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Refactored, analogue tested

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peteGSX 2023-01-29 10:06:01 +10:00 committed by peteGSX
parent d41b5e0938
commit 53215b496e
1 changed files with 30 additions and 45 deletions
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65
IO_EXIOExpander.h
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@ -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;
int pin = vpin - _firstVpin;
if (configType == CONFIGURE_INPUT) {
bool pullup = params[0];
int pin = vpin - _firstVpin;
_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;
}
}
// 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