mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2025-04-21 12:31:19 +02:00
first untested prototype
This commit is contained in:
travis-farmer
parent
d105e0c607
commit
523f2bd7ea
287
IO_Modbus.cpp
287
IO_Modbus.cpp
@ -21,7 +21,51 @@
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#include "IO_Modbus.h"
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#include "defines.h"
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uint8_t MBRB::wait() {
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while (status==MB_STATUS_PENDING) {
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// may as well whistle or something
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};
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return status;
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}
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bool MBRB::isBusy() {
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if (status==MB_STATUS_PENDING) {
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return true;
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} else
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return false;
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}
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void MBRB::setReadParams(int nodeID, uint8_t *readBuffer, uint8_t readLen) {
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this->nodeID = nodeID;
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this->writeLen = 0;
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this->readBuffer = readBuffer;
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this->readLen = readLen;
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this->operation = OPERATION_READ;
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this->status = MB_STATUS_OK;
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}
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void MBRB::setRequestParams(int nodeID, uint8_t *readBuffer, uint8_t readLen,
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const uint8_t *writeBuffer, uint8_t writeLen) {
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this->nodeID = nodeID;
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this->writeBuffer = writeBuffer;
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this->writeLen = writeLen;
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this->readBuffer = readBuffer;
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this->readLen = readLen;
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this->operation = OPERATION_REQUEST;
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this->status = MB_STATUS_OK;
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}
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void MBRB::setWriteParams(int nodeID, const uint8_t *writeBuffer, uint8_t writeLen) {
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this->nodeID = nodeID;
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this->writeBuffer = writeBuffer;
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this->writeLen = writeLen;
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this->readLen = 0;
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this->operation = OPERATION_SEND;
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this->status = MB_STATUS_OK;
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}
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void MBRB::suppressRetries(bool suppress) {
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if (suppress)
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this->operation |= OPERATION_NORETRY;
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else
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this->operation &= ~OPERATION_NORETRY;
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}
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void Modbus::setTransactionId(uint16_t transactionId) {
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_setRegister(tcp, 0, transactionId);
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}
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@ -231,17 +275,19 @@ if (taskCnt > 0) {
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uint8_t outBuffer[6] = {EXIODPUP, (uint8_t) taskData[0], (uint8_t)taskData[3], pullup};
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uint8_t responseBuffer[3];
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updateCrc(outBuffer,sizeof(outBuffer)-2);
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(outBuffer, sizeof(outBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(outBuffer, sizeof(outBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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}
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if (millis() - startMillis >= 500) return;
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flagOK = false;
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} else waitReceive = true;
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}
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waitReceive = false;
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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@ -254,9 +300,9 @@ if (taskCnt > 0) {
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if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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if (responseBuffer[0] == EXIORDY) {
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} else {
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DIAG(F("EXIOMB Vpin %u cannot be used as a digital input pin"), (int)taskData[2]);
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DIAG(F("EXIOMB Vpin %u cannot be used as a digital input pin"), (int)taskData[3]);
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}
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}
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} else DIAG(F("EXIOMB node %d CRC Error"), (int) taskData[0]);
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} else if (taskData[3] == (int*) CONFIGURE_ANALOGINPUT) {
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// TODO: Consider moving code from _configureAnalogIn() to here and remove _configureAnalogIn
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// from IODevice class definition. Not urgent, but each virtual function defined
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@ -268,32 +314,33 @@ if (taskCnt > 0) {
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uint8_t commandBuffer[5] = {EXIOENAN, (uint8_t) taskData[0], (uint8_t) taskData[3]};
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uint8_t responseBuffer[3];
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updateCrc(commandBuffer,sizeof(commandBuffer)-2);
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(commandBuffer, sizeof(commandBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(commandBuffer, sizeof(commandBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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}
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if (millis() - startMillis >= 500) return;
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("EX-IOExpanderMB: Vpin %u on node %d cannot be used as an analogue input pin"), (int) taskData[2], (int) taskData[0]);
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DIAG(F("EX-IOExpanderMB: Vpin %u on node %d cannot be used as an analogue input pin"), (int) taskData[3], (int) taskData[0]);
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}
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}
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} else DIAG(F("EXIOMB node %d CRC Error"), (int) taskData[0]);
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break;
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case 3: // write pin
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uint8_t digitalOutBuffer[6];
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@ -301,48 +348,170 @@ if (taskCnt > 0) {
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digitalOutBuffer[0] = EXIOWRD;
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digitalOutBuffer[1] = (uint8_t) taskData[0];
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digitalOutBuffer[2] = (uint8_t) taskData[3];
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digitalOutBuffer[3] = value;
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uint8_t status = I2CManager.read(_I2CAddress, responseBuffer, 1, digitalOutBuffer, 3);
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if (status != I2C_STATUS_OK) {
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reportError(status);
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digitalOutBuffer[3] = (uint8_t) taskData[4];
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updateCrc(digitalOutBuffer,sizeof(digitalOutBuffer)-2);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(digitalOutBuffer, sizeof(digitalOutBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("Vpin %u cannot be used as a digital output pin"), (int)taskData[3]);
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}
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} else DIAG(F("EXIOMB node %d CRC Error"), (int) taskData[0]);
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break;
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case 4:
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uint8_t servoBuffer[10];
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uint8_t responseBuffer[3];
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#ifdef DIAG_IO
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DIAG(F("Servo: WriteAnalogue Vpin:%u Value:%d Profile:%d Duration:%d %S"),
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vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
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#endif
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servoBuffer[0] = EXIOWRAN;
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servoBuffer[1] = (uint8_t) taskData[0];
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servoBuffer[2] = (uint8_t) taskData[3];
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servoBuffer[3] = (uint8_t) taskData[4] & 0xFF;
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servoBuffer[4] = (uint8_t) taskData[4] >> 8;
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servoBuffer[5] = (uint8_t) taskData[5];
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servoBuffer[6] = (uint8_t) taskData[6] & 0xFF;
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servoBuffer[7] = (uint8_t) taskData[6] >> 8;
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updateCrc(servoBuffer,sizeof(servoBuffer)-2);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(servoBuffer, sizeof(servoBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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if (!crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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DIAG(F("EXIOMB node %d CRC Error"), (int) taskData[0]);
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_deviceState = DEVSTATE_FAILED;
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} else {
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("Vpin %u cannot be used as a digital output pin"), (int)vpin);
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DIAG(F("Vpin %u cannot be used as a servo/PWM pin"), (int) taskData[3]);
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}
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}
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}
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} else {
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// receive states
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if (_readState != RDS_IDLE) {
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if (_mbrb.isBusy()) return; // If I2C operation still in progress, return
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uint8_t status = _mbrb.status;
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if (status == I2C_STATUS_OK) { // If device request ok, read input data
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// First check if we need to process received data
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if (_readState == RDS_ANALOGUE) {
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// Read of analogue values was in progress, so process received values
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// Here we need to copy the values from input buffer to the analogue value array. We need to
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// do this to avoid tearing of the values (i.e. one byte of a two-byte value being changed
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// while the value is being read).
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memcpy(_currentNode->_analogueInputStates, _currentNode->_analogueInputBuffer, _currentNode->_analoguePinBytes); // Copy I2C input buffer to states
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} else if (_readState == RDS_DIGITAL) {
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// Read of digital states was in progress, so process received values
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// The received digital states are placed directly into the digital buffer on receipt,
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// so don't need any further processing at this point (unless we want to check for
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// changes and notify them to subscribers, to avoid the need for polling - see IO_GPIOBase.h).
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}
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} else
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reportError(status, false); // report eror but don't go offline.
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_readState = RDS_IDLE;
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}
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if (_currentNode->_numDigitalPins>0 && currentMicros - _lastDigitalRead > _digitalRefresh) { // Delay for digital read refresh
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// Issue new read request for digital states. As the request is non-blocking, the buffer has to
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// be allocated from heap (object state).
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_currentNode->_readCommandBuffer[0] = EXIORDD;
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updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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_currentNode->_digitalInputStates[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < (_currentNode->_numDigitalPins+7)/8);
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if (!crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)) DIAG(F("MB CRC error on node %d"), _currentNode->getNodeID());
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_lastDigitalRead = currentMicros;
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_readState = RDS_DIGITAL;
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} else if (_currentNode->_numAnaloguePins>0 && currentMicros - _lastAnalogueRead > _analogueRefresh) { // Delay for analogue read refresh
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// Issue new read for analogue input states
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_currentNode->_readCommandBuffer[0] = EXIORDAN;
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updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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_currentNode->_analogueInputBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < _currentNode->_numAnaloguePins * 2);
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if (!crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)) DIAG(F("MB CRC error on node %d"), _currentNode->getNodeID());
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_lastAnalogueRead = currentMicros;
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_readState = RDS_ANALOGUE;
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}
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_currentNode = _currentNode->getNext();
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}
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if (error == MODBUS_RTU_MASTER_WAITING) {
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if (_waitCounter > _waitA) { // retry after 10 cycles of waiting, or user setting waitA.
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_waitCounter = 0;
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_waitCounterB++;
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} else {
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_waitCounter++;
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}
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if (_waitCounterB > _waitB) { // move on to next node if fails 10 times, or user setting waitB.
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_waitCounter = 0;
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_waitCounterB = 0;
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_operationCount = 0;
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_currentNode = _currentNode->getNext();
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}
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} else {
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_waitCounter = 0;
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_waitCounterB = 0;
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}
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if (error == MODBUS_RTU_MASTER_SUCCESS) { // should have the effect of retrying same opperation until success
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if (_operationCount < 3) { // unless it fails waitB and moves on to next node. may even
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_operationCount++; // improve error recovery...
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} else {
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_operationCount = 0;
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_currentNode = _currentNode->getNext();
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}
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}
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#if defined(MODBUS_STM_OK)
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if (flagOK == true) {
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ArduinoPins::fastWriteDigital(MODBUS_STM_OK,HIGH);
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40
IO_Modbus.h
40
IO_Modbus.h
@ -55,6 +55,45 @@
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#include "IODevice.h"
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uint16_t div8RndUp(uint16_t value);
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// Class defining a request context for an I2C operation.
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class MBRB {
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public:
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volatile uint8_t status; // Completion status, or pending flag (updated from IRC)
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volatile uint8_t nBytes; // Number of bytes read (updated from IRC)
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inline MBRB() { status = I2C_STATUS_OK; };
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uint8_t wait();
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bool isBusy();
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void setReadParams(int nodeID, uint8_t *readBuffer, uint8_t readLen);
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void setRequestParams(int nodeID, uint8_t *readBuffer, uint8_t readLen, const uint8_t *writeBuffer, uint8_t writeLen);
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void setWriteParams(int nodeID, const uint8_t *writeBuffer, uint8_t writeLen);
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void suppressRetries(bool suppress);
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uint8_t writeLen;
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uint8_t readLen;
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uint8_t operation;
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int nodeID;
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uint8_t *readBuffer;
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const uint8_t *writeBuffer;
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MBRB *nextRequest;
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};
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enum : uint8_t {
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// Codes used by Wire and by native drivers
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MB_STATUS_OK=0,
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MB_STATUS_TRUNCATED=1,
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MB_STATUS_NEGATIVE_ACKNOWLEDGE=2,
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MB_STATUS_TRANSMIT_ERROR=3,
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MB_STATUS_TIMEOUT=5,
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// Code used by Wire only
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MB_STATUS_OTHER_TWI_ERROR=4, // catch-all error
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// Codes used by native drivers only
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MB_STATUS_ARBITRATION_LOST=6,
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MB_STATUS_BUS_ERROR=7,
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MB_STATUS_UNEXPECTED_ERROR=8,
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MB_STATUS_PENDING=253,
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};
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/**********************************************************************
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* Modbusnode class
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@ -572,6 +611,7 @@ private:
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unsigned long _lastAnalogueRead = 0;
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const unsigned long _digitalRefresh = 10000UL; // Delay refreshing digital inputs for 10ms
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const unsigned long _analogueRefresh = 50000UL; // Delay refreshing analogue inputs for 50ms
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MBRB _mbrb;
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// EX-IOExpander protocol flags
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enum {
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