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CommandStation-EX/IO_RS485.cpp
travis-farmer cf833b3bb0
cleaning and debugging
2024-12-13 05:16:36 -05:00

428 lines
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/*
* © 2024, Travis Farmer. All rights reserved.
* © 2024, Chris Bulliner. All rights reserved. https://github.com/CMB27
*
* This file is part of DCC++EX API
*
* This is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* It is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
#include "IO_RS485.h"
#include "defines.h"
/************************************************************
* RS485 implementation
************************************************************/
// Constructor for RS485
RS485::RS485(HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, int8_t txPin, int waitA) {
_baud = baud;
_serialD = &serial;
_txPin = txPin;
_busNo = 0;
_cycleTime = cycleTimeMS * 1000UL; // convert from milliseconds to microseconds.
_waitA = waitA;
if (_waitA < 3) _waitA = 3;
// Add device to HAL device chain
IODevice::addDevice(this);
// Add bus to RS485 chain.
_nextBus = _busList;
_busList = this;
}
/* -= updateCrc =-
//
// add the CRC value from _calculateCrc (2 bytes) to the buffer.
*/
void RS485::updateCrc(uint8_t *buf, uint16_t len) {
uint16_t crc = _calculateCrc(buf, len);
buf[len] = lowByte(crc);
buf[len + 1] = highByte(crc);
}
/* -= crcGood =-
//
// return TRUE if CRC matched between buffer copy, and calculated.
*/
bool RS485::crcGood(uint8_t *buf, uint16_t len) {
uint16_t aduCrc = buf[len] | (buf[len + 1] << 8);
uint16_t calculatedCrc = _calculateCrc(buf, len);
if (aduCrc == calculatedCrc) return true;
else return false;
}
/* -= calculateCrc =-
//
// use bitwise XOR to calculate CRC into a 16-bit byte
*/
uint16_t RS485::_calculateCrc(uint8_t *buf, uint16_t len) {
uint16_t value = 0xFFFF;
for (uint16_t i = 0; i < len; i++) {
value ^= (uint16_t)buf[i];
for (uint8_t j = 0; j < 8; j++) {
bool lsb = value & 1;
value >>= 1;
if (lsb == true) value ^= 0xA001;
}
}
return value;
}
/* -= clearRxBuffer =-
//
// BLOCKING method to empty stray data in RX buffer
*/
void RS485::clearRxBuffer() {
unsigned long startMicros = micros();
do {
if (_serialD->available() > 0) {
startMicros = micros();
_serialD->read();
}
} while (micros() - startMicros < _frameTimeout);
}
/* -= _loop =-
//
// Main loop function for RS485.
// Work through list of nodes. For each node, in separate loop entries
// When the slot time has finished, move on to the next device.
*/
void RS485::_loop(unsigned long currentMicros) {
_currentMicros = currentMicros;
if (_currentNode == NULL) {
_currentNode = _nodeListStart;
}
if (_currentMicros - _cycleStartTime < _cycleTime) return;
_cycleStartTime = _currentMicros;
if (_currentNode == NULL) return;
bool flagOK = true;
#if defined(RS485_STM_COMM)
ArduinoPins::fastWriteDigital(RS485_STM_COMM,HIGH);
#endif
if (taskCnt > 0) {
// run through tasks
if (!waitReceive) getNextTask(taskData);
switch((int) taskData[0]) {
case 0:
// protection for pulling empty task
break;
case 1: // configure pin
if (taskData[4] == (int*) CONFIGURE_INPUT) {
uint8_t pullup = (uint8_t) taskData[6];
uint8_t outBuffer[6] = {EXIODPUP, (uint8_t) taskData[0], (uint8_t)taskData[3], pullup};
uint8_t responseBuffer[3];
updateCrc(outBuffer,4);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(outBuffer, 6);
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
unsigned long startMillis = millis();
if (!_serialD->available()) {
if (waitReceive == true && _waitCounter > _waitA) {
flagOK = false;
} else waitReceive = true;
}
waitReceive = false;
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
responseBuffer[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Forgen RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
if (responseBuffer[0] == EXIORDY) {
} else {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital input pin"), (int)taskData[3]);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
flagOK = false;
}
} else if (taskData[3] == (int*) CONFIGURE_ANALOGINPUT) {
// TODO: Consider moving code from _configureAnalogIn() to here and remove _configureAnalogIn
// from IODevice class definition. Not urgent, but each virtual function defined
// means increasing the RAM requirement of every HAL device driver, whether it's relevant
// to the driver or not.
}
break;
case 2: // configure analog in
uint8_t commandBuffer[5] = {EXIOENAN, (uint8_t) taskData[0], (uint8_t) taskData[3]};
uint8_t responseBuffer[3];
updateCrc(commandBuffer,3);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(commandBuffer, 5);
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
unsigned long startMillis = millis();
if (!_serialD->available()) {
if (waitReceive == true && _waitCounter > _waitA) {
flagOK = false;
} else waitReceive = true;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
responseBuffer[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Forgen RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485: Vpin %u on node %d cannot be used as an analogue input pin"), (int) taskData[3], (int) taskData[0]);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
flagOK = false;
}
break;
case 3: // write pin
uint8_t digitalOutBuffer[6];
uint8_t responseBuffer[3];
digitalOutBuffer[0] = EXIOWRD;
digitalOutBuffer[1] = (uint8_t) taskData[0];
digitalOutBuffer[2] = (uint8_t) taskData[3];
digitalOutBuffer[3] = (uint8_t) taskData[4];
updateCrc(digitalOutBuffer,4);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(digitalOutBuffer, 6);
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
unsigned long startMillis = millis();
if (!_serialD->available()) {
if (waitReceive == true && _waitCounter > _waitA) {
flagOK = false;
} else waitReceive = true;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
responseBuffer[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Forgen RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a digital output pin"), (int)taskData[3]);
}
} else {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
flagOK = false;
}
break;
case 4:
uint8_t servoBuffer[10];
uint8_t responseBuffer[3];
#ifdef DIAG_IO
DIAG(F("EX-IOExpander485 Servo: WriteAnalogue Vpin:%u Value:%d Profile:%d Duration:%d %S"),
vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
#endif
servoBuffer[0] = EXIOWRAN;
servoBuffer[1] = (uint8_t) taskData[0];
servoBuffer[2] = (uint8_t) taskData[3];
servoBuffer[3] = (uint8_t) taskData[4] & 0xFF;
servoBuffer[4] = (uint8_t) taskData[4] >> 8;
servoBuffer[5] = (uint8_t) taskData[5];
servoBuffer[6] = (uint8_t) taskData[6] & 0xFF;
servoBuffer[7] = (uint8_t) taskData[6] >> 8;
updateCrc(servoBuffer,8);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(servoBuffer, 10);
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
unsigned long startMillis = millis();
if (!_serialD->available()) {
if (waitReceive == true && _waitCounter > _waitA) {
flagOK = false;
} else waitReceive = true;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
responseBuffer[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < 256);
if (!crcGood(responseBuffer,sizeof(responseBuffer)-2)) {
DIAG(F("EX-IOExpander485 node %d CRC Error"), (int) taskData[0]);
flagOK = false;
_deviceState = DEVSTATE_FAILED;
} else {
if (!testAndStripMasterFlag(responseBuffer)) DIAG(F("Forgen RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
if (responseBuffer[0] != EXIORDY) {
DIAG(F("EX-IOExpander485 Vpin %u cannot be used as a servo/PWM pin"), (int) taskData[3]);
}
}
}
} else {
memcpy(_currentNode->_analogueInputStates, _currentNode->_analogueInputBuffer, _currentNode->_analoguePinBytes); // Copy I2C input buffer to states
switch (_refreshOperation) {
case 0:
if (_currentNode->_numDigitalPins>0 && currentMicros - _lastDigitalRead > _digitalRefresh) { // Delay for digital read refresh
// Issue new read request for digital states. As the request is non-blocking, the buffer has to
// be allocated from heap (object state).
_currentNode->_readCommandBuffer[0] = EXIORDD;
_currentNode->_readCommandBuffer[1] = _currentNode->getNodeID();
updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
unsigned long startMillis = millis();
if (!_serialD->available()) {
if (waitReceive == true && _waitCounter > _waitA) {
flagOK = false;
} else waitReceive = true;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
_currentNode->_digitalInputStates[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < (_currentNode->_numDigitalPins+7)/8);
if (!crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)) {
DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
flagOK = false;
}
if (!testAndStripMasterFlag(_currentNode->_digitalInputStates)) DIAG(F("Forgen RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
if (!waitReceive) _refreshOperation++;
_lastDigitalRead = currentMicros;
_readState = RDS_DIGITAL;
}
break;
case 1:
if (_currentNode->_numAnaloguePins>0 && currentMicros - _lastAnalogueRead > _analogueRefresh) { // Delay for analogue read refresh
// Issue new read for analogue input states
_currentNode->_readCommandBuffer[0] = EXIORDAN;
_currentNode->_readCommandBuffer[1] = _currentNode->getNodeID();
updateCrc(_currentNode->_readCommandBuffer,sizeof(_currentNode->_readCommandBuffer)-2);
if (waitReceive == false) {
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, HIGH);
_serialD->write(_currentNode->_readCommandBuffer, sizeof(_currentNode->_readCommandBuffer));
_serialD->flush();
if (_txPin != VPIN_NONE) ArduinoPins::fastWriteDigital(_txPin, LOW);
}
unsigned long startMillis = millis();
if (!_serialD->available()) {
if (waitReceive == true && _waitCounter > _waitA) {
flagOK = false;
} else waitReceive = true;
}
uint16_t len = 0;
unsigned long startMicros = micros();
do {
if (_serialD->available()) {
startMicros = micros();
_currentNode->_analogueInputBuffer[len] = _serialD->read();
len++;
}
} while (micros() - startMicros <= 500 && len < _currentNode->_numAnaloguePins * 2);
if (!crcGood(_currentNode->_digitalInputStates,sizeof(_currentNode->_digitalInputStates)-2)) {
DIAG(F("EX-IOExpander485 CRC error on node %d"), _currentNode->getNodeID());
flagOK = false;
}
if (!testAndStripMasterFlag(_currentNode->_digitalInputStates)) DIAG(F("Forgen RS485 Device! no master flag from node %d"),_currentNode->getNodeID());
if (!waitReceive) _refreshOperation = 0;
_lastAnalogueRead = currentMicros;
_readState = RDS_ANALOGUE;
}
break;
}
if(flagOK == true) _currentNode = _currentNode->getNext();
}
#if defined(RS485_STM_OK)
if (flagOK == true) {
ArduinoPins::fastWriteDigital(RS485_STM_OK,HIGH);
} else {
ArduinoPins::fastWriteDigital(RS485_STM_OK,LOW);
}
#endif
#if defined(RS485_STM_FAIL)
if (flagOK == false) {
ArduinoPins::fastWriteDigital(RS485_STM_FAIL,HIGH);
} else {
ArduinoPins::fastWriteDigital(RS485_STM_FAIL,LOW);
}
#endif
#if defined(RS485_STM_COMM)
ArduinoPins::fastWriteDigital(RS485_STM_COMM,LOW);
#endif
}
// Link to chain of RS485 instances, left over from RS485 template.
RS485 *RS485::_busList = NULL;
/************************************************************
* RS485node implementation
************************************************************/
/* -= RS485node =-
//
// Constructor for RS485node object
*/
RS485node::RS485node(VPIN firstVpin, int nPins, uint8_t nodeID) {
_firstVpin = firstVpin;
_nPins = nPins;
_busNo = 0;
_nodeID = nodeID;
if (_nodeID > 254) _nodeID = 254;
// Add this device to HAL device list
IODevice::addDevice(this);
_display();
// Add RS485node to RS485 object.
RS485 *bus = RS485::findBus(_busNo);
if (bus != NULL) {
bus->addNode(this);
return;
}
}
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