From fa38583772b0286768e20de3c6d0d6835aa34112 Mon Sep 17 00:00:00 2001
From: peteGSX <peteracole@outlook.com.au>
Date: Sun, 29 Jan 2023 19:26:33 +1000
Subject: [PATCH] Brief PWM start

---
 IO_EXIOExpander.h | 56 +++++++++++++++++++++++++++++++++++++----------
 1 file changed, 45 insertions(+), 11 deletions(-)

diff --git a/IO_EXIOExpander.h b/IO_EXIOExpander.h
index 1b0d23f..f284bc1 100644
--- a/IO_EXIOExpander.h
+++ b/IO_EXIOExpander.h
@@ -71,12 +71,15 @@ private:
       _command2Buffer[0] = EXIOINIT;
       _command2Buffer[1] = _nPins;
       // Send config, if EXIOINITA returned, we're good, setup analogue input buffer, otherwise go offline
-      I2CManager.read(_i2cAddress, _receive2Buffer, 2, _command2Buffer, 2);
-      if (_receive2Buffer[0] == EXIOINITA) {
-        _numAnaloguePins = _receive2Buffer[1];
+      I2CManager.read(_i2cAddress, _receive3Buffer, 3, _command2Buffer, 2);
+      if (_receive3Buffer[0] == EXIOINITA) {
+        _numAnaloguePins = _receive3Buffer[1];
+        _numPWMPins = _receive3Buffer[2];
         _analoguePinBytes = _numAnaloguePins * 2;
         _analogueInputStates = (byte*) calloc(_analoguePinBytes, 1);
         _analoguePinMap = (uint8_t*) calloc(_numAnaloguePins, 1);
+        _servoData = (struct ServoData*) calloc(_numPWMPins, 14);
+
       } else {
         DIAG(F("ERROR configuring EX-IOExpander device, I2C:x%x"), _i2cAddress);
         _deviceState = DEVSTATE_FAILED;
@@ -105,13 +108,23 @@ private:
   // Digital input pin configuration, used to enable on EX-IOExpander device and set pullups if in use
   bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override {
     if (paramCount != 1) return false;
-    bool pullup = params[0];
     int pin = vpin - _firstVpin;
-    _digitalOutBuffer[0] = EXIODPUP;
-    _digitalOutBuffer[1] = pin;
-    _digitalOutBuffer[2] = pullup;
-    I2CManager.write(_i2cAddress, _digitalOutBuffer, 3);
-    return true;
+    if (configType == CONFIGURE_INPUT) {
+      bool pullup = params[0];
+      _digitalOutBuffer[0] = EXIODPUP;
+      _digitalOutBuffer[1] = pin;
+      _digitalOutBuffer[2] = pullup;
+      I2CManager.write(_i2cAddress, _digitalOutBuffer, 3);
+      return true;
+    } else if (configType == CONFIGURE_SERVO) {
+      DIAG(F("Configure servo at pin %d"), (int)pin);
+      for (int i = 0; i < paramCount; i++) {
+        DIAG(F("Param %d is %x"), (int)i, params[i]);
+      }
+      return true;
+    } else {
+      return false;
+    }
   }
 
   // Analogue input pin configuration, used to enable on EX-IOExpander device
@@ -169,7 +182,7 @@ private:
   }
 
   uint8_t _i2cAddress;
-  uint8_t _numAnaloguePins;
+  uint8_t _numAnaloguePins = 0;
   byte _digitalOutBuffer[3];
   uint8_t _versionBuffer[3];
   uint8_t _majorVer = 0;
@@ -181,8 +194,29 @@ private:
   uint8_t _analoguePinBytes = 0;
   byte _command1Buffer[1];
   byte _command2Buffer[2];
-  byte _receive2Buffer[2];
+  byte _receive3Buffer[3];
   uint8_t* _analoguePinMap;
+  uint8_t _numPWMPins = 0;
+
+  struct ServoData {
+    uint16_t activePosition : 12; // Config parameter
+    uint16_t inactivePosition : 12; // Config parameter
+    uint16_t currentPosition : 12;
+    uint16_t fromPosition : 12;
+    uint16_t toPosition : 12; 
+    uint8_t profile;  // Config parameter
+    uint16_t stepNumber; // Index of current step (starting from 0)
+    uint16_t numSteps;  // Number of steps in animation, or 0 if none in progress.
+    uint8_t currentProfile; // profile being used for current animation.
+    uint16_t duration; // time (tenths of a second) for animation to complete.
+  } ServoData; // 14 bytes per element, i.e. per pin in use
+  
+  struct ServoData* _servoData;
+
+  static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off
+  static const byte FLASH _bounceProfile[30];
+
+  const unsigned int refreshInterval = 50; // refresh every 50ms
 
   enum {
     EXIOINIT = 0xE0,    // Flag to initialise setup procedure