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Disabled servo animations

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This commit is contained in:
peteGSX 2023-02-12 10:36:26 +10:00
parent d8d785877e
commit 47cda83210
2 changed files with 63 additions and 33 deletions
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93
IO_EXIOExpander.h
View File

@ -72,10 +72,10 @@ private:
_i2cAddress = i2cAddress;
// To save RAM, space for servo configuration is not allocated unless a pin is used.
// Initialise the pointers to NULL.
_servoData = (ServoData**) calloc(_nPins, sizeof(ServoData*));
for (int i=0; i<_nPins; i++) {
_servoData[i] = NULL;
}
// _servoData = (ServoData**) calloc(_nPins, sizeof(ServoData*));
// for (int i=0; i<_nPins; i++) {
// _servoData[i] = NULL;
// }
addDevice(this);
}
@ -166,14 +166,14 @@ private:
I2CManager.read(_i2cAddress, _digitalInputStates, _digitalPinBytes, _command1Buffer, 1);
_command1Buffer[0] = EXIORDAN;
I2CManager.read(_i2cAddress, _analogueInputStates, _analoguePinBytes, _command1Buffer, 1);
if ((currentMicros - _lastRefresh) / 1000UL > refreshInterval) {
_lastRefresh = currentMicros;
for (int pin=0; pin<_nPins; pin++) {
if (_servoData[pin] != NULL) {
updatePosition(pin);
}
}
}
// if ((currentMicros - _lastRefresh) / 1000UL > refreshInterval) {
// _lastRefresh = currentMicros;
// for (int pin=0; pin<_nPins; pin++) {
// if (_servoData[pin] != NULL) {
// updatePosition(pin);
// }
// }
// }
}
// Obtain the correct analogue input value
@ -194,24 +194,24 @@ private:
int _read(VPIN vpin) override {
if (_deviceState == DEVSTATE_FAILED) return 0;
int pin = vpin - _firstVpin;
if (_servoData[pin] == NULL) {
// 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);
}
}
// } 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;
if (_servoData[pin] == NULL) {
// if (_servoData[pin] == NULL) {
_digitalOutBuffer[0] = EXIOWRD;
_digitalOutBuffer[1] = pin;
_digitalOutBuffer[2] = value;
@ -219,19 +219,40 @@ private:
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);
}
// } 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);
// }
// }
}
void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
#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
_servoBuffer[0] = EXIOWRAN;
_servoBuffer[1] = pin;
_servoBuffer[2] = value & 0xFF;
_servoBuffer[3] = value >> 8;
_servoBuffer[4] = profile;
_servoBuffer[5] = duration & 0xFF;
_servoBuffer[6] = duration >> 8;
I2CManager.read(_i2cAddress, _command1Buffer, 1, _servoBuffer, 7);
if (_command1Buffer[0] != EXIORDY) {
DIAG(F("Vpin %d cannot be used as a servo/PWM pin"), (int)vpin);
}
}
/*
void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
@ -266,7 +287,9 @@ private:
s->toPosition = value;
s->fromPosition = s->currentPosition;
}
*/
/*
void updatePosition(uint8_t pin) {
struct ServoData *s = _servoData[pin];
if (s == NULL) return; // No pin configuration/state data
@ -299,7 +322,9 @@ private:
s->numSteps = 0; // Done now.
}
}
*/
/*
void writePWM(int pin, uint16_t value) {
_command4Buffer[0] = EXIOWRAN;
_command4Buffer[1] = pin;
@ -307,6 +332,7 @@ private:
_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"),
@ -331,8 +357,10 @@ private:
byte _command2Buffer[2];
byte _command4Buffer[4];
byte _receive3Buffer[3];
byte _servoBuffer[7];
uint8_t* _analoguePinMap;
/*
// Servo specific
struct ServoData {
uint16_t activePosition : 12; // Config parameter
@ -360,6 +388,7 @@ private:
// 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
enum {

3
version.h
View File

@ -4,7 +4,8 @@
#include "StringFormatter.h"
#define VERSION "4.2.15"
#define VERSION "4.2.16"
// 4.2.16 Move EX-IOExpander servo support to the EX-IOExpander software
// 4.2.15 Add basic experimental PWM support to EX-IOExpander
// EX-IOExpander 0.0.14 minimum required
// 4.2.14 STM32F4xx fast ADC read implementation