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passes CRC

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travis-farmer 2024-12-20 17:06:56 -05:00
parent 415dc2674a
commit da221eb9e7
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GPG Key ID: 0BC296791D14CB35
2 changed files with 220 additions and 152 deletions
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351
IO_RSproto.cpp
View File

@ -27,11 +27,12 @@ static const byte PAYLOAD_STRING = 2;
taskBuffer * taskBuffer::first=NULL;
taskBuffer::taskBuffer(unsigned long taskID, int *commandBuffer)
taskBuffer::taskBuffer(unsigned long taskID, uint8_t *commandBuffer, int byteCount)
{
_taskID = taskID;
memset(commandArray, 0, ARRAY_SIZE);
memcpy(commandArray, commandBuffer, ARRAY_SIZE);
_byteCount = byteCount;
memset(commandArray, 0, byteCount);
memcpy(commandArray, commandBuffer, byteCount);
next=first;
first=this;
@ -77,21 +78,21 @@ int RSproto::getCharsLeft(char *str, char position) {
else return 0;
}
void taskBuffer::doCommand(unsigned long taskID, int *commandBuffer) {
void taskBuffer::doCommand(unsigned long taskID, uint8_t *commandBuffer, int byteCount) {
// add commands here to be sent
new taskBuffer(taskID, commandBuffer);
new taskBuffer(taskID, commandBuffer, byteCount);
}
void RSproto::parseRx(int * outArray) {
int nodeFr = (outArray[3] << 8) | outArray[2];
int AddrCode = (outArray[5] << 8) | outArray[4];
DIAG(F("From: %i, To: %i"), nodeFr,(outArray[1] << 8) | outArray[0]);
void RSproto::parseRx(uint8_t * outArray) {
int nodeFr = outArray[1];
int AddrCode = outArray[2];
DIAG(F("From: %i, To: %i"), nodeFr,outArray[0]);
RSprotonode *node = findNode(nodeFr);
switch (AddrCode) {
case EXIOPINS:
{node->_numDigitalPins = (outArray[7] << 8) | outArray[6];
node->_numAnaloguePins = (outArray[9] << 8) | outArray[8];
{node->_numDigitalPins = outArray[3];
node->_numAnaloguePins = outArray[4];
// See if we already have suitable buffers assigned
if (node->_numDigitalPins>0) {
@ -137,16 +138,16 @@ void RSproto::parseRx(int * outArray) {
node->resFlag = 1;
break;}
case EXIOINITA: {
for (int i = 3; i < node->_numAnaloguePins; i++) {
node->_analoguePinMap[i] = (outArray[7] << 8) | outArray[6];
for (int i = 0; i < node->_numAnaloguePins; i++) {
node->_analoguePinMap[i] = outArray[i+3];
}
node->resFlag = 1;
break;
}
case EXIOVER: {
node->_majorVer = (outArray[7] << 8) | outArray[6];
node->_minorVer = (outArray[9] << 8) | outArray[8];
node->_patchVer = (outArray[11] << 8) | outArray[10];
node->_majorVer = outArray[3];
node->_minorVer = outArray[4];
node->_patchVer = outArray[5];
node->resFlag = 1;
break;
}
@ -159,15 +160,15 @@ void RSproto::parseRx(int * outArray) {
break;
}
case EXIORDD: {
for (int i = 0; i < (node->_numDigitalPins+7)/8; i=i+2) {
node->_digitalInputStates[i-3] = (outArray[i+1] << 8) | outArray[i];
for (int i = 0; i < (node->_numDigitalPins+7)/8; i++) {
node->_digitalInputStates[i] = outArray[i+3];
}
node->resFlag = 1;
break;
}
case EXIORDAN: {
for (int i = 3; i < node->_numAnaloguePins*2; i++) {
node->_analogueInputBuffer[i-3] = (outArray[i+1] << 8) | outArray[i];
for (int i = 0; i < node->_numAnaloguePins; i++) {
node->_analogueInputBuffer[i] = outArray[i+3];
}
node->resFlag = 1;
break;
@ -220,43 +221,87 @@ uint16_t RSproto::crc16(uint8_t *data, uint16_t length) {
return crc;
}
void RSproto::sendInstantCommand(int *buf) {
void RSproto::sendInstantCommand(uint8_t *buf, int byteCount) {
// Calculate CRC for response data
uint16_t response_crc = crc16((uint8_t*)buf, ARRAY_SIZE);
uint16_t response_crc = crc16((uint8_t*)buf, byteCount-1);
if (_txPin != -1) digitalWrite(_txPin,HIGH);
// Send response data with CRC
for (int i = 0; i < ARRAY_SIZE; i++) {
_serial->write(0xFE);
_serial->write(0xFE);
_serial->write(response_crc >> 8);
_serial->write(response_crc & 0xFF);
_serial->write(byteCount);
for (int i = 0; i < byteCount; i++) {
_serial->write(buf[i]);
}
_serial->write(response_crc >> 8);
_serial->write(response_crc & 0xFF);
_serial->write(0xFD);
_serial->write(0xFD);
_serial->flush();
if (_txPin != -1) digitalWrite(_txPin,LOW);
// delete task command after sending, for now
DIAG(F("SA: %I"),_serial->available());
if (_serial->available() >= ARRAY_SIZE) {
int received_data[ARRAY_SIZE];
// Read data and CRC
for (int i = 0; i < ARRAY_SIZE; i++) {
received_data[i] = _serial->read();
}
uint16_t received_crc = (_serial->read() << 8) | _serial->read();
// Calculate CRC for received data
uint16_t calculated_crc = crc16((uint8_t*)received_data, ARRAY_SIZE);
// Check CRC validity
if (calculated_crc == received_crc) {
// Data received successfully, process it (e.g., print)
int nodeTo = (received_data[1] << 8) | received_data[0];
if (nodeTo == 0) { // for master. master does not retransmit, or a loop will runaway.
parseRx(received_data);
//int received_data[ARRAY_SIZE];
uint16_t received_crc;
while(_serial->available()) {
if (_serial->available()) {
uint8_t received_data[ARRAY_SIZE];
uint16_t calculated_crc;
int byteCount = 100;
int curByte = _serial->read();
if (curByte == 0xFE && flagStart == false) flagStart = true;
else if ( curByte == 0xFE && flagStart == true) {
byteCounter = 0;
flagStarted = true;
flagStart = false;
flagEnded = false;
rxStart = true;
rxEnd = false;
crcPass = false;
}else if (flagStarted) {
crc[0] = curByte;
byteCounter++;
flagStarted = false;
} else if (byteCounter == 1) {
crc[1] = curByte;
received_crc = (crc[0] << 8) | crc[1];
byteCounter++;
} else if (byteCounter == 2) {
byteCount = curByte;
byteCounter++;
} else if (flagEnded == false && byteCounter >= 3) {
received_data[byteCounter-3] = curByte;
byteCounter++;
}
if (curByte == 0xFD && flagEnd == false) flagEnd = true;
else if ( curByte == 0xFD && flagEnd == true) {
flagEnded = true;
flagEnd = false;
rxEnd = true;
byteCount = byteCounter;
byteCounter = 0;
}
if (flagEnded) {
calculated_crc = crc16((uint8_t*)received_data, byteCount-6);
if (received_crc == calculated_crc) {
crcPass = true;
DIAG(F("CRC PASS"));
}
flagEnded = false;
}
// Check CRC validity
if (crcPass) {
// Data received successfully, process it (e.g., print)
int nodeTo = (received_data[1] << 8) | received_data[0];
if (nodeTo == 0) { // for master. master does not retransmit, or a loop will runaway.
parseRx(received_data);
}
} else {
//DIAG(F("IO_RSproto: CRC Error!"));
}
} else {
DIAG(F("IO_RSproto: CRC Error!"));
}
}
}
@ -271,45 +316,88 @@ void RSproto::_loop(unsigned long currentMicros) {
if (_currentMicros - _cycleStartTime < _cycleTime) return;
_cycleStartTime = _currentMicros;
if (_currentTask != NULL && _currentTask->commandArray[0] != 0) {
if (_currentTask != NULL && _currentTask->_byteCount > 0) {
// Calculate CRC for response data
uint16_t response_crc = crc16((uint8_t*)_currentTask->commandArray, ARRAY_SIZE);
uint16_t response_crc = crc16((uint8_t*)_currentTask->commandArray, _currentTask->_byteCount-6);
if (_txPin != -1) digitalWrite(_txPin,HIGH);
// Send response data with CRC
for (int i = 0; i < ARRAY_SIZE; i++) {
_serial->write(_currentTask->commandArray[i]);
}
_serial->write(0xFE);
_serial->write(0xFE);
_serial->write(response_crc >> 8);
_serial->write(response_crc & 0xFF);
_serial->write(_currentTask->_byteCount);
for (int i = 0; i < _currentTask->_byteCount; i++) {
_serial->write(_currentTask->commandArray[i]);
}
_serial->write(0xFD);
_serial->write(0xFD);
_serial->flush();
if (_txPin != -1) digitalWrite(_txPin,LOW);
// delete task command after sending, for now
memset(_currentTask->commandArray, 0, ARRAY_SIZE);
_currentTask->_commandSize = 0;
memset(_currentTask->commandArray, 0, _currentTask->_byteCount);
_currentTask->_byteCount = 0;
}
if (_serial->available() >= ARRAY_SIZE) {
int received_data[ARRAY_SIZE];
// Read data and CRC
for (int i = 0; i < ARRAY_SIZE; i++) {
received_data[i / sizeof(int)] = _serial->read();
if (_serial->available()) {
uint8_t received_data[ARRAY_SIZE];
uint16_t calculated_crc;
int byteCount = 100;
uint8_t byte_array[byteCount];
int curByte = _serial->read();
if (curByte == 0xFE && flagStart == false) flagStart = true;
else if ( curByte == 0xFE && flagStart == true) {
byteCounter = 0;
flagStarted = true;
flagStart = false;
flagEnded = false;
rxStart = true;
rxEnd = false;
crcPass = false;
}else if (flagStarted) {
crc[0] = curByte;
byteCounter++;
flagStarted = false;
} else if (byteCounter == 1) {
crc[1] = curByte;
received_crc = (crc[0] << 8) | crc[1];
byteCounter++;
} else if (byteCounter == 2) {
byteCount = curByte;
byteCounter++;
} else if (flagEnded == false && byteCounter >= 3) {
received_data[byteCounter-3] = curByte;
byteCounter++;
}
if (curByte == 0xFD && flagEnd == false) flagEnd = true;
else if ( curByte == 0xFD && flagEnd == true) {
flagEnded = true;
flagEnd = false;
rxEnd = true;
byteCount = byteCounter;
byteCounter = 0;
}
if (flagEnded) {
calculated_crc = crc16((uint8_t*)received_data, byteCount-6);
if (received_crc == calculated_crc) {
DIAG(F("CRC PASS"));
crcPass = true;
}else DIAG(F("CRC Fail %x %x"),received_crc,calculated_crc);
flagEnded = false;
}
uint16_t received_crc = (_serial->read() << 8) | _serial->read();
// Calculate CRC for received data
uint16_t calculated_crc = crc16((uint8_t*)received_data, ARRAY_SIZE);
// Check CRC validity
if (calculated_crc == received_crc) {
if (crcPass) {
// Data received successfully, process it (e.g., print)
int nodeTo = (received_data[1] << 8) | received_data[0];
int nodeTo = received_data[0];
if (nodeTo == 0) { // for master. master does not retransmit, or a loop will runaway.
parseRx(received_data);
}
} else {
DIAG(F("IO_RSproto: CRC Error!"));
//DIAG(F("IO_RSproto: CRC Error!"));
}
}
@ -355,21 +443,16 @@ bool RSprotonode::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
int pin = vpin - _firstVpin;
uint8_t pullup = (uint8_t)params[0];
int buff[ARRAY_SIZE];
buff[0] = highByte(_nodeID);
buff[1] = lowByte(_nodeID);
buff[2] = highByte(0);
buff[3] = lowByte(0);
buff[4] = highByte(EXIODPUP);
buff[5] = lowByte(EXIODPUP);
buff[6] = highByte(pin);
buff[7] = lowByte(pin);
buff[8] = highByte(pullup);
buff[9] = lowByte(pullup);
uint8_t buff[ARRAY_SIZE];
buff[0] = (_nodeID);
buff[1] = (0);
buff[2] = (EXIODPUP);
buff[3] = (pin);
buff[4] = (pullup);
unsigned long startMillis = millis();
RSproto *bus = RSproto::findBus(0);
bus->_busy = true;
bus->sendInstantCommand(buff);
bus->sendInstantCommand(buff, 5);
bus->_busy = false;
while (resFlag == 0 && millis() - startMillis < 500); // blocking for now
if (resFlag != 1) {
@ -383,21 +466,17 @@ bool RSprotonode::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
int RSprotonode::_configureAnalogIn(VPIN vpin) {
int pin = vpin - _firstVpin;
//RSproto *mainrs = RSproto::findBus(_busNo);
int buff[ARRAY_SIZE];
buff[0] = highByte(_nodeID);
buff[1] = lowByte(_nodeID);
buff[2] = highByte(0);
buff[3] = lowByte(0);
buff[4] = highByte(EXIOENAN);
buff[5] = lowByte(EXIOENAN);
buff[6] = highByte(pin);
buff[7] = lowByte(pin);
buff[8] = highByte(_firstVpin);
buff[9] = lowByte(_firstVpin);
uint8_t buff[ARRAY_SIZE];
buff[0] = (_nodeID);
buff[1] = (0);
buff[2] = (EXIOENAN);
buff[3] = (pin);
buff[4] = highByte(_firstVpin);
buff[5] = lowByte(_firstVpin);
unsigned long startMillis = millis();
RSproto *bus = RSproto::findBus(0);
bus->_busy = true;
bus->sendInstantCommand(buff);
bus->sendInstantCommand(buff, 6);
bus->_busy = false;
while (resFlag == 0 && millis() - startMillis < 500); // blocking for now
if (resFlag != 1) {
@ -409,52 +488,42 @@ bool RSprotonode::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
}
void RSprotonode::_begin() {
int buff[ARRAY_SIZE];
buff[0] = highByte(_nodeID);
buff[1] = lowByte(_nodeID);
buff[2] = highByte(0);
buff[3] = lowByte(0);
buff[4] = highByte(EXIOINIT);
buff[5] = lowByte(EXIOINIT);
buff[6] = highByte(_nPins);
buff[7] = lowByte(_nPins);
buff[8] = highByte((_firstVpin & 0xFF));
buff[9] = lowByte((_firstVpin >> 8));
uint8_t buff[ARRAY_SIZE];
buff[0] = (_nodeID);
buff[1] = (0);
buff[2] = (EXIOINIT);
buff[3] = (_nPins);
buff[4] = ((_firstVpin & 0xFF));
buff[5] = ((_firstVpin >> 8));
unsigned long startMillis = millis();
RSproto *bus = RSproto::findBus(0);
bus->_busy = true;
bus->sendInstantCommand(buff);
bus->sendInstantCommand(buff, 6);
bus->_busy = false;
while (resFlag == 0 && millis() - startMillis < 1000); // blocking for now
if (resFlag != 1) {
DIAG(F("EX-IOExpander485 Node:%d ERROR EXIOINIT"), _nodeID);
}
resFlag = 0;
buff[0] = highByte(_nodeID);
buff[1] = lowByte(_nodeID);
buff[2] = highByte(0);
buff[3] = lowByte(0);
buff[4] = highByte(EXIOINITA);
buff[5] = lowByte(EXIOINITA);
buff[0] = (_nodeID);
buff[1] = (0);
buff[2] = (EXIOINITA);
startMillis = millis();
bus->_busy = true;
bus->sendInstantCommand(buff);
bus->sendInstantCommand(buff,3);
bus->_busy = false;
while (resFlag == 0 && millis() - startMillis < 1000); // blocking for now
if (resFlag != 1) {
DIAG(F("EX-IOExpander485 Node:%d ERROR EXIOINITA"), _nodeID);
}
resFlag = 0;
buff[0] = highByte(_nodeID);
buff[1] = lowByte(_nodeID);
buff[2] = highByte(0);
buff[3] = lowByte(0);
buff[4] = highByte(EXIOVER);
buff[5] = lowByte(EXIOVER);
buff[0] = (_nodeID);
buff[1] = (0);
buff[2] = (EXIOVER);
startMillis = millis();
bus->_busy = true;
bus->sendInstantCommand(buff);
bus->_busy = false; task->doCommand(bus->taskCounter++, buff);
bus->sendInstantCommand(buff,3);
bus->_busy = false;
while (resFlag == 0 && millis() - startMillis < 1000); // blocking for now
if (resFlag != 1) {
DIAG(F("EX-IOExpander485 Node:%d ERROR EXIOVER"), _nodeID);
@ -477,20 +546,15 @@ int RSprotonode::_read(VPIN vpin) {
void RSprotonode::_write(VPIN vpin, int value) {
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
int buff[ARRAY_SIZE];
buff[0] = highByte(_nodeID);
buff[1] = lowByte(_nodeID);
buff[2] = highByte(0);
buff[3] = lowByte(0);
buff[4] = highByte(EXIOWRD);
buff[5] = lowByte(EXIOWRD);
buff[6] = highByte(pin);
buff[7] = lowByte(pin);
buff[8] = highByte(value);
buff[9] = lowByte(value);
uint8_t buff[ARRAY_SIZE];
buff[0] = (_nodeID);
buff[1] = (0);
buff[2] = (EXIOWRD);
buff[3] = (pin);
buff[4] = (value);
unsigned long startMillis = millis();
RSproto *bus = RSproto::findBus(0);
task->doCommand(bus->taskCounter++, buff);
task->doCommand(bus->taskCounter++, buff,5);
while (resFlag == 0 && millis() - startMillis < 500); // blocking for now
if (resFlag != 1) {
DIAG(F("EX-IOExpander485 Node:%d ERROR EXIOVER"), _nodeID);
@ -513,24 +577,19 @@ void RSprotonode::_write(VPIN vpin, int value) {
void RSprotonode::_writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) {
int pin = vpin - _firstVpin;
int buff[ARRAY_SIZE];
buff[0] = highByte(_nodeID);
buff[1] = lowByte(_nodeID);
buff[2] = highByte(0);
buff[3] = lowByte(0);
buff[4] = highByte(EXIOWRAN);
buff[5] = lowByte(EXIOWRAN);
buff[6] = highByte(pin);
buff[7] = lowByte(pin);
buff[8] = highByte(value);
buff[9] = lowByte(value);
buff[8] = highByte(profile);
buff[9] = lowByte(profile);
buff[8] = highByte(duration);
buff[9] = lowByte(duration);
uint8_t buff[ARRAY_SIZE];
buff[0] = (_nodeID);
buff[1] = (0);
buff[2] = (EXIOWRAN);
buff[3] = (pin);
buff[4] = highByte(value);
buff[5] = lowByte(value);
buff[6] = (profile);
buff[7] = highByte(duration);
buff[8] = lowByte(duration);
unsigned long startMillis = millis();
RSproto *bus = RSproto::findBus(0);
task->doCommand(bus->taskCounter++, buff);
task->doCommand(bus->taskCounter++, buff,9);
while (resFlag == 0 && millis() - startMillis < 500); // blocking for now
if (resFlag != 1) {
DIAG(F("EX-IOExpander485 Node:%d ERROR EXIOVER"), _nodeID);

21
IO_RSproto.h
View File

@ -98,7 +98,7 @@ public:
uint8_t endChar[1] = {0xFE};
int commandArray[ARRAY_SIZE];
int _commandSize = 0;
int _byteCount = 0;
// EX-IOExpander protocol flags
enum {
EXIOINIT = 0xE0, // Flag to initialise setup procedure
@ -144,9 +144,9 @@ public:
end->setNext(newTask);
//DIAG(F("RSproto: 260h nodeID:%d _nodeListStart:%d _nodeListEnd:%d"), newNode, _nodeListStart, _nodeListEnd);
}
taskBuffer(unsigned long taskID, int *commandBuffer);
taskBuffer(unsigned long taskID, uint8_t *commandBuffer, int byteCount);
~taskBuffer();
void doCommand(unsigned long taskID, int *commandBuffer);
void doCommand(unsigned long taskID, uint8_t *commandBuffer, int byteCount);
};
@ -309,13 +309,22 @@ private:
if (fail)
_deviceState = DEVSTATE_FAILED;
}
int byteCounter = 0;
public:
bool flagEnd = false;
bool flagEnded = false;
bool flagStart = false;
bool flagStarted = false;
bool rxStart = false;
bool rxEnd = false;
bool crcPass = false;
uint16_t received_crc;
uint8_t crc[2];
uint16_t crc16(uint8_t *data, uint16_t length);
void remove_nulls(char *str, int len);
int getCharsLeft(char *str, char position);
void parseRx(int * outArray);
void sendInstantCommand(int *buf);
void parseRx(uint8_t * outArray);
void sendInstantCommand(uint8_t *buf, int byteCount);
// EX-IOExpander protocol flags
enum {
EXIOINIT = 0xE0, // Flag to initialise setup procedure