mirror of
https://github.com/DCC-EX/CommandStation-EX.git
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411 lines
16 KiB
C++
411 lines
16 KiB
C++
/*
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* © 2022, Peter Cole. All rights reserved.
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*
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* This file is part of EX-CommandStation
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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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/*
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* The IO_EXIOExpander.h device driver integrates with one or more EX-IOExpander devices.
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* This device driver will configure the device on startup, along with
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* interacting with the device for all input/output duties.
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*
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* To create EX-IOExpander devices, these are defined in myHal.cpp:
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* (Note the device driver is included by default)
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*
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* void halSetup() {
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* // EXIOExpander::create(vpin, num_vpins, i2c_address);
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* EXIOExpander::create(800, 18, 0x65);
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* }
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*
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* All pins on an EX-IOExpander device are allocated according to the pin map for the specific
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* device in use. There is no way for the device driver to sanity check pins are used for the
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* correct purpose, however the EX-IOExpander device's pin map will prevent pins being used
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* incorrectly (eg. A6/7 on Nano cannot be used for digital input/output).
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*/
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#ifndef IO_EX_IOEXPANDER_H
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#define IO_EX_IOEXPANDER_H
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#include "I2CManager.h"
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#include "DIAG.h"
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#include "FSH.h"
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/////////////////////////////////////////////////////////////////////////////////////////////////////
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/*
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* IODevice subclass for EX-IOExpander.
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*/
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class EXIOExpander : public IODevice {
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public:
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enum ProfileType : uint8_t {
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Instant = 0, // Moves immediately between positions (if duration not specified)
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UseDuration = 0, // Use specified duration
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Fast = 1, // Takes around 500ms end-to-end
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Medium = 2, // 1 second end-to-end
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Slow = 3, // 2 seconds end-to-end
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Bounce = 4, // For semaphores/turnouts with a bit of bounce!!
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NoPowerOff = 0x80, // Flag to be ORed in to suppress power off after move.
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};
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static void create(VPIN vpin, int nPins, uint8_t i2cAddress) {
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if (checkNoOverlap(vpin, nPins, i2cAddress)) new EXIOExpander(vpin, nPins, i2cAddress);
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}
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private:
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// Constructor
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EXIOExpander(VPIN firstVpin, int nPins, uint8_t i2cAddress) {
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_firstVpin = firstVpin;
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_nPins = nPins;
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_i2cAddress = i2cAddress;
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// To save RAM, space for servo configuration is not allocated unless a pin is used.
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// Initialise the pointers to NULL.
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// _servoData = (ServoData**) calloc(_nPins, sizeof(ServoData*));
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// for (int i=0; i<_nPins; i++) {
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// _servoData[i] = NULL;
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// }
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addDevice(this);
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}
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void _begin() {
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// Initialise EX-IOExander device
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I2CManager.begin();
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if (I2CManager.exists(_i2cAddress)) {
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_command4Buffer[0] = EXIOINIT;
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_command4Buffer[1] = _nPins;
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_command4Buffer[2] = _firstVpin & 0xFF;
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_command4Buffer[3] = _firstVpin >> 8;
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// Send config, if EXIOPINS returned, we're good, setup pin buffers, otherwise go offline
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I2CManager.read(_i2cAddress, _receive3Buffer, 3, _command4Buffer, 4);
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if (_receive3Buffer[0] == EXIOPINS) {
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_numDigitalPins = _receive3Buffer[1];
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_numAnaloguePins = _receive3Buffer[2];
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_digitalPinBytes = (_numDigitalPins + 7)/8;
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_digitalInputStates=(byte*) calloc(_digitalPinBytes,1);
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_analoguePinBytes = _numAnaloguePins * 2;
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_analogueInputStates = (byte*) calloc(_analoguePinBytes, 1);
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_analoguePinMap = (uint8_t*) calloc(_numAnaloguePins, 1);
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} else {
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DIAG(F("ERROR configuring EX-IOExpander device, I2C:x%x"), _i2cAddress);
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_deviceState = DEVSTATE_FAILED;
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return;
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}
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// We now need to retrieve the analogue pin map
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_command1Buffer[0] = EXIOINITA;
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I2CManager.read(_i2cAddress, _analoguePinMap, _numAnaloguePins, _command1Buffer, 1);
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// Attempt to get version, if we don't get it, we don't care, don't go offline
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_command1Buffer[0] = EXIOVER;
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I2CManager.read(_i2cAddress, _versionBuffer, 3, _command1Buffer, 1);
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_majorVer = _versionBuffer[0];
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_minorVer = _versionBuffer[1];
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_patchVer = _versionBuffer[2];
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DIAG(F("EX-IOExpander device found, I2C:x%x, Version v%d.%d.%d"),
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_i2cAddress, _versionBuffer[0], _versionBuffer[1], _versionBuffer[2]);
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#ifdef DIAG_IO
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_display();
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#endif
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} else {
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DIAG(F("EX-IOExpander device not found, I2C:x%x"), _i2cAddress);
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_deviceState = DEVSTATE_FAILED;
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}
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}
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// Digital input pin configuration, used to enable on EX-IOExpander device and set pullups if in use
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bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override {
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if (paramCount != 1) return false;
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int pin = vpin - _firstVpin;
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if (configType == CONFIGURE_INPUT) {
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bool pullup = params[0];
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_digitalOutBuffer[0] = EXIODPUP;
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_digitalOutBuffer[1] = pin;
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_digitalOutBuffer[2] = pullup;
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I2CManager.read(_i2cAddress, _command1Buffer, 1, _digitalOutBuffer, 3);
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if (_command1Buffer[0] == EXIORDY) {
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return true;
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} else {
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DIAG(F("Vpin %d cannot be used as a digital input pin"), (int)vpin);
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return false;
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}
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} else {
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return false;
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}
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}
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// Analogue input pin configuration, used to enable on EX-IOExpander device
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int _configureAnalogIn(VPIN vpin) override {
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int pin = vpin - _firstVpin;
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_command2Buffer[0] = EXIOENAN;
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_command2Buffer[1] = pin;
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I2CManager.read(_i2cAddress, _command1Buffer, 1, _command2Buffer, 2);
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if (_command1Buffer[0] == EXIORDY) {
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return true;
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} else {
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DIAG(F("Vpin %d cannot be used as an analogue input pin"), (int)vpin);
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return false;
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}
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return true;
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}
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// Main loop, collect both digital and analogue pin states continuously (faster sensor/input reads)
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void _loop(unsigned long currentMicros) override {
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(void)currentMicros; // remove warning
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if (_deviceState == DEVSTATE_FAILED) return;
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_command1Buffer[0] = EXIORDD;
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I2CManager.read(_i2cAddress, _digitalInputStates, _digitalPinBytes, _command1Buffer, 1);
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_command1Buffer[0] = EXIORDAN;
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I2CManager.read(_i2cAddress, _analogueInputStates, _analoguePinBytes, _command1Buffer, 1);
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// if ((currentMicros - _lastRefresh) / 1000UL > refreshInterval) {
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// _lastRefresh = currentMicros;
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// for (int pin=0; pin<_nPins; pin++) {
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// if (_servoData[pin] != NULL) {
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// updatePosition(pin);
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// }
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// }
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// }
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}
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// Obtain the correct analogue input value
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int _readAnalogue(VPIN vpin) override {
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if (_deviceState == DEVSTATE_FAILED) return 0;
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int pin = vpin - _firstVpin;
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uint8_t _pinLSBByte;
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for (uint8_t aPin = 0; aPin < _numAnaloguePins; aPin++) {
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if (_analoguePinMap[aPin] == pin) {
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_pinLSBByte = aPin * 2;
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}
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}
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uint8_t _pinMSBByte = _pinLSBByte + 1;
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return (_analogueInputStates[_pinMSBByte] << 8) + _analogueInputStates[_pinLSBByte];
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}
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// Obtain the correct digital input value
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int _read(VPIN vpin) override {
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if (_deviceState == DEVSTATE_FAILED) return 0;
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int pin = vpin - _firstVpin;
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// if (_servoData[pin] == NULL) {
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uint8_t pinByte = pin / 8;
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bool value = bitRead(_digitalInputStates[pinByte], pin - pinByte * 8);
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return value;
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// } else {
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// struct ServoData *s = _servoData[pin];
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// if (s == NULL) {
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// return false; // No structure means no animation!
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// } else {
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// return (s->stepNumber < s->numSteps);
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// }
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// }
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}
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void _write(VPIN vpin, int value) override {
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if (_deviceState == DEVSTATE_FAILED) return;
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int pin = vpin - _firstVpin;
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// if (_servoData[pin] == NULL) {
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_digitalOutBuffer[0] = EXIOWRD;
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_digitalOutBuffer[1] = pin;
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_digitalOutBuffer[2] = value;
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I2CManager.read(_i2cAddress, _command1Buffer, 1, _digitalOutBuffer, 3);
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if (_command1Buffer[0] != EXIORDY) {
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DIAG(F("Vpin %d cannot be used as a digital output pin"), (int)vpin);
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}
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// } else {
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// if (value) value = 1;
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// struct ServoData *s = _servoData[pin];
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// if (s != NULL) {
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// // Use configured parameters
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// this->_writeAnalogue(vpin, value ? s->activePosition : s->inactivePosition, s->profile, s->duration);
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// } else {
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// /* simulate digital pin on PWM */
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// this->_writeAnalogue(vpin, value ? 4095 : 0, Instant | NoPowerOff, 0);
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// }
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// }
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}
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void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
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if (_deviceState == DEVSTATE_FAILED) return;
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int pin = vpin - _firstVpin;
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#ifdef DIAG_IO
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DIAG(F("Servo: WriteAnalogue Vpin:%d 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] = pin;
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_servoBuffer[2] = value & 0xFF;
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_servoBuffer[3] = value >> 8;
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_servoBuffer[4] = profile;
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_servoBuffer[5] = duration & 0xFF;
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_servoBuffer[6] = duration >> 8;
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I2CManager.read(_i2cAddress, _command1Buffer, 1, _servoBuffer, 7);
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if (_command1Buffer[0] != EXIORDY) {
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DIAG(F("Vpin %d cannot be used as a servo/PWM pin"), (int)vpin);
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}
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}
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/*
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void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
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if (_deviceState == DEVSTATE_FAILED) return;
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int pin = vpin - _firstVpin;
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#ifdef DIAG_IO
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DIAG(F("Servo: WriteAnalogue Vpin:%d 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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if (_deviceState == DEVSTATE_FAILED) return;
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if (value > 4095) value = 4095;
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else if (value < 0) value = 0;
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struct ServoData *s = _servoData[pin];
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if (s == NULL) {
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// Servo pin not configured, so configure now using defaults
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s = _servoData[pin] = (struct ServoData *) calloc(sizeof(struct ServoData), 1);
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if (s == NULL) return; // Check for memory allocation failure
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s->activePosition = 4095;
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s->inactivePosition = 0;
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s->currentPosition = value;
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s->profile = Instant | NoPowerOff; // Use instant profile (but not this time)
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}
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// Animated profile. Initiate the appropriate action.
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s->currentProfile = profile;
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uint8_t profileValue = profile & ~NoPowerOff; // Mask off 'don't-power-off' bit.
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s->numSteps = profileValue==Fast ? 10 : // 0.5 seconds
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profileValue==Medium ? 20 : // 1.0 seconds
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profileValue==Slow ? 40 : // 2.0 seconds
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profileValue==Bounce ? sizeof(_bounceProfile)-1 : // ~ 1.5 seconds
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duration * 2 + 1; // Convert from deciseconds (100ms) to refresh cycles (50ms)
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s->stepNumber = 0;
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s->toPosition = value;
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s->fromPosition = s->currentPosition;
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}
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*/
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/*
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void updatePosition(uint8_t pin) {
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struct ServoData *s = _servoData[pin];
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if (s == NULL) return; // No pin configuration/state data
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if (s->numSteps == 0) return; // No animation in progress
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if (s->stepNumber == 0 && s->fromPosition == s->toPosition) {
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// Go straight to end of sequence, output final position.
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s->stepNumber = s->numSteps-1;
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}
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if (s->stepNumber < s->numSteps) {
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// Animation in progress, reposition servo
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s->stepNumber++;
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if ((s->currentProfile & ~NoPowerOff) == Bounce) {
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// Retrieve step positions from array in flash
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uint8_t profileValue = GETFLASH(&_bounceProfile[s->stepNumber]);
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s->currentPosition = map(profileValue, 0, 100, s->fromPosition, s->toPosition);
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} else {
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// All other profiles - calculate step by linear interpolation between from and to positions.
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s->currentPosition = map(s->stepNumber, 0, s->numSteps, s->fromPosition, s->toPosition);
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}
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// Send servo command
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this->writePWM(pin, s->currentPosition);
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} else if (s->stepNumber < s->numSteps + _catchupSteps) {
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// We've finished animation, wait a little to allow servo to catch up
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s->stepNumber++;
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} else if (s->stepNumber == s->numSteps + _catchupSteps
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&& s->currentPosition != 0) {
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s->numSteps = 0; // Done now.
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}
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}
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*/
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/*
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void writePWM(int pin, uint16_t value) {
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_command4Buffer[0] = EXIOWRAN;
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_command4Buffer[1] = pin;
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_command4Buffer[2] = value & 0xFF;
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_command4Buffer[3] = value >> 8;
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I2CManager.write(_i2cAddress, _command4Buffer, 4);
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}
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*/
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void _display() override {
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DIAG(F("EX-IOExpander I2C:x%x v%d.%d.%d Vpins %d-%d %S"),
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_i2cAddress, _majorVer, _minorVer, _patchVer,
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(int)_firstVpin, (int)_firstVpin+_nPins-1,
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_deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F(""));
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}
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uint8_t _i2cAddress;
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uint8_t _numDigitalPins = 0;
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uint8_t _numAnaloguePins = 0;
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byte _digitalOutBuffer[3];
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uint8_t _versionBuffer[3];
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uint8_t _majorVer = 0;
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uint8_t _minorVer = 0;
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uint8_t _patchVer = 0;
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byte* _digitalInputStates;
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byte* _analogueInputStates;
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uint8_t _digitalPinBytes = 0;
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uint8_t _analoguePinBytes = 0;
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byte _command1Buffer[1];
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byte _command2Buffer[2];
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byte _command4Buffer[4];
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byte _receive3Buffer[3];
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byte _servoBuffer[7];
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uint8_t* _analoguePinMap;
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/*
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// Servo specific
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struct ServoData {
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uint16_t activePosition : 12; // Config parameter
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uint16_t inactivePosition : 12; // Config parameter
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uint16_t currentPosition : 12;
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uint16_t fromPosition : 12;
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uint16_t toPosition : 12;
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uint8_t profile; // Config parameter
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uint16_t stepNumber; // Index of current step (starting from 0)
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uint16_t numSteps; // Number of steps in animation, or 0 if none in progress.
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uint8_t currentProfile; // profile being used for current animation.
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uint16_t duration; // time (tenths of a second) for animation to complete.
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}; // 14 bytes per element, i.e. per pin in use
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ServoData** _servoData;
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static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off
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const unsigned int refreshInterval = 50; // refresh every 50ms
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unsigned long _lastRefresh = 0;
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// Profile for a bouncing signal or turnout
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// The profile below is in the range 0-100% and should be combined with the desired limits
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// of the servo set by _activePosition and _inactivePosition. The profile is symmetrical here,
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// i.e. the bounce is the same on the down action as on the up action. First entry isn't used.
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const byte FLASH _bounceProfile[30] =
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{0,2,3,7,13,33,50,83,100,83,75,70,65,60,60,65,74,84,100,83,75,70,70,72,75,80,87,92,97,100};
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*/
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// EX-IOExpander protocol flags
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enum {
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EXIOINIT = 0xE0, // Flag to initialise setup procedure
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EXIORDY = 0xE1, // Flag we have completed setup procedure, also for EX-IO to ACK setup
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EXIODPUP = 0xE2, // Flag we're sending digital pin pullup configuration
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EXIOVER = 0xE3, // Flag to get version
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EXIORDAN = 0xE4, // Flag to read an analogue input
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EXIOWRD = 0xE5, // Flag for digital write
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EXIORDD = 0xE6, // Flag to read digital input
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EXIOENAN = 0xE7, // Flag to enable an analogue pin
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EXIOINITA = 0xE8, // Flag we're receiving analogue pin mappings
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EXIOPINS = 0xE9, // Flag we're receiving pin counts for buffers
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EXIOWRAN = 0xEA, // Flag we're sending an analogue write (PWM)
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EXIOERR = 0xEF, // Flag we've received an error
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};
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};
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#endif
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