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uas-ugv/main/u8g2_esp32_hal.c

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#include <stdio.h>
#include <string.h>
#include "esp_log.h"
#include "sdkconfig.h"
#include "i2c_mutex.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "u8g2_esp32_hal.h"
static const char * TAG = "u8g2_hal";
static const unsigned int I2C_TIMEOUT_MS = 100;
static spi_device_handle_t handle_spi; // SPI handle.
static i2c_cmd_handle_t handle_i2c; // I2C handle.
#undef ESP_ERROR_CHECK
#define ESP_ERROR_CHECK(x) \
do { \
esp_err_t _rc = (x); \
if (_rc != ESP_OK) { \
const char *_error_name = esp_err_to_name(_rc); \
ESP_LOGE(TAG, "%s:%d failed: %s (%#x)", __FUNCTION__, __LINE__, \
_error_name, _rc); \
return 0; \
} \
} while (0);
/*
* HAL callback function as prescribed by the U8G2 library. This callback is
* invoked to handle SPI communications.
*/
uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
void *arg_ptr) {
ESP_LOGV(TAG, "spi_byte_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p",
msg, arg_int, arg_ptr);
switch (msg) {
case U8X8_MSG_BYTE_SET_DC:
if (u8x8->pins[U8X8_PIN_DC] != U8X8_PIN_NONE) {
gpio_set_level(u8x8->pins[U8X8_PIN_DC], arg_int);
}
break;
case U8X8_MSG_BYTE_INIT: {
if (u8x8->pins[U8X8_PIN_SPI_CLOCK] == U8X8_PIN_NONE ||
u8x8->pins[U8X8_PIN_SPI_DATA] == U8X8_PIN_NONE ||
u8x8->pins[U8X8_PIN_CS] == U8X8_PIN_NONE) {
break;
}
spi_bus_config_t bus_config;
memset(&bus_config, 0, sizeof(spi_bus_config_t));
bus_config.sclk_io_num = u8x8->pins[U8X8_PIN_SPI_CLOCK]; // CLK
bus_config.mosi_io_num = u8x8->pins[U8X8_PIN_SPI_DATA]; // MOSI
bus_config.miso_io_num = -1; // MISO
bus_config.quadwp_io_num = -1; // Not used
bus_config.quadhd_io_num = -1; // Not used
// ESP_LOGI(TAG, "... Initializing bus.");
ESP_ERROR_CHECK(spi_bus_initialize(HSPI_HOST, &bus_config, 1));
spi_device_interface_config_t dev_config;
dev_config.address_bits = 0;
dev_config.command_bits = 0;
dev_config.dummy_bits = 0;
dev_config.mode = 0;
dev_config.duty_cycle_pos = 0;
dev_config.cs_ena_posttrans = 0;
dev_config.cs_ena_pretrans = 0;
dev_config.clock_speed_hz = 5000;//10000;
dev_config.spics_io_num = u8x8->pins[U8X8_PIN_CS];
dev_config.flags = 0;
dev_config.queue_size = 200;
dev_config.pre_cb = NULL;
dev_config.post_cb = NULL;
// ESP_LOGI(TAG, "... Adding device bus.");
ESP_ERROR_CHECK(spi_bus_add_device(HSPI_HOST, &dev_config, &handle_spi));
break;
}
case U8X8_MSG_BYTE_SEND: {
spi_transaction_t trans_desc;
trans_desc.addr = 0;
trans_desc.cmd = 0;
trans_desc.flags = 0;
trans_desc.length = 8 * arg_int; // Number of bits NOT number of bytes.
trans_desc.rxlength = 0;
trans_desc.tx_buffer = arg_ptr;
trans_desc.rx_buffer = NULL;
// ESP_LOGI(TAG, "... Transmitting %d bytes.", arg_int);
ESP_ERROR_CHECK(spi_device_transmit(handle_spi, &trans_desc));
break;
}
}
return 0;
} // u8g2_esp32_spi_byte_cb
/*
* HAL callback function as prescribed by the U8G2 library. This callback is
* invoked to handle I2C communications.
*/
uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
void *arg_ptr) {
#define TXBUF_SIZE 32
static uint8_t txbuf[TXBUF_SIZE];
static uint8_t *txbuf_ptr;
// ESP_LOGV(TAG, "i2c_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p", msg,
// arg_int, arg_ptr);
switch (msg) {
case U8X8_MSG_BYTE_SET_DC: {
if (u8x8->pins[U8X8_PIN_DC] != U8X8_PIN_NONE) {
gpio_set_level(u8x8->pins[U8X8_PIN_DC], arg_int);
}
break;
}
case U8X8_MSG_BYTE_INIT: {
if (u8x8->pins[U8X8_PIN_I2C_DATA] == U8X8_PIN_NONE ||
u8x8->pins[U8X8_PIN_I2C_CLOCK] == U8X8_PIN_NONE) {
ESP_LOGE(TAG, "i2c_byte_cb: missing pins");
break;
}
i2c_config_t conf;
conf.mode = I2C_MODE_MASTER;
conf.sda_io_num = u8x8->pins[U8X8_PIN_I2C_DATA];
conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
conf.scl_io_num = u8x8->pins[U8X8_PIN_I2C_CLOCK];
conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
ESP_LOGV(TAG, "clk_speed %d", I2C_MASTER_FREQ_HZ);
conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
ESP_ERROR_CHECK(i2c_param_config(I2C_MASTER_NUM, &conf));
ESP_ERROR_CHECK(i2c_driver_install(
I2C_MASTER_NUM, conf.mode, I2C_MASTER_RX_BUF_DISABLE,
I2C_MASTER_TX_BUF_DISABLE,
ESP_INTR_FLAG_IRAM | ESP_INTR_FLAG_LEVEL1));
ESP_LOGI(TAG, "i2c_byte_cb: BYTE_INIT sda_io_num: %d, scl_io_num: %d",
conf.sda_io_num, conf.scl_io_num);
break;
}
case U8X8_MSG_BYTE_SEND: {
uint8_t *data_ptr = (uint8_t *)arg_ptr;
size_t data_len = (size_t)arg_int;
// ESP_LOGV(TAG, "U8x8_MSG_BYTE_SEND. txbuf len: %d", txbuf_ptr - txbuf);
// ESP_LOG_BUFFER_HEXDUMP(TAG, data_ptr, data_len, ESP_LOG_VERBOSE);
if (txbuf_ptr + data_len >= txbuf_ptr + TXBUF_SIZE) {
ESP_LOGE(TAG, "txbuf overflow");
return 0;
}
memcpy(txbuf_ptr, data_ptr, data_len);
txbuf_ptr += data_len;
break;
}
case U8X8_MSG_BYTE_START_TRANSFER: {
uint8_t i2c_address = u8x8_GetI2CAddress(u8x8);
handle_i2c = i2c_cmd_link_create();
// ESP_LOGV(TAG, "Start I2C transfer to %02X.", i2c_address >> 1);
ESP_ERROR_CHECK(i2c_master_start(handle_i2c));
ESP_ERROR_CHECK(i2c_master_write_byte(
handle_i2c, i2c_address | I2C_MASTER_WRITE, ACK_CHECK_EN));
txbuf_ptr = txbuf;
break;
}
case U8X8_MSG_BYTE_END_TRANSFER: {
ESP_LOGV(TAG, "end I2C transfer. txbuf len: %d", txbuf_ptr - txbuf);
// ESP_LOG_BUFFER_HEXDUMP(TAG, txbuf, txbuf_ptr - txbuf, ESP_LOG_VERBOSE);
ESP_ERROR_CHECK(
i2c_master_write(handle_i2c, txbuf, txbuf_ptr - txbuf, ACK_CHECK_EN));
ESP_ERROR_CHECK(i2c_master_stop(handle_i2c));
xSemaphoreTake(i2c_mutex, portMAX_DELAY);
esp_err_t ret = i2c_master_cmd_begin(I2C_MASTER_NUM, handle_i2c,
I2C_TIMEOUT_MS / portTICK_RATE_MS);
xSemaphoreGive(i2c_mutex);
ESP_ERROR_CHECK(ret);
i2c_cmd_link_delete(handle_i2c);
break;
}
default:
ESP_LOGW(TAG,
"i2c_byte_cb: Received an unimplemented msg: %d, arg_int: "
"%d, arg_ptr: %p",
msg, arg_int, arg_ptr);
return 0;
}
return 1;
} // u8g2_esp32_i2c_byte_cb
/*
* HAL callback function as prescribed by the U8G2 library. This callback is
* invoked to handle callbacks for GPIO and delay functions.
*/
uint8_t u8g2_esp32_gpio_and_delay_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
void *arg_ptr) {
ESP_LOGV(TAG,
"gpio_and_delay_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p",
msg, arg_int, arg_ptr);
switch (msg) {
// Initialize the GPIO and DELAY HAL functions. If the pins for DC and
// RESET have been specified then we define those pins as GPIO outputs.
case U8X8_MSG_GPIO_AND_DELAY_INIT: {
uint64_t bitmask = 0;
uint8_t dc = u8x8->pins[U8X8_PIN_DC];
uint8_t reset = u8x8->pins[U8X8_PIN_RESET];
uint8_t cs = u8x8->pins[U8X8_PIN_CS];
if (dc != U8X8_PIN_NONE) {
bitmask = bitmask | (1ull << dc);
}
if (reset != U8X8_PIN_NONE) {
bitmask = bitmask | (1ull << reset);
}
if (cs != U8X8_PIN_NONE) {
bitmask = bitmask | (1ull << cs);
}
ESP_LOGV(TAG, "GPIO_AND_DELAY_INIT: dc=%d, reset=%d, cs=%d", dc, reset,
cs);
if (bitmask == 0) {
break;
}
gpio_config_t gpioConfig;
gpioConfig.pin_bit_mask = bitmask;
gpioConfig.mode = GPIO_MODE_OUTPUT;
gpioConfig.pull_up_en = GPIO_PULLUP_DISABLE;
gpioConfig.pull_down_en = GPIO_PULLDOWN_ENABLE;
gpioConfig.intr_type = GPIO_INTR_DISABLE;
gpio_config(&gpioConfig);
break;
}
// Set the GPIO reset pin to the value passed in through arg_int.
case U8X8_MSG_GPIO_RESET:
if (u8x8->pins[U8X8_PIN_RESET] != U8X8_PIN_NONE) {
gpio_set_level(u8x8->pins[U8X8_PIN_RESET], arg_int);
}
break;
// Set the GPIO client select pin to the value passed in through arg_int.
case U8X8_MSG_GPIO_CS:
if (u8x8->pins[U8X8_PIN_CS] != U8X8_PIN_NONE) {
gpio_set_level(u8x8->pins[U8X8_PIN_CS], arg_int);
}
break;
// Set the Software I²C pin to the value passed in through arg_int.
case U8X8_MSG_GPIO_I2C_CLOCK:
if (u8x8->pins[U8X8_PIN_I2C_CLOCK] != U8X8_PIN_NONE) {
gpio_set_level(u8x8->pins[U8X8_PIN_I2C_CLOCK], arg_int);
// printf("%c",(arg_int==1?'C':'c'));
}
break;
// Set the Software I²C pin to the value passed in through arg_int.
case U8X8_MSG_GPIO_I2C_DATA:
if (u8x8->pins[U8X8_PIN_I2C_DATA] != U8X8_PIN_NONE) {
gpio_set_level(u8x8->pins[U8X8_PIN_I2C_DATA], arg_int);
// printf("%c",(arg_int==1?'D':'d'));
}
break;
// Delay for the number of milliseconds passed in through arg_int.
case U8X8_MSG_DELAY_MILLI: vTaskDelay(arg_int / portTICK_PERIOD_MS); break;
default:
ESP_LOGW(TAG,
"gpio_and_delay_cb: Received an unimplemented msg: %d, arg_int: "
"%d, arg_ptr: %p",
msg, arg_int, arg_ptr);
return 0;
}
return 1;
} // u8g2_esp32_gpio_and_delay_cb