1. 测试了IO拓展芯片TCA9554PWR，测试结果正常，测试通过

Lib/EXIO/TCA9554PWR.c

@@ -0,0 +1,94 @@
+#include "TCA9554PWR.h"
+/*****************************************************  Operation register REG   ****************************************************/   
+uint8_t Read_REG(uint8_t REG)                                // Read the value of the TCA9554PWR register REG
+{
+    uint8_t bitsStatus = 0;                                                             
+    i2c_cmd_handle_t cmd = i2c_cmd_link_create();     
+    i2c_master_start(cmd);                                                             
+    i2c_master_write_byte(cmd, (TCA9554_ADDRESS << 1) | I2C_MASTER_WRITE, true); 
+    i2c_master_write_byte(cmd, REG, true);                                
+    i2c_master_start(cmd);       
+    i2c_master_write_byte(cmd, (TCA9554_ADDRESS << 1) | I2C_MASTER_READ, true); 
+    i2c_master_read_byte(cmd, &bitsStatus, I2C_MASTER_NACK);
+    i2c_master_stop(cmd);                             
+    i2c_master_cmd_begin(I2C_MASTER_NUM, cmd, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS); 
+    i2c_cmd_link_delete(cmd);                                                          
+    return bitsStatus;                                                                
+}
+void Write_REG(uint8_t REG,uint8_t Data)                    // Write Data to the REG register of the TCA9554PWR
+{
+    i2c_cmd_handle_t cmd = i2c_cmd_link_create();           
+    i2c_master_start(cmd);                                             
+    i2c_master_write_byte(cmd, (TCA9554_ADDRESS << 1) | I2C_MASTER_WRITE, true);    
+    i2c_master_write_byte(cmd, REG, true);                                           
+    i2c_master_write_byte(cmd, Data, true);  
+    i2c_master_stop(cmd);     
+    i2c_master_cmd_begin(I2C_MASTER_NUM,cmd,I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
+    i2c_cmd_link_delete(cmd);                                                           
+}
+/********************************************************** Set EXIO mode **********************************************************/       
+void Mode_EXIO(uint8_t Pin,uint8_t State)                 // Set the mode of the TCA9554PWR Pin. The default is Output mode (output mode or input mode). State: 0= Output mode 1= input mode    
+{
+    uint8_t bitsStatus = Read_REG(TCA9554_CONFIG_REG);                                
+    uint8_t Data = (0x01 << (Pin-1)) | bitsStatus;  
+    Write_REG(TCA9554_CONFIG_REG,Data);            
+}
+void Mode_EXIOS(uint8_t PinState)                        // Set the mode of the 7 pins from the TCA9554PWR with PinState   
+{
+    Write_REG(TCA9554_CONFIG_REG,PinState);                             
+}
+
+/********************************************************** Read EXIO status **********************************************************/       
+uint8_t Read_EXIO(uint8_t Pin)                            // Read the level of the TCA9554PWR Pin
+{
+    uint8_t inputBits =Read_REG(TCA9554_INPUT_REG);                                  
+    uint8_t bitStatus = (inputBits >> (Pin-1)) & 0x01;                             
+    return bitStatus;                                                              
+}
+uint8_t Read_EXIOS(void)                                  // Read the level of all pins of TCA9554PWR
+{
+  uint8_t inputBits = Read_REG(TCA9554_INPUT_REG);                                     
+  return inputBits;                                                                    
+}
+
+/********************************************************** Set the EXIO output status **********************************************************/  
+void Set_EXIO(uint8_t Pin,bool State)                  // Sets the level state of the Pin without affecting the other pins(PIN：1~8)
+{
+    uint8_t Data = 0;
+    uint8_t bitsStatus = Read_REG(TCA9554_OUTPUT_REG);         
+    if(Pin < 9 && Pin > 0){     
+        if(State)                                     
+            Data = (0x01 << (Pin-1)) | bitsStatus;                 
+        else
+            Data = (~(0x01 << (Pin-1)) & bitsStatus);  
+        Write_REG(TCA9554_OUTPUT_REG,Data);
+    }
+    else                                                                             
+        printf("Parameter error, please enter the correct parameter!\r\n");
+
+}
+void Set_EXIOS(uint8_t PinState)                     // Set 7 pins to the PinState state such as :PinState=0x23, 0010 0011 state (the highest bit is not used)
+{
+    Write_REG(TCA9554_OUTPUT_REG,PinState);                                            
+}
+
+/********************************************************** Flip EXIO state **********************************************************/  
+void Set_Toggle(uint8_t Pin)                              // Flip the level of the TCA9554PWR Pin
+{
+    uint8_t bitsStatus = Read_EXIO(Pin);                                              
+    Set_EXIO(Pin,(bool)!bitsStatus);
+}
+
+
+/********************************************************* TCA9554PWR Initializes the device ***********************************************************/  
+void TCA9554PWR_Init(uint8_t PinState)                  // Set the seven pins to PinState state, for example :PinState=0x23, 0010 0011 State (the highest bit is not used) (Output mode or input mode) 0= Output mode 1= Input mode. The default value is output mode
+{
+    // i2c_master_init();                                                  
+    Mode_EXIOS(PinState);                                          
+}
+
+esp_err_t EXIO_Init(void)
+{
+    TCA9554PWR_Init(0x00);
+    return ESP_OK;
+}

Lib/EXIO/TCA9554PWR.h

@@ -0,0 +1,44 @@
+#pragma once
+
+
+#include <stdio.h>
+#include "I2C_Driver.h"
+#define TCA9554_EXIO1 0x01
+#define TCA9554_EXIO2 0x02
+#define TCA9554_EXIO3 0x03
+#define TCA9554_EXIO4 0x04
+#define TCA9554_EXIO5 0x05
+#define TCA9554_EXIO6 0x06
+#define TCA9554_EXIO7 0x07
+#define TCA9554_EXIO8 0x08
+
+
+/****************************************************** The macro defines the TCA9554PWR information ******************************************************/ 
+
+#define TCA9554_ADDRESS             0x20                    // TCA9554PWR I2C address
+// TCA9554PWR寄存器地址
+#define TCA9554_INPUT_REG           0x00                    // Input register,input level
+#define TCA9554_OUTPUT_REG          0x01                    // Output register, high and low level output 
+#define TCA9554_Polarity_REG        0x02                    // The Polarity Inversion register (register 2) allows polarity inversion of pins defined as inputs by the Configuration register.  
+#define TCA9554_CONFIG_REG          0x03                    // Configuration register, mode configuration
+
+
+// esp_err_t i2c_master_init(void);                            // Example Initialize I2C to host mode
+/*****************************************************  Operation register REG   ****************************************************/   
+uint8_t Read_REG(uint8_t REG);                              // Read the value of the TCA9554PWR register REG
+void Write_REG(uint8_t REG,uint8_t Data);                   // Write Data to the REG register of the TCA9554PWR
+/********************************************************** Set EXIO mode **********************************************************/       
+void Mode_EXIO(uint8_t Pin,uint8_t State);                  // Set the mode of the TCA9554PWR Pin. The default is Output mode (output mode or input mode). State: 0= Output mode 1= input mode   
+void Mode_EXIOS(uint8_t PinState);                          // Set the mode of the 7 pins from the TCA9554PWR with PinState  
+/********************************************************** Read EXIO status **********************************************************/       
+uint8_t Read_EXIO(uint8_t Pin);                             // Read the level of the TCA9554PWR Pin
+uint8_t Read_EXIOS(void);                                   // Read the level of all pins of TCA9554PWR, the default read input level state, want to get the current IO output state, pass the parameter TCA9554_OUTPUT_REG, such as Read_EXIOS(TCA9554_OUTPUT_REG);
+/********************************************************** Set the EXIO output status **********************************************************/  
+void Set_EXIO(uint8_t Pin,bool State);                   // Sets the level state of the Pin without affecting the other pins
+void Set_EXIOS(uint8_t PinState);                           // Set 7 pins to the PinState state such as :PinState=0x23, 0010 0011 state (the highest bit is not used)
+/********************************************************** Flip EXIO state **********************************************************/  
+void Set_Toggle(uint8_t Pin);                               // Flip the level of the TCA9554PWR Pin
+/********************************************************* TCA9554PWR Initializes the device ***********************************************************/  
+void TCA9554PWR_Init(uint8_t PinState);                     // Set the seven pins to PinState state, for example :PinState=0x23, 0010 0011 State (the highest bit is not used) (Output mode or input mode) 0= Output mode 1= Input mode. The default value is output mode
+
+esp_err_t EXIO_Init(void);

Lib/README.md

@@ -2,3 +2,4 @@
 
 #### 1. QMI8658依赖I2C_Driver
 #### 2. PCF85063依赖I2C_Driver
+#### 3. TCA9554PWR依赖I2C_Driver

main/Bionic_sphere.c

@@ -9,10 +9,14 @@
 void app_main(void)
 {
     // imu_test();     // imu测试
+
     // battery_test();
 
     // wireless_test();
 
     // sd_card_module_test();
-    pcf85063_test();
+
+    // pcf85063_test();
+
+    exio_text();
 }

main/CMakeLists.txt

@@ -1,19 +1,23 @@
 idf_component_register(SRCS "Bionic_sphere.c"
         "../test/driver_test/drivers_test.c"        # 测试用例
+        "../test/EXIO_Test/TCA9554PWR_Test.c"       # 测试用例
                             "../Lib/I2C_Driver/I2C_Driver.c"    # IIC底层驱动库
                             "../Lib/QMI8658/QMI8658.c"          # IMU驱动库
                             "../Lib/BAT_Driver/BAT_Driver.c"    # 电池adc驱动库
                             "../Lib/Wireless/Wireless.c"        # 无线通信驱动库
                             "../Lib/SD_Card/SD_MMC.c"           # SD卡驱动库
                             "../Lib/PCF85063/PCF85063.c"        # RTC驱动库
+                            "../Lib/EXIO/TCA9554PWR.c"          # IO拓展库
                     INCLUDE_DIRS "."
         "../test/driver_test"
+        "../test/EXIO_Test"
                             "../Lib/I2C_Driver"
                             "../Lib/QMI8658"
                             "../Lib/BAT_Driver"
                             "../Lib/Wireless"
                             "../Lib/SD_Card"
                             "../Lib/PCF85063"
+                            "../Lib/EXIO"
         PRIV_REQUIRES   # 私有依赖
             driver
             bt

test/EXIO_Test/TCA9554PWR_Test.c

@@ -0,0 +1,215 @@
+//
+// Created by misaki on 2025/8/24.
+//
+
+
+#include "TCA9554PWR_Test.h"
+#include "TCA9554PWR.h"
+#include "I2C_Driver.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+static const char *TAG = "TCA9554PWR_TEST";
+
+/*-------------------------------------------------
+ * 宏：延时时间，方便肉眼观察
+ *------------------------------------------------*/
+#define DELAY_MS(ms)   vTaskDelay(pdMS_TO_TICKS(ms))
+
+/*-------------------------------------------------
+ * 内部辅助函数：打印 8bit 数据为二进制格式
+ *------------------------------------------------*/
+static void print_bin8(uint8_t val)
+{
+    for (int i = 7; i >= 0; i--) {
+        printf("%c", (val & (1 << i)) ? '1' : '0');
+    }
+}
+
+/*-------------------------------------------------
+ * 测试 1：输出寄存器读写测试
+ * 步骤：
+ * 1. 先写入 0xAA（10101010）
+ * 2. 立即读回，比对是否一致
+ *------------------------------------------------*/
+static esp_err_t test_output_reg_rw(void)
+{
+    ESP_LOGI(TAG, ">> 测试1：输出寄存器读写测试");
+
+    /* 1. 写入数据 */
+    Write_REG(TCA9554_OUTPUT_REG, 0xAA);
+    DELAY_MS(10);    /* 确保芯片完成写操作 */
+
+    /* 2. 读回数据 */
+    uint8_t read_back = Read_REG(TCA9554_OUTPUT_REG);
+    ESP_LOGI(TAG, "写入 0xAA，读回 0x%02X", read_back);
+
+    if (read_back != 0xAA) {
+        ESP_LOGE(TAG, "测试1 失败：数据不一致");
+        return ESP_FAIL;
+    }
+
+    ESP_LOGI(TAG, "测试1 通过");
+    return ESP_OK;
+}
+
+/*-------------------------------------------------
+ * 测试 2：配置寄存器读写测试
+ * 步骤：
+ * 1. 将 8 个 IO 全部设为输入（写 0xFF）
+ * 2. 读回，应为 0xFF
+ * 3. 再全部设为输出（写 0x00）
+ * 4. 读回，应为 0x00
+ *------------------------------------------------*/
+static esp_err_t test_config_reg_rw(void)
+{
+    ESP_LOGI(TAG, ">> 测试2：配置寄存器读写测试");
+
+    /* 1. 全部设为输入 */
+    Write_REG(TCA9554_CONFIG_REG, 0xFF);
+    DELAY_MS(10);
+    uint8_t read_back = Read_REG(TCA9554_CONFIG_REG);
+    ESP_LOGI(TAG, "写入 0xFF(全输入)，读回 0x%02X", read_back);
+    if (read_back != 0xFF) {
+        ESP_LOGE(TAG, "测试2 失败：全输入模式设置错误");
+        return ESP_FAIL;
+    }
+
+    /* 2. 全部设为输出 */
+    Write_REG(TCA9554_CONFIG_REG, 0x00);
+    DELAY_MS(10);
+    read_back = Read_REG(TCA9554_CONFIG_REG);
+    ESP_LOGI(TAG, "写入 0x00(全输出)，读回 0x%02X", read_back);
+    if (read_back != 0x00) {
+        ESP_LOGE(TAG, "测试2 失败：全输出模式设置错误");
+        return ESP_FAIL;
+    }
+
+    ESP_LOGI(TAG, "测试2 通过");
+    return ESP_OK;
+}
+
+/*-------------------------------------------------
+ * 测试 3：单管脚输出翻转测试
+ * 步骤：
+ * 1. 先把 IO1 设为输出
+ * 2. 先置高，延时 500ms
+ * 3. 再置低，延时 500ms
+ * 4. 再调用 Toggle 两次，肉眼可见两次翻转
+ *------------------------------------------------*/
+static esp_err_t test_single_pin_toggle(void)
+{
+    ESP_LOGI(TAG, ">> 测试3：单管脚输出翻转测试");
+
+    /* 1. 设置 IO1 为输出模式 */
+    Mode_EXIO(TCA9554_EXIO1, 0);   /* 0 = 输出 */
+    DELAY_MS(10);
+
+    /* 2. 置高 */
+    Set_EXIO(TCA9554_EXIO1, 1);
+    ESP_LOGI(TAG, "IO1 置高，请观察电平");
+    DELAY_MS(500);
+
+    /* 3. 置低 */
+    Set_EXIO(TCA9554_EXIO1, 0);
+    ESP_LOGI(TAG, "IO1 置低，请观察电平");
+    DELAY_MS(500);
+
+    /* 4. 两次翻转 */
+    Set_Toggle(TCA9554_EXIO1);
+    ESP_LOGI(TAG, "IO1 Toggle 1");
+    DELAY_MS(500);
+
+    Set_Toggle(TCA9554_EXIO1);
+    ESP_LOGI(TAG, "IO1 Toggle 2");
+    DELAY_MS(500);
+
+    ESP_LOGI(TAG, "测试3 完成（请确认 LED/万用表现象）");
+    return ESP_OK;
+}
+
+/*-------------------------------------------------
+ * 测试 4：8 位整体输出测试
+ * 步骤：
+ * 1. 8 个 IO 全部设为输出
+ * 2. 依次输出 0x55、0xAA、0xFF、0x00
+ * 3. 每次输出后打印日志
+ *------------------------------------------------*/
+static esp_err_t test_all_pin_output(void)
+{
+    ESP_LOGI(TAG, ">> 测试4：8位整体输出测试");
+
+    /* 1. 全部设为输出 */
+    Mode_EXIOS(0x00);   /* 0x00 = 全输出 */
+    DELAY_MS(10);
+
+    const uint8_t pattern[4] = {0x55, 0xAA, 0xFF, 0x00};
+    for (int i = 0; i < 4; i++) {
+        Set_EXIOS(pattern[i]);
+        ESP_LOGI(TAG, "输出 0x%02X (二进制: ", pattern[i]);
+        print_bin8(pattern[i]);
+        printf(")\n");
+        DELAY_MS(1000);
+    }
+
+    ESP_LOGI(TAG, "测试4 完成");
+    return ESP_OK;
+}
+
+/*-------------------------------------------------
+ * 测试 5：输入读取测试
+ * 步骤：
+ * 1. 将 IO2 设为输入
+ * 2. 提示用户把 IO2 拉高
+ * 3. 等待 3 秒，期间循环读取 IO2 电平
+ * 4. 再提示用户把 IO2 拉低
+ * 5. 再次循环读取 3 秒
+ *------------------------------------------------*/
+static esp_err_t test_single_pin_input(void)
+{
+    ESP_LOGI(TAG, ">> 测试5：输入读取测试（需要人工干预）");
+
+    /* 1. 设置 IO2 为输入 */
+    Mode_EXIO(TCA9554_EXIO2, 1);   /* 1 = 输入 */
+    DELAY_MS(10);
+
+    ESP_LOGI(TAG, "请把 IO2 拉高，3 秒内将持续读取...");
+    for (int i = 0; i < 30; i++) {
+        uint8_t level = Read_EXIO(TCA9554_EXIO2);
+        ESP_LOGI(TAG, "IO2 当前电平 = %u", level);
+        DELAY_MS(100);
+    }
+
+    ESP_LOGI(TAG, "请把 IO2 拉低，3 秒内将持续读取...");
+    for (int i = 0; i < 30; i++) {
+        uint8_t level = Read_EXIO(TCA9554_EXIO2);
+        ESP_LOGI(TAG, "IO2 当前电平 = %u", level);
+        DELAY_MS(100);
+    }
+
+    ESP_LOGI(TAG, "测试5 完成");
+    return ESP_OK;
+}
+
+/*-------------------------------------------------
+ * 综合测试入口
+ *------------------------------------------------*/
+esp_err_t EXIO_Test(void)
+{
+    ESP_LOGI(TAG, "====== TCA9554PWR 综合测试开始 ======");
+
+    /* 1. 初始化 I2C 与 TCA9554 */
+    I2C_Init();                  /* I2C 驱动初始化 */
+    EXIO_Init();                 /* TCA9554 芯片初始化 */
+
+    /* 2. 依次运行各项测试 */
+    if (test_output_reg_rw()   != ESP_OK) return ESP_FAIL;
+    if (test_config_reg_rw()   != ESP_OK) return ESP_FAIL;
+    if (test_single_pin_toggle()!= ESP_OK) return ESP_FAIL;
+    if (test_all_pin_output()  != ESP_OK) return ESP_FAIL;
+    if (test_single_pin_input()!= ESP_OK) return ESP_FAIL;
+
+    ESP_LOGI(TAG, "====== 所有测试通过！======");
+    return ESP_OK;
+}

test/EXIO_Test/TCA9554PWR_Test.h

@@ -0,0 +1,22 @@
+//
+// Created by misaki on 2025/8/24.
+//
+
+#pragma once
+
+#include <stdint.h>
+#include "esp_err.h"
+
+/**
+ * @brief TCA9554PWR 芯片功能综合测试入口
+ *        该函数会依次执行：
+ *        1. 初始化 I2C 及 TCA9554
+ *        2. 输出寄存器读写测试
+ *        3. 配置寄存器读写测试
+ *        4. 单管脚输出翻转测试
+ *        5. 8 位整体输出测试
+ *        6. 输入读取测试（需要把待测脚短暂拉高/拉低）
+ * @return ESP_OK  全部测试通过
+ *         ESP_FAIL 任一测试失败
+ */
+esp_err_t EXIO_Test(void);

test/driver_test/drivers_test.c

@@ -193,3 +193,12 @@ void pcf85063_test(void)
         vTaskDelay(pdMS_TO_TICKS(1000));  // 每秒读一次
     }
 }
+
+
+#include "TCA9554PWR_Test.h"
+void exio_text(void)
+{
+    if (EXIO_Test() == ESP_FAIL) {
+        ESP_LOGE("EXIO_TEST", "EXIO_Test() failed");
+    }
+}

test/driver_test/drivers_test.h

@@ -20,5 +20,8 @@ void sd_card_module_test(void);
 // RTC测试
 void pcf85063_test(void);
 
+// IO拓展测试
+void exio_text(void);
+
 
 #endif //BIONIC_SPHERE_DRIVERS_TEST_H

项目开发日志.md

@@ -106,4 +106,32 @@
   驱动位置位于：Lib/PCF85063
   ```
 
+- [x] 7. 测试了IO拓展芯片TCA9554PWR，测试结果正常，测试通过
+  ```shell
+  I (356) TCA9554PWR_TEST: ====== TCA9554PWR 综合测试开始 ======
+  I (366) I2C: I2C initialized successfully
+  I (366) TCA9554PWR_TEST: >> 测试1：输出寄存器读写测试
+  I (386) TCA9554PWR_TEST: 写入 0xAA，读回 0xAA
+  I (386) TCA9554PWR_TEST: 测试1 通过
+  I (386) TCA9554PWR_TEST: >> 测试2：配置寄存器读写测试
+  I (396) TCA9554PWR_TEST: 写入 0xFF(全输入)，读回 0xFF
+  I (406) TCA9554PWR_TEST: 写入 0x00(全输出)，读回 0x00
+  I (406) TCA9554PWR_TEST: 测试2 通过
+  I (406) TCA9554PWR_TEST: >> 测试3：单管脚输出翻转测试
+  I (426) TCA9554PWR_TEST: IO1 置高，请观察电平
+  I (926) TCA9554PWR_TEST: IO1 置低，请观察电平
+  I (1426) TCA9554PWR_TEST: IO1 Toggle 1
+  I (1926) TCA9554PWR_TEST: IO1 Toggle 2
+  I (2426) TCA9554PWR_TEST: 测试3 完成（请确认 LED/万用表现象）
+  I (2426) TCA9554PWR_TEST: >> 测试4：8位整体输出测试
+  I (2436) TCA9554PWR_TEST: 输出 0x55 (二进制: 
+  01010101)
+  I (3436) TCA9554PWR_TEST: 输出 0xAA (二进制: 
+  10101010)
+  I (4436) TCA9554PWR_TEST: 输出 0xFF (二进制: 
+  11111111)
+  I (5436) TCA9554PWR_TEST: 输出 0x00 (二进制: 
+  00000000)
+  ```
+