mirror of
https://github.com/DCC-EX/CommandStation-EX.git
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419 lines
18 KiB
C++
419 lines
18 KiB
C++
/*
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* © 2022, Peter Cole. All rights reserved.
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* © 2024, Harald Barth. 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 myAutomation.h:
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* (Note the device driver is included by default)
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*
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* HAL(EXIOExpander,800,18,0x65)
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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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* The total number of pins cannot exceed 256 because of the communications packet format.
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* The number of analogue inputs cannot exceed 16 because of a limit on the maximum
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* I2C packet size of 32 bytes (in the Wire library).
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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 "IODevice.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, I2CAddress 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, I2CAddress i2cAddress) {
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_firstVpin = firstVpin;
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// Number of pins cannot exceed 256 (1 byte) because of I2C message structure.
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if (nPins > 256) nPins = 256;
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_nPins = nPins;
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_I2CAddress = i2cAddress;
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addDevice(this);
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}
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void _begin() {
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uint8_t status;
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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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// Send config, if EXIOPINS returned, we're good, setup pin buffers, otherwise go offline
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// NB The I2C calls here are done as blocking calls, as they're not time-critical
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// during initialisation and the reads require waiting for a response anyway.
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// Hence we can allocate I/O buffers from the stack.
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uint8_t receiveBuffer[3];
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uint8_t commandBuffer[4] = {EXIOINIT, (uint8_t)_nPins, (uint8_t)(_firstVpin & 0xFF), (uint8_t)(_firstVpin >> 8)};
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status = I2CManager.read(_I2CAddress, receiveBuffer, sizeof(receiveBuffer), commandBuffer, sizeof(commandBuffer));
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if (status == I2C_STATUS_OK) {
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if (receiveBuffer[0] == EXIOPINS) {
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_numDigitalPins = receiveBuffer[1];
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_numAnaloguePins = receiveBuffer[2];
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// See if we already have suitable buffers assigned
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if (_numDigitalPins>0) {
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size_t digitalBytesNeeded = (_numDigitalPins + 7) / 8;
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if (_digitalPinBytes < digitalBytesNeeded) {
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// Not enough space, free any existing buffer and allocate a new one
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if (_digitalPinBytes > 0) free(_digitalInputStates);
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if ((_digitalInputStates = (byte*) calloc(digitalBytesNeeded, 1)) != NULL) {
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_digitalPinBytes = digitalBytesNeeded;
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} else {
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DIAG(F("EX-IOExpander I2C:%s ERROR alloc %d bytes"), _I2CAddress.toString(), digitalBytesNeeded);
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_deviceState = DEVSTATE_FAILED;
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_digitalPinBytes = 0;
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return;
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}
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}
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}
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if (_numAnaloguePins>0) {
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size_t analogueBytesNeeded = _numAnaloguePins * 2;
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if (_analoguePinBytes < analogueBytesNeeded) {
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// Free any existing buffers and allocate new ones.
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if (_analoguePinBytes > 0) {
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free(_analogueInputBuffer);
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free(_analogueInputStates);
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free(_analoguePinMap);
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}
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_analogueInputStates = (uint8_t*) calloc(analogueBytesNeeded, 1);
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_analogueInputBuffer = (uint8_t*) calloc(analogueBytesNeeded, 1);
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_analoguePinMap = (uint8_t*) calloc(_numAnaloguePins, 1);
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if (_analogueInputStates != NULL &&
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_analogueInputBuffer != NULL &&
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_analoguePinMap != NULL) {
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_analoguePinBytes = analogueBytesNeeded;
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} else {
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DIAG(F("EX-IOExpander I2C:%s ERROR alloc analog pin bytes"), _I2CAddress.toString());
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_deviceState = DEVSTATE_FAILED;
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_analoguePinBytes = 0;
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return;
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}
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}
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}
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} else {
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DIAG(F("EX-IOExpander I2C:%s ERROR configuring device"), _I2CAddress.toString());
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_deviceState = DEVSTATE_FAILED;
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return;
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}
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}
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// We now need to retrieve the analogue pin map if there are analogue pins
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if (status == I2C_STATUS_OK && _numAnaloguePins>0) {
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commandBuffer[0] = EXIOINITA;
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status = I2CManager.read(_I2CAddress, _analoguePinMap, _numAnaloguePins, commandBuffer, 1);
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}
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if (status == I2C_STATUS_OK) {
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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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uint8_t versionBuffer[3];
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commandBuffer[0] = EXIOVER;
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if (I2CManager.read(_I2CAddress, versionBuffer, sizeof(versionBuffer), commandBuffer, 1) == I2C_STATUS_OK) {
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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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}
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DIAG(F("EX-IOExpander device found, I2C:%s, Version v%d.%d.%d"),
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_I2CAddress.toString(), _majorVer, _minorVer, _patchVer);
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#ifdef DIAG_IO
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_display();
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#endif
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}
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if (status != I2C_STATUS_OK)
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reportError(status);
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} else {
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DIAG(F("EX-IOExpander I2C:%s device not found"), _I2CAddress.toString());
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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 requested.
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// Configuration isn't done frequently so we can use blocking I2C calls here, and so buffers can
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// be allocated from the stack to reduce RAM allocation.
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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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uint8_t pullup = params[0];
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uint8_t outBuffer[] = {EXIODPUP, (uint8_t)pin, pullup};
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uint8_t responseBuffer[1];
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uint8_t status = I2CManager.read(_I2CAddress, responseBuffer, sizeof(responseBuffer),
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outBuffer, sizeof(outBuffer));
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if (status == I2C_STATUS_OK) {
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if (responseBuffer[0] == EXIORDY) {
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return true;
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} else {
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DIAG(F("EXIOVpin %u cannot be used as a digital input pin"), (int)vpin);
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}
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} else
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reportError(status);
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} else if (configType == 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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return false;
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}
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return false;
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}
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// Analogue input pin configuration, used to enable an EX-IOExpander device.
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// Use I2C blocking calls and allocate buffers from stack to save RAM.
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int _configureAnalogIn(VPIN vpin) override {
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int pin = vpin - _firstVpin;
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uint8_t commandBuffer[] = {EXIOENAN, (uint8_t)pin};
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uint8_t responseBuffer[1];
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uint8_t status = I2CManager.read(_I2CAddress, responseBuffer, sizeof(responseBuffer),
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commandBuffer, sizeof(commandBuffer));
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if (status == I2C_STATUS_OK) {
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if (responseBuffer[0] == EXIORDY) {
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return true;
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} else {
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DIAG(F("EX-IOExpander: Vpin %u cannot be used as an analogue input pin"), (int)vpin);
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}
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} else
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reportError(status);
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return false;
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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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if (_deviceState == DEVSTATE_FAILED) return; // If device failed, return
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// Request block is used for analogue and digital reads from the IOExpander, which are performed
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// on a cyclic basis. Writes are performed synchronously as and when requested.
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if (_readState != RDS_IDLE) {
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if (_i2crb.isBusy()) return; // If I2C operation still in progress, return
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uint8_t status = _i2crb.status;
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if (status == I2C_STATUS_OK) { // If device request ok, read input data
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// First check if we need to process received data
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if (_readState == RDS_ANALOGUE) {
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// Read of analogue values was in progress, so process received values
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// Here we need to copy the values from input buffer to the analogue value array. We need to
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// do this to avoid tearing of the values (i.e. one byte of a two-byte value being changed
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// while the value is being read).
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memcpy(_analogueInputStates, _analogueInputBuffer, _analoguePinBytes); // Copy I2C input buffer to states
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} else if (_readState == RDS_DIGITAL) {
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// Read of digital states was in progress, so process received values
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// The received digital states are placed directly into the digital buffer on receipt,
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// so don't need any further processing at this point (unless we want to check for
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// changes and notify them to subscribers, to avoid the need for polling - see IO_GPIOBase.h).
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}
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} else
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reportError(status, false); // report eror but don't go offline.
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_readState = RDS_IDLE;
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}
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// If we're not doing anything now, check to see if a new input transfer is due.
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if (_readState == RDS_IDLE) {
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if (_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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_readCommandBuffer[0] = EXIORDD;
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I2CManager.read(_I2CAddress, _digitalInputStates, (_numDigitalPins+7)/8, _readCommandBuffer, 1, &_i2crb);
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// non-blocking read
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_lastDigitalRead = currentMicros;
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_readState = RDS_DIGITAL;
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} else if (_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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_readCommandBuffer[0] = EXIORDAN;
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I2CManager.read(_I2CAddress, _analogueInputBuffer,
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_numAnaloguePins * 2, _readCommandBuffer, 1, &_i2crb);
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_lastAnalogueRead = currentMicros;
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_readState = RDS_ANALOGUE;
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}
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}
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}
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// Obtain the correct analogue input value, with reference to the analogue
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// pin map.
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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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for (uint8_t aPin = 0; aPin < _numAnaloguePins; aPin++) {
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if (_analoguePinMap[aPin] == pin) {
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uint8_t _pinLSBByte = aPin * 2;
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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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}
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return -1; // pin not found in table
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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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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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}
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// Write digital value. We could have an output buffer of states, that is periodically
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// written to the device if there are any changes; this would reduce the I2C overhead
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// if lots of output requests are being made. We could also cache the last value
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// sent so that we don't write the same value over and over to the output.
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// However, for the time being, we just write the current value (blocking I2C) to the
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// IOExpander node. As it is a blocking request, we can use buffers allocated from
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// the stack to save RAM allocation.
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void _write(VPIN vpin, int value) override {
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uint8_t digitalOutBuffer[3];
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uint8_t responseBuffer[1];
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if (_deviceState == DEVSTATE_FAILED) return;
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int pin = vpin - _firstVpin;
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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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uint8_t status = I2CManager.read(_I2CAddress, responseBuffer, 1, digitalOutBuffer, 3);
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if (status != I2C_STATUS_OK) {
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reportError(status);
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} else {
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("Vpin %u cannot be used as a digital output pin"), (int)vpin);
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}
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}
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}
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// Write analogue (integer) value. Write the parameters (blocking I2C) to the
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// IOExpander node. As it is a blocking request, we can use buffers allocated from
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// the stack to reduce RAM allocation.
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void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
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uint8_t servoBuffer[7];
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uint8_t responseBuffer[1];
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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:%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] = 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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uint8_t status = I2CManager.read(_I2CAddress, responseBuffer, 1, servoBuffer, 7);
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if (status != I2C_STATUS_OK) {
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DIAG(F("EX-IOExpander I2C:%s Error:%d %S"), _I2CAddress.toString(), status, I2CManager.getErrorMessage(status));
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_deviceState = DEVSTATE_FAILED;
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} else {
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if (responseBuffer[0] != EXIORDY) {
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DIAG(F("Vpin %u 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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// Display device information and status.
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void _display() override {
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DIAG(F("EX-IOExpander I2C:%s v%d.%d.%d Vpins %u-%u %S"),
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_I2CAddress.toString(), _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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// Helper function for error handling
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void reportError(uint8_t status, bool fail=true) {
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DIAG(F("EX-IOExpander I2C:%s Error:%d (%S)"), _I2CAddress.toString(),
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status, I2CManager.getErrorMessage(status));
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if (fail)
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_deviceState = DEVSTATE_FAILED;
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}
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uint8_t _numDigitalPins = 0;
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uint8_t _numAnaloguePins = 0;
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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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uint8_t* _digitalInputStates = NULL;
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uint8_t* _analogueInputStates = NULL;
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uint8_t* _analogueInputBuffer = NULL; // buffer for I2C input transfers
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uint8_t _readCommandBuffer[1];
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uint8_t _digitalPinBytes = 0; // Size of allocated memory buffer (may be longer than needed)
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uint8_t _analoguePinBytes = 0; // Size of allocated memory buffer (may be longer than needed)
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uint8_t* _analoguePinMap = NULL;
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I2CRB _i2crb;
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enum {RDS_IDLE, RDS_DIGITAL, RDS_ANALOGUE}; // Read operation states
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uint8_t _readState = RDS_IDLE;
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unsigned long _lastDigitalRead = 0;
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unsigned long _lastAnalogueRead = 0;
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const unsigned long _digitalRefresh = 10000UL; // Delay refreshing digital inputs for 10ms
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const unsigned long _analogueRefresh = 50000UL; // Delay refreshing analogue inputs for 50ms
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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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