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[NO-MERGE] Generic GPIO #406

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[NO-MERGE] Generic GPIO #406

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9b3391f
initial generic gpio work with gpio/pca9539r pins, some quick tests
hewittmcg Jun 30, 2021
6ee0c26
add mcp23008
hewittmcg Jun 30, 2021
78d2d6a
format, lint
hewittmcg Jun 30, 2021
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52 changes: 52 additions & 0 deletions libraries/ms-drivers/inc/generic_gpio.h
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#pragma once
// Generic GPIO interface used when interfacing with multiple GPIO expanders and/or the onboard GPIO
// pins. Requires the GPIO type to be used to be initialized, as well as any other type-specific
// requirements like I2C.
#include "gpio.h"
#include "mcp23008_gpio_expander.h"
#include "pca9539r_gpio_expander.h"

// Specific GPIO types to be accessed through generic GPIO.
typedef enum {
GEN_GPIO_TYPE_GPIO = 0,
GEN_GPIO_TYPE_PCA9539R,
GEN_GPIO_TYPE_MCP23008,
NUM_GEN_GPIO_TYPES,
} GenGpioType;

// Possible generic GPIO states.
typedef enum {
GEN_GPIO_STATE_LOW = 0,
GEN_GPIO_STATE_HIGH,
NUM_GEN_GPIO_STATES,
} GenGpioState;

// Generic GPIO address. Holds a pointer to the correct type and stores the correct type
// to be used later.
typedef struct {
GenGpioType type;
GpioAddress *gpio_addr;
Pca9539rGpioAddress *pca_addr;
Mcp23008GpioAddress *mcp_addr;
} GenGpioAddress;

// Initialize the given onboard pin and configure the generic address with it.
StatusCode generic_gpio_init_gpio_pin(const GpioAddress *address, const GpioSettings *settings,
GenGpioAddress *gen_addr);

// Initialize the given PCA9539R pin and configure the generic address with it.
StatusCode generic_gpio_init_pca9539r(const Pca9539rGpioAddress *address,
const Pca9539rGpioSettings *settings,
GenGpioAddress *gen_addr);

// Initialize the given MCP23008 pin and configure the generic address with it.
StatusCode generic_gpio_init_mcp23008(const Mcp23008GpioAddress *address,
const Mcp23008GpioSettings *settings,
GenGpioAddress *gen_addr);

// WARNING: the below functions currently cast between different state types, which assumes that LOW
// = 0 and HIGH = 1. Routes to the set function for address.
StatusCode generic_gpio_set_state(const GenGpioAddress *address, GenGpioState state);

// Routes to the get function for address.
StatusCode generic_gpio_get_state(const GenGpioAddress *address, GenGpioState *state);
1 change: 1 addition & 0 deletions libraries/ms-drivers/rules.mk
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Expand Up @@ -20,3 +20,4 @@ endif
$(T)_test_bts7200_load_switch_MOCKS := adc_read_converted_pin
$(T)_test_bts7040_load_switch_MOCKS := adc_read_converted_pin
$(T)_test_voltage_regulator_MOCKS := gpio_get_state
$(T)_test_generic_gpio_MOCKS := gpio_set_state gpio_get_state pca9539r_gpio_set_state pca9539r_gpio_get_state mcp23008_gpio_set_state mcp23008_gpio_get_state
56 changes: 56 additions & 0 deletions libraries/ms-drivers/src/generic_gpio.c
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#include "generic_gpio.h"

#include "log.h"
#include "status.h"

StatusCode generic_gpio_init_gpio_pin(const GpioAddress *address, const GpioSettings *settings,
GenGpioAddress *gen_addr) {
status_ok_or_return(gpio_init_pin(address, settings));
gen_addr->type = GEN_GPIO_TYPE_GPIO;
gen_addr->gpio_addr = address;
return STATUS_CODE_OK;
}

StatusCode generic_gpio_init_pca9539r(const Pca9539rGpioAddress *address,
const Pca9539rGpioSettings *settings,
GenGpioAddress *gen_addr) {
status_ok_or_return(pca9539r_gpio_init_pin(address, settings));
gen_addr->type = GEN_GPIO_TYPE_PCA9539R;
gen_addr->pca_addr = address;
return STATUS_CODE_OK;
}

StatusCode generic_gpio_init_mcp23008(const Mcp23008GpioAddress *address,
const Mcp23008GpioSettings *settings,
GenGpioAddress *gen_addr) {
status_ok_or_return(mcp23008_gpio_init_pin(address, settings));
gen_addr->type = GEN_GPIO_TYPE_MCP23008;
gen_addr->mcp_addr = address;
return STATUS_CODE_OK;
}

StatusCode generic_gpio_set_state(const GenGpioAddress *address, GenGpioState state) {
switch (address->type) {
case GEN_GPIO_TYPE_GPIO:
return gpio_set_state(address->gpio_addr, state);
case GEN_GPIO_TYPE_PCA9539R:
return pca9539r_gpio_set_state(address->pca_addr, state);
case GEN_GPIO_TYPE_MCP23008:
return mcp23008_gpio_set_state(address->mcp_addr, state);
default:
return STATUS_CODE_UNREACHABLE;
}
}

StatusCode generic_gpio_get_state(const GenGpioAddress *address, GenGpioState *state) {
switch (address->type) {
case GEN_GPIO_TYPE_GPIO:
return gpio_get_state(address->gpio_addr, (GpioState *)state);
case GEN_GPIO_TYPE_PCA9539R:
return pca9539r_gpio_get_state(address->pca_addr, (Pca9539rGpioState *)state);
case GEN_GPIO_TYPE_MCP23008:
return mcp23008_gpio_get_state(address->mcp_addr, (Mcp23008GpioState *)state);
default:
return STATUS_CODE_UNREACHABLE;
}
}
231 changes: 231 additions & 0 deletions libraries/ms-drivers/test/test_generic_gpio.c
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#include "controller_board_pins.h"
#include "generic_gpio.h"
#include "log.h"
#include "ms_test_helpers.h"

#define TEST_I2C_PORT I2C_PORT_2
#define TEST_I2C_ADDRESS 0x74

// For testing gpio_set_state
static GpioAddress s_test_gpio_set_addr;
static GpioState s_test_gpio_set_state;

StatusCode TEST_MOCK(gpio_set_state)(const GpioAddress *address, GpioState state) {
LOG_DEBUG("gpio_set_state called\n");
s_test_gpio_set_addr = *address;
s_test_gpio_set_state = state;
return STATUS_CODE_OK;
}

// For testing gpio_get_state
static GpioState s_test_gpio_get_state;

StatusCode TEST_MOCK(gpio_get_state)(const GpioAddress *address, GpioState *input_state) {
LOG_DEBUG("gpio_get_state called\n");
*input_state = s_test_gpio_get_state;
return STATUS_CODE_OK;
}

// For testing pca9539r_gpio_set_state
static Pca9539rGpioAddress s_test_pca_set_addr;
static Pca9539rGpioState s_test_pca_set_state;

StatusCode TEST_MOCK(pca9539r_gpio_set_state)(const Pca9539rGpioAddress *address,
Pca9539rGpioState input_state) {
LOG_DEBUG("pca9539r_set_state called\n");
s_test_pca_set_addr = *address;
s_test_pca_set_state = input_state;
return STATUS_CODE_OK;
}

// For testing pca9539r_gpio_get_state
static Pca9539rGpioState s_test_pca_get_state;

StatusCode TEST_MOCK(pca9539r_gpio_get_state)(const Pca9539rGpioAddress *address,
Pca9539rGpioState *input_state) {
LOG_DEBUG("pca9539r_gpio_get_state called\n");
*input_state = s_test_pca_get_state;
return STATUS_CODE_OK;
}

// For testing mcp23008_gpio_set_state
static Mcp23008GpioAddress s_test_mcp_set_addr;
static Mcp23008GpioState s_test_mcp_set_state;

StatusCode TEST_MOCK(mcp23008_gpio_set_state)(const Mcp23008GpioAddress *address,
const Mcp23008GpioState state) {
LOG_DEBUG("mcp23008_gpio_set_state called\n");
s_test_mcp_set_addr = *address;
s_test_mcp_set_state = state;
return STATUS_CODE_OK;
}

// For testing mcp23008_gpio_get_state
static Mcp23008GpioState s_test_mcp_get_state;

StatusCode TEST_MOCK(mcp23008_gpio_get_state)(const Mcp23008GpioAddress *address,
Mcp23008GpioState *input_state) {
LOG_DEBUG("mcp23008_gpio_get_state called\n");
*input_state = s_test_mcp_get_state;
return STATUS_CODE_OK;
}

void setup_test(void) {
gpio_init();

I2CSettings i2c_settings = {
.speed = I2C_SPEED_FAST, //
.sda = CONTROLLER_BOARD_ADDR_I2C2_SDA, //
.scl = CONTROLLER_BOARD_ADDR_I2C2_SCL, //
};
i2c_init(TEST_I2C_PORT, &i2c_settings);

pca9539r_gpio_init(TEST_I2C_PORT, TEST_I2C_ADDRESS);

mcp23008_gpio_init(TEST_I2C_PORT, TEST_I2C_ADDRESS);
}

void teardown_test(void) {}

// Make sure gpio pins initialize OK.
void test_gpio_init(void) {
GpioAddress test_addr = {
.port = GPIO_PORT_A,
.pin = 0,
};
GpioSettings test_settings = { 0 };
GenGpioAddress gen_addr = { 0 };

TEST_ASSERT_OK(generic_gpio_init_gpio_pin(&test_addr, &test_settings, &gen_addr));
}

// Initialize and set pin to high/low. Make sure calls get routed correctly.
void test_gpio_general_operation(void) {
GpioAddress test_addr = {
.port = GPIO_PORT_A,
.pin = 0,
};
GpioSettings test_settings = { 0 };
GenGpioAddress gen_addr = { 0 };

TEST_ASSERT_OK(generic_gpio_init_gpio_pin(&test_addr, &test_settings, &gen_addr));

// Set state
TEST_ASSERT_OK(generic_gpio_set_state(&gen_addr, GEN_GPIO_STATE_HIGH));
TEST_ASSERT_EQUAL(GPIO_STATE_HIGH, s_test_gpio_set_state);
TEST_ASSERT_EQUAL(test_addr.port, s_test_gpio_set_addr.port);
TEST_ASSERT_EQUAL(test_addr.pin, s_test_gpio_set_addr.pin);

TEST_ASSERT_OK(generic_gpio_set_state(&gen_addr, GEN_GPIO_STATE_LOW));
TEST_ASSERT_EQUAL(GPIO_STATE_LOW, s_test_gpio_set_state);
TEST_ASSERT_EQUAL(test_addr.port, s_test_gpio_set_addr.port);
TEST_ASSERT_EQUAL(test_addr.pin, s_test_gpio_set_addr.pin);

// Get state
s_test_gpio_get_state = GPIO_STATE_HIGH;
GenGpioState test_state = GEN_GPIO_STATE_LOW;
TEST_ASSERT_OK(generic_gpio_get_state(&gen_addr, &test_state));
TEST_ASSERT_EQUAL(test_state, GEN_GPIO_STATE_HIGH);
}

// Make sure PCA9539R pins initialize OK.
void test_pca_init(void) {
Pca9539rGpioSettings test_settings = {
.direction = PCA9539R_GPIO_DIR_OUT,
.state = PCA9539R_GPIO_STATE_LOW,
};

Pca9539rGpioAddress test_addr = {
.i2c_address = TEST_I2C_ADDRESS,
.pin = PCA9539R_PIN_IO0_0,
};

GenGpioAddress gen_addr = { 0 };

TEST_ASSERT_OK(generic_gpio_init_pca9539r(&test_addr, &test_settings, &gen_addr));
}

// Initialize and set pin to high/low for pca9539r. Make sure calls get routed correctly.
void test_pca_general_operation(void) {
Pca9539rGpioSettings test_settings = {
.direction = PCA9539R_GPIO_DIR_OUT,
.state = PCA9539R_GPIO_STATE_LOW,
};

Pca9539rGpioAddress test_addr = {
.i2c_address = TEST_I2C_ADDRESS,
.pin = PCA9539R_PIN_IO0_0,
};

GenGpioAddress gen_addr = { 0 };

TEST_ASSERT_OK(generic_gpio_init_pca9539r(&test_addr, &test_settings, &gen_addr));

// Set state
TEST_ASSERT_OK(generic_gpio_set_state(&gen_addr, GEN_GPIO_STATE_HIGH));
TEST_ASSERT_EQUAL(PCA9539R_GPIO_STATE_HIGH, s_test_pca_set_state);
TEST_ASSERT_EQUAL(test_addr.i2c_address, s_test_pca_set_addr.i2c_address);
TEST_ASSERT_EQUAL(test_addr.pin, s_test_pca_set_addr.pin);

TEST_ASSERT_OK(generic_gpio_set_state(&gen_addr, GEN_GPIO_STATE_LOW));
TEST_ASSERT_EQUAL(PCA9539R_GPIO_STATE_LOW, s_test_pca_set_state);
TEST_ASSERT_EQUAL(test_addr.i2c_address, s_test_pca_set_addr.i2c_address);
TEST_ASSERT_EQUAL(test_addr.pin, s_test_pca_set_addr.pin);

// Get state
s_test_pca_get_state = PCA9539R_GPIO_STATE_HIGH;
GenGpioState test_state = GEN_GPIO_STATE_LOW;
TEST_ASSERT_OK(generic_gpio_get_state(&gen_addr, &test_state));
TEST_ASSERT_EQUAL(GEN_GPIO_STATE_HIGH, test_state);
}

// Make sure MCP23008 pins initialize OK.
void test_mcp_init(void) {
Mcp23008GpioSettings test_settings = {
.direction = MCP23008_GPIO_DIR_OUT,
.state = MCP23008_GPIO_STATE_LOW,
};

Mcp23008GpioAddress test_addr = {
.i2c_address = TEST_I2C_ADDRESS,
.pin = 0,
};

GenGpioAddress gen_addr = { 0 };

TEST_ASSERT_OK(generic_gpio_init_mcp23008(&test_addr, &test_settings, &gen_addr));
}

// Initialize and set pin to high/low for MCP23008. Make sure calls get routed correctly.
void test_mcp_general_operation(void) {
Mcp23008GpioSettings test_settings = {
.direction = MCP23008_GPIO_DIR_OUT,
.state = MCP23008_GPIO_STATE_LOW,
};

Mcp23008GpioAddress test_addr = {
.i2c_address = TEST_I2C_ADDRESS,
.pin = 0,
};

GenGpioAddress gen_addr = { 0 };

TEST_ASSERT_OK(generic_gpio_init_mcp23008(&test_addr, &test_settings, &gen_addr));

// Set state
TEST_ASSERT_OK(generic_gpio_set_state(&gen_addr, GEN_GPIO_STATE_HIGH));
TEST_ASSERT_EQUAL(MCP23008_GPIO_STATE_HIGH, s_test_mcp_set_state);
TEST_ASSERT_EQUAL(test_addr.i2c_address, s_test_mcp_set_addr.i2c_address);
TEST_ASSERT_EQUAL(test_addr.pin, s_test_mcp_set_addr.pin);

TEST_ASSERT_OK(generic_gpio_set_state(&gen_addr, GEN_GPIO_STATE_LOW));
TEST_ASSERT_EQUAL(MCP23008_GPIO_STATE_LOW, s_test_mcp_set_state);
TEST_ASSERT_EQUAL(test_addr.i2c_address, s_test_mcp_set_addr.i2c_address);
TEST_ASSERT_EQUAL(test_addr.pin, s_test_mcp_set_addr.pin);

// Get state
s_test_mcp_get_state = MCP23008_GPIO_STATE_HIGH;
GenGpioState test_state = GEN_GPIO_STATE_LOW;
TEST_ASSERT_OK(generic_gpio_get_state(&gen_addr, &test_state));
TEST_ASSERT_EQUAL(GEN_GPIO_STATE_HIGH, test_state);
}