Renamed configure to reset, moved TCA_IO to own file, fixed destructor issue with switched module

drivers/io/io.cpp

@@ -12,6 +12,10 @@ namespace pimoroni {
     direction(out, pull_up, pull_down);
   };
 
+  IO::~IO() {
+    gpio_deinit(pin);
+  }
+
   bool IO::direction() {
     return gpio_is_dir_out(pin);
   }

drivers/io/io.hpp

@@ -8,6 +8,7 @@ namespace pimoroni {
   public:
     IO(uint pin);
     IO(uint pin, bool out, bool pull_up = false, bool pull_down = false);
+    ~IO();
     bool direction();
     void direction(bool out, bool pull_up = false, bool pull_down = false);
     void to_output(bool val);

drivers/tca9555/tca9555.cmake

@@ -2,7 +2,9 @@ set(DRIVER_NAME tca9555)
 add_library(${DRIVER_NAME} INTERFACE)
 
 target_sources(${DRIVER_NAME} INTERFACE
-  ${CMAKE_CURRENT_LIST_DIR}/${DRIVER_NAME}.cpp)
+  ${CMAKE_CURRENT_LIST_DIR}/${DRIVER_NAME}.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/tca_io.cpp
+)
 
 target_include_directories(${DRIVER_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
 

drivers/tca9555/tca_io.cpp

@@ -0,0 +1,51 @@
+#include "tca_io.hpp"
+
+namespace pimoroni {
+  TCA_IO::TCA_IO(TCA pin, TCAAccessor& accessor) :
+    pin(pin),
+    accessor(accessor) {
+    to_input();
+  };
+
+  TCA_IO::TCA_IO(TCA pin, TCAAccessor& accessor, bool out) :
+    pin(pin),
+    accessor(accessor) {
+    direction(out);
+  };
+
+  TCA_IO::~TCA_IO() {
+    to_input();
+  }
+
+  bool TCA_IO::direction() {
+    return accessor.get_slow_config(pin);
+  }
+
+  void TCA_IO::direction(bool out) {
+    accessor.set_slow_config(pin, out);
+  }
+
+  void TCA_IO::to_output(bool val) {
+    value(val);
+    direction(GPIO_OUT);
+  }
+
+  void TCA_IO::to_input() {
+    direction(GPIO_IN);
+    value(false);
+  }
+
+  bool TCA_IO::value() {
+    if(direction()) {
+      return accessor.get_slow_output(pin);
+    }
+    else {
+      return accessor.get_slow_input(pin);
+    }
+  }
+
+  void TCA_IO::value(bool val) {
+    accessor.set_slow_output(pin, val);
+  }
+
+};

drivers/tca9555/tca_io.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include "pico/stdlib.h"
+
+namespace pimoroni {
+
+  struct TCA {
+    uint CHIP;
+    uint GPIO;
+  };
+
+  class TCAAccessor {
+  public:
+    virtual bool get_slow_input(TCA gpio) = 0;
+    virtual bool get_slow_output(TCA gpio) = 0;
+    virtual bool get_slow_config(TCA gpio) = 0;
+    virtual bool get_slow_polarity(TCA gpio) = 0;
+
+    virtual void set_slow_output(TCA gpio, bool value) = 0;
+    virtual void set_slow_config(TCA gpio, bool output) = 0;
+    virtual void set_slow_polarity(TCA gpio, bool polarity) = 0;
+  };
+
+  class TCA_IO {
+  public:
+    TCA_IO(TCA pin, TCAAccessor& accessor);
+    TCA_IO(TCA pin, TCAAccessor& accessor, bool out);
+    ~TCA_IO();
+    bool direction();
+    void direction(bool out);
+    void to_output(bool val);
+    void to_input();
+    bool value();
+    void value(bool val);
+  private:
+    TCA pin;
+    TCAAccessor& accessor;
+  };
+
+}

libraries/yukon/errors.hpp

@@ -74,11 +74,11 @@ namespace pimoroni {
     std::string message;
 
   public:
-    VerificationError(std::string msg) : message(msg) {
+    VerificationError(std::string msg) : message("VerificationError: " + msg) {
     }
 
     virtual const char* what() const noexcept {
-      return ("VerificationError: " + message).c_str();
+      return message.c_str();
     }
   };
 

libraries/yukon/modules/audio_amp/audio_amp.cpp

@@ -23,6 +23,7 @@ namespace pimoroni {
   }
 
   AudioAmpModule::~AudioAmpModule() {
+    logging.debug("[AudioAmpModule] Destructor\n");
   }
 
   std::string AudioAmpModule::name() {
@@ -41,7 +42,8 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void AudioAmpModule::configure() {
+  void AudioAmpModule::reset() {
+    logging.debug("[AudioAmpModule] Resetting\n");
     CHECK_INITIALISED
     slow_sda->to_output(true);
     slow_scl->to_output(true);

libraries/yukon/modules/audio_amp/audio_amp.hpp

@@ -63,7 +63,7 @@ namespace pimoroni {
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     void enable();

libraries/yukon/modules/bench_power/bench_power.cpp

@@ -24,9 +24,11 @@ namespace pimoroni {
   }
 
   BenchPowerModule::~BenchPowerModule() {
+    logging.debug("[BenchPowerModule] Destructor Started\n");
     delete(voltage_pwm);
     delete(power_en);
     delete(power_good);
+    logging.debug("[BenchPowerModule] Destructor Done\n");
   }
 
   std::string BenchPowerModule::name() {
@@ -45,7 +47,8 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void BenchPowerModule::configure() {
+  void BenchPowerModule::reset() {
+    logging.debug("[BenchPowerModule] Resetting\n");
     CHECK_INITIALISED
     // Calculate a suitable pwm wrap period for this frequency
     uint32_t period; uint32_t div256;

libraries/yukon/modules/bench_power/bench_power.hpp

@@ -71,7 +71,7 @@ namespace pimoroni {
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     void enable();

libraries/yukon/modules/big_motor/big_motor.cpp

@@ -24,10 +24,12 @@ namespace pimoroni {
   }
 
   BigMotorModule::~BigMotorModule() {
+    logging.debug("[BigMotorModule] Destructor Started\n");
     delete(motor);
     delete(encoder);
     delete(motor_en);
     delete(motor_nfault);
+    logging.debug("[BigMotorModule] Destructor Done\n");
   }
 
   std::string BigMotorModule::name() {
@@ -46,7 +48,8 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void BigMotorModule::configure() {
+  void BigMotorModule::reset() {
+    logging.debug("[DualSwitchedModule] Resetting\n");
     CHECK_INITIALISED
     motor->disable_all();
     motor->decay_mode(0, SLOW_DECAY);

libraries/yukon/modules/big_motor/big_motor.hpp

@@ -69,7 +69,7 @@ namespace pimoroni {
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     void enable();

libraries/yukon/modules/common.cpp

@@ -1,54 +1,7 @@
 #include "common.hpp"
+#include "../logging.hpp"
 
 namespace pimoroni {
-  TCA_IO::TCA_IO(TCA pin, TCAAccessor& accessor) :
-    pin(pin),
-    accessor(accessor) {
-    to_input();
-  };
-
-  TCA_IO::TCA_IO(TCA pin, TCAAccessor& accessor, bool out) :
-    pin(pin),
-    accessor(accessor) {
-    direction(out);
-  };
-
-  //TCA_IO::~TCA_IO() {
-  //  to_input();
-  //}
-
-  bool TCA_IO::direction() {
-    return accessor.get_slow_config(pin);
-  }
-
-  void TCA_IO::direction(bool out) {
-    accessor.set_slow_config(pin, out);
-  }
-
-  void TCA_IO::to_output(bool val) {
-    value(val);
-    direction(GPIO_OUT);
-  }
-
-  void TCA_IO::to_input() {
-    direction(GPIO_IN);
-    value(false);
-  }
-
-  bool TCA_IO::value() {
-    if(direction()) {
-        return accessor.get_slow_output(pin);
-    }
-    else {
-        return accessor.get_slow_input(pin);
-    }
-  }
-
-  void TCA_IO::value(bool val) {
-    accessor.set_slow_output(pin, val);
-  }
-
-
 
   YukonModule::YukonModule() :
     slot(),
@@ -61,14 +14,31 @@ namespace pimoroni {
     //self.__monitor_action_callback = None
   }
 
+  YukonModule::~YukonModule() {
+    logging.debug("[YukonModule] Destructor Started\n");
+    if(is_initialised()) {
+      // Modules make use of IO and TCA_IO classes for pin control then the below changes are redundant
+      gpio_deinit(slot.FAST1);
+      gpio_deinit(slot.FAST2);
+      gpio_deinit(slot.FAST3);
+      gpio_deinit(slot.FAST4);
+      __accessor->set_slow_config(slot.SLOW1, false);
+      __accessor->set_slow_config(slot.SLOW2, false);
+      __accessor->set_slow_config(slot.SLOW3, false);
+
+      __accessor->deregister(*this);
+    }
+    logging.debug("[YukonModule] Destructor Done\n");
+  }
+
   void YukonModule::initialise(const SLOT& slot, SlotAccessor& accessor) {
     // Record the slot we are in, and the ADC functions to call
     this->slot = slot;
     this->__accessor = &accessor;
     initialised = true;
 
-    // Configure any objects created during initialisation
-    configure();
+    // Put any objects created during initialisation into a known state
+    reset();
   }
 
   bool YukonModule::is_initialised() {
@@ -76,6 +46,7 @@ namespace pimoroni {
   }
 
   void YukonModule::deregister() {
+    logging.debug("[YukonModule] Deregistering\n");
     initialised = false;
     __accessor = nullptr;
   }

libraries/yukon/modules/common.hpp

@@ -1,17 +1,15 @@
 #pragma once
 
 #include "pico/stdlib.h"
-#include <typeindex>
-#include <string>
-#include <vector>
+#include "tca_io.hpp"
+
 #include <math.h>
 #include <stdexcept>
-namespace pimoroni {
+#include <string>
+#include <typeindex>
+#include <vector>
 
-  struct TCA {
-    uint CHIP;
-    uint GPIO;
-  };
+namespace pimoroni {
 
   struct SLOT {
     uint ID;
@@ -43,41 +41,16 @@ namespace pimoroni {
     HIGH = true
   };
 
-  class TCAAccessor {
-  public:
-    virtual bool get_slow_input(TCA gpio) = 0;
-    virtual bool get_slow_output(TCA gpio) = 0;
-    virtual bool get_slow_config(TCA gpio) = 0;
-    virtual bool get_slow_polarity(TCA gpio) = 0;
-
-    virtual void set_slow_output(TCA gpio, bool value) = 0;
-    virtual void set_slow_config(TCA gpio, bool output) = 0;
-    virtual void set_slow_polarity(TCA gpio, bool polarity) = 0;
-  };
+  class YukonModule;  // Forward declaration
 
   class SlotAccessor : public TCAAccessor {
   public:
     virtual float read_slot_adc1(SLOT slot) = 0;
     virtual float read_slot_adc2(SLOT slot) = 0;
-  };
 
-  class TCA_IO {
-  public:
-    TCA_IO(TCA pin, TCAAccessor& accessor);
-    TCA_IO(TCA pin, TCAAccessor& accessor, bool out);
-    //~TCA_IO();
-    bool direction();
-    void direction(bool out);
-    void to_output(bool val);
-    void to_input();
-    bool value();
-    void value(bool val);
-  private:
-    TCA pin;
-    TCAAccessor& accessor;
+    virtual void deregister(YukonModule& module) = 0;
   };
 
-
   typedef bool (&func_is_module)(uint, bool, bool, bool);
 
   struct ModuleType {
@@ -112,6 +85,7 @@ namespace pimoroni {
     //--------------------------------------------------
   public:
     YukonModule();
+    virtual ~YukonModule();
 
 
     //--------------------------------------------------
@@ -122,11 +96,11 @@ namespace pimoroni {
     virtual std::string name() = 0;
 
     // Initialise the module once it has been assigned a slot
-    // Any overriding function must call this at its end
+    // Any overriding function must call this parent function at its end
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
 
-    // Override this to configure the module once initialised, or return it to a default state (called from initialise)
-    virtual void configure() {}
+    // Override this to put the module into a known state
+    virtual void reset() {}
 
     //--------------------------------------------------
     bool is_initialised();

libraries/yukon/modules/dual_motor/dual_motor.cpp

@@ -25,10 +25,12 @@ namespace pimoroni {
   }
 
   DualMotorModule::~DualMotorModule() {
+    logging.debug("[DualMotorModule] Destructor Started\n");
     delete(motors);
     delete(motors_decay);
     delete(motors_toff);
     delete(motors_en);
+    logging.debug("[DualMotorModule] Destructor Done\n");
   }
 
   std::string DualMotorModule::name() {
@@ -48,7 +50,8 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void DualMotorModule::configure() {
+  void DualMotorModule::reset() {
+    logging.debug("[DualMotorModule] Resetting\n");
     CHECK_INITIALISED
     motors->disable_all();
 

libraries/yukon/modules/dual_motor/dual_motor.hpp

@@ -74,7 +74,7 @@ namespace pimoroni {
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     void enable();

libraries/yukon/modules/dual_switched/dual_switched.cpp

@@ -18,17 +18,23 @@ namespace pimoroni {
     halt_on_not_pgood(halt_on_not_pgood),
     last_pgood1(false),
     last_pgood2(false) {
-    //sw_output(nullptr, nullptr), TODO
-    //sw_enable(nullptr, nullptr) {
+    sw_output[0] = nullptr;
+    sw_output[1] = nullptr;
+    sw_enable[0] = nullptr;
+    sw_enable[1] = nullptr;
+    power_good[0] = nullptr;
+    power_good[1] = nullptr;
   }
 
   DualSwitchedModule::~DualSwitchedModule() {
+    logging.debug("[DualSwitchedModule] Destructor Started\n");
     delete(sw_output[0]);
     delete(sw_output[1]);
     delete(sw_enable[0]);
     delete(sw_enable[1]);
     delete(power_good[0]);
     delete(power_good[1]);
+    logging.debug("[DualSwitchedModule] Destructor Done\n");
   }
 
   std::string DualSwitchedModule::name() {
@@ -39,8 +45,8 @@ namespace pimoroni {
     // Create the switch and power control pin objects
     sw_output[0] = new IO(slot.FAST1);
     sw_output[1] = new IO(slot.FAST3);
-    sw_enable[0] = new IO(slot.FAST1);
-    sw_enable[1] = new IO(slot.FAST3);
+    sw_enable[0] = new IO(slot.FAST2);
+    sw_enable[1] = new IO(slot.FAST4);
     power_good[0] = new TCA_IO(slot.SLOW1, accessor);
     power_good[1] = new TCA_IO(slot.SLOW3, accessor);
 
@@ -48,7 +54,8 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void DualSwitchedModule::configure() {
+  void DualSwitchedModule::reset() {
+    logging.debug("[DualSwitchedModule] Resetting\n");
     CHECK_INITIALISED
     sw_output[0]->to_output(false);
     sw_output[1]->to_output(false);

libraries/yukon/modules/dual_switched/dual_switched.hpp

@@ -60,7 +60,7 @@ namespace pimoroni {
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     void enable(uint output);

libraries/yukon/modules/led_strip/led_strip.cpp

@@ -25,6 +25,7 @@ namespace pimoroni {
   }
 
   LEDStripModule::~LEDStripModule() {
+    logging.debug("[LEDStripModule] Destructor Started\n");
     if(strip_type == NEOPIXEL) {
       if(ws_pixels != nullptr) {
         ws_pixels->stop();
@@ -39,6 +40,7 @@ namespace pimoroni {
     }
     delete(power_good);
     delete(power_en);
+    logging.debug("[LEDStripModule] Destructor Done\n");
   }
 
   std::string LEDStripModule::name() {
@@ -77,7 +79,8 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void LEDStripModule::configure() {
+  void LEDStripModule::reset() {
+    logging.debug("[LEDStripModule] Resetting\n");
     CHECK_INITIALISED
     power_en->to_output(false);
     power_good->to_input(true, false);

libraries/yukon/modules/led_strip/led_strip.hpp

@@ -80,7 +80,7 @@ namespace pimoroni {
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     void enable();

libraries/yukon/modules/proto/proto.cpp

@@ -17,9 +17,6 @@ namespace pimoroni {
     YukonModule() {
   }
 
-  ProtoPotModule::~ProtoPotModule() {
-  }
-
   std::string ProtoPotModule::name() {
     return ProtoPotModule::NAME;
   }
@@ -48,9 +45,6 @@ namespace pimoroni {
     const_c = (pu * pu) + (2 * pu) + 1;
   }
 
-  ProtoPotModule2::~ProtoPotModule2() {
-  }
-
   std::string ProtoPotModule2::name() {
     return ProtoPotModule2::NAME;
   }

libraries/yukon/modules/proto/proto.hpp

@@ -24,7 +24,7 @@ namespace pimoroni {
     //--------------------------------------------------
   public:
     ProtoPotModule();
-    virtual ~ProtoPotModule();
+    virtual ~ProtoPotModule() {}
 
 
     //--------------------------------------------------
@@ -69,7 +69,7 @@ namespace pimoroni {
     //--------------------------------------------------
   public:
     ProtoPotModule2(float pot_resistance);
-    virtual ~ProtoPotModule2();
+    virtual ~ProtoPotModule2() {}
 
 
     //--------------------------------------------------

libraries/yukon/modules/quad_servo/quad_servo_direct.cpp

@@ -1,4 +1,5 @@
 #include "quad_servo_direct.hpp"
+#include "../../logging.hpp"
 
 namespace pimoroni {
 
@@ -19,7 +20,9 @@ namespace pimoroni {
   }
 
   QuadServoDirectModule::~QuadServoDirectModule() {
+    logging.debug("[QuadServoDirectModule] Destructor Started\n");
     delete(servos);
+    logging.debug("[QuadServoDirectModule] Destructor Done\n");
   }
 
   std::string QuadServoDirectModule::name() {
@@ -34,7 +37,9 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void QuadServoDirectModule::configure() {
+  void QuadServoDirectModule::reset() {
+    logging.debug("[QuadServoDirectModule] Resetting\n");
+    CHECK_INITIALISED
     servos->disable_all();
   }
 

libraries/yukon/modules/quad_servo/quad_servo_direct.hpp

@@ -43,7 +43,7 @@ namespace pimoroni {
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     float read_adc1();

libraries/yukon/modules/quad_servo/quad_servo_reg.cpp

@@ -22,9 +22,11 @@ namespace pimoroni {
   }
 
   QuadServoRegModule::~QuadServoRegModule() {
+    logging.debug("[QuadServoRegModule] Destructor Started\n");
     delete(servos);
     delete(power_en);
     delete(power_good);
+    logging.debug("[QuadServoRegModule] Destructor Done\n");
   }
 
   std::string QuadServoRegModule::name() {
@@ -43,7 +45,8 @@ namespace pimoroni {
     YukonModule::initialise(slot, accessor);
   }
 
-  void QuadServoRegModule::configure() {
+  void QuadServoRegModule::reset() {
+    logging.debug("[QuadServoRegModule] Resetting\n");
     CHECK_INITIALISED
     servos->disable_all();
 

libraries/yukon/modules/quad_servo/quad_servo_reg.hpp

@@ -62,7 +62,7 @@ public:
   public:
     virtual std::string name();
     virtual void initialise(const SLOT& slot, SlotAccessor& accessor);
-    virtual void configure();
+    virtual void reset();
 
     //--------------------------------------------------
     void enable();