Merge 2f72a3dd57 into 33b2820095

IO_CMRI.cpp

@@ -1,324 +0,0 @@
-/*
- *  © 2023, Neil McKechnie. All rights reserved.
- *  
- *  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_CMRI.h"
-#include "defines.h"
-
-/************************************************************
- * CMRIbus implementation
- ************************************************************/
-
-// Constructor for CMRIbus
-CMRIbus::CMRIbus(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, VPIN transmitEnablePin) {
-  _busNo = busNo;
-  _serial = &serial;
-  _baud = baud;
-  _cycleTime = cycleTimeMS * 1000UL; // convert from milliseconds to microseconds.
-  _transmitEnablePin = transmitEnablePin;
-  if (_transmitEnablePin != VPIN_NONE) {
-    pinMode(_transmitEnablePin, OUTPUT);
-    ArduinoPins::fastWriteDigital(_transmitEnablePin, 0); // transmitter initially off
-  }
-
-  // Max message length is 256+6=262 bytes.  
-  // Each byte is one start bit, 8 data bits and 1 or 2 stop bits, assume 11 bits per byte.  
-  // Calculate timeout based on treble this time.
-  _timeoutPeriod = 3 * 11 * 262 * 1000UL / (_baud / 1000UL);
-#if defined(ARDUINOCMRI_COMPATIBLE)
-  // NOTE: The ArduinoCMRI library, unless modified, contains a 'delay(50)' between 
-  // receiving the end of the prompt message and starting to send the response.  This
-  // is allowed for below.
-  _timeoutPeriod += 50000UL;
-#endif
-  
-  // Calculate the time in microseconds to transmit one byte (11 bits max).
-  _byteTransmitTime = 1000000UL * 11 / _baud;
-  // Postdelay is only required if we need to allow for data still being sent when
-  // we want to switch off the transmitter.  The flush() method of HardwareSerial
-  // ensures that the data has completed being sent over the line.
-  _postDelay = 0;
-  
-  // Add device to HAL device chain
-  IODevice::addDevice(this);
-
-  // Add bus to CMRIbus chain.
-  _nextBus = _busList;
-  _busList = this;
-}
-
-
-// Main loop function for CMRIbus.
-// Work through list of nodes.  For each node, in separate loop entries
-// send initialisation message (once only);  then send
-// output message;  then send prompt for input data, and 
-// process any response data received.
-// When the slot time has finished, move on to the next device.
-void CMRIbus::_loop(unsigned long currentMicros) {
-  
-  _currentMicros = currentMicros;
-
-  while (_serial->available())
-    processIncoming();
-
-  // Send any data that needs sending.
-  processOutgoing();
-
-}
-
-// Send output data to the bus for nominated CMRInode
-uint16_t CMRIbus::sendData(CMRInode *node) {
-  uint16_t numDataBytes = (node->getNumOutputs()+7)/8;
-  _serial->write(SYN);
-  _serial->write(SYN);
-  _serial->write(STX);
-  _serial->write(node->getNodeID() + 65);
-  _serial->write('T'); // T for Transmit data message
-  uint16_t charsSent = 6; // include header and trailer
-  for (uint8_t index=0; index<numDataBytes; index++) {
-    uint8_t value = node->getOutputStates(index);
-    if (value == DLE || value == STX || value == ETX) {
-      _serial->write(DLE); 
-      charsSent++;
-    }
-    _serial->write(value);
-    charsSent++;
-  }
-  _serial->write(ETX);
-  return charsSent;  // number of characters sent
-}
-
-// Send request for input data to nominated CMRInode.
-uint16_t CMRIbus::requestData(CMRInode *node) {
-  _serial->write(SYN);
-  _serial->write(SYN);
-  _serial->write(STX);
-  _serial->write(node->getNodeID() + 65);
-  _serial->write('P'); // P for Poll message
-  _serial->write(ETX);
-  return 6;  // number of characters sent
-}
-
-// Send initialisation message
-uint16_t CMRIbus::sendInitialisation(CMRInode *node) {
-  _serial->write(SYN);
-  _serial->write(SYN);
-  _serial->write(STX);
-  _serial->write(node->getNodeID() + 65);
-  _serial->write('I'); // I for initialise message
-  _serial->write(node->getType());  // NDP
-  _serial->write((uint8_t)0);  // dH
-  _serial->write((uint8_t)0);  // dL
-  _serial->write((uint8_t)0);  // NS
-  _serial->write(ETX);
-  return 10;  // number of characters sent
-}
-
-void CMRIbus::processOutgoing() {
-  uint16_t charsSent = 0;
-  if (_currentNode == NULL) {
-    // If we're between read/write cycles then don't do anything else.
-    if (_currentMicros - _cycleStartTime < _cycleTime) return;
-    // ... otherwise start processing the first node in the list
-  DIAG(F("CMRInode: 138  _nodeListEnd:%d "),  _nodeListEnd);    
-  DIAG(F("CMRInode: 139  _currentNode:%d "),  _currentNode);        
-    _currentNode = _nodeListStart;
-  DIAG(F("CMRInode: 141  _currentNode:%d "),  _currentNode);    
-    _transmitState = TD_INIT;
-    _cycleStartTime = _currentMicros;
-  }
-  if (_currentNode == NULL) return;
-  switch (_transmitState) {
-    case TD_IDLE:
-    case TD_INIT:
-      enableTransmitter();
-      if (!_currentNode->isInitialised()) {
-        charsSent = sendInitialisation(_currentNode);
-        _currentNode->setInitialised();
-  DIAG(F("CMRInode: 153  _currentNode:%d "),  _currentNode);         
-        _transmitState = TD_TRANSMIT;
-        delayUntil(_currentMicros+_byteTransmitTime*charsSent);
-        break;
-      }
-      /* fallthrough */
-    case TD_TRANSMIT:
-      charsSent = sendData(_currentNode);
-      _transmitState = TD_PROMPT;
-      // Defer next entry for as long as it takes to transmit the characters, 
-      // to allow output queue to empty.  Allow 2 bytes extra.
-      delayUntil(_currentMicros+_byteTransmitTime*(charsSent+2));
-      break;
-    case TD_PROMPT:
-      charsSent = requestData(_currentNode);
-      disableTransmitter();
-      _transmitState = TD_RECEIVE;
-      _timeoutStart = _currentMicros; // Start timeout on response
-      break;
-    case TD_RECEIVE: // Waiting for response / timeout
-      if (_currentMicros - _timeoutStart > _timeoutPeriod) { 
-        // End of time slot allocated for responses.
-        _transmitState = TD_IDLE;
-        // Reset state of receiver
-        _receiveState = RD_SYN1;
-        // Move to next node
-     DIAG(F("CMRInode: 179  node:%d "),  _currentNode);
-        _currentNode = _currentNode->getNext();
-     DIAG(F("CMRInode: 181  node:%d "),  _currentNode);
-      }
-      break;
-  }
-}
-
-// Process any data bytes received from a CMRInode.
-void CMRIbus::processIncoming() {
-  int data = _serial->read();
-  if (data < 0) return;     // No characters to read
-
-    DIAG(F("CMRInode: 192  node:%d "),  _currentNode);
-  if (_transmitState != TD_RECEIVE || !_currentNode) return;   // Not waiting for input, so ignore.
-
-  uint8_t nextState = RD_SYN1;  // default to resetting state machine
-  switch(_receiveState) {
-    case RD_SYN1: 
-      if (data == SYN) nextState = RD_SYN2; 
-      break;
-    case RD_SYN2:
-      if (data == SYN) nextState = RD_STX; else nextState = RD_SYN2;
-      break;
-    case RD_STX:
-      if (data == STX) nextState = RD_ADDR;
-      break;
-    case RD_ADDR:
-      // If nodeID doesn't match, then ignore everything until next SYN-SYN-STX.
-      if (data == _currentNode->getNodeID() + 65) nextState = RD_TYPE;
-      break;
-    case RD_TYPE:
-      _receiveDataIndex = 0;  // Initialise data pointer
-      if (data == 'R') nextState = RD_DATA;
-      break;
-    case RD_DATA: // data body
-      if (data == DLE) // escape next character
-        nextState = RD_ESCDATA;
-      else if (data == ETX) { // end of data
-        // End of data message.  Protocol has all data in one
-        // message, so we don't need to wait any more.  Allow
-        // transmitter to proceed with next node in list.
-    DIAG(F("CMRInode: 221  node:%d "),  _currentNode);        
-        _currentNode = _currentNode->getNext();
-    DIAG(F("CMRInode: 223  node:%d "),  _currentNode);
-        _transmitState = TD_IDLE;
-      } else {
-        // Not end yet, so save data byte
-        _currentNode->saveIncomingData(_receiveDataIndex++, data);
-        nextState = RD_DATA; // wait for more data
-      }
-      break;
-    case RD_ESCDATA: // escaped data byte
-      _currentNode->saveIncomingData(_receiveDataIndex++, data);
-      nextState = RD_DATA;
-      break;
-  }
-  _receiveState = nextState;
-}
-
-// If configured for half duplex RS485, switch RS485 interface
-// into transmit mode.
-void CMRIbus::enableTransmitter() {
-  if (_transmitEnablePin != VPIN_NONE) 
-    ArduinoPins::fastWriteDigital(_transmitEnablePin, 1);
-  // If we need a delay before we start the packet header, 
-  // we can send a character or two to synchronise the 
-  // transmitter and receiver.
-  // SYN characters should be used, but a bug in the
-  // ArduinoCMRI library causes it to ignore the packet if
-  // it's preceded by an odd number of SYN characters.
-  // So send a SYN followed by a NUL in that case.
-  _serial->write(SYN);
-#if defined(ARDUINOCMRI_COMPATIBLE)
-  _serial->write(NUL);  // Reset the ArduinoCMRI library's parser
-#endif
-}
-
-// If configured for half duplex RS485, switch RS485 interface
-// into receive mode.
-void CMRIbus::disableTransmitter() {
-  // Wait until all data has been transmitted.  On the standard
-  // AVR driver, this waits until the FIFO is empty and all
-  // data has been sent over the link.
-  _serial->flush();
-  // If we don't trust the 'flush' function and think the 
-  // data's still in transit, then wait a bit longer.
-  if (_postDelay > 0)
-    delayMicroseconds(_postDelay);
-  // Hopefully, we can now safely switch off the transmitter.
-  if (_transmitEnablePin != VPIN_NONE) 
-    ArduinoPins::fastWriteDigital(_transmitEnablePin, 0);
-}    
-
-// Link to chain of CMRI bus instances
-CMRIbus *CMRIbus::_busList = NULL;
-
-
-/************************************************************
- * CMRInode implementation
- ************************************************************/
-
-// Constructor for CMRInode object
-CMRInode::CMRInode(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t nodeID, char type, uint16_t inputs, uint16_t outputs) {
-  _firstVpin = firstVpin;
-  _nPins = nPins;
-  _busNo = busNo;
-  _nodeID = nodeID;
-  _type = type;
-
-  switch (_type) {
-    case 'M': // SMINI, fixed 24 inputs and 48 outputs
-      _numInputs = 24;
-      _numOutputs = 48;
-      break;
-    case 'C': // CPNODE with 16 to 144 inputs/outputs using 8-bit cards
-      _numInputs = inputs;
-      _numOutputs = outputs;
-      break;
-    case 'N': // Classic USIC and SUSIC using 24 bit i/o cards
-    case 'X': // SUSIC using 32 bit i/o cards
-    default:
-      DIAG(F("CMRInode: bus:%d nodeID:%d ERROR unsupported type %c"), _busNo, _nodeID, _type);
-      return; // Don't register device.
-  }
-  if ((unsigned int)_nPins < _numInputs + _numOutputs)
-    DIAG(F("CMRInode: bus:%d nodeID:%d WARNING number of Vpins does not cover all inputs and outputs"), _busNo, _nodeID);
-
-  // Allocate memory for states
-  _inputStates = (uint8_t *)calloc((_numInputs+7)/8, 1);
-  _outputStates = (uint8_t *)calloc((_numOutputs+7)/8, 1);
-  if (!_inputStates || !_outputStates) {
-    DIAG(F("CMRInode: ERROR insufficient memory"));
-    return;
-  }
-
-  // Add this device to HAL device list
-  IODevice::addDevice(this);
-
-  // Add CMRInode to CMRIbus object.
-  CMRIbus *bus = CMRIbus::findBus(_busNo);
-  if (bus != NULL) {
-    bus->addNode(this);
-    return;
-  }
-}

IO_CMRI.h

@@ -1,292 +0,0 @@
-/*
- *  © 2023, Neil McKechnie. All rights reserved.
- *  
- *  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/>.
- */
-
-/*
- * CMRIbus
- * =======
- * To define a CMRI bus, example syntax:
- *    CMRIbus::create(bus, serial, baud[, cycletime[, pin]]);
- * 
- * bus = 0-255
- * 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)
- * 
- * Each bus must use a different serial port.
- * 
- * IMPORTANT: If you are using ArduinoCMRI library code by Michael Adams, at the time of writing this library
- * is not compliant with the LCS-9.10.1 specification for CMRInet protocol.  
- * Various work-arounds may be enabled within the driver by adding the following line to your config.h file,
- * to allow nodes running the ArduinoCMRI library to communicate:
- * 
- *  #define ARDUINOCMRI_COMPATIBLE
- * 
- * CMRINode
- * ========
- * To define a CMRI node and associate it with a CMRI bus,
- *    CMRInode::create(firstVPIN, numVPINs, bus, nodeID, type [, inputs, outputs]);
- * 
- * firstVPIN = first vpin in block allocated to this device
- * numVPINs = number of vpins (e.g. 72 for an SMINI node)
- * bus = 0-255
- * nodeID = 0-127
- * type = 'M' for SMINI (fixed 24 inputs and 48 outputs)
- *        'C' for CPNODE (16 to 144 inputs/outputs in groups of 8)
- *        (other types are not supported at this time).
- * inputs = number of inputs (CPNODE only)
- * outputs = number of outputs (CPNODE only)
- * 
- * Reference: "LCS-9.10.1
- *             Layout Control Specification: CMRInet Protocol
- *             Version 1.1 December 2014."
- */
-
-#ifndef IO_CMRI_H
-#define IO_CMRI_H
-
-#include "IODevice.h"
-
-/**********************************************************************
- * CMRInode class
- * 
- * This encapsulates the state associated with a single CMRI node, 
- * which includes the nodeID type, number of inputs and outputs, and
- * the states of the inputs and outputs.
- **********************************************************************/
-class CMRInode : public IODevice {
-private:
-  uint8_t _busNo;
-  uint8_t _nodeID;
-  char _type;
-  CMRInode *_next = NULL;
-  uint8_t *_inputStates = NULL;
-  uint8_t *_outputStates = NULL;
-  uint16_t _numInputs = 0;
-  uint16_t _numOutputs = 0;
-  bool _initialised = false;
-
-public:
-  static void create(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t nodeID, char type, uint16_t inputs=0, uint16_t outputs=0) {
-    if (checkNoOverlap(firstVpin, nPins)) new CMRInode(firstVpin, nPins, busNo, nodeID, type, inputs, outputs);
-  }
-  CMRInode(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t nodeID, char type, uint16_t inputs=0, uint16_t outputs=0);
-
-  uint8_t getNodeID() {
-    return _nodeID;
-  }
-  CMRInode *getNext() {
-    return _next;
-  }
-  void setNext(CMRInode *node) {
-    _next = node;
-  }
-  bool isInitialised() {
-    return _initialised;
-  }
-  void setInitialised() {
-    _initialised = true;
-  }
-
-  void _begin() {
-    _initialised = false;
-  }
-
-  int _read(VPIN vpin) {
-    // Return current state from this device
-    uint16_t pin = vpin - _firstVpin;
-    if (pin < _numInputs) {
-      uint8_t mask = 1 << (pin & 0x7);
-      int index = pin / 8;
-      return (_inputStates[index] & mask) != 0;
-    } else
-      return 0;
-  }
-
-  void _write(VPIN vpin, int value) {
-    // Update current state for this device, in preparation the bus transmission
-    uint16_t pin = vpin - _firstVpin - _numInputs;
-    if (pin < _numOutputs) {
-      uint8_t mask = 1 << (pin & 0x7);
-      int index = pin / 8;
-      if (value)
-        _outputStates[index] |= mask;
-      else
-        _outputStates[index] &= ~mask;
-    }
-  }
-
-  void saveIncomingData(uint8_t index, uint8_t data) {
-    if (index < (_numInputs+7)/8)
-      _inputStates[index] = data;
-  }
-
-  uint8_t getOutputStates(uint8_t index) {
-    if (index < (_numOutputs+7)/8)
-      return _outputStates[index];
-    else
-      return 0;
-  }
-
-  uint16_t getNumInputs() {
-    return _numInputs;
-  }
-
-  uint16_t getNumOutputs() {
-    return _numOutputs;
-  }
-
-  char getType() {
-    return _type; 
-  }
-
-  uint8_t getBusNumber() {
-    return _busNo;
-  }
-
-  void _display() override {
-    DIAG(F("CMRInode type:'%c' configured on bus:%d nodeID:%d VPINs:%u-%u (in) %u-%u (out)"),
-      _type, _busNo, _nodeID, _firstVpin, _firstVpin+_numInputs-1,
-      _firstVpin+_numInputs, _firstVpin+_numInputs+_numOutputs-1);
-  }
-
-};
-
-/**********************************************************************
- * CMRIbus class
- * 
- * This encapsulates the properties state of the bus and the
- * transmission and reception of data across that bus.  Each CMRIbus
- * object owns a set of CMRInode objects which represent the nodes
- * attached to that bus.
- **********************************************************************/
-class CMRIbus : public IODevice {
-private:
-  // Here we define the device-specific variables.  
-  uint8_t _busNo;
-  HardwareSerial *_serial;
-  unsigned long _baud;
-  VPIN _transmitEnablePin = VPIN_NONE;
-  CMRInode *_nodeListStart = NULL, *_nodeListEnd = NULL;
-  CMRInode *_currentNode = NULL;
-
-  // Transmitter state machine states
-  enum {TD_IDLE, TD_PRETRANSMIT, TD_INIT, TD_TRANSMIT, TD_PROMPT, TD_RECEIVE};
-  uint8_t _transmitState = TD_IDLE;
-  // Receiver state machine states.
-  enum {RD_SYN1, RD_SYN2, RD_STX, RD_ADDR, RD_TYPE, 
-      RD_DATA, RD_ESCDATA, RD_SKIPDATA, RD_SKIPESCDATA, RD_ETX};
-  uint8_t _receiveState = RD_SYN1;
-  uint16_t _receiveDataIndex = 0;  // Index of next data byte to be received.
-  CMRIbus *_nextBus = NULL;  // Pointer to next bus instance in list.
-  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
-
-  static CMRIbus *_busList; // linked list of defined bus instances
-
-  // Definition of special characters in CMRInet protocol
-  enum : uint8_t {
-    NUL = 0x00,
-    STX = 0x02,
-    ETX = 0x03,
-    DLE = 0x10,
-    SYN = 0xff,
-  };
-
-public:
-  static void create(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS=500, VPIN transmitEnablePin=VPIN_NONE) {
-    new CMRIbus(busNo, serial, baud, cycleTimeMS, transmitEnablePin);
-  } 
-
-  // Device-specific initialisation
-  void _begin() override {
-    // CMRInet spec states one stop bit, JMRI and ArduinoCMRI use two stop bits
-#if defined(ARDUINOCMRI_COMPATIBLE)
-    _serial->begin(_baud, SERIAL_8N2);
-#else
-    _serial->begin(_baud, SERIAL_8N1);
-#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("CMRIbus %d configured, speed=%d baud, cycle=%d ms"), _busNo, _baud, _cycleTime/1000);
-  }
-
-  // Locate CMRInode object with specified nodeID.
-  CMRInode *findNode(uint8_t nodeID) {
-    for (CMRInode *node = _nodeListStart; node != NULL; node = node->getNext()) {
-      if (node->getNodeID() == nodeID) 
-        return node;
-    }
-    return NULL;
-  }
-
-  // Add new CMRInode to the list of nodes for this bus.
-  void addNode(CMRInode *newNode) {
-    if (!_nodeListStart)
-      _nodeListStart = newNode;
-    if (!_nodeListEnd) 
-      _nodeListEnd = newNode;
-    else
-      _nodeListEnd->setNext(newNode);
-  DIAG(F("bus: 260h nodeID: _nodeListStart:%d _nodeListEnd:%d"), _nodeListStart, _nodeListEnd);
-  }
-
-protected:
-  CMRIbus(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, VPIN transmitEnablePin);
-  uint16_t sendData(CMRInode *node);
-  uint16_t requestData(CMRInode *node);
-  uint16_t sendInitialisation(CMRInode *node);
-
-  // Process any data bytes received from a CMRInode.
-  void processIncoming();
-  // Process any outgoing traffic that is due.
-  void processOutgoing();
-  // Enable transmitter
-  void enableTransmitter();
-  // Disable transmitter and enable receiver
-  void disableTransmitter();
-
-
-public:
-  uint8_t getBusNumber() {
-    return _busNo;
-  }
-
-  static CMRIbus *findBus(uint8_t busNo) {
-    for (CMRIbus *bus=_busList; bus!=NULL; bus=bus->_nextBus) {
-      if (bus->_busNo == busNo) return bus;
-    }
-    return NULL;
-  }
-};
-
-#endif // IO_CMRI_H