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2026-05-24 19:56:38 +03:00
parent c03cfc23fb
commit 8d5af0b70c
55 changed files with 123885 additions and 0 deletions
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test_code/drivers/CMakeLists.txt
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add_subdirectory(multiplexer)
test_code/drivers/Kconfig
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menu "Servo2350 Device Drivers"
rsource "multiplexer/Kconfig"
endmenu
test_code/drivers/multiplexer/CMakeLists.txt
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add_subdirectory_ifdef(CONFIG_CD74HC4067 cd74hc4067)
test_code/drivers/multiplexer/Kconfig
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menu "Multiplexer Drivers"
rsource "cd74hc4067/Kconfig"
endmenu
test_code/drivers/multiplexer/cd74hc4067/CMakeLists.txt
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if(CONFIG_CD74HC4067)
target_sources(app PRIVATE ${CMAKE_CURRENT_LIST_DIR}/cd74hc4067.c)
target_include_directories(app PRIVATE ${CMAKE_CURRENT_LIST_DIR})
endif()
test_code/drivers/multiplexer/cd74hc4067/Kconfig
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menuconfig CD74HC4067
bool "TI CD74HC4067 analog multiplexer"
depends on GPIO
help
Enable support for the TI CD74HC4067 16-channel analog/digital
multiplexer/demultiplexer controlled through GPIO selection pins.
if CD74HC4067
config CD74HC4067_INIT_PRIORITY
int "Initialization priority"
default 80
help
Device initialization priority for the CD74HC4067 driver. This should
be higher (lower numeric value) than any clients that depend on the
multiplexer being ready.
module = CD74HC4067
module-str = cd74hc4067
source "subsys/logging/Kconfig.template.log_config"
endif # CD74HC4067
test_code/drivers/multiplexer/cd74hc4067/cd74hc4067.c
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#define DT_DRV_COMPAT cd74hc4067
#include <errno.h>
#include <stdbool.h>
#include <zephyr/device.h>
#include <zephyr/devicetree.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <zephyr/sys/util.h>
#include "cd74hc4067.h"
LOG_MODULE_REGISTER(cd74hc4067, CONFIG_CD74HC4067_LOG_LEVEL);
#define CD74HC4067_CHANNEL_COUNT 16U
#define CD74HC4067_SELECTION_PIN_COUNT 4U
struct cd74hc4067_config {
struct gpio_dt_spec sel[CD74HC4067_SELECTION_PIN_COUNT];
struct gpio_dt_spec enable;
bool has_enable;
};
struct cd74hc4067_data {
struct k_mutex lock;
uint8_t current_channel;
bool enabled;
};
static int cd74hc4067_sync_enable_state(const struct device *dev, bool enable)
{
const struct cd74hc4067_config *cfg = dev->config;
struct cd74hc4067_data *data = dev->data;
int ret = 0;
if (!cfg->has_enable) {
if (!enable) {
return -ENOTSUP;
}
data->enabled = true;
return 0;
}
if (!device_is_ready(cfg->enable.port)) {
LOG_ERR("%s enable GPIO not ready", dev->name);
return -ENODEV;
}
ret = gpio_pin_set_dt(&cfg->enable, enable ? 0 : 1);
if (ret == 0) {
data->enabled = enable;
}
return ret;
}
static int cd74hc4067_configure_gpios(const struct device *dev)
{
const struct cd74hc4067_config *cfg = dev->config;
int ret;
for (size_t i = 0; i < ARRAY_SIZE(cfg->sel); i++) {
const struct gpio_dt_spec *sel = &cfg->sel[i];
if (!device_is_ready(sel->port)) {
LOG_ERR("%s sel%zu GPIO not ready", dev->name, i);
return -ENODEV;
}
ret = gpio_pin_configure_dt(sel, GPIO_OUTPUT_INACTIVE);
if (ret != 0) {
LOG_ERR("%s failed to configure sel%zu GPIO (%d)", dev->name, i, ret);
return ret;
}
}
if (cfg->has_enable) {
if (!device_is_ready(cfg->enable.port)) {
LOG_ERR("%s enable GPIO not ready", dev->name);
return -ENODEV;
}
ret = gpio_pin_configure_dt(&cfg->enable, GPIO_OUTPUT_HIGH);
if (ret != 0) {
LOG_ERR("%s failed to configure enable GPIO (%d)", dev->name, ret);
return ret;
}
}
return 0;
}
static int cd74hc4067_init(const struct device *dev)
{
const struct cd74hc4067_config *cfg = dev->config;
struct cd74hc4067_data *data = dev->data;
int ret;
k_mutex_init(&data->lock);
data->current_channel = 0U;
data->enabled = !cfg->has_enable;
ret = cd74hc4067_configure_gpios(dev);
if (ret != 0) {
return ret;
}
/* Latch the default channel (0) */
ret = cd74hc4067_select_channel(dev, 0U);
if (ret != 0) {
return ret;
}
LOG_INF("%s initialized (enable pin %s)", dev->name, cfg->has_enable ? "present" : "absent");
return 0;
}
int cd74hc4067_select_channel(const struct device *dev, uint8_t channel)
{
const struct cd74hc4067_config *cfg = dev->config;
struct cd74hc4067_data *data = dev->data;
int ret = 0;
if (channel >= CD74HC4067_CHANNEL_COUNT) {
return -EINVAL;
}
ret = k_mutex_lock(&data->lock, K_FOREVER);
if (ret != 0) {
return ret;
}
for (size_t i = 0; i < ARRAY_SIZE(cfg->sel); i++) {
ret = gpio_pin_set_dt(&cfg->sel[i], (channel >> i) & 0x1);
if (ret != 0) {
LOG_ERR("%s failed to drive sel%zu GPIO (%d)", dev->name, i, ret);
goto out;
}
}
data->current_channel = channel;
out:
k_mutex_unlock(&data->lock);
return ret;
}
int cd74hc4067_enable(const struct device *dev)
{
struct cd74hc4067_data *data = dev->data;
int ret;
ret = k_mutex_lock(&data->lock, K_FOREVER);
if (ret != 0) {
return ret;
}
ret = cd74hc4067_sync_enable_state(dev, true);
k_mutex_unlock(&data->lock);
return ret;
}
int cd74hc4067_disable(const struct device *dev)
{
struct cd74hc4067_data *data = dev->data;
int ret;
ret = k_mutex_lock(&data->lock, K_FOREVER);
if (ret != 0) {
return ret;
}
ret = cd74hc4067_sync_enable_state(dev, false);
k_mutex_unlock(&data->lock);
return ret;
}
uint8_t cd74hc4067_get_current_channel(const struct device *dev)
{
struct cd74hc4067_data *data = dev->data;
uint8_t channel;
k_mutex_lock(&data->lock, K_FOREVER);
channel = data->current_channel;
k_mutex_unlock(&data->lock);
return channel;
}
#define CD74HC4067_DEFINE(inst) \
BUILD_ASSERT(DT_PROP_LEN(DT_DRV_INST(inst), sel_gpios) == CD74HC4067_SELECTION_PIN_COUNT, \
"cd74hc4067 requires exactly 4 selection GPIOs"); \
static const struct cd74hc4067_config cd74hc4067_config_##inst = { \
.sel = { \
GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(inst), sel_gpios, 0), \
GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(inst), sel_gpios, 1), \
GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(inst), sel_gpios, 2), \
GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(inst), sel_gpios, 3), \
}, \
.enable = COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, enable_gpios), \
(GPIO_DT_SPEC_GET(DT_DRV_INST(inst), enable_gpios)), \
((struct gpio_dt_spec){0})), \
.has_enable = DT_INST_NODE_HAS_PROP(inst, enable_gpios), \
}; \
static struct cd74hc4067_data cd74hc4067_data_##inst; \
DEVICE_DT_INST_DEFINE(inst, cd74hc4067_init, NULL, &cd74hc4067_data_##inst, \
&cd74hc4067_config_##inst, POST_KERNEL, \
CONFIG_CD74HC4067_INIT_PRIORITY, NULL);
DT_INST_FOREACH_STATUS_OKAY(CD74HC4067_DEFINE)
test_code/drivers/multiplexer/cd74hc4067/cd74hc4067.h
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#ifndef SERVO2350_DRIVERS_MULTIPLEXER_CD74HC4067_H_
#define SERVO2350_DRIVERS_MULTIPLEXER_CD74HC4067_H_
#include <stdint.h>
#include <zephyr/device.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Select one of the 16 multiplexed channels.
*
* @param dev CD74HC4067 device instance.
* @param channel Channel number to route (0-15).
*
* @retval 0 If the channel was selected.
* @retval -EINVAL If the channel number is out of range.
* @retval -ENODEV If one of the selection GPIOs is not ready.
* @retval other Negative errno value from the GPIO driver.
*/
int cd74hc4067_select_channel(const struct device *dev, uint8_t channel);
/**
* @brief Enable the multiplexer output (drives the /EN pin low).
*
* If the instance does not provide an enable GPIO, this call is a no-op.
*
* @param dev CD74HC4067 device instance.
*
* @retval 0 On success.
* @retval -ENODEV If the enable GPIO is not ready.
* @retval negative errno on GPIO failures.
*/
int cd74hc4067_enable(const struct device *dev);
/**
* @brief Disable the multiplexer output (drives the /EN pin high).
*
* @param dev CD74HC4067 device instance.
*
* @retval 0 On success.
* @retval -ENOTSUP If the instance does not expose an enable GPIO.
* @retval -ENODEV If the enable GPIO is not ready.
* @retval negative errno on GPIO failures.
*/
int cd74hc4067_disable(const struct device *dev);
/**
* @brief Return the last channel value written to the device.
*
* @param dev CD74HC4067 device instance.
*
* @return Channel number in the range [0, 15].
*/
uint8_t cd74hc4067_get_current_channel(const struct device *dev);
#ifdef __cplusplus
}
#endif
#endif /* SERVO2350_DRIVERS_MULTIPLEXER_CD74HC4067_H_ */