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https://github.com/DCC-EX/CommandStation-EX.git
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CMRI RS485 support
This commit is contained in:
Neil McKechnie
parent
71c0c6f8a6
commit
b17356bff2
136
IO_CMRI.cpp
136
IO_CMRI.cpp
@ -19,6 +19,43 @@
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#include "IO_CMRI.h"
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/************************************************************
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* CMRIbus implementation
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************************************************************/
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// Constructor for CMRIbus
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CMRIbus::CMRIbus(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, VPIN transmitEnablePin) {
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_busNo = busNo;
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_serial = &serial;
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_baud = baud;
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_cycleTime = cycleTimeMS * 1000UL; // convert from milliseconds to microseconds.
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_transmitEnablePin = transmitEnablePin;
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if (_transmitEnablePin != VPIN_NONE) {
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pinMode(_transmitEnablePin, OUTPUT);
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ArduinoPins::fastWriteDigital(_transmitEnablePin, 0); // transmitter initially off
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}
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// Max message length is 256+6=262 bytes.
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// Each byte is one start bit, 8 data bits and 1 stop bit = 10 bits per byte.
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// Calculate timeout based on double this time.
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_timeoutPeriod = 2 * 10 * 262 * 1000UL / (_baud / 1000UL);
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// Calculate the time in microseconds to transmit one byte (10 bits).
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_byteTransmitTime = 1000000UL * 10 / _baud;
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// Postdelay is only required if we need to allow for data still being sent when
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// we want to switch off the transmitter. The flush() method of HardwareSerial
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// ensures that the data has completed being sent over the line.
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_postDelay = 0;
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// Add device to HAL device chain
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IODevice::addDevice(this);
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// Add bus to CMRIbus chain.
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_nextBus = _busList;
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_busList = this;
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}
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// Main loop function for CMRIbus.
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// Work through list of nodes. For each node, in separate loop entries
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// send initialisation message (once only); then send
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@ -37,7 +74,56 @@ void CMRIbus::_loop(unsigned long currentMicros) {
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}
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// Send output data to the bus for nominated CMRInode
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uint16_t CMRIbus::sendData(CMRInode *node) {
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uint16_t numDataBytes = (node->getNumOutputs()+7)/8;
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_serial->write(SYN);
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_serial->write(SYN);
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_serial->write(STX);
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_serial->write(node->getAddress() + 65);
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_serial->write('T'); // T for Transmit data message
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uint16_t charsSent = 6; // include header and trailer
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for (uint8_t index=0; index<numDataBytes; index++) {
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uint8_t value = node->getOutputStates(index);
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if (value == DLE || value == STX || value == ETX) {
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_serial->write(DLE);
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charsSent++;
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}
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_serial->write(value);
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charsSent++;
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}
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_serial->write(ETX);
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return charsSent; // number of characters sent
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}
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// Send request for input data to nominated CMRInode.
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uint16_t CMRIbus::requestData(CMRInode *node) {
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_serial->write(SYN);
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_serial->write(SYN);
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_serial->write(STX);
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_serial->write(node->getAddress() + 65);
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_serial->write('P'); // P for Poll message
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_serial->write(ETX);
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return 6; // number of characters sent
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}
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// Send initialisation message
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uint16_t CMRIbus::sendInitialisation(CMRInode *node) {
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_serial->write(SYN);
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_serial->write(SYN);
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_serial->write(STX);
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_serial->write(node->getAddress() + 65);
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_serial->write('I'); // I for initialise message
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_serial->write(node->getType()); // NDP
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_serial->write((uint8_t)0); // dH
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_serial->write((uint8_t)0); // dL
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_serial->write((uint8_t)0); // NS
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_serial->write(ETX);
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return 10; // number of characters sent
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}
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void CMRIbus::processOutgoing() {
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uint16_t charsSent = 0;
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if (_currentNode == NULL) {
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// If we're between read/write cycles then don't do anything else.
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if (_currentMicros - _cycleStartTime < _cycleTime) return;
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@ -50,19 +136,25 @@ void CMRIbus::processOutgoing() {
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switch (_transmitState) {
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case TD_IDLE:
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case TD_INIT:
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enableTransmitter();
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if (!_currentNode->isInitialised()) {
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sendInitialisation(_currentNode);
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charsSent = sendInitialisation(_currentNode);
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_currentNode->setInitialised();
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_transmitState = TD_TRANSMIT;
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delayUntil(_currentMicros+_byteTransmitTime*charsSent);
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break;
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}
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/* fallthrough */
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case TD_TRANSMIT:
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sendData(_currentNode);
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charsSent = sendData(_currentNode);
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_transmitState = TD_PROMPT;
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// Defer next entry for as long as it takes to transmit the characters,
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// to allow output queue to empty.
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delayUntil(_currentMicros+_byteTransmitTime*charsSent);
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break;
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case TD_PROMPT:
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requestData(_currentNode);
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charsSent = requestData(_currentNode);
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disableTransmitter();
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_transmitState = TD_RECEIVE;
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_timeoutStart = _currentMicros; // Start timeout on response
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break;
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@ -84,7 +176,7 @@ void CMRIbus::processIncoming() {
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int data = _serial->read();
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if (data < 0) return; // No characters to read
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if (!_currentNode) return; // Not waiting for input, so ignore.
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if (_transmitState != TD_RECEIVE || !_currentNode) return; // Not waiting for input, so ignore.
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uint8_t nextState = RD_SYN1; // default to resetting state machine
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switch(_receiveState) {
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@ -128,6 +220,40 @@ void CMRIbus::processIncoming() {
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_receiveState = nextState;
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}
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// If configured for half duplex RS485, switch RS485 interface
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// into transmit mode.
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void CMRIbus::enableTransmitter() {
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if (_transmitEnablePin != VPIN_NONE)
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ArduinoPins::fastWriteDigital(_transmitEnablePin, 1);
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// Send an extra SYN character to ensure transmitter and
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// remote receiver have stabilised before we start the packet.
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_serial->write(SYN);
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}
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// If configured for half duplex RS485, switch RS485 interface
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// into receive mode.
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void CMRIbus::disableTransmitter() {
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// Wait until all data has been transmitted. On the standard
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// AVR driver, this waits until the FIFO is empty and all
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// data has been sent over the link.
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_serial->flush();
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// If we don't trust the 'flush' function and think the
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// data's still in transit, then wait a bit longer.
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if (_postDelay > 0)
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delayMicroseconds(_postDelay);
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// Hopefully, we can now safely switch off the transmitter.
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if (_transmitEnablePin != VPIN_NONE)
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ArduinoPins::fastWriteDigital(_transmitEnablePin, 0);
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}
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// Link to chain of CMRI bus instances
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CMRIbus *CMRIbus::_busList = NULL;
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/************************************************************
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* CMRInode implementation
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************************************************************/
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// Constructor for CMRInode object
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CMRInode::CMRInode(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t address, char type, uint16_t inputs, uint16_t outputs) {
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_firstVpin = firstVpin;
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@ -173,5 +299,3 @@ CMRInode::CMRInode(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t address, ch
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}
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}
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// Link to chain of CMRI bus instances
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CMRIbus *CMRIbus::_busList = NULL;
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125
IO_CMRI.h
125
IO_CMRI.h
@ -18,13 +18,14 @@
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*/
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/*
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* To define a CMRI bus,
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* CMRIbus::create(bus, Serial3, 19200, cycletime);
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* To define a CMRI bus, example syntax:
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* CMRIbus::create(bus, serial, baud[, cycletime[, pin]]);
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*
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* bus = 0-255
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* Serial3 = serial port to be used
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* 19200 = baud rate (min 9600, max 115200)
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* cycletime = minimum time between successive updates/reads of a node in millisecs
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* serial = serial port to be used (e.g. Serial3)
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* baud = baud rate (9600, 19200, 28800, 57600 or 115200)
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* cycletime = minimum time between successive updates/reads of a node in millisecs (default 500ms)
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* pin = pin number connected to RS485 module's DE and !RE terminals for half-duplex operation (default VPIN_NONE)
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*
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* Each bus must use a different serial port.
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*
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@ -36,8 +37,8 @@
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* type = 'M' for SMINI (fixed 24 inputs and 48 outputs)
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* 'C' for CPNODE (16 to 144 inputs/outputs in groups of 8)
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* (other types are not supported at this time).
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* inputs = number of inputs (CPNODE)
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* outputs = number of outputs (CPNODE)
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* inputs = number of inputs (CPNODE only)
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* outputs = number of outputs (CPNODE only)
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*
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* Reference: "LCS-9.10.1
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* Layout Control Specification: CMRInet Protocol
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@ -168,10 +169,12 @@ private:
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uint8_t _busNo;
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HardwareSerial *_serial;
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unsigned long _baud;
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VPIN _transmitEnablePin = VPIN_NONE;
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CMRInode *_nodeListStart = NULL, *_nodeListEnd = NULL;
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CMRInode *_currentNode = NULL;
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// Transmitter state machine states
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enum {TD_IDLE, TD_INIT, TD_TRANSMIT, TD_PROMPT, TD_RECEIVE};
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enum {TD_IDLE, TD_PRETRANSMIT, TD_INIT, TD_TRANSMIT, TD_PROMPT, TD_RECEIVE};
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uint8_t _transmitState = TD_IDLE;
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// Receiver state machine states.
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enum {RD_SYN1, RD_SYN2, RD_STX, RD_ADDR, RD_TYPE,
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@ -182,8 +185,10 @@ private:
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unsigned long _cycleStartTime = 0;
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unsigned long _timeoutStart = 0;
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unsigned long _cycleTime; // target time between successive read/write cycles, microseconds
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uint32_t _timeoutPeriod; // timeout on read responses, in microseconds.
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unsigned long _timeoutPeriod; // timeout on read responses, in microseconds.
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unsigned long _currentMicros; // last value of micros() from _loop function.
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unsigned long _postDelay; // delay time after transmission before switching off transmitter (in us)
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unsigned long _byteTransmitTime; // time in us for transmission of one byte
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static CMRIbus *_busList; // linked list of defined bus instances
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@ -196,53 +201,23 @@ private:
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};
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public:
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static void create(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS = 500) {
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new CMRIbus(busNo, serial, baud, cycleTimeMS);
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static void create(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS=500, VPIN transmitEnablePin=VPIN_NONE) {
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new CMRIbus(busNo, serial, baud, cycleTimeMS, transmitEnablePin);
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}
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// Add new CMRInode to the list of nodes for this bus.
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void addNode(CMRInode *newNode) {
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if (!_nodeListStart)
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_nodeListStart = newNode;
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if (!_nodeListEnd)
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_nodeListEnd = newNode;
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else
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_nodeListEnd->setNext(newNode);
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}
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protected:
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CMRIbus(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS) {
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_busNo = busNo;
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_serial = &serial;
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_baud = baud;
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_cycleTime = cycleTimeMS * 1000UL; // convert from milliseconds to microseconds.
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// Max message length is 256+6=262 bytes.
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// Each byte is one start bit, 8 data bits and 1 stop bit = 10 bits per byte.
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// Calculate timeout based on double this time.
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_timeoutPeriod = 2 * 10 * 262 * 1000UL / (_baud / 1000);
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//DIAG(F("Timeout=%l"), _timeoutPeriod);
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// Add device to HAL device chain
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IODevice::addDevice(this);
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// Add bus to CMRIbus chain.
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_nextBus = _busList;
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_busList = this;
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}
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// Device-specific initialisation
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void _begin() override {
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// Some sources quote one stop bit, some two.
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_serial->begin(_baud, SERIAL_8N1);
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#if defined(DIAG_IO)
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#if defined(DIAG_IO)
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_display();
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#endif
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#endif
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}
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// Loop function (overriding IODevice::_loop(unsigned long))
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void _loop(unsigned long currentMicros) override;
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// Display information about the device.
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// Display information about the device
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void _display() override {
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DIAG(F("CMRIbus %d configured, speed=%d baud, cycle=%d ms"), _busNo, _baud, _cycleTime/1000);
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}
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@ -256,53 +231,31 @@ protected:
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return NULL;
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}
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// Send output data to the bus for nominated CMRInode
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bool sendData(CMRInode *node) {
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uint16_t numDataBytes = (node->getNumOutputs()+7)/8;
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_serial->write(SYN);
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_serial->write(SYN);
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_serial->write(STX);
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_serial->write(node->getAddress() + 65);
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_serial->write('T'); // T for Transmit data message
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for (uint8_t index=0; index<numDataBytes; index++) {
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uint8_t value = node->getOutputStates(index);
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if (value == DLE || value == STX || value == ETX) _serial->write(DLE);
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_serial->write(value);
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}
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_serial->write(ETX);
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return true;
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// Add new CMRInode to the list of nodes for this bus.
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void addNode(CMRInode *newNode) {
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if (!_nodeListStart)
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_nodeListStart = newNode;
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if (!_nodeListEnd)
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_nodeListEnd = newNode;
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else
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_nodeListEnd->setNext(newNode);
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}
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// Send request for input data to nominated CMRInode.
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bool requestData(CMRInode *node) {
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_serial->write(SYN);
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_serial->write(SYN);
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_serial->write(STX);
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_serial->write(node->getAddress() + 65);
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_serial->write('P'); // P for Poll message
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_serial->write(ETX);
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return true;
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}
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bool sendInitialisation(CMRInode *node) {
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_serial->write(SYN);
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_serial->write(SYN);
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_serial->write(STX);
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_serial->write(node->getAddress() + 65);
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_serial->write('I'); // I for initialise message
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_serial->write(node->getType()); // NDP
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_serial->write((uint8_t)0); // dH
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_serial->write((uint8_t)0); // dL
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_serial->write((uint8_t)0); // NS
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_serial->write(ETX);
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return true;
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}
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protected:
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CMRIbus(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, VPIN transmitEnablePin);
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uint16_t sendData(CMRInode *node);
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uint16_t requestData(CMRInode *node);
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uint16_t sendInitialisation(CMRInode *node);
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// Process any data bytes received from a CMRInode.
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void processIncoming();
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// Process any outgoing traffic that is due.
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void processOutgoing();
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// Enable transmitter
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void enableTransmitter();
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// Disable transmitter and enable receiver
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void disableTransmitter();
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public:
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uint8_t getBusNumber() {
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