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Servo animation moved to EX-IO

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This commit is contained in:
peteGSX 2023-02-12 19:06:46 +10:00
parent 47cda83210
commit 9c95eb6905
1 changed files with 10 additions and 157 deletions
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167
IO_EXIOExpander.h
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@ -70,12 +70,6 @@ private:
_firstVpin = firstVpin;
_nPins = nPins;
_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;
// }
addDevice(this);
}
@ -166,14 +160,6 @@ 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);
// }
// }
// }
}
// Obtain the correct analogue input value
@ -194,42 +180,21 @@ private:
int _read(VPIN vpin) override {
if (_deviceState == DEVSTATE_FAILED) return 0;
int pin = vpin - _firstVpin;
// 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);
// }
// }
uint8_t pinByte = pin / 8;
bool value = bitRead(_digitalInputStates[pinByte], pin - pinByte * 8);
return value;
}
void _write(VPIN vpin, int value) override {
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
// if (_servoData[pin] == NULL) {
_digitalOutBuffer[0] = EXIOWRD;
_digitalOutBuffer[1] = pin;
_digitalOutBuffer[2] = value;
I2CManager.read(_i2cAddress, _command1Buffer, 1, _digitalOutBuffer, 3);
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);
// }
// }
_digitalOutBuffer[0] = EXIOWRD;
_digitalOutBuffer[1] = pin;
_digitalOutBuffer[2] = value;
I2CManager.read(_i2cAddress, _command1Buffer, 1, _digitalOutBuffer, 3);
if (_command1Buffer[0] != EXIORDY) {
DIAG(F("Vpin %d cannot be used as a digital output pin"), (int)vpin);
}
}
void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
@ -252,88 +217,6 @@ private:
}
}
/*
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
if (_deviceState == DEVSTATE_FAILED) return;
if (value > 4095) value = 4095;
else if (value < 0) value = 0;
struct ServoData *s = _servoData[pin];
if (s == NULL) {
// Servo pin not configured, so configure now using defaults
s = _servoData[pin] = (struct ServoData *) calloc(sizeof(struct ServoData), 1);
if (s == NULL) return; // Check for memory allocation failure
s->activePosition = 4095;
s->inactivePosition = 0;
s->currentPosition = value;
s->profile = Instant | NoPowerOff; // Use instant profile (but not this time)
}
// Animated profile. Initiate the appropriate action.
s->currentProfile = profile;
uint8_t profileValue = profile & ~NoPowerOff; // Mask off 'don't-power-off' bit.
s->numSteps = profileValue==Fast ? 10 : // 0.5 seconds
profileValue==Medium ? 20 : // 1.0 seconds
profileValue==Slow ? 40 : // 2.0 seconds
profileValue==Bounce ? sizeof(_bounceProfile)-1 : // ~ 1.5 seconds
duration * 2 + 1; // Convert from deciseconds (100ms) to refresh cycles (50ms)
s->stepNumber = 0;
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
if (s->numSteps == 0) return; // No animation in progress
if (s->stepNumber == 0 && s->fromPosition == s->toPosition) {
// Go straight to end of sequence, output final position.
s->stepNumber = s->numSteps-1;
}
if (s->stepNumber < s->numSteps) {
// Animation in progress, reposition servo
s->stepNumber++;
if ((s->currentProfile & ~NoPowerOff) == Bounce) {
// Retrieve step positions from array in flash
uint8_t profileValue = GETFLASH(&_bounceProfile[s->stepNumber]);
s->currentPosition = map(profileValue, 0, 100, s->fromPosition, s->toPosition);
} else {
// All other profiles - calculate step by linear interpolation between from and to positions.
s->currentPosition = map(s->stepNumber, 0, s->numSteps, s->fromPosition, s->toPosition);
}
// Send servo command
this->writePWM(pin, s->currentPosition);
} else if (s->stepNumber < s->numSteps + _catchupSteps) {
// We've finished animation, wait a little to allow servo to catch up
s->stepNumber++;
} else if (s->stepNumber == s->numSteps + _catchupSteps
&& s->currentPosition != 0) {
s->numSteps = 0; // Done now.
}
}
*/
/*
void writePWM(int pin, uint16_t value) {
_command4Buffer[0] = EXIOWRAN;
_command4Buffer[1] = pin;
_command4Buffer[2] = value & 0xFF;
_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"),
_i2cAddress, _majorVer, _minorVer, _patchVer,
@ -360,36 +243,6 @@ private:
byte _servoBuffer[7];
uint8_t* _analoguePinMap;
/*
// Servo specific
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.
}; // 14 bytes per element, i.e. per pin in use
ServoData** _servoData;
static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off
const unsigned int refreshInterval = 50; // refresh every 50ms
unsigned long _lastRefresh = 0;
// Profile for a bouncing signal or turnout
// The profile below is in the range 0-100% and should be combined with the desired limits
// of the servo set by _activePosition and _inactivePosition. The profile is symmetrical here,
// 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 {
EXIOINIT = 0xE0, // Flag to initialise setup procedure