From 2848ba616b7dcc3fde1c976ab5b8b8a3301c085a Mon Sep 17 00:00:00 2001 From: peteGSX <97784652+peteGSX@users.noreply.github.com> Date: Thu, 9 Feb 2023 07:38:00 +1000 Subject: [PATCH] Some success --- IO_EXIOExpander.h | 86 +++++++++++++++++++++++++++++++++-------------- 1 file changed, 60 insertions(+), 26 deletions(-) diff --git a/IO_EXIOExpander.h b/IO_EXIOExpander.h index 6549873..9912fe6 100644 --- a/IO_EXIOExpander.h +++ b/IO_EXIOExpander.h @@ -184,10 +184,14 @@ private: // Main loop, collect both digital and analogue pin states continuously (faster sensor/input reads) void _loop(unsigned long currentMicros) override { (void)currentMicros; // remove warning + if (_deviceState == DEVSTATE_FAILED) return; _command1Buffer[0] = EXIORDD; I2CManager.read(_i2cAddress, _digitalInputStates, _digitalPinBytes, _command1Buffer, 1); _command1Buffer[0] = EXIORDAN; I2CManager.read(_i2cAddress, _analogueInputStates, _analoguePinBytes, _command1Buffer, 1); + for (int pin=0; pin<_nPins; pin++) { + updatePosition(pin); + } } // Obtain the correct analogue input value @@ -205,20 +209,43 @@ private: // Obtain the correct digital input value int _read(VPIN vpin) override { + if (_deviceState == DEVSTATE_FAILED) return 0; int pin = vpin - _firstVpin; - uint8_t pinByte = pin / 8; - bool value = bitRead(_digitalInputStates[pinByte], pin - pinByte * 8); - return value; + if (_servoData[pin] == NULL) { + uint8_t pinByte = pin / 8; + bool value = bitRead(_digitalInputStates[pinByte], pin - pinByte * 8); + return value; + } else { + struct ServoData *s = _servoData[pin]; + if (s == NULL) { + return false; // No structure means no animation! + } else { + return (s->stepNumber < s->numSteps); + } + } } void _write(VPIN vpin, int value) override { + if (_deviceState == DEVSTATE_FAILED) return; int pin = vpin - _firstVpin; - _digitalOutBuffer[0] = EXIOWRD; - _digitalOutBuffer[1] = pin; - _digitalOutBuffer[2] = value; - I2CManager.read(_i2cAddress, _command1Buffer, 1, _digitalOutBuffer, 3); - if (_command1Buffer[0] != EXIORDY) { - DIAG(F("Vpin %d cannot be used as a digital output pin"), (int)vpin); + if (_servoData[pin] == NULL) { + _digitalOutBuffer[0] = EXIOWRD; + _digitalOutBuffer[1] = pin; + _digitalOutBuffer[2] = value; + I2CManager.read(_i2cAddress, _command1Buffer, 1, _digitalOutBuffer, 3); + if (_command1Buffer[0] != EXIORDY) { + DIAG(F("Vpin %d cannot be used as a digital output pin"), (int)vpin); + } + } else { + if (value) value = 1; + struct ServoData *s = _servoData[pin]; + if (s != NULL) { + // Use configured parameters + this->_writeAnalogue(vpin, value ? s->activePosition : s->inactivePosition, s->profile, s->duration); + } else { + /* simulate digital pin on PWM */ + this->_writeAnalogue(vpin, value ? 4095 : 0, Instant | NoPowerOff, 0); + } } } @@ -232,12 +259,11 @@ private: _command4Buffer[3] = value >> 8; I2CManager.write(_i2cAddress, _command4Buffer, 4); */ - #ifdef DIAG_IO +#ifdef DIAG_IO DIAG(F("Servo: WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"), vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F("")); - #endif +#endif if (_deviceState == DEVSTATE_FAILED) return; - int pin = vpin - _firstVpin; if (value > 4095) value = 4095; else if (value < 0) value = 0; @@ -288,22 +314,30 @@ private: s->currentPosition = map(s->stepNumber, 0, s->numSteps, s->fromPosition, s->toPosition); } // Send servo command - // _slaveDevice->writeAnalogue(_firstSlavePin+pin, s->currentPosition); + this->writePWM(pin, s->currentPosition); } else if (s->stepNumber < s->numSteps + _catchupSteps) { // We've finished animation, wait a little to allow servo to catch up s->stepNumber++; } else if (s->stepNumber == s->numSteps + _catchupSteps && s->currentPosition != 0) { - #ifdef IO_SWITCH_OFF_SERVO - if ((s->currentProfile & NoPowerOff) == 0) { - // Wait has finished, so switch off PWM to prevent annoying servo buzz - // _slaveDevice->writeAnalogue(_firstSlavePin+pin, 0); - } - #endif + // #ifdef IO_SWITCH_OFF_SERVO + // if ((s->currentProfile & NoPowerOff) == 0) { + // // Wait has finished, so switch off PWM to prevent annoying servo buzz + // // _slaveDevice->writeAnalogue(_firstSlavePin+pin, 0); + // } + // #endif s->numSteps = 0; // Done now. } } + void writePWM(int pin, uint16_t value) { + _command4Buffer[0] = EXIOWRAN; + _command4Buffer[1] = pin; + _command4Buffer[2] = value & 0xFF; + _command4Buffer[3] = value >> 8; + I2CManager.write(_i2cAddress, _command4Buffer, 4); + } + void _display() override { DIAG(F("EX-IOExpander I2C:x%x v%d.%d.%d Vpins %d-%d %S"), _i2cAddress, _majorVer, _minorVer, _patchVer, @@ -343,18 +377,18 @@ private: uint16_t duration; // time (tenths of a second) for animation to complete. }; // 14 bytes per element, i.e. per pin in use - struct ServoData *_servoData [16]; + struct ServoData *_servoData[256]; static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off - static const uint8_t FLASH _bounceProfile[30]; + // static const uint8_t FLASH _bounceProfile[30]; const unsigned int refreshInterval = 50; // refresh every 50ms -// Profile for a bouncing signal or turnout -// The profile below is in the range 0-100% and should be combined with the desired limits -// of the servo set by _activePosition and _inactivePosition. The profile is symmetrical here, -// i.e. the bounce is the same on the down action as on the up action. First entry isn't used. -const byte FLASH EXIOExpander::_bounceProfile[30] = + // Profile for a bouncing signal or turnout + // The profile below is in the range 0-100% and should be combined with the desired limits + // of the servo set by _activePosition and _inactivePosition. The profile is symmetrical here, + // i.e. the bounce is the same on the down action as on the up action. First entry isn't used. + const byte FLASH _bounceProfile[30] = {0,2,3,7,13,33,50,83,100,83,75,70,65,60,60,65,74,84,100,83,75,70,70,72,75,80,87,92,97,100}; // EX-IOExpander protocol flags