From 53215b496e71b07541fcde0fa165654370e00fcc Mon Sep 17 00:00:00 2001 From: peteGSX Date: Sun, 29 Jan 2023 10:06:01 +1000 Subject: [PATCH] Refactored, analogue tested --- IO_EXIOExpander.h | 75 +++++++++++++++++++---------------------------- 1 file changed, 30 insertions(+), 45 deletions(-) diff --git a/IO_EXIOExpander.h b/IO_EXIOExpander.h index f284bc1..c962623 100644 --- a/IO_EXIOExpander.h +++ b/IO_EXIOExpander.h @@ -71,15 +71,12 @@ private: _command2Buffer[0] = EXIOINIT; _command2Buffer[1] = _nPins; // Send config, if EXIOINITA returned, we're good, setup analogue input buffer, otherwise go offline - I2CManager.read(_i2cAddress, _receive3Buffer, 3, _command2Buffer, 2); - if (_receive3Buffer[0] == EXIOINITA) { - _numAnaloguePins = _receive3Buffer[1]; - _numPWMPins = _receive3Buffer[2]; + I2CManager.read(_i2cAddress, _receive2Buffer, 2, _command2Buffer, 2); + if (_receive2Buffer[0] == EXIOINITA) { + _numAnaloguePins = _receive2Buffer[1]; _analoguePinBytes = _numAnaloguePins * 2; _analogueInputStates = (byte*) calloc(_analoguePinBytes, 1); _analoguePinMap = (uint8_t*) calloc(_numAnaloguePins, 1); - _servoData = (struct ServoData*) calloc(_numPWMPins, 14); - } else { DIAG(F("ERROR configuring EX-IOExpander device, I2C:x%x"), _i2cAddress); _deviceState = DEVSTATE_FAILED; @@ -105,26 +102,17 @@ private: } } + // Digital input pin configuration, used to enable on EX-IOExpander device and set pullups if in use // Digital input pin configuration, used to enable on EX-IOExpander device and set pullups if in use bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override { if (paramCount != 1) return false; + bool pullup = params[0]; int pin = vpin - _firstVpin; - if (configType == CONFIGURE_INPUT) { - bool pullup = params[0]; - _digitalOutBuffer[0] = EXIODPUP; - _digitalOutBuffer[1] = pin; - _digitalOutBuffer[2] = pullup; - I2CManager.write(_i2cAddress, _digitalOutBuffer, 3); - return true; - } else if (configType == CONFIGURE_SERVO) { - DIAG(F("Configure servo at pin %d"), (int)pin); - for (int i = 0; i < paramCount; i++) { - DIAG(F("Param %d is %x"), (int)i, params[i]); - } - return true; - } else { - return false; - } + _digitalOutBuffer[0] = EXIODPUP; + _digitalOutBuffer[1] = pin; + _digitalOutBuffer[2] = pullup; + I2CManager.write(_i2cAddress, _digitalOutBuffer, 3); + return true; } // Analogue input pin configuration, used to enable on EX-IOExpander device @@ -133,9 +121,13 @@ private: _command2Buffer[0] = EXIOENAN; _command2Buffer[1] = pin; I2CManager.write(_i2cAddress, _command2Buffer, 2); + _command2Buffer[0] = EXIOENAN; + _command2Buffer[1] = pin; + I2CManager.write(_i2cAddress, _command2Buffer, 2); return true; } + // Main loop, collect both digital and analogue pin states continuously (faster sensor/input reads) // Main loop, collect both digital and analogue pin states continuously (faster sensor/input reads) void _loop(unsigned long currentMicros) override { (void)currentMicros; // remove warning @@ -143,10 +135,22 @@ private: I2CManager.read(_i2cAddress, _digitalInputStates, _digitalPinBytes, _command1Buffer, 1); _command1Buffer[0] = EXIORDAN; I2CManager.read(_i2cAddress, _analogueInputStates, _analoguePinBytes, _command1Buffer, 1); + _command1Buffer[0] = EXIORDD; + I2CManager.read(_i2cAddress, _digitalInputStates, _digitalPinBytes, _command1Buffer, 1); + _command1Buffer[0] = EXIORDAN; + I2CManager.read(_i2cAddress, _analogueInputStates, _analoguePinBytes, _command1Buffer, 1); } + // Obtain the correct analogue input value // Obtain the correct analogue input value int _readAnalogue(VPIN vpin) override { + int pin = vpin - _firstVpin; + uint8_t _pinLSBByte; + for (uint8_t aPin = 0; aPin < _numAnaloguePins; aPin++) { + if (_analoguePinMap[aPin] == pin) { + _pinLSBByte = aPin * 2; + } + } int pin = vpin - _firstVpin; uint8_t _pinLSBByte; for (uint8_t aPin = 0; aPin < _numAnaloguePins; aPin++) { @@ -158,6 +162,7 @@ private: return (_analogueInputStates[_pinMSBByte] << 8) + _analogueInputStates[_pinLSBByte]; } + // Obtain the correct digital input value // Obtain the correct digital input value int _read(VPIN vpin) override { int pin = vpin - _firstVpin; @@ -178,11 +183,12 @@ private: DIAG(F("EX-IOExpander I2C:x%x v%d.%d.%d Vpins %d-%d %S"), _i2cAddress, _majorVer, _minorVer, _patchVer, (int)_firstVpin, (int)_firstVpin+_nPins-1, + (int)_firstVpin, (int)_firstVpin+_nPins-1, _deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F("")); } uint8_t _i2cAddress; - uint8_t _numAnaloguePins = 0; + uint8_t _numAnaloguePins; byte _digitalOutBuffer[3]; uint8_t _versionBuffer[3]; uint8_t _majorVer = 0; @@ -194,29 +200,8 @@ private: uint8_t _analoguePinBytes = 0; byte _command1Buffer[1]; byte _command2Buffer[2]; - byte _receive3Buffer[3]; + byte _receive2Buffer[2]; uint8_t* _analoguePinMap; - uint8_t _numPWMPins = 0; - - struct ServoData { - uint16_t activePosition : 12; // Config parameter - uint16_t inactivePosition : 12; // Config parameter - uint16_t currentPosition : 12; - uint16_t fromPosition : 12; - uint16_t toPosition : 12; - uint8_t profile; // Config parameter - uint16_t stepNumber; // Index of current step (starting from 0) - uint16_t numSteps; // Number of steps in animation, or 0 if none in progress. - uint8_t currentProfile; // profile being used for current animation. - uint16_t duration; // time (tenths of a second) for animation to complete. - } ServoData; // 14 bytes per element, i.e. per pin in use - - struct ServoData* _servoData; - - static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off - static const byte FLASH _bounceProfile[30]; - - const unsigned int refreshInterval = 50; // refresh every 50ms enum { EXIOINIT = 0xE0, // Flag to initialise setup procedure