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transmits but wont receive

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travis-farmer 2024-12-14 16:55:53 -05:00
parent f22daf0914
commit a11ebb3ed8
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GPG Key ID: 0BC296791D14CB35
2 changed files with 126 additions and 139 deletions
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233
IO_RSproto.cpp
View File

@ -60,6 +60,9 @@ void RSproto::updateCrc(uint8_t *buf, uint16_t len) {
bool RSproto::crcGood(uint8_t *buf, uint16_t len) {
uint16_t aduCrc = buf[len] | (buf[len + 1] << 8);
uint16_t calculatedCrc = _calculateCrc(buf, len);
#if defined(IO_DIAG)
DIAG(F("CRC is %d Expected %d"),calculatedCrc, aduCrc);
#endif
if (aduCrc == calculatedCrc) return true;
else return false;
}
@ -92,7 +95,7 @@ void RSproto::clearRxBuffer() {
startMicros = micros();
_serialD->read();
}
} while (micros() - startMicros < _frameTimeout);
} while (micros() - startMicros < _frameTimeout || !_serialD->available());
}
/* -= _loop =-
@ -117,19 +120,20 @@ void RSproto::_loop(unsigned long currentMicros) {
#if defined(RSproto_STM_COMM)
ArduinoPins::fastWriteDigital(RSproto_STM_COMM,HIGH);
#endif
if (!_busy) {
if (nodesInitialized()) {
memcpy(_currentNode->_analogueInputStates, _currentNode->_analogueInputBuffer, _currentNode->_analoguePinBytes); // Copy I2C input buffer to states
switch (_refreshOperation) {
case 0:
if (_currentNode->_numDigitalPins>0 && currentMicros - _lastDigitalRead > _digitalRefresh) { // Delay for digital read refresh
// Issue new read request for digital states. As the request is non-blocking, the buffer has to
// be allocated from heap (object state).
_currentNode->_readCommandBuffer[0] = EXIORDD;
_currentNode->_readCommandBuffer[1] = _currentNode->getNodeID();
_currentNode->_readCommandBuffer[0] = _currentNode->getNodeID();
_currentNode->_readCommandBuffer[1] = EXIORDD;
updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
_serialD->write(initBuffer, 1);
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
@ -141,14 +145,10 @@ if (!_busy) {
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
_currentNode->_digitalInputStates[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < (_currentNode->_numDigitalPins+7)/8);
if (!crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)) {
bool rxDone = false;
byte tmpByte;
len = _serialD->readBytesUntil(0xFE,_currentNode->_digitalInputStates, 25);
if (!true/*crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)*/) {
DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
flagOK = false;
}
@ -161,12 +161,13 @@ if (!_busy) {
case 1:
if (_currentNode->_numAnaloguePins>0 && currentMicros - _lastAnalogueRead > _analogueRefresh) { // Delay for analogue read refresh
// Issue new read for analogue input states
_currentNode->_readCommandBuffer[0] = EXIORDAN;
_currentNode->_readCommandBuffer[1] = _currentNode->getNodeID();
_currentNode->_readCommandBuffer[0] = _currentNode->getNodeID();
_currentNode->_readCommandBuffer[1] = EXIORDAN;
updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
_serialD->write(initBuffer, 1);
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
@ -178,14 +179,10 @@ if (!_busy) {
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
_currentNode->_analogueInputBuffer[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < _currentNode->_numAnaloguePins * 2);
if (!crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)) {
bool rxDone = false;
byte tmpByte;
len = _serialD->readBytesUntil(0xFE,_currentNode->_analogueInputBuffer, 25);
if (!true/*crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)*/) {
DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
flagOK = false;
}
@ -235,6 +232,8 @@ RSprotonode::RSprotonode(VPIN firstVpin, int nPins, uint8_t nodeID) {
_nPins = nPins;
_busNo = 0;
_nodeID = nodeID;
bus = bus->findBus(0);
_serial = bus->_serialD;
if (_nodeID > 254) _nodeID = 254;
// Add this device to HAL device list
@ -254,29 +253,26 @@ bool RSprotonode::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
int pin = vpin - _firstVpin;
uint16_t pullup = params[0];
uint8_t outBuffer[6] = {EXIODPUP, _nodeID, pin, pullup};
uint8_t outBuffer[6] = {_nodeID, EXIODPUP, pin, pullup};
uint8_t responseBuffer[3];
bus->_busy = true;
bus->updateCrc(outBuffer,4);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(outBuffer, 6);
bus->_serialD->flush();
_serial->write(outBuffer, 6);
_serial->write(initBuffer, 1);
_serial->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
while (!_serial->available()) {
if (millis() - startMillis > 500) return false;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bool rxDone = false;
byte tmpByte;
len = _serial->readBytesUntil(0xFE,responseBuffer, 25);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (true/*bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)*/) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] == EXIORDY) {
} else {
@ -291,29 +287,26 @@ bool RSprotonode::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
int RSprotonode::_configureAnalogIn(VPIN vpin) {
int pin = vpin - _firstVpin;
//RSproto *mainrs = RSproto::findBus(_busNo);
uint8_t commandBuffer[5] = {EXIOENAN, (uint8_t) _nodeID, (uint8_t) pin};
uint8_t commandBuffer[5] = {(uint8_t) _nodeID, EXIOENAN, (uint8_t) pin};
uint8_t responseBuffer[3];
bus->_busy = true;
bus->updateCrc(commandBuffer,3);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(commandBuffer, 5);
bus->_serialD->flush();
_serial->write(commandBuffer, 5);
_serial->write(initBuffer, 1);
_serial->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
while (!_serial->available()) {
if (millis() - startMillis > 500) return 0;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bool rxDone = false;
byte tmpByte;
len = _serial->readBytesUntil(0xFE,responseBuffer, 25);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (true/*bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)*/) {
if (!bus->testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485: Vpin %u on node %d cannot be used as an analogue input pin"), (int) pin, (int) _nodeID);
@ -325,31 +318,34 @@ bool RSprotonode::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
}
void RSprotonode::_begin() {
if (bus->_txPin != VPIN_NONE) {
pinMode(bus->_txPin, OUTPUT);
ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
}
//pinMode(bus->_txPin, OUTPUT);
//ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
uint8_t receiveBuffer[5];
uint8_t commandBuffer[7] = {EXIOINIT, _nodeID, (uint8_t)_nPins, (uint8_t)(_firstVpin & 0xFF), (uint8_t)(_firstVpin >> 8)};
uint8_t commandBuffer[7] = {_nodeID, EXIOINIT, (uint8_t)_nPins, (_firstVpin & (uint8_t)0xFF), (_firstVpin >> (uint8_t)8)};
bus->updateCrc(commandBuffer,5);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(commandBuffer, 7);
bus->_serialD->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
//_serial->begin(115200);
//ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
digitalWrite(bus->_txPin,HIGH);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
_serial->write(commandBuffer, 7);
_serial->write(initBuffer, 1);
_serial->flush();
digitalWrite(bus->_txPin,LOW);
//ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
startMillis = millis();
while (!_serial->available()) {
if (millis() - startMillis >= 500) return;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
receiveBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (receiveBuffer[1] == EXIOPINS && bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)) {
byte tmpByte;
bool rxDone = false;
len = _serial->readBytesUntil(0xFE,receiveBuffer, 25);
DIAG(F("rxcode:%d from node"),receiveBuffer[1]);
if (receiveBuffer[1] == EXIOPINS /*&& bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-3)*/) {
if (!bus->testAndStripMasterFlag(receiveBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
_numDigitalPins = receiveBuffer[1];
_numAnaloguePins = receiveBuffer[2];
@ -364,7 +360,7 @@ void RSprotonode::_begin() {
_digitalPinBytes = digitalBytesNeeded;
} else {
DIAG(F("EX-IOExpander485 node:%d ERROR alloc %d bytes"), _nodeID, digitalBytesNeeded);
_deviceState = DEVSTATE_FAILED;
//_deviceState = DEVSTATE_FAILED;
_digitalPinBytes = 0;
return;
}
@ -389,7 +385,7 @@ void RSprotonode::_begin() {
_analoguePinBytes = analogueBytesNeeded;
} else {
DIAG(F("EX-IOExpander485 node:%d ERROR alloc analog pin bytes"), _nodeID);
_deviceState = DEVSTATE_FAILED;
//_deviceState = DEVSTATE_FAILED;
_analoguePinBytes = 0;
return;
}
@ -397,68 +393,63 @@ void RSprotonode::_begin() {
}
} else {
DIAG(F("EX-IOExpander485 node:%d ERROR configuring device (CRC: %s)"), _nodeID, bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)? "PASS":"FAIL");
_deviceState = DEVSTATE_FAILED;
//_deviceState = DEVSTATE_FAILED;
return;
}
commandBuffer[0] = EXIOINITA;
commandBuffer[1] = _nodeID;
commandBuffer[0] = _nodeID;
commandBuffer[1] = EXIOINITA;
bus->updateCrc(commandBuffer,2);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(commandBuffer, 4);
bus->_serialD->flush();
_serial->write(commandBuffer, 4);
_serial->write(initBuffer, 1);
_serial->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
startMillis = millis();
while (!bus->_serialD->available()) {
while (!_serial->available()) {
if (millis() - startMillis >= 500) return;
}
len = 0;
startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
receiveBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)) {
rxDone = false;
len = _serial->readBytesUntil(0xFE,receiveBuffer, 25);
DIAG(F("rxcode:%d from node"),receiveBuffer[1]);
if (true/*bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)*/) {
if (!bus->testAndStripMasterFlag(receiveBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
for (int i = 0; i < _numAnaloguePins; i++) {
_analoguePinMap[i] = receiveBuffer[i];
}
}
uint8_t versionBuffer[5];
commandBuffer[0] = EXIOVER;
commandBuffer[1] = _nodeID;
commandBuffer[0] = _nodeID;
commandBuffer[1] = EXIOVER;
bus->updateCrc(commandBuffer,2);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(commandBuffer, 4);
bus->_serialD->flush();
_serial->write(commandBuffer, 4);
_serial->write(initBuffer, 1);
_serial->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
startMillis = millis();
while (!bus->_serialD->available()) {
while (!_serial->available()) {
if (millis() - startMillis >= 500) return;
}
len = 0;
startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
versionBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (bus->crcGood(versionBuffer,sizeof(versionBuffer)-2)) {
rxDone = false;
len = _serial->readBytesUntil(0xFE,receiveBuffer, 25);
DIAG(F("rxcode:%d.%d.%d from node"),versionBuffer[1],versionBuffer[2],versionBuffer[3]);
if (true/*bus->crcGood(versionBuffer,sizeof(versionBuffer)-2)*/) {
if (!bus->testAndStripMasterFlag(versionBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
_majorVer = versionBuffer[0];
_minorVer = versionBuffer[1];
_patchVer = versionBuffer[2];
_majorVer = versionBuffer[1];
_minorVer = versionBuffer[2];
_patchVer = versionBuffer[3];
DIAG(F("EX-IOExpander485 device found, node:%d, Version v%d.%d.%d"), _nodeID, _majorVer, _minorVer, _patchVer);
}
#ifdef DIAG_IO
_display();
#endif
_initialised = false;
}
}
int RSprotonode::_read(VPIN vpin) {
if (_deviceState == DEVSTATE_FAILED) return 0;
@ -472,31 +463,28 @@ void RSprotonode::_write(VPIN vpin, int value) {
int pin = vpin - _firstVpin;
uint8_t digitalOutBuffer[6];
uint8_t responseBuffer[3];
digitalOutBuffer[0] = EXIOWRD;
digitalOutBuffer[1] = (uint8_t) _nodeID;
digitalOutBuffer[0] = (uint8_t) _nodeID;
digitalOutBuffer[1] = EXIOWRD;
digitalOutBuffer[2] = (uint8_t) pin;
digitalOutBuffer[3] = (uint8_t) value;
bus->_busy = true;
bus->updateCrc(digitalOutBuffer,4);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(digitalOutBuffer, 6);
bus->_serialD->flush();
_serial->write(digitalOutBuffer, 6);
_serial->write(initBuffer, 1);
_serial->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
while (!_serial->available()) {
if (millis() - startMillis >= 500) return;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bool rxDone = false;
byte tmpByte;
len = _serial->readBytesUntil(0xFE,responseBuffer, 25);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (true/*bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)*/) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital output pin"), pin);
@ -530,8 +518,8 @@ void RSprotonode::_write(VPIN vpin, int value) {
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
servoBuffer[0] = EXIOWRAN;
servoBuffer[1] = (uint8_t) _nodeID;
servoBuffer[0] = (uint8_t) _nodeID;
servoBuffer[1] = EXIOWRAN;
servoBuffer[2] = (uint8_t) pin;
servoBuffer[3] = (uint8_t) value & 0xFF;
servoBuffer[4] = (uint8_t) value >> 8;
@ -541,24 +529,21 @@ void RSprotonode::_write(VPIN vpin, int value) {
bus->_busy = true;
bus->updateCrc(servoBuffer,8);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(servoBuffer, 10);
bus->_serialD->flush();
_serial->write(servoBuffer, 10);
_serial->write(initBuffer, 1);
_serial->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
while (!_serial->available()) {
if (millis() - startMillis >= 500) return;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bool rxDone = false;
byte tmpByte;
len = _serial->readBytesUntil(0xFE,responseBuffer, 25);
bus->_busy = false;
if (!bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!true/*bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)*/) {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) _nodeID);
//_deviceState = DEVSTATE_FAILED;
} else {

32
IO_RSproto.h
View File

@ -62,6 +62,7 @@ private:
RSprotonode *_next = NULL;
bool _initialised = false;
RSproto *bus;
HardwareSerial* _serial;
// EX-IOExpander protocol flags
enum {
EXIOINIT = 0xE0, // Flag to initialise setup procedure
@ -104,7 +105,8 @@ public:
uint8_t _digitalPinBytes = 0; // Size of allocated memory buffer (may be longer than needed)
uint8_t _analoguePinBytes = 0; // Size of allocated memory buffer (may be longer than needed)
uint8_t* _analoguePinMap = NULL;
uint8_t initBuffer[1] = {0xFE};
bool _initalized;
static void create(VPIN firstVpin, int nPins, uint8_t nodeID) {
if (checkNoOverlap(firstVpin, nPins)) new RSprotonode(firstVpin, nPins, nodeID);
}
@ -168,7 +170,7 @@ class RSproto : public IODevice {
private:
// Here we define the device-specific variables.
uint8_t _busNo;
unsigned long _baud;
unsigned long _cycleStartTime = 0;
unsigned long _timeoutStart = 0;
unsigned long _cycleTime; // target time between successive read/write cycles, microseconds
@ -233,11 +235,12 @@ public:
uint16_t _pin;
int8_t _txPin;
bool _busy = false;
unsigned long _baud;
int taskCnt = 0;
HardwareSerial *_serialD;
uint8_t initBuffer[1] = {0xFE};
bool testAndStripMasterFlag(uint8_t *buf) {
if (buf[0] != 0xFF) return false; // why did we not get a master flag? bad node?
if (buf[0] != 0xFD) return false; // why did we not get a master flag? bad node?
for (int i = 0; i < sizeof(buf)-1; i++) buf[i] = buf[i+1]; // shift array to begining
return true;
}
@ -252,17 +255,9 @@ public:
// Device-specific initialisation
void _begin() override {
_serialD->begin(_baud, SERIAL_8N1);
unsigned long bitsPerChar = 10;
if (_baud <= 19200) {
_charTimeout = (bitsPerChar * 2500000) / _baud;
_frameTimeout = (bitsPerChar * 4500000) / _baud;
}
else {
_charTimeout = (bitsPerChar * 1000000) / _baud + 750;
_frameTimeout = (bitsPerChar * 1000000) / _baud + 1750;
}
clearRxBuffer();
_serialD->flush();
#if defined(RSproto_STM_OK)
pinMode(RSproto_STM_OK, OUTPUT);
ArduinoPins::fastWriteDigital(RSproto_STM_OK,LOW);
@ -300,7 +295,14 @@ public:
return NULL;
}
bool nodesInitialized() {
bool retval = true;
for (RSprotonode *node = _nodeListStart; node != NULL; node = node->getNext()) {
if (node->_initalized == false)
retval = false;
}
return retval;
}
// Add new RSprotonode to the list of nodes for this bus.
void addNode(RSprotonode *newNode) {
if (!_nodeListStart)