now it is first prototype - forgot a few things

IO_Modbus.cpp

@@ -21,51 +21,6 @@
 #include "IO_Modbus.h"
 #include "defines.h"
 
-uint8_t MBRB::wait() {
-  while (status==MB_STATUS_PENDING) {
-    // may as well whistle or something
-  };
-  return status;
-}
-bool MBRB::isBusy() {
-  if (status==MB_STATUS_PENDING) {
-    return true;
-  } else
-    return false;
-}
-void MBRB::setReadParams(int nodeID, uint8_t *readBuffer, uint8_t readLen) {
-  this->nodeID = nodeID;
-  this->writeLen = 0;
-  this->readBuffer = readBuffer;
-  this->readLen = readLen;
-  this->operation = OPERATION_READ;
-  this->status = MB_STATUS_OK;
-}
-
-void MBRB::setRequestParams(int nodeID, uint8_t *readBuffer, uint8_t readLen, 
-    const uint8_t *writeBuffer, uint8_t writeLen) {
-  this->nodeID = nodeID;
-  this->writeBuffer = writeBuffer;
-  this->writeLen = writeLen;
-  this->readBuffer = readBuffer;
-  this->readLen = readLen;
-  this->operation = OPERATION_REQUEST;
-  this->status = MB_STATUS_OK;
-}
-void MBRB::setWriteParams(int nodeID, const uint8_t *writeBuffer, uint8_t writeLen) {
-  this->nodeID = nodeID;
-  this->writeBuffer = writeBuffer;
-  this->writeLen = writeLen;
-  this->readLen = 0;
-  this->operation = OPERATION_SEND;
-  this->status = MB_STATUS_OK;
-}
-void MBRB::suppressRetries(bool suppress) {
-  if (suppress)
-    this->operation |= OPERATION_NORETRY;
-  else
-    this->operation &= ~OPERATION_NORETRY;
-}
 void Modbus::setTransactionId(uint16_t transactionId) {
   _setRegister(tcp, 0, transactionId);
 }
@@ -424,32 +379,8 @@ if (taskCnt > 0) {
       }
   }
 } else {
-  // receive states
-  if (_readState != RDS_IDLE) {
-    if (_mbrb.isBusy()) return;                // If I2C operation still in progress, return
-
-    uint8_t status = _mbrb.status;
-    if (status == I2C_STATUS_OK) {             // If device request ok, read input data
-
-      // First check if we need to process received data
-      if (_readState == RDS_ANALOGUE) {
-        // Read of analogue values was in progress, so process received values
-        // Here we need to copy the values from input buffer to the analogue value array.  We need to 
-        // do this to avoid tearing of the values (i.e. one byte of a two-byte value being changed
-        // while the value is being read).
   memcpy(_currentNode->_analogueInputStates, _currentNode->_analogueInputBuffer, _currentNode->_analoguePinBytes); // Copy I2C input buffer to states
 
-      } else if (_readState == RDS_DIGITAL) {
-        // Read of digital states was in progress, so process received values 
-        // The received digital states are placed directly into the digital buffer on receipt, 
-        // so don't need any further processing at this point (unless we want to check for
-        // changes and notify them to subscribers, to avoid the need for polling - see IO_GPIOBase.h).
-      }
-    } else
-      reportError(status, false);   // report eror but don't go offline.
-
-    _readState = RDS_IDLE;
-  }
   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).

IO_Modbus.h

@@ -55,46 +55,6 @@
 #include "IODevice.h"
 uint16_t  div8RndUp(uint16_t value);
 
-// Class defining a request context for an I2C operation.
-class MBRB {
-public:
-  volatile uint8_t status; // Completion status, or pending flag (updated from IRC)
-  volatile uint8_t nBytes; // Number of bytes read (updated from IRC)
-
-  inline MBRB() { status = I2C_STATUS_OK; };
-  uint8_t wait();
-  bool isBusy();
-
-  void setReadParams(int nodeID, uint8_t *readBuffer, uint8_t readLen);
-  void setRequestParams(int nodeID, uint8_t *readBuffer, uint8_t readLen, const uint8_t *writeBuffer, uint8_t writeLen);
-  void setWriteParams(int nodeID, const uint8_t *writeBuffer, uint8_t writeLen);
-  void suppressRetries(bool suppress);
-
-  uint8_t writeLen;
-  uint8_t readLen;
-  uint8_t operation;
-  int nodeID;
-  uint8_t *readBuffer;
-  const uint8_t *writeBuffer;
-  MBRB *nextRequest;
-};
-
-enum : uint8_t {
-  // Codes used by Wire and by native drivers
-  MB_STATUS_OK=0,
-  MB_STATUS_TRUNCATED=1,
-  MB_STATUS_NEGATIVE_ACKNOWLEDGE=2,
-  MB_STATUS_TRANSMIT_ERROR=3,
-  MB_STATUS_TIMEOUT=5,
-  // Code used by Wire only
-  MB_STATUS_OTHER_TWI_ERROR=4, // catch-all error
-  // Codes used by native drivers only
-  MB_STATUS_ARBITRATION_LOST=6,
-  MB_STATUS_BUS_ERROR=7,
-  MB_STATUS_UNEXPECTED_ERROR=8,
-  MB_STATUS_PENDING=253,
-};
-
 /**********************************************************************
  * Modbusnode class
  * 
@@ -210,7 +170,7 @@ 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;
-  I2CRB _i2crb;
+
   static void create(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t nodeID) {
     if (checkNoOverlap(firstVpin, nPins)) new Modbusnode(firstVpin, nPins, busNo, nodeID);
   }
@@ -302,28 +262,18 @@ public:
   bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override {
     if (paramCount != 1) return false;
     int pin = vpin - _firstVpin;
-    if (configType == CONFIGURE_INPUT) {
+    int pin = vpin - _firstVpin;
     Modbus* mb = Modbus::findBus(0);
-       mb->_CommMode = 2;
+    int* param[] = {(int*)pin, (int*)configType, (int*)paramCount, (int*)params[0]};
-       mb->_pullup = params[0];
+    mb->addTask(_nodeID, 3, 4, param);
-       mb->_pin = pin;
+
-       mb->_opperation = 1;
-    } else if (configType == CONFIGURE_ANALOGINPUT) {
-      // TODO:  Consider moving code from _configureAnalogIn() to here and remove _configureAnalogIn
-      // from IODevice class definition.  Not urgent, but each virtual function defined
-      // means increasing the RAM requirement of every HAL device driver, whether it's relevant
-      // to the driver or not.
-      return false;
-    }
-    return false;
   }
 
   int _configureAnalogIn(VPIN vpin) override {
     int pin = vpin - _firstVpin;
     Modbus* mb = Modbus::findBus(0);
-    mb->_CommMode = 2;
+    int* params[] = {(int*)pin};
-    mb->_pin = pin;
+    mb->addTask(_nodeID, 3, 1, params);
-    mb ->_opperation = 2;
 
     return false;
   }
@@ -468,40 +418,44 @@ public:
 
   
   int _read(VPIN vpin) override {
-    // Return current state from this device
+    if (_deviceState == DEVSTATE_FAILED) return 0;
-    uint16_t pin = vpin - _firstVpin;
+    int pin = vpin - _firstVpin;
-    int PinNum = pin / 16;
+    uint8_t pinByte = pin / 8;
-    int PinBit = pin % 16;
+    bool value = bitRead(_digitalInputStates[pinByte], pin - pinByte * 8);
-    if (bitRead(configAPinsI[PinNum],PinBit) == true) return bitRead(dataBI[PinNum],PinBit)? 1:0;
+    return value;
-    else return 0;
   }
 
   
   void _write(VPIN vpin, int value) override {
-    // Update current state for this device, in preparation the bus transmission
+    if (_deviceState == DEVSTATE_FAILED) return;
-    uint16_t pin = vpin - _firstVpin;
+    int pin = vpin - _firstVpin;
-    int PinNum = pin / 16;
+    Modbus* mb = Modbus::findBus(0);
-    int PinBit = pin % 16;
+    int* params[] = {(int*)pin, (int*)value};
-    if (bitRead(configAPinsO[PinNum], PinBit) == true) {
+    mb->addTask(_nodeID, 3, 2, params);
-      if (value == 1) bitSet(dataBO[PinNum], PinBit);
-      else bitClear(dataBO[PinNum], PinBit);
-    }
   }
 
-  int _readAnalogue(VPIN vpin) {
+  int _readAnalogue(VPIN vpin) override {
-    // Return acquired data value, e.g.
+    if (_deviceState == DEVSTATE_FAILED) return 0;
-    uint16_t pin = vpin - _firstVpin;
+    int pin = vpin - _firstVpin;
-    int PinNum = pin / 16;
+    for (uint8_t aPin = 0; aPin < _numAnaloguePins; aPin++) {
-    int PinBit = pin % 16;
+      if (_analoguePinMap[aPin] == pin) {
-    if (bitRead(configAPinsI[PinNum],PinBit) == true) return dataAI[pin];
+        uint8_t _pinLSBByte = aPin * 2;
-    else return 0;
+        uint8_t _pinMSBByte = _pinLSBByte + 1;
+        return (_analogueInputStates[_pinMSBByte] << 8) + _analogueInputStates[_pinLSBByte];
+      }
+    }
+    return -1;  // pin not found in table
   }
   
-  void _writeAnalogue(VPIN vpin, int value) {
+  void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
-    uint16_t pin = vpin - _firstVpin;
+    uint8_t servoBuffer[7];
-    int PinNum = pin / 16;
+    uint8_t responseBuffer[1];
-    int PinBit = pin % 16;
+
-    if (bitRead(configAPinsI[PinNum],PinBit) == true) dataAO[pin] = value;
+    if (_deviceState == DEVSTATE_FAILED) return;
+    int pin = vpin - _firstVpin;
+    Modbus* mb = Modbus::findBus(0);
+    int* params[] = {(int*)pin, (int*)value, (int*)profile, (int*)duration};
+    mb->addTask(_nodeID, 3, 4, params);
   }
 
   uint8_t getBusNumber() {
@@ -611,7 +565,7 @@ private:
   unsigned long _lastAnalogueRead = 0;
   const unsigned long _digitalRefresh = 10000UL;    // Delay refreshing digital inputs for 10ms
   const unsigned long _analogueRefresh = 50000UL;   // Delay refreshing analogue inputs for 50ms
-  MBRB _mbrb;
+
 
   // EX-IOExpander protocol flags
   enum {