From a11ebb3ed89b3916e6d1da48e54e11a9b32de9fc Mon Sep 17 00:00:00 2001 From: travis-farmer Date: Sat, 14 Dec 2024 16:55:53 -0500 Subject: [PATCH] transmits but wont receive --- IO_RSproto.cpp | 233 +++++++++++++++++++++++-------------------------- IO_RSproto.h | 32 +++---- 2 files changed, 126 insertions(+), 139 deletions(-) diff --git a/IO_RSproto.cpp b/IO_RSproto.cpp index 711a529..b42365e 100644 --- a/IO_RSproto.cpp +++ b/IO_RSproto.cpp @@ -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 { diff --git a/IO_RSproto.h b/IO_RSproto.h index f8aa1fe..fd3d05a 100644 --- a/IO_RSproto.h +++ b/IO_RSproto.h @@ -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)