check_ms = now_ms;
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WITH_SEMAPHORE(dev_TCA9554->get_semaphore());
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dev_TCA9554->check_next_register();
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}
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if (value != last_state) {
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WITH_SEMAPHORE(dev_TCA9554->get_semaphore());
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// set outputs and status leds
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if (dev_TCA9554->write_register(TCA9554_OUTPUT, (~(value<<2) & 0x0C) | value)) {
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last_state = value;
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}
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}
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}
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void AP_ICEngine_TCA9554::set_starter(bool on)
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{
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if (!initialised) {
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initialised = TCA9554_init();
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if (!initialised) {
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// waiting for power to PMU
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return;
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}
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}
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TCA9554_set(on? STARTER_ON : STARTER_OFF);
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}
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#endif // AP_ICENGINE_TCA9554_STARTER_ENABLED
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