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Compiles!!

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travis-farmer 2024-12-13 17:19:45 -05:00
parent e4ea6e5633
commit f22daf0914
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2 changed files with 331 additions and 315 deletions
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320
IO_RSproto.cpp
View File

@ -248,3 +248,323 @@ RSprotonode::RSprotonode(VPIN firstVpin, int nPins, uint8_t nodeID) {
}
}
bool RSprotonode::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
if (paramCount != 1) return false;
int pin = vpin - _firstVpin;
uint16_t pullup = params[0];
uint8_t outBuffer[6] = {EXIODPUP, _nodeID, pin, pullup};
uint8_t responseBuffer[3];
bus->_busy = true;
bus->updateCrc(outBuffer,4);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(outBuffer, 6);
bus->_serialD->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
if (millis() - startMillis > 500) return false;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] == EXIORDY) {
} else {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital input pin"), pin);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), _nodeID);
}
}
int RSprotonode::_configureAnalogIn(VPIN vpin) {
int pin = vpin - _firstVpin;
//RSproto *mainrs = RSproto::findBus(_busNo);
uint8_t commandBuffer[5] = {EXIOENAN, (uint8_t) _nodeID, (uint8_t) pin};
uint8_t responseBuffer[3];
bus->_busy = true;
bus->updateCrc(commandBuffer,3);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(commandBuffer, 5);
bus->_serialD->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
if (millis() - startMillis > 500) return 0;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!bus->testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485: Vpin %u on node %d cannot be used as an analogue input pin"), (int) pin, (int) _nodeID);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) _nodeID);
}
return false;
}
void RSprotonode::_begin() {
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 RSproto 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;
}
len = 0;
startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
receiveBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)) {
if (!bus->testAndStripMasterFlag(receiveBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
for (int i = 0; i < _numAnaloguePins; i++) {
_analoguePinMap[i] = receiveBuffer[i];
}
}
uint8_t versionBuffer[5];
commandBuffer[0] = EXIOVER;
commandBuffer[1] = _nodeID;
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;
}
len = 0;
startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
versionBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (bus->crcGood(versionBuffer,sizeof(versionBuffer)-2)) {
if (!bus->testAndStripMasterFlag(versionBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
_majorVer = versionBuffer[0];
_minorVer = versionBuffer[1];
_patchVer = versionBuffer[2];
DIAG(F("EX-IOExpander485 device found, node:%d, Version v%d.%d.%d"), _nodeID, _majorVer, _minorVer, _patchVer);
}
#ifdef DIAG_IO
_display();
#endif
_initialised = false;
}
int RSprotonode::_read(VPIN vpin) {
if (_deviceState == DEVSTATE_FAILED) return 0;
int pin = vpin - _firstVpin;
uint8_t pinByte = pin / 8;
bool value = bitRead(_digitalInputStates[pinByte], pin - pinByte * 8);
return value;
}
void RSprotonode::_write(VPIN vpin, int value) {
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
uint8_t digitalOutBuffer[6];
uint8_t responseBuffer[3];
digitalOutBuffer[0] = EXIOWRD;
digitalOutBuffer[1] = (uint8_t) _nodeID;
digitalOutBuffer[2] = (uint8_t) pin;
digitalOutBuffer[3] = (uint8_t) value;
bus->_busy = true;
bus->updateCrc(digitalOutBuffer,4);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(digitalOutBuffer, 6);
bus->_serialD->flush();
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();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital output pin"), pin);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), _nodeID);
}
}
bool RSprotonode::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;
}
int RSprotonode::_readAnalogue(VPIN vpin) {
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 RSprotonode::_writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) {
uint8_t servoBuffer[7];
uint8_t responseBuffer[1];
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
servoBuffer[0] = EXIOWRAN;
servoBuffer[1] = (uint8_t) _nodeID;
servoBuffer[2] = (uint8_t) pin;
servoBuffer[3] = (uint8_t) value & 0xFF;
servoBuffer[4] = (uint8_t) value >> 8;
servoBuffer[5] = (uint8_t) profile;
servoBuffer[6] = (uint8_t) duration & 0xFF;
servoBuffer[7] = (uint8_t) duration >> 8;
bus->_busy = true;
bus->updateCrc(servoBuffer,8);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(servoBuffer, 10);
bus->_serialD->flush();
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();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (!bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) _nodeID);
//_deviceState = DEVSTATE_FAILED;
} else {
if (!bus->testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a servo/PWM pin"), pin);
}
}
}

326
IO_RSproto.h
View File

@ -45,6 +45,8 @@
#include "IODevice.h"
class RSproto;
/**********************************************************************
* RSprotonode class
*
@ -59,7 +61,7 @@ private:
char _type;
RSprotonode *_next = NULL;
bool _initialised = false;
RSproto *bus = NULL;
RSproto *bus;
// EX-IOExpander protocol flags
enum {
EXIOINIT = 0xE0, // Flag to initialise setup procedure
@ -125,329 +127,23 @@ public:
_initialised = true;
}
bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override {
if (paramCount != 1) return false;
int pin = vpin - _firstVpin;
bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override;
uint16_t pullup = params[0];
uint8_t outBuffer[6] = {EXIODPUP, _nodeID, pin, pullup};
uint8_t responseBuffer[3];
bus->_busy = true;
bus->updateCrc(outBuffer,4);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(outBuffer, 6);
bus->_serialD->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
if (millis() - startMillis > 500) return false;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] == EXIORDY) {
} else {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital input pin"), pin);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), _nodeID);
}
int _configureAnalogIn(VPIN vpin) override;
}
int _configureAnalogIn(VPIN vpin) override {
int pin = vpin - _firstVpin;
//RSproto *mainrs = RSproto::findBus(_busNo);
uint8_t commandBuffer[5] = {EXIOENAN, (uint8_t) _nodeID, (uint8_t) pin};
uint8_t responseBuffer[3];
bus->_busy = true;
bus->updateCrc(commandBuffer,3);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(commandBuffer, 5);
bus->_serialD->flush();
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, LOW);
unsigned long startMillis = millis();
while (!bus->_serialD->available()) {
if (millis() - startMillis > 500) return 0;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!bus->testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485: Vpin %u on node %d cannot be used as an analogue input pin"), (int) pin, (int) _nodeID);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) _nodeID);
}
return false;
}
void _begin() override {
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 RSproto 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;
}
len = 0;
startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
receiveBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (bus->crcGood(receiveBuffer,sizeof(receiveBuffer)-2)) {
if (!bus->testAndStripMasterFlag(receiveBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
for (int i = 0; i < _numAnaloguePins; i++) {
_analoguePinMap[i] = receiveBuffer[i];
}
}
uint8_t versionBuffer[5];
commandBuffer[0] = EXIOVER;
commandBuffer[1] = _nodeID;
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;
}
len = 0;
startMicros = micros();
do {
if (bus->_serialD->available()) {
startMicros = micros();
versionBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (bus->crcGood(versionBuffer,sizeof(versionBuffer)-2)) {
if (!bus->testAndStripMasterFlag(versionBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
_majorVer = versionBuffer[0];
_minorVer = versionBuffer[1];
_patchVer = versionBuffer[2];
DIAG(F("EX-IOExpander485 device found, node:%d, Version v%d.%d.%d"), _nodeID, _majorVer, _minorVer, _patchVer);
}
#ifdef DIAG_IO
_display();
#endif
_initialised = false;
}
void _begin() override;
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;
}
int _read(VPIN vpin) override;
void _write(VPIN vpin, int value) override {
if (_deviceState == DEVSTATE_FAILED) return;
int pin = vpin - _firstVpin;
uint8_t digitalOutBuffer[6];
uint8_t responseBuffer[3];
digitalOutBuffer[0] = EXIOWRD;
digitalOutBuffer[1] = (uint8_t) _nodeID;
digitalOutBuffer[2] = (uint8_t) pin;
digitalOutBuffer[3] = (uint8_t) value;
bus->_busy = true;
bus->updateCrc(digitalOutBuffer,4);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(digitalOutBuffer, 6);
bus->_serialD->flush();
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();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital output pin"), pin);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), _nodeID);
}
}
void _write(VPIN vpin, int value) override;
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;
}
bool testAndStripMasterFlag(uint8_t *buf);
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
}
int _readAnalogue(VPIN vpin) override;
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;
servoBuffer[0] = EXIOWRAN;
servoBuffer[1] = (uint8_t) _nodeID;
servoBuffer[2] = (uint8_t) pin;
servoBuffer[3] = (uint8_t) value & 0xFF;
servoBuffer[4] = (uint8_t) value >> 8;
servoBuffer[5] = (uint8_t) profile;
servoBuffer[6] = (uint8_t) duration & 0xFF;
servoBuffer[7] = (uint8_t) duration >> 8;
bus->_busy = true;
bus->updateCrc(servoBuffer,8);
if (bus->_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(bus->_txPin, HIGH);
bus->_serialD->write(servoBuffer, 10);
bus->_serialD->flush();
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();
responseBuffer[len] = bus->_serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
bus->_busy = false;
if (!bus->crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) _nodeID);
//_deviceState = DEVSTATE_FAILED;
} else {
if (!bus->testAndStripMasterFlag(responseBuffer)) DIAG(F("Foreign RSproto Device! no master flag from node %d"),_nodeID);
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a servo/PWM pin"), pin);
}
}
}
void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override;
uint8_t getBusNumber() {
return _busNo;