Refactored, analogue tested

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);
+      I2CManager.read(_i2cAddress, _receive2Buffer, 2, _command2Buffer, 2);
-      if (_receive3Buffer[0] == EXIOINITA) {
+      if (_receive2Buffer[0] == EXIOINITA) {
-        _numAnaloguePins = _receive3Buffer[1];
+        _numAnaloguePins = _receive2Buffer[1];
-        _numPWMPins = _receive3Buffer[2];
         _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) {
+    _digitalOutBuffer[0] = EXIODPUP;
-      bool pullup = params[0];
+    _digitalOutBuffer[1] = pin;
-      _digitalOutBuffer[0] = EXIODPUP;
+    _digitalOutBuffer[2] = pullup;
-      _digitalOutBuffer[1] = pin;
+    I2CManager.write(_i2cAddress, _digitalOutBuffer, 3);
-      _digitalOutBuffer[2] = pullup;
+    return true;
-      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;
-    }
   }
 
   // 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