Added support for PCA95X4 I2C GPIO expander (#253)

src/hal/interface/pca95x4.h

@@ -0,0 +1,73 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2017 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * pca95x4.h - Functions for interfacing PCA95X4 I2C GPIO extender
+ */
+#ifndef __PCA95X4_H__
+#define __PCA95X4_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define PCA95X4_DEFAULT_ADDRESS 0b0100000
+
+#define PCA95X4_INPUT_REG   (0x00)
+#define PCA95X4_OUTPUT_REG  (0x01)
+#define PCA95X4_POL_REG     (0x02)
+#define PCA95X4_CONFIG_REG  (0x03)
+
+#define PCA95X4_P0 (1 << 0)
+#define PCA95X4_P1 (1 << 1)
+#define PCA95X4_P2 (1 << 2)
+#define PCA95X4_P3 (1 << 3)
+#define PCA95X4_P4 (1 << 4)
+#define PCA95X4_P5 (1 << 5)
+#define PCA95X4_P6 (1 << 6)
+#define PCA95X4_P7 (1 << 7)
+
+/**
+ * Initilize the PCA95X4 sub-system.
+ */
+void pca95x4Init();
+
+/**
+ * Test the PCA95X4 sub-system.
+ */
+bool pca95x4Test();
+
+/**
+ * Set the output register value.
+ */
+bool pca95x4ConfigOutput(uint32_t val);
+
+/**
+ * Set output bits.
+ */
+bool pca95x4SetOutput(uint32_t mask);
+
+/**
+ * Reset output bits.
+ */
+bool pca95x4ClearOutput(uint32_t mask);
+
+#endif //__PCA95X4_H__

src/hal/src/pca95x4.c

@@ -0,0 +1,85 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2017 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * pca95x4.c - Functions for interfacing PCA95X4 I2C GPIO extender
+ */
+#define DEBUG_MODULE "PCA95X4"
+
+#include "i2cdev.h"
+
+#include "pca95x4.h"
+
+#include "debug.h"
+
+static uint8_t devAddr;
+static I2C_Dev *I2Cx;
+
+void pca95x4Init()
+{
+  i2cdevInit(I2C1_DEV);
+  I2Cx = I2C1_DEV;
+  devAddr = PCA95X4_DEFAULT_ADDRESS;
+}
+
+bool pca95x4Test()
+{
+  uint8_t tb;
+  bool pass;
+
+  // Test reading the config register
+  pass = i2cdevReadByte(I2Cx, devAddr, PCA95X4_CONFIG_REG, &tb);
+
+  return pass;
+}
+
+bool pca95x4ConfigOutput(uint32_t val) {
+  bool pass;
+
+  pass = i2cdevWriteByte(I2Cx, devAddr, PCA95X4_CONFIG_REG, val);
+  DEBUG_PRINT("Config Output: 0x%X\n", val);
+  return pass;
+}
+
+bool pca95x4SetOutput(uint32_t mask) {
+  uint8_t val;
+  bool pass;
+
+  pass = i2cdevReadByte(I2Cx, devAddr, PCA95X4_OUTPUT_REG, &val);
+  val |= mask;
+  DEBUG_PRINT("Set Output: 0x%X\n", val);
+  pass = i2cdevWriteByte(I2Cx, devAddr, PCA95X4_OUTPUT_REG, val);
+
+  return pass;
+}
+
+bool pca95x4ClearOutput(uint32_t mask) {
+  uint8_t val;
+  bool pass;
+
+  pass = i2cdevReadByte(I2Cx, devAddr, PCA95X4_OUTPUT_REG, &val);
+  val &= ~mask;
+  DEBUG_PRINT("Clear Output: 0x%X\n", val);
+  pass = i2cdevWriteByte(I2Cx, devAddr, PCA95X4_OUTPUT_REG, val);
+
+  return pass;
+}