Feature/base peripheral (#150)

* feat(base_peripheral): added base peripheral class * doc: include base peripheral in doc * feat: update peripherals * Update peripheral classes to use new base_peripheral as the base class * doc: rebuild * fix: fix bldc_motor and bldc_haptics example for breaking change to mt6701 config (read -> read_register) * fix(bldc_driver): ensure configuration structs are zeroed out * example(tla2528): update * Updated tla2528 example to test all analog input channels * fix(max1704x): fix u8 read to make it u16 so it reads the right values * fix: typo * doc: rebuild * fix(gt911): fix reading / writing 16bit register addresses
esp-cpp · Feb 12, 2024 · bd2353f · bd2353f
1 parent ae9724d
commit bd2353f
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Showing 148 changed files with 4,414 additions and 1,738 deletions.
diff --git a/components/ads1x15/CMakeLists.txt b/components/ads1x15/CMakeLists.txt
@@ -1,5 +1,5 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES "logger" "pthread"
+  REQUIRES "base_peripheral" "pthread"
   )
diff --git a/components/ads1x15/example/main/ads1x15_example.cpp b/components/ads1x15/example/main/ads1x15_example.cpp
@@ -24,10 +24,11 @@ extern "C" void app_main(void) {
     // make the actual ads class
     espp::Ads1x15 ads(espp::Ads1x15::Ads1015Config{
         .device_address = espp::Ads1x15::DEFAULT_ADDRESS,
-        .write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1, std::placeholders::_2,
-                           std::placeholders::_3),
-        .read = std::bind(&espp::I2c::read, &i2c, std::placeholders::_1, std::placeholders::_2,
-                          std::placeholders::_3)});
+        .write = [&i2c](uint8_t addr, const uint8_t *data,
+                        size_t len) { return i2c.write(addr, data, len); },
+        .read = [&i2c](uint8_t addr, uint8_t *data,
+                       size_t len) { return i2c.read(addr, data, len); },
+    });
     // make the task which will get the raw data from the I2C ADC
     auto ads_read_task_fn = [&ads](std::mutex &m, std::condition_variable &cv) {
       static auto start = std::chrono::high_resolution_clock::now();

diff --git a/components/ads1x15/include/ads1x15.hpp b/components/ads1x15/include/ads1x15.hpp
@@ -2,10 +2,9 @@
 
 #include <chrono>
 #include <functional>
-#include <mutex>
 #include <thread>
 
-#include "logger.hpp"
+#include "base_peripheral.hpp"
 
 namespace espp {
 /**
@@ -14,28 +13,10 @@ namespace espp {
  * \section ads1x15_ex1 ADS1X15 Example
  * \snippet ads1x15_example.cpp ads1x15 example
  */
-class Ads1x15 {
+class Ads1x15 : public espp::BasePeripheral {
 public:
   static constexpr uint8_t DEFAULT_ADDRESS = (0x48); ///< I2C address of the ADS1x15 chips.
 
-  /**
-   * @brief Function to write bytes to the device.
-   * @param dev_addr Address of the device to write to.
-   * @param data Pointer to array of bytes to write.
-   * @param data_len Number of data bytes to write.
-   * @return True if the write was successful.
-   */
-  typedef std::function<bool(uint8_t dev_addr, uint8_t *data, size_t data_len)> write_fn;
-
-  /**
-   * @brief Function to read bytes from the device.
-   * @param dev_addr Address of the device to write to.
-   * @param data Pointer to array of bytes to read into.
-   * @param data_len Number of data bytes to read.
-   * @return True if the read was successful.
-   */
-  typedef std::function<bool(uint8_t dev_addr, uint8_t *data, size_t data_len)> read_fn;
-
   /**
    *  @brief Gain values for the ADC conversion.
    */
@@ -80,8 +61,8 @@ class Ads1x15 {
    */
   struct Ads1015Config {
     uint8_t device_address = DEFAULT_ADDRESS;      ///< I2C address of the device.
-    write_fn write;                                ///< Function to write to the ADC
-    read_fn read;                                  ///< Function to read from the ADC
+    BasePeripheral::write_fn write;                ///< Function to write to the ADC
+    BasePeripheral::read_fn read;                  ///< Function to read from the ADC
     Gain gain{Gain::TWOTHIRDS};                    ///< Gain for the ADC
     Ads1015Rate sample_rate{Ads1015Rate::SPS1600}; ///< Sample rate for the ADC
     espp::Logger::Verbosity log_level{espp::Logger::Verbosity::WARN}; ///< Verbosity for the logger.
@@ -92,8 +73,8 @@ class Ads1x15 {
    */
   struct Ads1115Config {
     uint8_t device_address = DEFAULT_ADDRESS;     ///< I2C address of the device.
-    write_fn write;                               ///< Function to write to the ADC
-    read_fn read;                                 ///< Function to read from the ADC
+    BasePeripheral::write_fn write;               ///< Function to write to the ADC
+    BasePeripheral::read_fn read;                 ///< Function to read from the ADC
     Gain gain{Gain::TWOTHIRDS};                   ///< Gain for the ADC
     Ads1115Rate sample_rate{Ads1115Rate::SPS128}; ///< Sample rate for the ADC
     espp::Logger::Verbosity log_level{espp::Logger::Verbosity::WARN}; ///< Verbosity for the logger.
@@ -104,18 +85,24 @@ class Ads1x15 {
    * @param config Configuration structure.
    */
   explicit Ads1x15(const Ads1015Config &config)
-      : gain_(config.gain), ads1015rate_(config.sample_rate), bit_shift_(4),
-        address_(config.device_address), write_(config.write), read_(config.read),
-        logger_({.tag = "Ads1015", .level = config.log_level}) {}
+      : BasePeripheral(
+            {.address = config.device_address, .write = config.write, .read = config.read},
+            "Ads1015", config.log_level)
+      , gain_(config.gain)
+      , ads1015rate_(config.sample_rate)
+      , bit_shift_(4) {}
 
   /**
    * @brief Construct Ads1x15 specficially for ADS1115.
    * @param config Configuration structure.
    */
   explicit Ads1x15(const Ads1115Config &config)
-      : gain_(config.gain), ads1115rate_(config.sample_rate), bit_shift_(0),
-        address_(config.device_address), write_(config.write), read_(config.read),
-        logger_({.tag = "Ads1115", .level = config.log_level}) {}
+      : BasePeripheral(
+            {.address = config.device_address, .write = config.write, .read = config.read},
+            "Ads1115", config.log_level)
+      , gain_(config.gain)
+      , ads1115rate_(config.sample_rate)
+      , bit_shift_(0) {}
 
   /**
    * @brief Communicate with the ADC to sample the channel and return the
@@ -165,35 +152,6 @@ class Ads1x15 {
     return raw * (fsRange / (32768 >> bit_shift_));
   }
 
-  uint16_t read_two_(uint8_t reg_addr, std::error_code &ec) {
-    // lock the mutex so that we don't have multiple threads trying to read
-    // from the device at the same time
-    std::lock_guard<std::mutex> lock(mutex_);
-    // write the reg addr we want to read from
-    bool success = write_(address_, &reg_addr, 1);
-    if (!success) {
-      ec = std::make_error_code(std::errc::io_error);
-      return 0;
-    }
-    // then read the two bytes
-    uint8_t data[2];
-    success = read_(address_, data, 2);
-    if (!success) {
-      ec = std::make_error_code(std::errc::io_error);
-      return 0;
-    }
-    return (data[0] << 8) | data[1];
-  }
-
-  void write_two_(uint8_t reg_addr, uint16_t value, std::error_code &ec) {
-    uint8_t total_len = 3;
-    uint8_t data[total_len] = {reg_addr, (uint8_t)(value >> 8), (uint8_t)(value & 0xFF)};
-    bool success = write_(address_, data, total_len);
-    if (!success) {
-      ec = std::make_error_code(std::errc::io_error);
-    }
-  }
-
   enum class Register : uint8_t {
     POINTER_CONVERT = 0x00,   ///< Conversion
     POINTER_CONFIG = 0x01,    ///< Configuration
@@ -208,10 +166,5 @@ class Ads1x15 {
     uint16_t rate_;
   };
   int bit_shift_;
-  uint8_t address_;
-  write_fn write_;
-  read_fn read_;
-  std::mutex mutex_;
-  espp::Logger logger_;
 };
 } // namespace espp
diff --git a/components/ads1x15/src/ads1x15.cpp b/components/ads1x15/src/ads1x15.cpp
@@ -51,10 +51,6 @@ static constexpr uint16_t REG_CONFIG_CQUE_NONE =
     (0x0003); ///< Disable the comparator and put ALERT/RDY in high state (default)
 
 int16_t Ads1x15::sample_raw(int channel, std::error_code &ec) {
-  if (!write_ || !read_) {
-    logger_.error("Write / read functions not properly configured, cannot sample!");
-    return 0;
-  }
   // Start with default values
   uint16_t config = REG_CONFIG_MODE_SINGLE;
   // This is equivalent to the below (since the rest are 0x0000):
@@ -72,17 +68,17 @@ int16_t Ads1x15::sample_raw(int channel, std::error_code &ec) {
   config |= REG_CONFIG_OS_SINGLE;
   // configure to read from mux 0
   logger_.debug("configuring conversion for channel {}", channel);
-  write_two_((uint8_t)Register::POINTER_CONFIG, config, ec);
+  write_u16_to_register((uint8_t)Register::POINTER_CONFIG, config, ec);
   if (ec) {
     logger_.error("error configuring conversion for channel {}", channel);
     return 0;
   }
-  write_two_((uint8_t)Register::POINTER_HITHRESH, 0x8000, ec);
+  write_u16_to_register((uint8_t)Register::POINTER_HITHRESH, 0x8000, ec);
   if (ec) {
     logger_.error("error configuring hi threshold for channel {}", channel);
     return 0;
   }
-  write_two_((uint8_t)Register::POINTER_LOWTHRESH, 0x0000, ec);
+  write_u16_to_register((uint8_t)Register::POINTER_LOWTHRESH, 0x0000, ec);
   if (ec) {
     logger_.error("error configuring low threshold for channel {}", channel);
     return 0;
@@ -97,7 +93,7 @@ int16_t Ads1x15::sample_raw(int channel, std::error_code &ec) {
     return 0;
   }
   logger_.debug("reading conversion result for channel {}", channel);
-  uint16_t val = read_two_((uint8_t)Register::POINTER_CONVERT, ec) >> bit_shift_;
+  uint16_t val = read_u16_from_register((uint8_t)Register::POINTER_CONVERT, ec) >> bit_shift_;
   if (ec) {
     logger_.error("error reading conversion result for channel {}", channel);
     return 0;
@@ -112,7 +108,7 @@ int16_t Ads1x15::sample_raw(int channel, std::error_code &ec) {
 }
 
 bool Ads1x15::conversion_complete(std::error_code &ec) {
-  auto val = read_two_((uint8_t)Register::POINTER_CONFIG, ec);
+  auto val = read_u16_from_register((uint8_t)Register::POINTER_CONFIG, ec);
   if (ec) {
     logger_.error("error reading config register");
     return false;

diff --git a/components/ads7138/CMakeLists.txt b/components/ads7138/CMakeLists.txt
@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES "logger"
+  REQUIRES "base_peripheral"
   )