Feature/highpass

general/include/pca9539.h

@@ -5,8 +5,7 @@
 #include <stdint.h>
 
 /*
-PCA 9539 16 bit GPIO expander.  Datasheet:
-https://www.ti.com/lit/ds/symlink/pca9539.pdf?ts=1716785085909
+PCA 9539 16 bit GPIO expander.  Datasheet: https://www.ti.com/lit/ds/symlink/pca9539.pdf?ts=1716785085909
 */
 
 /// Possible I2C addresses, see comment below
@@ -36,31 +35,56 @@ PCA 9539 16 bit GPIO expander.  Datasheet:
 #define PCA_DIRECTION_0_REG 0x06
 #define PCA_DIRECTION_1_REG 0x07
 
+//return HAL_I2C_Mem_Write(pca->i2c_handle, pca->dev_addr, address,
+//I2C_MEMADD_SIZE_8BIT, data, 1, HAL_MAX_DELAY);
+
+typedef int (*WritePtr)(uint16_t dev_addr, uint16_t mem_address,
+			uint16_t mem_add_size, uint8_t *data, uint16_t size,
+			int delay);
+typedef int (*ReadPtr)(uint16_t dev_addr, uint16_t mem_address,
+		       uint16_t mem_add_size, uint8_t *data, uint16_t size,
+		       int delay);
+
 typedef struct {
-	I2C_HandleTypeDef *i2c_handle;
+	//int i2c_handler;
+	//void *i2c_handler;
+	//I2C_HandleTypeDef *i2c_handle;
+
+	WritePtr write;
+	ReadPtr read;
+
 	uint16_t dev_addr;
 } pca9539_t;
 
-/// Init PCA9539, a 16 bit I2C GPIO expander
-void pca9539_init(pca9539_t *pca, I2C_HandleTypeDef *i2c_handle,
+void pca9539_init(pca9539_t *pca, WritePtr writeFunc, ReadPtr readFunc,
 		  uint8_t dev_addr);
 
-/// @brief Read all pins on a bus, for example using reg_type input to get
-/// incoming logic level
+int pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, uint8_t *buf);
+
+int pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin,
+		     uint8_t *buf);
+
+int pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, uint8_t buf);
+
+int pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin,
+		      uint8_t buf);
+
+/*IGNORE THIS CODE - SERVES AS A REFERENCE
+/// Init PCA9539, a 16 bit I2C GPIO expander
+void pca9539_init(pca9539_t *pca, I2C_HandleTypeDef *i2c_handle, uint8_t dev_addr);
+
+/// @brief Read all pins on a bus, for example using reg_type input to get incoming logic level
 HAL_StatusTypeDef pca9539_read_reg(pca9539_t *pca, uint8_t reg_type,
-				   uint8_t *buf);
-/// @brief Read a specific pin on a bus, do not iterate over this, use read_pins
-/// instead
+								   uint8_t *buf);
+/// @brief Read a specific pin on a bus, do not iterate over this, use read_pins instead
 HAL_StatusTypeDef pca9539_read_pin(pca9539_t *pca, uint8_t reg_type,
-				   uint8_t pin, uint8_t *buf);
-
-/// @brief Write all pins on a bus, for example using reg_type OUTPUT to set
-/// logic level or DIRECTION to set as output
-HAL_StatusTypeDef pca9539_write_reg(pca9539_t *pca, uint8_t reg_type,
-				    uint8_t buf);
-/// @brief Write a specific pin on a bus, do not iterate over this, use
-/// write_pins instead
-HAL_StatusTypeDef pca9539_write_pin(pca9539_t *pca, uint8_t reg_type,
-				    uint8_t pin, uint8_t buf);
+								   uint8_t pin, uint8_t *buf);
 
+/// @brief Write all pins on a bus, for example using reg_type OUTPUT to set logic level or DIRECTION to set as
+/// output
+HAL_StatusTypeDef pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, uint8_t buf);
+/// @brief Write a specific pin on a bus, do not iterate over this, use write_pins instead
+HAL_StatusTypeDef pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin,
+									uint8_t buf);
+*/
 #endif

general/src/pca9539.c

@@ -4,30 +4,112 @@
 
 #define REG_SIZE_BITS 8
 
-HAL_StatusTypeDef pca_write_reg(pca9539_t *pca, uint16_t address, uint8_t *data)
+//RETURNS THE WRITE POINTER INSTEAD
+int pca_write_reg(pca9539_t *pca, uint16_t address, uint8_t *data)
 {
-	// ensure shifting left one, HAL adds the write bit
-	return HAL_I2C_Mem_Write(pca->i2c_handle, pca->dev_addr, address,
-				 I2C_MEMADD_SIZE_8BIT, data, 1, HAL_MAX_DELAY);
+	//Parameters in the HAL Function
+	uint16_t mem_add_size = 8;
+	uint16_t data_size = 1;
+	int delay = 0xFFFFFFFFU;
+
+	return pca->write(pca->dev_addr, address, mem_add_size, data, data_size,
+			  delay);
 }
 
-HAL_StatusTypeDef pca_read_reg(pca9539_t *pca, uint16_t address, uint8_t *data)
+/*IGNORE THIS CODE - LEFT AS A REFERENCE
+HAL_StatusTypeDef pca_write_reg(pca9539_t* pca, uint16_t address, uint8_t* data)
 {
-	return HAL_I2C_Mem_Read(pca->i2c_handle, pca->dev_addr, address,
-				I2C_MEMADD_SIZE_8BIT, data, 1, HAL_MAX_DELAY);
+	// ensure shifting left one, HAL adds the write bit
+	return HAL_I2C_Mem_Write(pca->i2c_handler, pca->dev_addr, address, I2C_MEMADD_SIZE_8BIT, data, 1,
+							 HAL_MAX_DELAY);
+}*/
+
+int pca_read_reg(pca9539_t *pca, uint16_t address, uint8_t *data)
+{
+	uint16_t mem_add_size = 8;
+	uint16_t data_size = 1;
+	int delay = 0xFFFFFFFFU;
+
+	return pca->read(pca->dev_addr, address, mem_add_size, data, data_size,
+			 delay);
 }
 
-void pca9539_init(pca9539_t *pca, I2C_HandleTypeDef *i2c_handle,
+/* IGNORE THIS CODE - LEFT AS A REFERENCE
+HAL_StatusTypeDef pca_read_reg(pca9539_t* pca, uint16_t address, uint8_t* data)
+{
+
+	return HAL_I2C_Mem_Read(pca->i2c_handler, pca->dev_addr, address, I2C_MEMADD_SIZE_8BIT, data, 1,
+							HAL_MAX_DELAY);
+}*/
+
+//Intializes the struct
+void pca9539_init(pca9539_t *pca, WritePtr writeFunc, ReadPtr readFunc,
 		  uint8_t dev_addr)
+{
+	//pca->i2c_handler = i2c_handler;
+	pca->dev_addr = dev_addr << 1u;
+
+	pca->write = writeFunc;
+	pca->read = readFunc;
+}
+
+/*IGNORE THIS CODE - LEFT AS A REFERENCE
+void pca9539_init(pca9539_t* pca, I2C_HandleTypeDef* i2c_handle, uint8_t dev_addr)
 {
 	pca->i2c_handle = i2c_handle;
-	pca->dev_addr = dev_addr
-			<< 1u; /* shifted one to the left cuz STM says so */
+	pca->dev_addr	= dev_addr << 1u;  shifted one to the left cuz STM says so 
+}
+*/
+int pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, uint8_t *buf)
+{
+	int status = pca_read_reg(pca, reg_type, buf);
+	if (status) {
+		return status;
+	}
+
+	return status;
+}
+
+int pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin,
+		     uint8_t *buf)
+{
+	uint8_t data;
+	int status = pca_read_reg(pca, reg_type, &data);
+	if (status) {
+		return status;
+	}
+
+	*buf = (data & (1 << pin)) > 0;
+
+	return status;
+}
+
+int pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, uint8_t buf)
+{
+	return pca_write_reg(pca, reg_type, &buf);
+}
+
+int pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin,
+		      uint8_t buf)
+{
+	uint8_t data;
+	uint8_t data_new;
+
+	int status = pca_read_reg(pca, reg_type, &data);
+	if (status) {
+		return status;
+	}
+
+	data_new = (data & ~(1u << pin)) | (buf << pin);
+
+	return pca_write_reg(pca, reg_type, &data_new);
 }
 
-HAL_StatusTypeDef pca9539_read_reg(pca9539_t *pca, uint8_t reg_type,
-				   uint8_t *buf)
+//IGNORE THIS CODE - JUST LEFT AS REFERENCE, WILL DELETE ONCE APPROVED
+/*
+HAL_StatusTypeDef pca9539_read_reg(pca9539_t* pca, uint8_t reg_type, uint8_t* buf)
 {
+
 	HAL_StatusTypeDef status = pca_read_reg(pca, reg_type, buf);
 	if (status) {
 		return status;
@@ -36,8 +118,7 @@ HAL_StatusTypeDef pca9539_read_reg(pca9539_t *pca, uint8_t reg_type,
 	return status;
 }
 
-HAL_StatusTypeDef pca9539_read_pin(pca9539_t *pca, uint8_t reg_type,
-				   uint8_t pin, uint8_t *buf)
+HAL_StatusTypeDef pca9539_read_pin(pca9539_t* pca, uint8_t reg_type, uint8_t pin, uint8_t* buf)
 {
 	uint8_t data;
 	HAL_StatusTypeDef status = pca_read_reg(pca, reg_type, &data);
@@ -49,16 +130,17 @@ HAL_StatusTypeDef pca9539_read_pin(pca9539_t *pca, uint8_t reg_type,
 
 	return status;
 }
+*/
 
-HAL_StatusTypeDef pca9539_write_reg(pca9539_t *pca, uint8_t reg_type,
-				    uint8_t buf)
+/*
+HAL_StatusTypeDef pca9539_write_reg(pca9539_t* pca, uint8_t reg_type, uint8_t buf)
 {
+
 	return pca_write_reg(pca, reg_type, &buf);
 }
-
-HAL_StatusTypeDef pca9539_write_pin(pca9539_t *pca, uint8_t reg_type,
-				    uint8_t pin, uint8_t buf)
+HAL_StatusTypeDef pca9539_write_pin(pca9539_t* pca, uint8_t reg_type, uint8_t pin, uint8_t buf)
 {
+
 	uint8_t data;
 	uint8_t data_new;
 
@@ -71,3 +153,4 @@ HAL_StatusTypeDef pca9539_write_pin(pca9539_t *pca, uint8_t reg_type,
 
 	return pca_write_reg(pca, reg_type, &data_new);
 }
+*/

middleware/include/high_pass.h

@@ -0,0 +1,25 @@
+#ifndef HIGH_PASS_H
+#define HIGH_PASS_H
+
+#include <stdio.h>
+
+typedef struct {
+	//Function Parameters
+	float alpha;
+	float scale;
+
+	float prev_output;
+
+} high_pass_st;
+
+void high_pass_init(float alpha, float scale, high_pass_st filter);
+/**
+@brief Initialization for high pass values
+ */
+
+float high_pass(high_pass_st filter, float input);
+/**
+@brief Function for high pass filter
+ */
+
+#endif

middleware/src/high_pass.c

@@ -0,0 +1,43 @@
+/*
+Understanding High-Pass Filter Implementation
+
+Goal is to customize the cutoff frequency/strength 
+
+One style:
+-alpha factor  -> smoothing factor used to make the changes smoother
+-scale factor  -> scales the output given by algo
+these two params correlate to strength
+
+Or user could pass desired cutoff frequency and that would be used
+
+Algorithm:
+1. first possibility
+output = alpha * last_output + (1-alpha) * input
+
+output = alpha * last_output + alpha * (avg - prev_avg)
+
+*/
+
+#include "high_pass.h"
+
+void high_pass_init(float alpha, float scale, high_pass_st filter)
+{
+	filter->alpha = alpha;
+	filter->scale = scale;
+
+	filter->prev_output = 0.0;
+}
+
+//y[n]=x[n]−SMA[n]
+//The output is equal to the input - the moving average
+float high_pass(high_pass_st filter, float input)
+{
+	float output =
+		filter->scale(input - (filter->alpha * input +
+				       (1 - filter->alpha) * prev_output));
+
+	filter->prev_output =
+		filter->alpha * input + (1 - filter->alpha) * prev_output;
+
+	return output;
+}