More objects

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drivers/UARTBridgeI2CDevice.kt

@@ -14,18 +14,99 @@ class UARTBridgeI2CDevice(deviceClient: I2cDeviceSynch, deviceClientIsOwned: Boo
 
     override fun getDeviceName() = "SandboxElectronics_SC16IS750_I2C_UART_Bridge"
 
-    private class InterruptEnable {
-        var rxDataAvailable: Boolean = false
-        var thrEmpty: Boolean = false
-        var receiveStatus: Boolean = false
-        var modemStatus: Boolean = false
-        var sleep: Boolean = false
-        var xOff: Boolean = false
-        var rtsInterrupt: Boolean = false
-        var ctsInterrupt: Boolean = false
+    private var ier: Byte = 0
+
+    private object IER {
+        const val RX_DATA_AVAILABLE_INT = 1 shl 0
+        const val THR_EMPTY_INT = 1 shl 1
+        const val RECV_LINE_STATUS_INT = 1 shl 2
+        const val MODEM_STATUS_INT = 1 shl 3
+        const val SLEEP_MODE = 1 shl 4
+        const val XOFF = 1 shl 5
+        const val RTS_INT = 1 shl 6
+        const val CTS_INT = 1 shl 7
     }
 
-    enum class Register(val byteN: Byte) {
+    private object FCR {
+        enum class RXTriggerN(val regVal: Int) {
+            C8(0b00),
+            C16(0b01),
+            C56(0b10),
+            C60(0b11),
+        }
+
+        enum class TXTriggerN(val regVal: Int) {
+            S8(0b00),
+            S16(0b01),
+            S32(0b10),
+            S56(0b11),
+        }
+
+        fun setTriggerLevel(rx: RXTriggerN) = rx.regVal shl 6
+        fun setTriggerLevel(tx: TXTriggerN) = tx.regVal shl 4
+
+        const val FIFO_EN = 1 shl 0
+        const val RX_FIFO_RESET = 1 shl 1
+        const val TX_FIFO_RESET = 1 shl 2
+        const val TX_TRIGGER_LEVEL_LSB = 1 shl 4
+        const val TX_TRIGGER_LEVEL_MSB = 1 shl 5
+        const val RX_TRIGGER_LEVEL_LSB = 1 shl 6
+        const val RX_TRIGGER_LEVEL_MSB = 1 shl 7
+    }
+
+    class IIR(private val value: Int) {
+        enum class IntSource(val priorityValue: Int) {
+            RECV_LINE_STATUS_ERR(0b00011),
+            RECV_TIMEOUT_INT(0b00110),
+            RHR_INT(0b00010),
+            THR_INT(0b00001),
+            MODEM_INT(0b00000),
+            INPUT_PIN_CHANGED(0b11000),
+            XOFF_SIGNAL_OR_SPECIAL_CHAR(0b01000),
+            CTS_RTS_DEACTIVATE_EDGE(0b10000)
+        }
+
+        companion object {
+            const val INT_STATUS = 1 shl 0
+            const val FIFO_EN1 = 1 shl 6
+            const val FIFO_EN2 = 1 shl 7
+
+            const val PRIORITY_MASK = 0b00111110
+
+            fun interruptPriority(priority: Int): Int {
+                if (priority > 0b11111) throw IllegalArgumentException("priority is 0 to 31")
+                return priority shl 1
+            }
+        }
+
+        val isInterruptPending = (value and INT_STATUS) == 0
+        val isFIFOEnabled = (value and FIFO_EN1) > 0
+        val interrupt: IntSource
+
+        init {
+            val prioValue = (value and PRIORITY_MASK) shr 1
+            var result: IntSource? = null
+            for (source in IntSource.entries) {
+                if (prioValue == source.priorityValue) {
+                    result = source
+                    break
+                }
+            }
+            interrupt = result
+                ?: throw IllegalArgumentException("IIR register doesn't match any known interrupt")
+        }
+    }
+
+    private object LCR {
+        const val STOP_BIT = 1 shl 2
+        const val PARITY_EN = 1 shl 3
+        const val PARITY_TYPE = 1 shl 4 // odd = 0; even = 1
+        const val SET_PARITY_BIT = 1 shl 5
+        const val BREAK_CONTROL_BIT = 1 shl 6
+        const val DIVISOR_LATCH_EN = 1 shl 7
+    }
+
+    enum class Register(val byteN: Int) {
         /**
          * Receive Holding Register (read only)
          */
@@ -127,6 +208,7 @@ class UARTBridgeI2CDevice(deviceClient: I2cDeviceSynch, deviceClientIsOwned: Boo
          * Divisor latch LSB (read/write)
          */
         DLL(0x00),
+
         /**
          * Divisor latch MSB (read/write)
          */
@@ -136,18 +218,22 @@ class UARTBridgeI2CDevice(deviceClient: I2cDeviceSynch, deviceClientIsOwned: Boo
          * Enhanced Feature Register (read/write)
          */
         EFR(0x02),
+
         /**
          * Xon1 word (read/write)
          */
         XON1(0x04),
+
         /**
          * Xon2 word (read/write)
          */
         XON2(0x05),
+
         /**
          * Xoff1 word (read/write)
          */
         XOFF1(0x06),
+
         /**
          * Xoff2 word (read/write)
          */