Merge pull request #5959 from iNavFlight/dzikuvx-pcf8574-expander

I/O Expander Board Support

docs/Logic Conditions.md

@@ -39,6 +39,14 @@ Logic conditions can be edited using INAV Configurator user interface, of via CL
 | 11            | NOR           |                                   |
 | 12            | NOT           |                                   |         
 | 13            | STICKY        | `Operand A` is activation operator, `Operand B` is deactivation operator. After activation, operator will return `true` until Operand B is evaluated as `true`|         
+| 14            | ADD           | Add `Operand A` to `Operand B` and returns the result |
+| 15            | SUB           | Substract `Operand B` from `Operand A` and returns the result |
+| 16            | MUL           | Multiply `Operand A` by `Operand B` and returns the result |
+| 17            | DIV           | Divide `Operand A` by `Operand B` and returns the result |
+| 18            | GVAR SET      | Store value from `Operand B` into the Global Variable addressed by `Operand B`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
+| 19            | GVAR INC      | Increase the GVAR indexed by `Operand A` with value from `Operand B`  |
+| 20            | GVAR DEC      | Decrease the GVAR indexed by `Operand A` with value from `Operand B`  |
+| 128           | IO PORT SET   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
 
 ### Operands
 
@@ -49,6 +57,7 @@ Logic conditions can be edited using INAV Configurator user interface, of via CL
 | 2             | FLIGHT        | `value` points to flight parameter table              |
 | 3             | FLIGHT_MODE   | `value` points to flight modes table                  |
 | 4             | LC            | `value` points to other logic condition ID            |
+| 5             | GVAR          | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 |
 
 #### FLIGHT
 

make/source.mk

@@ -53,6 +53,8 @@ MAIN_SRC = \
             drivers/display_font_metadata.c \
             drivers/exti.c \
             drivers/io_pca9685.c \
+            drivers/io_pcf8574.c \
+            drivers/io_port_expander.c \
             drivers/osd.c \
             drivers/resource.c \
             drivers/rx_nrf24l01.c \

src/main/build/debug.h

@@ -76,5 +76,6 @@ typedef enum {
     DEBUG_SPM_CELLS,    // Smartport master FLVSS
     DEBUG_SPM_VS600,    // Smartport master VS600 VTX
     DEBUG_SPM_VARIO,    // Smartport master variometer
+    DEBUG_PCF8574,
     DEBUG_COUNT
 } debugType_e;

src/main/drivers/bus.h

@@ -145,6 +145,7 @@ typedef enum {
     DEVHW_UG2864,       // I2C OLED display
     DEVHW_SDCARD,       // Generic SD-Card
     DEVHW_IRLOCK,       // IR-Lock visual positioning hardware
+    DEVHW_PCF8574,      // 8-bit I/O expander
 } devHardwareType_e;
 
 typedef enum {

src/main/drivers/io_pcf8574.c

@@ -0,0 +1,84 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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/.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "drivers/bus.h"
+#include "drivers/io_pcf8574.h"
+#include "drivers/time.h"
+#include "build/debug.h"
+
+#define PCF8574_WRITE_ADDRESS 0x40
+#define PCF8574_READ_ADDRESS 0x41
+
+static busDevice_t *busDev;
+
+static bool deviceDetect(busDevice_t *busDev)
+{
+    for (int retry = 0; retry < 5; retry++)
+    {
+        uint8_t sig;
+
+        delay(150);
+
+        bool ack = busRead(busDev, 0x00, &sig);
+        if (ack)
+        {
+            return true;
+        }
+    };
+
+    return false;
+}
+
+bool pcf8574Init(void)
+{
+    busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_PCF8574, 0, 0);
+    if (busDev == NULL)
+    {
+        DEBUG_SET(DEBUG_PCF8574, 0, 1);
+        return false;
+    }
+
+    if (!deviceDetect(busDev))
+    {
+        DEBUG_SET(DEBUG_PCF8574, 0, 2);
+        busDeviceDeInit(busDev);
+        return false;
+    }
+
+    return true;
+}
+
+void pcf8574Write(uint8_t data)
+{
+    busWrite(busDev, PCF8574_WRITE_ADDRESS, data);
+}
+
+uint8_t pcf8574Read(void)
+{
+    uint8_t data;
+    busRead(busDev, PCF8574_READ_ADDRESS, &data);
+    return data;
+}

src/main/drivers/io_pcf8574.h

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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/.
+ */
+
+#pragma once
+
+bool pcf8574Init(void);
+void pcf8574Write(uint8_t data);
+uint8_t pcf8574Read(void);

src/main/drivers/io_port_expander.c

@@ -0,0 +1,67 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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/.
+ */
+
+#include <stdbool.h>
+#include "platform.h"
+#include "drivers/io_port_expander.h"
+#include "drivers/io_pcf8574.h"
+
+#ifdef USE_I2C_IO_EXPANDER
+
+static ioPortExpanderState_t ioPortExpanderState;
+
+void ioPortExpanderInit(void)
+{
+
+    ioPortExpanderState.active = pcf8574Init();
+
+    if (ioPortExpanderState.active) {
+        ioPortExpanderState.state = 0x00;
+        pcf8574Write(ioPortExpanderState.state); //Set all ports to OFF
+    }
+
+}
+
+void ioPortExpanderSet(uint8_t pin, uint8_t value)
+{
+    if (pin > 7) {
+        return;
+    }
+
+    //Cast to 0/1
+    value = (bool) value;
+
+    ioPortExpanderState.state ^= (-value ^ ioPortExpanderState.state) & (1UL << pin);
+    ioPortExpanderState.shouldSync = true;
+}
+
+void ioPortExpanderSync(void)
+{
+    if (ioPortExpanderState.active && ioPortExpanderState.shouldSync) {
+        pcf8574Write(ioPortExpanderState.state);
+        ioPortExpanderState.shouldSync = false;;
+    }
+}
+
+#endif

src/main/drivers/io_port_expander.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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/.
+ */
+
+#pragma once
+
+#include "stdint.h"
+
+typedef struct ioPortExpanderState_s {
+    uint8_t active;
+    uint8_t state;
+    uint8_t shouldSync;
+} ioPortExpanderState_t;
+
+void ioPortExpanderInit(void);
+void ioPortExpanderSync(void);
+void ioPortExpanderSet(uint8_t pin, uint8_t value);

src/main/fc/fc_init.c

@@ -83,6 +83,7 @@
 #include "msc/emfat_file.h"
 #endif
 #include "drivers/sdcard/sdcard.h"
+#include "drivers/io_port_expander.h"
 
 #include "fc/cli.h"
 #include "fc/config.h"
@@ -682,6 +683,10 @@ void init(void)
     }
 #endif
 
+#ifdef USE_I2C_IO_EXPANDER
+    ioPortExpanderInit();
+#endif
+
     // Considering that the persistent reset reason is only used during init
     persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
 

src/main/fc/settings.yaml

@@ -84,7 +84,7 @@ tables:
       "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "ITERM_RELAX",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
-      "IRLOCK", "CD", "KALMAN", "SPM_CELLS", "SPM_VS600", "SPM_VARIO"]
+      "IRLOCK", "CD", "KALMAN", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator

src/main/programming/logic_condition.c

@@ -41,6 +41,7 @@
 #include "sensors/pitotmeter.h"
 #include "flight/imu.h"
 #include "flight/pid.h"
+#include "drivers/io_port_expander.h"
 
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
@@ -180,7 +181,12 @@ static int logicConditionCompute(
                 return operandA;
             }
             break;
-
+#ifdef USE_I2C_IO_EXPANDER
+        case LOGIC_CONDITION_PORT_SET:
+            ioPortExpanderSet((uint8_t)operandA, (uint8_t)operandB);
+            return operandB;
+            break;
+#endif
         default:
             return false;
             break; 
@@ -456,6 +462,9 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
     for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
         logicConditionProcess(i);
     }
+#ifdef USE_I2C_IO_EXPANDER
+    ioPortExpanderSync();
+#endif
 }
 
 void logicConditionReset(void) {

src/main/programming/logic_condition.h

@@ -29,27 +29,28 @@
 #define MAX_LOGIC_CONDITIONS 16
 
 typedef enum {
-    LOGIC_CONDITION_TRUE = 0,       // 0
-    LOGIC_CONDITION_EQUAL,          // 1
-    LOGIC_CONDITION_GREATER_THAN,   // 2
-    LOGIC_CONDITION_LOWER_THAN,     // 3
-    LOGIC_CONDITION_LOW,            // 4
-    LOGIC_CONDITION_MID,            // 5
-    LOGIC_CONDITION_HIGH,           // 6
-    LOGIC_CONDITION_AND,            // 7
-    LOGIC_CONDITION_OR,             // 8
-    LOGIC_CONDITION_XOR,            // 9
-    LOGIC_CONDITION_NAND,           // 10
-    LOGIC_CONDITION_NOR,            // 11
-    LOGIC_CONDITION_NOT,            // 12
-    LOGIC_CONDITION_STICKY,         // 13
-    LOGIC_CONDITION_ADD,            // 14
-    LOGIC_CONDITION_SUB,            // 15
-    LOGIC_CONDITION_MUL,            // 16
-    LOGIC_CONDITION_DIV,            // 17
-    LOGIC_CONDITION_GVAR_SET,       // 18
-    LOGIC_CONDITION_GVAR_INC,       // 19
-    LOGIC_CONDITION_GVAR_DEC,       // 20
+    LOGIC_CONDITION_TRUE            = 0,
+    LOGIC_CONDITION_EQUAL           = 1,
+    LOGIC_CONDITION_GREATER_THAN    = 2,
+    LOGIC_CONDITION_LOWER_THAN      = 3,
+    LOGIC_CONDITION_LOW             = 4,
+    LOGIC_CONDITION_MID             = 5,
+    LOGIC_CONDITION_HIGH            = 6,
+    LOGIC_CONDITION_AND             = 7,
+    LOGIC_CONDITION_OR              = 8,
+    LOGIC_CONDITION_XOR             = 9,
+    LOGIC_CONDITION_NAND            = 10,
+    LOGIC_CONDITION_NOR             = 11,
+    LOGIC_CONDITION_NOT             = 12,
+    LOGIC_CONDITION_STICKY          = 13,
+    LOGIC_CONDITION_ADD             = 14,
+    LOGIC_CONDITION_SUB             = 15,
+    LOGIC_CONDITION_MUL             = 16,
+    LOGIC_CONDITION_DIV             = 17,
+    LOGIC_CONDITION_GVAR_SET        = 18,
+    LOGIC_CONDITION_GVAR_INC        = 19,
+    LOGIC_CONDITION_GVAR_DEC        = 20,
+    LOGIC_CONDITION_PORT_SET        = 128,
     LOGIC_CONDITION_LAST
 } logicOperation_e;
 

src/main/target/common.h

@@ -121,6 +121,8 @@
 #define USE_D_BOOST
 #define USE_ANTIGRAVITY
 
+#define USE_I2C_IO_EXPANDER
+
 #else // FLASH_SIZE < 256
 #define LOG_LEVEL_MAXIMUM LOG_LEVEL_ERROR
 #endif