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travis-farmer
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commit
e4ea6e5633
427
IO_RS485.cpp
427
IO_RS485.cpp
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/*
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* © 2024, Travis Farmer. All rights reserved.
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* © 2024, Chris Bulliner. All rights reserved. https://github.com/CMB27
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*
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* This file is part of DCC++EX API
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*
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* This is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* It is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "IO_RS485.h"
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#include "defines.h"
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/************************************************************
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* RS485 implementation
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************************************************************/
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// Constructor for RS485
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RS485::RS485(HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, int8_t txPin, int waitA) {
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_baud = baud;
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_serialD = &serial;
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_txPin = txPin;
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_busNo = 0;
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_cycleTime = cycleTimeMS * 1000UL; // convert from milliseconds to microseconds.
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_waitA = waitA;
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if (_waitA < 3) _waitA = 3;
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// Add device to HAL device chain
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IODevice::addDevice(this);
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// Add bus to RS485 chain.
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_nextBus = _busList;
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_busList = this;
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}
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/* -= updateCrc =-
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//
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// add the CRC value from _calculateCrc (2 bytes) to the buffer.
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*/
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void RS485::updateCrc(uint8_t *buf, uint16_t len) {
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uint16_t crc = _calculateCrc(buf, len);
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buf[len] = lowByte(crc);
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buf[len + 1] = highByte(crc);
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}
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/* -= crcGood =-
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//
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// return TRUE if CRC matched between buffer copy, and calculated.
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*/
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bool RS485::crcGood(uint8_t *buf, uint16_t len) {
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uint16_t aduCrc = buf[len] | (buf[len + 1] << 8);
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uint16_t calculatedCrc = _calculateCrc(buf, len);
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if (aduCrc == calculatedCrc) return true;
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else return false;
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}
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/* -= calculateCrc =-
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//
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// use bitwise XOR to calculate CRC into a 16-bit byte
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*/
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uint16_t RS485::_calculateCrc(uint8_t *buf, uint16_t len) {
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uint16_t value = 0xFFFF;
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for (uint16_t i = 0; i < len; i++) {
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value ^= (uint16_t)buf[i];
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for (uint8_t j = 0; j < 8; j++) {
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bool lsb = value & 1;
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value >>= 1;
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if (lsb == true) value ^= 0xA001;
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}
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}
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return value;
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}
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/* -= clearRxBuffer =-
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//
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// BLOCKING method to empty stray data in RX buffer
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*/
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void RS485::clearRxBuffer() {
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unsigned long startMicros = micros();
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do {
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if (_serialD->available() > 0) {
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startMicros = micros();
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_serialD->read();
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}
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} while (micros() - startMicros < _frameTimeout);
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}
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/* -= _loop =-
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//
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// Main loop function for RS485.
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// Work through list of nodes. For each node, in separate loop entries
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// When the slot time has finished, move on to the next device.
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*/
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void RS485::_loop(unsigned long currentMicros) {
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_currentMicros = currentMicros;
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if (_currentNode == NULL) {
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_currentNode = _nodeListStart;
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}
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if (_currentMicros - _cycleStartTime < _cycleTime) return;
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_cycleStartTime = _currentMicros;
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if (_currentNode == NULL) return;
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bool flagOK = true;
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#if defined(RS485_STM_COMM)
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ArduinoPins::fastWriteDigital(RS485_STM_COMM,HIGH);
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#endif
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if (taskCnt > 0) {
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// run through tasks
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if (!waitReceive) getNextTask(taskData);
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switch((int) taskData[0]) {
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case 0:
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// protection for pulling empty task
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break;
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case 1: // configure pin
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if (taskData[4] == (int*) CONFIGURE_INPUT) {
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uint8_t pullup = (uint8_t) taskData[6];
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uint8_t outBuffer[6] = {EXIODPUP, (uint8_t) taskData[0], (uint8_t)taskData[3], pullup};
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uint8_t responseBuffer[3];
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updateCrc(outBuffer,4);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(outBuffer, 6);
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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waitReceive = false;
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
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if (responseBuffer[0] == EXIORDY) {
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} else {
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DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital input pin"), (int)taskData[3]);
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}
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} else {
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DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
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flagOK = false;
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}
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} else if (taskData[3] == (int*) CONFIGURE_ANALOGINPUT) {
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// TODO: Consider moving code from _configureAnalogIn() to here and remove _configureAnalogIn
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// from IODevice class definition. Not urgent, but each virtual function defined
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// means increasing the RAM requirement of every HAL device driver, whether it's relevant
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// to the driver or not.
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}
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break;
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case 2: // configure analog in
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uint8_t commandBuffer[5] = {EXIOENAN, (uint8_t) taskData[0], (uint8_t) taskData[3]};
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uint8_t responseBuffer[3];
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updateCrc(commandBuffer,3);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(commandBuffer, 5);
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("EX-IOExpander485: Vpin %u on node %d cannot be used as an analogue input pin"), (int) taskData[3], (int) taskData[0]);
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}
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} else {
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DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
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flagOK = false;
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}
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break;
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case 3: // write pin
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uint8_t digitalOutBuffer[6];
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uint8_t responseBuffer[3];
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digitalOutBuffer[0] = EXIOWRD;
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digitalOutBuffer[1] = (uint8_t) taskData[0];
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digitalOutBuffer[2] = (uint8_t) taskData[3];
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digitalOutBuffer[3] = (uint8_t) taskData[4];
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updateCrc(digitalOutBuffer,4);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(digitalOutBuffer, 6);
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital output pin"), (int)taskData[3]);
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}
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} else {
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DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
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flagOK = false;
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}
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break;
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case 4:
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uint8_t servoBuffer[10];
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uint8_t responseBuffer[3];
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#ifdef DIAG_IO
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DIAG(F("EX-IOExpander485 Servo: WriteAnalogue Vpin:%u Value:%d Profile:%d Duration:%d %S"),
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vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
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#endif
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servoBuffer[0] = EXIOWRAN;
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servoBuffer[1] = (uint8_t) taskData[0];
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servoBuffer[2] = (uint8_t) taskData[3];
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servoBuffer[3] = (uint8_t) taskData[4] & 0xFF;
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servoBuffer[4] = (uint8_t) taskData[4] >> 8;
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servoBuffer[5] = (uint8_t) taskData[5];
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servoBuffer[6] = (uint8_t) taskData[6] & 0xFF;
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servoBuffer[7] = (uint8_t) taskData[6] >> 8;
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updateCrc(servoBuffer,8);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(servoBuffer, 10);
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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responseBuffer[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < 256);
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if (!crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
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DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
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flagOK = false;
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//_deviceState = DEVSTATE_FAILED;
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} else {
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if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a servo/PWM pin"), (int) taskData[3]);
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}
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}
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}
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} else {
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memcpy(_currentNode->_analogueInputStates, _currentNode->_analogueInputBuffer, _currentNode->_analoguePinBytes); // Copy I2C input buffer to states
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switch (_refreshOperation) {
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case 0:
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if (_currentNode->_numDigitalPins>0 && currentMicros - _lastDigitalRead > _digitalRefresh) { // Delay for digital read refresh
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// Issue new read request for digital states. As the request is non-blocking, the buffer has to
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// be allocated from heap (object state).
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_currentNode->_readCommandBuffer[0] = EXIORDD;
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_currentNode->_readCommandBuffer[1] = _currentNode->getNodeID();
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updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
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_serialD->flush();
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
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}
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unsigned long startMillis = millis();
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if (!_serialD->available()) {
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if (waitReceive == true && _waitCounter > _waitA) {
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flagOK = false;
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} else waitReceive = true;
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}
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uint16_t len = 0;
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unsigned long startMicros = micros();
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do {
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if (_serialD->available()) {
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startMicros = micros();
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_currentNode->_digitalInputStates[len] = _serialD->read();
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len++;
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}
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} while (micros() - startMicros <= 500 && len < (_currentNode->_numDigitalPins+7)/8);
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if (!crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)) {
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DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
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flagOK = false;
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}
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if (!testAndStripMasterFlag(_currentNode->_digitalInputStates)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
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if (!waitReceive) _refreshOperation++;
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_lastDigitalRead = currentMicros;
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_readState = RDS_DIGITAL;
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}
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break;
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case 1:
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if (_currentNode->_numAnaloguePins>0 && currentMicros - _lastAnalogueRead > _analogueRefresh) { // Delay for analogue read refresh
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// Issue new read for analogue input states
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_currentNode->_readCommandBuffer[0] = EXIORDAN;
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_currentNode->_readCommandBuffer[1] = _currentNode->getNodeID();
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updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
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|
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if (waitReceive == false) {
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if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
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_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
|
|
||||||
_serialD->flush();
|
|
||||||
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
|
|
||||||
}
|
|
||||||
unsigned long startMillis = millis();
|
|
||||||
if (!_serialD->available()) {
|
|
||||||
if (waitReceive == true && _waitCounter > _waitA) {
|
|
||||||
flagOK = false;
|
|
||||||
} else waitReceive = true;
|
|
||||||
}
|
|
||||||
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)) {
|
|
||||||
DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
|
|
||||||
flagOK = false;
|
|
||||||
}
|
|
||||||
if (!testAndStripMasterFlag(_currentNode->_digitalInputStates)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
|
|
||||||
if (!waitReceive) _refreshOperation = 0;
|
|
||||||
_lastAnalogueRead = currentMicros;
|
|
||||||
_readState = RDS_ANALOGUE;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
if(flagOK && !waitReceive) _currentNode = _currentNode->getNext();
|
|
||||||
}
|
|
||||||
|
|
||||||
#if defined(RS485_STM_OK)
|
|
||||||
if (flagOK == true) {
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_OK,HIGH);
|
|
||||||
} else {
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_OK,LOW);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
#if defined(RS485_STM_FAIL)
|
|
||||||
if (flagOK == false) {
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_FAIL,HIGH);
|
|
||||||
} else {
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_FAIL,LOW);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
#if defined(RS485_STM_COMM)
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_COMM,LOW);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Link to chain of RS485 instances, left over from RS485 template.
|
|
||||||
RS485 *RS485::_busList = NULL;
|
|
||||||
|
|
||||||
|
|
||||||
/************************************************************
|
|
||||||
* RS485node implementation
|
|
||||||
************************************************************/
|
|
||||||
|
|
||||||
/* -= RS485node =-
|
|
||||||
//
|
|
||||||
// Constructor for RS485node object
|
|
||||||
*/
|
|
||||||
RS485node::RS485node(VPIN firstVpin, int nPins, uint8_t nodeID) {
|
|
||||||
_firstVpin = firstVpin;
|
|
||||||
_nPins = nPins;
|
|
||||||
_busNo = 0;
|
|
||||||
_nodeID = nodeID;
|
|
||||||
if (_nodeID > 254) _nodeID = 254;
|
|
||||||
|
|
||||||
// Add this device to HAL device list
|
|
||||||
IODevice::addDevice(this);
|
|
||||||
_display();
|
|
||||||
// Add RS485node to RS485 object.
|
|
||||||
RS485 *bus = RS485::findBus(_busNo);
|
|
||||||
if (bus != NULL) {
|
|
||||||
bus->addNode(this);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
564
IO_RS485.h
564
IO_RS485.h
@ -1,564 +0,0 @@
|
|||||||
/*
|
|
||||||
* © 2024, Travis Farmer. All rights reserved.
|
|
||||||
* © 2024, Chris Bulliner. All rights reserved. https://github.com/CMB27
|
|
||||||
*
|
|
||||||
* This file is part of DCC++EX API
|
|
||||||
*
|
|
||||||
* This is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* It is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/*
|
|
||||||
* RS485
|
|
||||||
* =======
|
|
||||||
* To define a RS485, example syntax:
|
|
||||||
* RS485::create(serial, baud[, cycletime[, pin]]);
|
|
||||||
*
|
|
||||||
* serial = serial port to be used (e.g. Serial3)
|
|
||||||
* baud = baud rate (9600, 19200, 28800, 57600 or 115200)
|
|
||||||
* cycletime = minimum time between successive updates/reads of a node in millisecs (default 500ms)
|
|
||||||
* pin = pin number connected to RS485 module's DE and !RE terminals for half-duplex operation (default VPIN_NONE)
|
|
||||||
*
|
|
||||||
*
|
|
||||||
* RS485Node
|
|
||||||
* ========
|
|
||||||
* To define a RS485 node and associate it with a RS485 bus,
|
|
||||||
* RS485node::create(firstVPIN, numVPINs, nodeID);
|
|
||||||
*
|
|
||||||
* firstVPIN = first vpin in block allocated to this device
|
|
||||||
* numVPINs = number of vpins
|
|
||||||
* nodeID = 0-254
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef IO_RS485_H
|
|
||||||
#define IO_RS485_H
|
|
||||||
|
|
||||||
#include "IODevice.h"
|
|
||||||
|
|
||||||
/**********************************************************************
|
|
||||||
* RS485node class
|
|
||||||
*
|
|
||||||
* This encapsulates the state associated with a single RS485 node,
|
|
||||||
* which includes the nodeID, number of discrete inputs and coils, and
|
|
||||||
* the states of the discrete inputs and coils.
|
|
||||||
**********************************************************************/
|
|
||||||
class RS485node : public IODevice {
|
|
||||||
private:
|
|
||||||
uint8_t _busNo;
|
|
||||||
uint8_t _nodeID;
|
|
||||||
char _type;
|
|
||||||
RS485node *_next = NULL;
|
|
||||||
bool _initialised = false;
|
|
||||||
|
|
||||||
// EX-IOExpander protocol flags
|
|
||||||
enum {
|
|
||||||
EXIOINIT = 0xE0, // Flag to initialise setup procedure
|
|
||||||
EXIORDY = 0xE1, // Flag we have completed setup procedure, also for EX-IO to ACK setup
|
|
||||||
EXIODPUP = 0xE2, // Flag we're sending digital pin pullup configuration
|
|
||||||
EXIOVER = 0xE3, // Flag to get version
|
|
||||||
EXIORDAN = 0xE4, // Flag to read an analogue input
|
|
||||||
EXIOWRD = 0xE5, // Flag for digital write
|
|
||||||
EXIORDD = 0xE6, // Flag to read digital input
|
|
||||||
EXIOENAN = 0xE7, // Flag to enable an analogue pin
|
|
||||||
EXIOINITA = 0xE8, // Flag we're receiving analogue pin mappings
|
|
||||||
EXIOPINS = 0xE9, // Flag we're receiving pin counts for buffers
|
|
||||||
EXIOWRAN = 0xEA, // Flag we're sending an analogue write (PWM)
|
|
||||||
EXIOERR = 0xEF, // Flag we've received an error
|
|
||||||
};
|
|
||||||
|
|
||||||
public:
|
|
||||||
enum ProfileType : int {
|
|
||||||
Instant = 0, // Moves immediately between positions (if duration not specified)
|
|
||||||
UseDuration = 0, // Use specified duration
|
|
||||||
Fast = 1, // Takes around 500ms end-to-end
|
|
||||||
Medium = 2, // 1 second end-to-end
|
|
||||||
Slow = 3, // 2 seconds end-to-end
|
|
||||||
Bounce = 4, // For semaphores/turnouts with a bit of bounce!!
|
|
||||||
NoPowerOff = 0x80, // Flag to be ORed in to suppress power off after move.
|
|
||||||
};
|
|
||||||
|
|
||||||
uint8_t _numDigitalPins = 0;
|
|
||||||
uint8_t _numAnaloguePins = 0;
|
|
||||||
|
|
||||||
uint8_t _majorVer = 0;
|
|
||||||
uint8_t _minorVer = 0;
|
|
||||||
uint8_t _patchVer = 0;
|
|
||||||
|
|
||||||
uint8_t* _digitalInputStates = NULL;
|
|
||||||
uint8_t* _analogueInputStates = NULL;
|
|
||||||
uint8_t* _analogueInputBuffer = NULL; // buffer for I2C input transfers
|
|
||||||
uint8_t _readCommandBuffer[4];
|
|
||||||
|
|
||||||
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;
|
|
||||||
|
|
||||||
static void create(VPIN firstVpin, int nPins, uint8_t nodeID) {
|
|
||||||
if (checkNoOverlap(firstVpin, nPins)) new RS485node(firstVpin, nPins, nodeID);
|
|
||||||
}
|
|
||||||
RS485node(VPIN firstVpin, int nPins, uint8_t nodeID);
|
|
||||||
|
|
||||||
uint8_t getNodeID() {
|
|
||||||
return _nodeID;
|
|
||||||
}
|
|
||||||
|
|
||||||
RS485node *getNext() {
|
|
||||||
return _next;
|
|
||||||
}
|
|
||||||
void setNext(RS485node *node) {
|
|
||||||
_next = node;
|
|
||||||
}
|
|
||||||
bool isInitialised() {
|
|
||||||
return _initialised;
|
|
||||||
}
|
|
||||||
void setInitialised() {
|
|
||||||
_initialised = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override {
|
|
||||||
if (paramCount != 1) return false;
|
|
||||||
int pin = vpin - _firstVpin;
|
|
||||||
int pin = vpin - _firstVpin;
|
|
||||||
RS485 *bus = RS485::findBus(_busNo);
|
|
||||||
int* param[] = {(int*)pin, (int*)configType, (int*)paramCount, (int*)params[0]};
|
|
||||||
bus->addTask(_nodeID, 3, 4, param);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
int _configureAnalogIn(VPIN vpin) override {
|
|
||||||
int pin = vpin - _firstVpin;
|
|
||||||
RS485 *bus = RS485::findBus(_busNo);
|
|
||||||
int* params[] = {(int*)pin};
|
|
||||||
bus->addTask(_nodeID, 3, 1, params);
|
|
||||||
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
void _begin() override {
|
|
||||||
RS485 *bus = RS485::findBus(_busNo);
|
|
||||||
if (bus->_txPin != VPIN_NONE) {
|
|
||||||
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)};
|
|
||||||
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);
|
|
||||||
unsigned long startMillis = millis();
|
|
||||||
while (!bus->_serialD->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)) {
|
|
||||||
if (!bus->testAndStripMasterFlag(receiveBuffer)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_nodeID);
|
|
||||||
_numDigitalPins = receiveBuffer[1];
|
|
||||||
_numAnaloguePins = receiveBuffer[2];
|
|
||||||
|
|
||||||
// See if we already have suitable buffers assigned
|
|
||||||
if (_numDigitalPins>0) {
|
|
||||||
size_t digitalBytesNeeded = (_numDigitalPins + 7) / 8;
|
|
||||||
if (_digitalPinBytes < digitalBytesNeeded) {
|
|
||||||
// Not enough space, free any existing buffer and allocate a new one
|
|
||||||
if (_digitalPinBytes > 0) free(_digitalInputStates);
|
|
||||||
if ((_digitalInputStates = (byte*) calloc(digitalBytesNeeded, 1)) != NULL) {
|
|
||||||
_digitalPinBytes = digitalBytesNeeded;
|
|
||||||
} else {
|
|
||||||
DIAG(F("EX-IOExpander485 node:%d ERROR alloc %d bytes"), _nodeID, digitalBytesNeeded);
|
|
||||||
_deviceState = DEVSTATE_FAILED;
|
|
||||||
_digitalPinBytes = 0;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (_numAnaloguePins>0) {
|
|
||||||
size_t analogueBytesNeeded = _numAnaloguePins * 2;
|
|
||||||
if (_analoguePinBytes < analogueBytesNeeded) {
|
|
||||||
// Free any existing buffers and allocate new ones.
|
|
||||||
if (_analoguePinBytes > 0) {
|
|
||||||
free(_analogueInputBuffer);
|
|
||||||
free(_analogueInputStates);
|
|
||||||
free(_analoguePinMap);
|
|
||||||
}
|
|
||||||
_analogueInputStates = (uint8_t*) calloc(analogueBytesNeeded, 1);
|
|
||||||
_analogueInputBuffer = (uint8_t*) calloc(analogueBytesNeeded, 1);
|
|
||||||
_analoguePinMap = (uint8_t*) calloc(_numAnaloguePins, 1);
|
|
||||||
if (_analogueInputStates != NULL &&
|
|
||||||
_analogueInputBuffer != NULL &&
|
|
||||||
_analoguePinMap != NULL) {
|
|
||||||
_analoguePinBytes = analogueBytesNeeded;
|
|
||||||
} else {
|
|
||||||
DIAG(F("EX-IOExpander485 node:%d ERROR alloc analog pin bytes"), _nodeID);
|
|
||||||
_deviceState = DEVSTATE_FAILED;
|
|
||||||
_analoguePinBytes = 0;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
DIAG(F("EX-IOExpander485 node:%d ERROR configuring device (CRC: %s)"), _nodeID, bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)? "PASS":"FAIL");
|
|
||||||
_deviceState = DEVSTATE_FAILED;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
commandBuffer[0] = EXIOINITA;
|
|
||||||
commandBuffer[1] = _nodeID;
|
|
||||||
bus->updateCrc(commandBuffer,2);
|
|
||||||
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
|
|
||||||
bus->_serialD->write(commandBuffer, 4);
|
|
||||||
bus->_serialD->flush();
|
|
||||||
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
|
|
||||||
startMillis = millis();
|
|
||||||
while (!bus->_serialD->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 (bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)) {
|
|
||||||
if (!bus->testAndStripMasterFlag(receiveBuffer)) DIAG(F("Foreign RS485 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;
|
|
||||||
bus->updateCrc(commandBuffer,2);
|
|
||||||
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
|
|
||||||
bus->_serialD->write(commandBuffer, 4);
|
|
||||||
bus->_serialD->flush();
|
|
||||||
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
|
|
||||||
startMillis = millis();
|
|
||||||
while (!bus->_serialD->available()) {
|
|
||||||
if (millis() - startMillis >= 500) return;
|
|
||||||
}
|
|
||||||
uint16_t len = 0;
|
|
||||||
unsigned long 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)) {
|
|
||||||
if (!bus->testAndStripMasterFlag(versionBuffer)) DIAG(F("Foreign RS485 Device! no master flag from node %d"),_nodeID);
|
|
||||||
_majorVer = versionBuffer[0];
|
|
||||||
_minorVer = versionBuffer[1];
|
|
||||||
_patchVer = versionBuffer[2];
|
|
||||||
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 _read(VPIN vpin) override {
|
|
||||||
if (_deviceState == DEVSTATE_FAILED) return 0;
|
|
||||||
int pin = vpin - _firstVpin;
|
|
||||||
uint8_t pinByte = pin / 8;
|
|
||||||
bool value = bitRead(_digitalInputStates[pinByte], pin - pinByte * 8);
|
|
||||||
return value;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void _write(VPIN vpin, int value) override {
|
|
||||||
if (_deviceState == DEVSTATE_FAILED) return;
|
|
||||||
int pin = vpin - _firstVpin;
|
|
||||||
RS485 *bus = RS485::findBus(_busNo);
|
|
||||||
int* params[] = {(int*)pin, (int*)value};
|
|
||||||
bus->addTask(_nodeID, 3, 2, params);
|
|
||||||
}
|
|
||||||
|
|
||||||
int _readAnalogue(VPIN vpin) override {
|
|
||||||
if (_deviceState == DEVSTATE_FAILED) return 0;
|
|
||||||
int pin = vpin - _firstVpin;
|
|
||||||
for (uint8_t aPin = 0; aPin < _numAnaloguePins; aPin++) {
|
|
||||||
if (_analoguePinMap[aPin] == pin) {
|
|
||||||
uint8_t _pinLSBByte = aPin * 2;
|
|
||||||
uint8_t _pinMSBByte = _pinLSBByte + 1;
|
|
||||||
return (_analogueInputStates[_pinMSBByte] << 8) + _analogueInputStates[_pinLSBByte];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return -1; // pin not found in table
|
|
||||||
}
|
|
||||||
|
|
||||||
void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
|
|
||||||
uint8_t servoBuffer[7];
|
|
||||||
uint8_t responseBuffer[1];
|
|
||||||
|
|
||||||
if (_deviceState == DEVSTATE_FAILED) return;
|
|
||||||
int pin = vpin - _firstVpin;
|
|
||||||
RS485 *bus = RS485::findBus(_busNo);
|
|
||||||
int* params[] = {(int*)pin, (int*)value, (int*)profile, (int*)duration};
|
|
||||||
bus->addTask(_nodeID, 3, 4, params);
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t getBusNumber() {
|
|
||||||
return _busNo;
|
|
||||||
}
|
|
||||||
|
|
||||||
void _display() override {
|
|
||||||
DIAG(F("EX-IOExpander485 node:%d v%d.%d.%d Vpins %u-%u %S"), _nodeID, _majorVer, _minorVer, _patchVer, (int)_firstVpin, (int)_firstVpin+_nPins-1, _deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F(""));
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
};
|
|
||||||
|
|
||||||
/**********************************************************************
|
|
||||||
* RS485 class
|
|
||||||
*
|
|
||||||
* This encapsulates the properties state of the bus and the
|
|
||||||
* transmission and reception of data across that bus. Each RS485
|
|
||||||
* object owns a set of RS485node objects which represent the nodes
|
|
||||||
* attached to that bus.
|
|
||||||
**********************************************************************/
|
|
||||||
class RS485 : 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
|
|
||||||
unsigned long _timeoutPeriod; // timeout on read responses, in microseconds.
|
|
||||||
unsigned long _currentMicros; // last value of micros() from _loop function.
|
|
||||||
unsigned long _postDelay; // delay time after transmission before switching off transmitter (in us)
|
|
||||||
unsigned long _byteTransmitTime; // time in us for transmission of one byte
|
|
||||||
int _operationCount = 0;
|
|
||||||
int _refreshOperation = 0;
|
|
||||||
|
|
||||||
static RS485 *_busList; // linked list of defined bus instances
|
|
||||||
bool waitReceive = false;
|
|
||||||
int _waitCounter = 0;
|
|
||||||
int _waitCounterB = 0;
|
|
||||||
int _waitA;
|
|
||||||
int* taskData[25];
|
|
||||||
unsigned long _charTimeout;
|
|
||||||
unsigned long _frameTimeout;
|
|
||||||
enum {RDS_IDLE, RDS_DIGITAL, RDS_ANALOGUE}; // Read operation states
|
|
||||||
uint8_t _readState = RDS_IDLE;
|
|
||||||
|
|
||||||
unsigned long _lastDigitalRead = 0;
|
|
||||||
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
|
|
||||||
int tasks[255][25];
|
|
||||||
|
|
||||||
// EX-IOExpander protocol flags
|
|
||||||
enum {
|
|
||||||
EXIOINIT = 0xE0, // Flag to initialise setup procedure
|
|
||||||
EXIORDY = 0xE1, // Flag we have completed setup procedure, also for EX-IO to ACK setup
|
|
||||||
EXIODPUP = 0xE2, // Flag we're sending digital pin pullup configuration
|
|
||||||
EXIOVER = 0xE3, // Flag to get version
|
|
||||||
EXIORDAN = 0xE4, // Flag to read an analogue input
|
|
||||||
EXIOWRD = 0xE5, // Flag for digital write
|
|
||||||
EXIORDD = 0xE6, // Flag to read digital input
|
|
||||||
EXIOENAN = 0xE7, // Flag to enable an analogue pin
|
|
||||||
EXIOINITA = 0xE8, // Flag we're receiving analogue pin mappings
|
|
||||||
EXIOPINS = 0xE9, // Flag we're receiving pin counts for buffers
|
|
||||||
EXIOWRAN = 0xEA, // Flag we're sending an analogue write (PWM)
|
|
||||||
EXIOERR = 0xEF, // Flag we've received an error
|
|
||||||
};
|
|
||||||
uint16_t _calculateCrc(uint8_t *buf, uint16_t len);
|
|
||||||
|
|
||||||
RS485node *_nodeListStart = NULL, *_nodeListEnd = NULL;
|
|
||||||
RS485node *_currentNode = NULL;
|
|
||||||
uint8_t _exceptionResponse = 0;
|
|
||||||
uint8_t getExceptionResponse();
|
|
||||||
uint16_t _receiveDataIndex = 0; // Index of next data byte to be received.
|
|
||||||
RS485 *_nextBus = NULL; // Pointer to next bus instance in list.
|
|
||||||
void setTimeout(unsigned long timeout);
|
|
||||||
|
|
||||||
// Helper function for error handling
|
|
||||||
void reportError(uint8_t status, bool fail=true) {
|
|
||||||
DIAG(F("EX-IOExpander485 Node:%d Error"), _currentNode->getNodeID());
|
|
||||||
if (fail)
|
|
||||||
_deviceState = DEVSTATE_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
void _moveTasks() {
|
|
||||||
// used one in lead, so move forward
|
|
||||||
for (int i = 0; i < taskCnt-1; i++) {
|
|
||||||
for (int j = 0; j < 25; j++) {
|
|
||||||
tasks[i][j] = tasks[i+1][j+1];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
taskCnt--;
|
|
||||||
}
|
|
||||||
public:
|
|
||||||
int _CommMode = 0;
|
|
||||||
int _opperation = 0;
|
|
||||||
uint16_t _pullup;
|
|
||||||
uint16_t _pin;
|
|
||||||
int8_t _txPin;
|
|
||||||
int taskCnt = 0;
|
|
||||||
HardwareSerial *_serialD;
|
|
||||||
bool testAndStripMasterFlag(uint8_t *buf) {
|
|
||||||
if (buf[0] != 0xFF) 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;
|
|
||||||
}
|
|
||||||
void addTask(int nodeID, int taskNum, int paramCnt, int *param[]) {
|
|
||||||
taskCnt++;
|
|
||||||
tasks[taskCnt][0] = nodeID;
|
|
||||||
tasks[taskCnt][1] = taskNum;
|
|
||||||
tasks[taskCnt][2] = paramCnt;
|
|
||||||
switch(taskNum) {
|
|
||||||
case 0:
|
|
||||||
// empty task
|
|
||||||
case 1: // configure pin
|
|
||||||
tasks[taskCnt][3] = (int) param[0]; // pin
|
|
||||||
tasks[taskCnt][4] = (int) param[1]; // configtype
|
|
||||||
tasks[taskCnt][5] = (int) param[2]; // paramcount
|
|
||||||
for (int i=0; i < (int) param[2]; i++) {
|
|
||||||
tasks[taskCnt][i+6] = (int) param[i+3]; // params
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 2: // configure analog in
|
|
||||||
tasks[taskCnt][3] = (int) param[0]; // pin
|
|
||||||
break;
|
|
||||||
case 3: // write pin
|
|
||||||
tasks[taskCnt][3] = (int) param[0]; // pin
|
|
||||||
tasks[taskCnt][4] = (int) param[1]; // value
|
|
||||||
break;
|
|
||||||
case 4: // write analog
|
|
||||||
tasks[taskCnt][3] = (int) param[0]; // pin
|
|
||||||
tasks[taskCnt][4] = (int) param[1]; // value
|
|
||||||
tasks[taskCnt][5] = (int) param[2]; // profile
|
|
||||||
tasks[taskCnt][6] = (int) param[3]; // duration
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
int getNextTask(int *buf[]) {
|
|
||||||
int paramCnt = 0;
|
|
||||||
for (int i = 0; i < 25; i++) {
|
|
||||||
if (i == 0) buf[i] = (int*) tasks[0][i]; // NodeID
|
|
||||||
if (i == 1) buf[i] = (int*) tasks[0][i]; // tasknum
|
|
||||||
else if (i == 2) paramCnt = tasks[0][i]; // paramcnt
|
|
||||||
else {
|
|
||||||
buf[i-1] = (int*) tasks[0][i];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
_moveTasks();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void updateCrc(uint8_t *buf, uint16_t len);
|
|
||||||
bool crcGood(uint8_t *buf, uint16_t len);
|
|
||||||
void clearRxBuffer();
|
|
||||||
static void create(HardwareSerial& serial, unsigned long baud, uint16_t cycleTimeMS=500, int8_t txPin=-1, int waitA=10) {
|
|
||||||
new RS485(serial, baud, cycleTimeMS, txPin, waitA);
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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();
|
|
||||||
#if defined(RS485_STM_OK)
|
|
||||||
pinMode(RS485_STM_OK, OUTPUT);
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_OK,LOW);
|
|
||||||
#endif
|
|
||||||
#if defined(RS485_STM_FAIL)
|
|
||||||
pinMode(RS485_STM_FAIL, OUTPUT);
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_FAIL,LOW);
|
|
||||||
#endif
|
|
||||||
#if defined(RS485_STM_COMM)
|
|
||||||
pinMode(RS485_STM_COMM, OUTPUT);
|
|
||||||
ArduinoPins::fastWriteDigital(RS485_STM_COMM,LOW);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#if defined(DIAG_IO)
|
|
||||||
_display();
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// Loop function (overriding IODevice::_loop(unsigned long))
|
|
||||||
void _loop(unsigned long currentMicros) override;
|
|
||||||
|
|
||||||
// Display information about the device
|
|
||||||
void _display() override {
|
|
||||||
DIAG(F("EX-IOExpander485 Configured on Vpins:%d-%d %S"), _firstVpin, _firstVpin+_nPins-1,
|
|
||||||
_deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F("OK"));
|
|
||||||
}
|
|
||||||
|
|
||||||
// Locate RS485node object with specified nodeID.
|
|
||||||
RS485node *findNode(uint8_t nodeID) {
|
|
||||||
for (RS485node *node = _nodeListStart; node != NULL; node = node->getNext()) {
|
|
||||||
if (node->getNodeID() == nodeID)
|
|
||||||
return node;
|
|
||||||
}
|
|
||||||
return NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// Add new RS485node to the list of nodes for this bus.
|
|
||||||
void addNode(RS485node *newNode) {
|
|
||||||
if (!_nodeListStart)
|
|
||||||
_nodeListStart = newNode;
|
|
||||||
if (!_nodeListEnd)
|
|
||||||
_nodeListEnd = newNode;
|
|
||||||
else
|
|
||||||
_nodeListEnd->setNext(newNode);
|
|
||||||
//DIAG(F("RS485: 260h nodeID:%d _nodeListStart:%d _nodeListEnd:%d"), newNode, _nodeListStart, _nodeListEnd);
|
|
||||||
}
|
|
||||||
|
|
||||||
protected:
|
|
||||||
RS485(HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, int8_t txPin, int waitA);
|
|
||||||
|
|
||||||
public:
|
|
||||||
|
|
||||||
uint8_t getBusNumber() {
|
|
||||||
return _busNo;
|
|
||||||
}
|
|
||||||
|
|
||||||
static RS485 *findBus(uint8_t busNo) {
|
|
||||||
for (RS485 *bus=_busList; bus!=NULL; bus=bus->_nextBus) {
|
|
||||||
if (bus->_busNo == busNo) return bus;
|
|
||||||
}
|
|
||||||
return NULL;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
#endif // IO_RS485_H
|
|
||||||
250
IO_RSproto.cpp
Normal file
250
IO_RSproto.cpp
Normal file
@ -0,0 +1,250 @@
|
|||||||
|
/*
|
||||||
|
* © 2024, Travis Farmer. All rights reserved.
|
||||||
|
* © 2024, Chris Bulliner. All rights reserved. https://github.com/CMB27
|
||||||
|
*
|
||||||
|
* This file is part of DCC++EX API
|
||||||
|
*
|
||||||
|
* This is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* It is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "IO_RSproto.h"
|
||||||
|
#include "defines.h"
|
||||||
|
|
||||||
|
/************************************************************
|
||||||
|
* RSproto implementation
|
||||||
|
************************************************************/
|
||||||
|
|
||||||
|
// Constructor for RSproto
|
||||||
|
RSproto::RSproto(HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, int8_t txPin, int waitA) {
|
||||||
|
_baud = baud;
|
||||||
|
_serialD = &serial;
|
||||||
|
_txPin = txPin;
|
||||||
|
_busNo = 0;
|
||||||
|
|
||||||
|
_cycleTime = cycleTimeMS * 1000UL; // convert from milliseconds to microseconds.
|
||||||
|
_waitA = waitA;
|
||||||
|
if (_waitA < 3) _waitA = 3;
|
||||||
|
// Add device to HAL device chain
|
||||||
|
IODevice::addDevice(this);
|
||||||
|
|
||||||
|
// Add bus to RSproto chain.
|
||||||
|
_nextBus = _busList;
|
||||||
|
_busList = this;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* -= updateCrc =-
|
||||||
|
//
|
||||||
|
// add the CRC value from _calculateCrc (2 bytes) to the buffer.
|
||||||
|
*/
|
||||||
|
void RSproto::updateCrc(uint8_t *buf, uint16_t len) {
|
||||||
|
uint16_t crc = _calculateCrc(buf, len);
|
||||||
|
buf[len] = lowByte(crc);
|
||||||
|
buf[len + 1] = highByte(crc);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* -= crcGood =-
|
||||||
|
//
|
||||||
|
// return TRUE if CRC matched between buffer copy, and calculated.
|
||||||
|
*/
|
||||||
|
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 (aduCrc == calculatedCrc) return true;
|
||||||
|
else return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* -= calculateCrc =-
|
||||||
|
//
|
||||||
|
// use bitwise XOR to calculate CRC into a 16-bit byte
|
||||||
|
*/
|
||||||
|
uint16_t RSproto::_calculateCrc(uint8_t *buf, uint16_t len) {
|
||||||
|
uint16_t value = 0xFFFF;
|
||||||
|
for (uint16_t i = 0; i < len; i++) {
|
||||||
|
value ^= (uint16_t)buf[i];
|
||||||
|
for (uint8_t j = 0; j < 8; j++) {
|
||||||
|
bool lsb = value & 1;
|
||||||
|
value >>= 1;
|
||||||
|
if (lsb == true) value ^= 0xA001;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return value;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* -= clearRxBuffer =-
|
||||||
|
//
|
||||||
|
// BLOCKING method to empty stray data in RX buffer
|
||||||
|
*/
|
||||||
|
void RSproto::clearRxBuffer() {
|
||||||
|
unsigned long startMicros = micros();
|
||||||
|
do {
|
||||||
|
if (_serialD->available() > 0) {
|
||||||
|
startMicros = micros();
|
||||||
|
_serialD->read();
|
||||||
|
}
|
||||||
|
} while (micros() - startMicros < _frameTimeout);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* -= _loop =-
|
||||||
|
//
|
||||||
|
// Main loop function for RSproto.
|
||||||
|
// Work through list of nodes. For each node, in separate loop entries
|
||||||
|
// When the slot time has finished, move on to the next device.
|
||||||
|
*/
|
||||||
|
void RSproto::_loop(unsigned long currentMicros) {
|
||||||
|
_currentMicros = currentMicros;
|
||||||
|
|
||||||
|
if (_currentNode == NULL) {
|
||||||
|
_currentNode = _nodeListStart;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
if (_currentMicros - _cycleStartTime < _cycleTime) return;
|
||||||
|
_cycleStartTime = _currentMicros;
|
||||||
|
if (_currentNode == NULL) return;
|
||||||
|
|
||||||
|
bool flagOK = true;
|
||||||
|
#if defined(RSproto_STM_COMM)
|
||||||
|
ArduinoPins::fastWriteDigital(RSproto_STM_COMM,HIGH);
|
||||||
|
#endif
|
||||||
|
if (!_busy) {
|
||||||
|
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();
|
||||||
|
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->flush();
|
||||||
|
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
|
||||||
|
}
|
||||||
|
unsigned long startMillis = millis();
|
||||||
|
if (!_serialD->available()) {
|
||||||
|
if (waitReceive == true && _waitCounter > _waitA) {
|
||||||
|
flagOK = false;
|
||||||
|
} else waitReceive = true;
|
||||||
|
}
|
||||||
|
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)) {
|
||||||
|
DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
|
||||||
|
flagOK = false;
|
||||||
|
}
|
||||||
|
if (!testAndStripMasterFlag(_currentNode->_digitalInputStates)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_currentNode->getNodeID());
|
||||||
|
if (!waitReceive) _refreshOperation++;
|
||||||
|
_lastDigitalRead = currentMicros;
|
||||||
|
_readState = RDS_DIGITAL;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
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();
|
||||||
|
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->flush();
|
||||||
|
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
|
||||||
|
}
|
||||||
|
unsigned long startMillis = millis();
|
||||||
|
if (!_serialD->available()) {
|
||||||
|
if (waitReceive == true && _waitCounter > _waitA) {
|
||||||
|
flagOK = false;
|
||||||
|
} else waitReceive = true;
|
||||||
|
}
|
||||||
|
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)) {
|
||||||
|
DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
|
||||||
|
flagOK = false;
|
||||||
|
}
|
||||||
|
if (!testAndStripMasterFlag(_currentNode->_digitalInputStates)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_currentNode->getNodeID());
|
||||||
|
if (!waitReceive) _refreshOperation = 0;
|
||||||
|
_lastAnalogueRead = currentMicros;
|
||||||
|
_readState = RDS_ANALOGUE;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
if(flagOK && !waitReceive) _currentNode = _currentNode->getNext();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#if defined(RSproto_STM_OK)
|
||||||
|
if (flagOK == true) {
|
||||||
|
ArduinoPins::fastWriteDigital(RSproto_STM_OK,HIGH);
|
||||||
|
} else {
|
||||||
|
ArduinoPins::fastWriteDigital(RSproto_STM_OK,LOW);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(RSproto_STM_FAIL)
|
||||||
|
if (flagOK == false) {
|
||||||
|
ArduinoPins::fastWriteDigital(RSproto_STM_FAIL,HIGH);
|
||||||
|
} else {
|
||||||
|
ArduinoPins::fastWriteDigital(RSproto_STM_FAIL,LOW);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(RSproto_STM_COMM)
|
||||||
|
ArduinoPins::fastWriteDigital(RSproto_STM_COMM,LOW);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
// Link to chain of RSproto instances, left over from RSproto template.
|
||||||
|
RSproto *RSproto::_busList = NULL;
|
||||||
|
|
||||||
|
|
||||||
|
/************************************************************
|
||||||
|
* RSprotonode implementation
|
||||||
|
************************************************************/
|
||||||
|
|
||||||
|
/* -= RSprotonode =-
|
||||||
|
//
|
||||||
|
// Constructor for RSprotonode object
|
||||||
|
*/
|
||||||
|
RSprotonode::RSprotonode(VPIN firstVpin, int nPins, uint8_t nodeID) {
|
||||||
|
_firstVpin = firstVpin;
|
||||||
|
_nPins = nPins;
|
||||||
|
_busNo = 0;
|
||||||
|
_nodeID = nodeID;
|
||||||
|
if (_nodeID > 254) _nodeID = 254;
|
||||||
|
|
||||||
|
// Add this device to HAL device list
|
||||||
|
IODevice::addDevice(this);
|
||||||
|
_display();
|
||||||
|
// Add RSprotonode to RSproto object.
|
||||||
|
RSproto *bus = RSproto::findBus(_busNo);
|
||||||
|
if (bus != NULL) {
|
||||||
|
bus->addNode(this);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -59,7 +59,7 @@ private:
|
|||||||
char _type;
|
char _type;
|
||||||
RSprotonode *_next = NULL;
|
RSprotonode *_next = NULL;
|
||||||
bool _initialised = false;
|
bool _initialised = false;
|
||||||
RSproto* bus = NULL;
|
RSproto *bus = NULL;
|
||||||
// EX-IOExpander protocol flags
|
// EX-IOExpander protocol flags
|
||||||
enum {
|
enum {
|
||||||
EXIOINIT = 0xE0, // Flag to initialise setup procedure
|
EXIOINIT = 0xE0, // Flag to initialise setup procedure
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user