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