mirror of
https://github.com/DCC-EX/CommandStation-EX.git
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fb8cca8d35
serial is working I2C is wrong First, the initialization was incorrect. The FastClock was initialized before the I2C Manager was initialized Second: FastClock Functions are missing
596 lines
20 KiB
C++
596 lines
20 KiB
C++
/*
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* © 2021 Neil McKechnie
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* © 2021 Harald Barth
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* 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 <Arduino.h>
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#include "IODevice.h"
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#include "DIAG.h"
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#include "FSH.h"
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#include "IO_MCP23017.h"
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#include "DCCTimer.h"
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#if !defined(IO_NO_HAL)
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#ifdef FAST_CLOCK_I2C
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#include "IO_EXFastClock.h" // FastClock driver
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#endif
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#endif
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#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_MEGAAVR)
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#define USE_FAST_IO
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#endif
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// Link to halSetup function. If not defined, the function reference will be NULL.
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extern __attribute__((weak)) void halSetup();
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extern __attribute__((weak)) void exrailHalSetup();
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//==================================================================================================================
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// Static methods
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//------------------------------------------------------------------------------------------------------------------
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// Static functions
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// Static method to initialise the IODevice subsystem.
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#if !defined(IO_NO_HAL)
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// Create any standard device instances that may be required, such as the Arduino pins
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// and PCA9685.
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void IODevice::begin() {
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// Initialise the IO subsystem defaults
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ArduinoPins::create(2, NUM_DIGITAL_PINS-2); // Reserve pins for direct access
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// Call user's halSetup() function (if defined in the build in myHal.cpp).
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// The contents will depend on the user's system hardware configuration.
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// The myHal.cpp file is a standard C++ module so has access to all of the DCC++EX APIs.
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// This is done early so that the subsequent defaults will detect an overlap and not
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// create something that conflicts with the user's vpin definitions.
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if (halSetup)
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halSetup();
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// include any HAL devices defined in exrail.
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if (exrailHalSetup)
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exrailHalSetup();
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// Predefine two PCA9685 modules 0x40-0x41 if no conflicts
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// Allocates 32 pins 100-131
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if (checkNoOverlap(100, 16, 0x40)) {
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PCA9685::create(100, 16, 0x40);
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} else {
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DIAG(F("Default PCA9685 at I2C 0x40 disabled due to configured user device"));
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}
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if (checkNoOverlap(116, 16, 0x41)) {
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PCA9685::create(116, 16, 0x41);
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} else {
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DIAG(F("Default PCA9685 at I2C 0x41 disabled due to configured user device"));
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}
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#ifdef FAST_CLOCK_I2C
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EXFastClock::create(FAST_CLOCK_I2C);
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DIAG(F("EXFastClock::create"));
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#endif
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// Predefine two MCP23017 module 0x20/0x21 if no conflicts
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// Allocates 32 pins 164-195
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if (checkNoOverlap(164, 16, 0x20)) {
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MCP23017::create(164, 16, 0x20);
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} else {
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DIAG(F("Default MCP23017 at I2C 0x20 disabled due to configured user device"));
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}
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if (checkNoOverlap(180, 16, 0x21)) {
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MCP23017::create(180, 16, 0x21);
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} else {
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DIAG(F("Default MCP23017 at I2C 0x21 disabled due to configured user device"));
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}
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}
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// reset() function to reinitialise all devices
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void IODevice::reset() {
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unsigned long currentMicros = micros();
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for (IODevice *dev = _firstDevice; dev != NULL; dev = dev->_nextDevice) {
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dev->_deviceState = DEVSTATE_DORMANT;
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// First ensure that _loop isn't delaying
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dev->delayUntil(currentMicros);
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// Then invoke _begin to restart driver
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dev->_begin();
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}
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}
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// Overarching static loop() method for the IODevice subsystem. Works through the
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// list of installed devices and calls their individual _loop() method.
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// Devices may or may not implement this, but if they do it is useful for things like animations
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// or flashing LEDs.
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// The current value of micros() is passed as a parameter, so the called loop function
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// doesn't need to invoke it.
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void IODevice::loop() {
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unsigned long currentMicros = micros();
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IODevice *lastLoopDevice = _nextLoopDevice; // So we know when to stop...
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// Loop through devices until we find one ready to be serviced.
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do {
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if (!_nextLoopDevice) _nextLoopDevice = _firstDevice;
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if (_nextLoopDevice) {
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if (_nextLoopDevice->_deviceState != DEVSTATE_FAILED
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&& ((long)(currentMicros - _nextLoopDevice->_nextEntryTime)) >= 0) {
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// Found one ready to run, so invoke its _loop method.
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_nextLoopDevice->_nextEntryTime = currentMicros;
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_nextLoopDevice->_loop(currentMicros);
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_nextLoopDevice = _nextLoopDevice->_nextDevice;
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break;
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}
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// Not this one, move to next one
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_nextLoopDevice = _nextLoopDevice->_nextDevice;
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}
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} while (_nextLoopDevice != lastLoopDevice); // Stop looking when we've done all.
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// Report loop time if diags enabled
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#if defined(DIAG_LOOPTIMES)
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unsigned long diagMicros = micros();
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static unsigned long lastMicros = 0;
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// Measure time since HAL's loop() method started.
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unsigned long halElapsed = diagMicros - currentMicros;
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// Measure time between loop() method entries (excluding this diagnostic).
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unsigned long elapsed = diagMicros - lastMicros;
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static unsigned long maxElapsed = 0, maxHalElapsed = 0;
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static unsigned long lastOutputTime = 0;
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static unsigned long halTotal = 0, total = 0;
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static unsigned long count = 0;
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const unsigned long interval = (unsigned long)5 * 1000 * 1000; // 5 seconds in microsec
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// Ignore long loop counts while message is still outputting (~3 milliseconds)
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if (currentMicros - lastOutputTime > 3000UL) {
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if (elapsed > maxElapsed) maxElapsed = elapsed;
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if (halElapsed > maxHalElapsed) maxHalElapsed = halElapsed;
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halTotal += halElapsed;
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total += elapsed;
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count++;
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}
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if (diagMicros - lastOutputTime > interval) {
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if (lastOutputTime > 0)
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DIAG(F("Loop Total:%lus (%lus max) HAL:%lus (%lus max)"),
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total/count, maxElapsed, halTotal/count, maxHalElapsed);
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maxElapsed = maxHalElapsed = total = halTotal = count = 0;
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lastOutputTime = diagMicros;
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}
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// Read microsecond count after calculations, so they aren't
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// included in the overall timings.
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lastMicros = micros();
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#endif
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}
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// Display a list of all the devices on the diagnostic stream.
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void IODevice::DumpAll() {
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for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
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dev->_display();
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}
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}
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// Determine if the specified vpin is allocated to a device.
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bool IODevice::exists(VPIN vpin) {
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return findDevice(vpin) != NULL;
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}
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// check whether the pin supports notification. If so, then regular _read calls are not required.
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bool IODevice::hasCallback(VPIN vpin) {
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IODevice *dev = findDevice(vpin);
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if (!dev) return false;
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return dev->_hasCallback;
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}
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// Display (to diagnostics) details of the device.
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void IODevice::_display() {
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DIAG(F("Unknown device Vpins:%u-%u %S"),
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(int)_firstVpin, (int)_firstVpin+_nPins-1, _deviceState==DEVSTATE_FAILED ? F("OFFLINE") : F(""));
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}
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// Find device associated with nominated Vpin and pass configuration values on to it.
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// Return false if not found.
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bool IODevice::configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
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IODevice *dev = findDevice(vpin);
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if (dev) return dev->_configure(vpin, configType, paramCount, params);
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#ifdef DIAG_IO
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DIAG(F("IODevice::configure(): VPIN %u not found!"), (int)vpin);
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#endif
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return false;
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}
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// Read value from virtual pin.
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int IODevice::read(VPIN vpin) {
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for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
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if (dev->owns(vpin))
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return dev->_read(vpin);
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}
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#ifdef DIAG_IO
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DIAG(F("IODevice::read(): VPIN %u not found!"), (int)vpin);
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#endif
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return false;
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}
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// Read analogue value from virtual pin.
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int IODevice::readAnalogue(VPIN vpin) {
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for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
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if (dev->owns(vpin))
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return dev->_readAnalogue(vpin);
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}
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#ifdef DIAG_IO
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DIAG(F("IODevice::readAnalogue(): VPIN %u not found!"), (int)vpin);
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#endif
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return -1023;
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}
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int IODevice::configureAnalogIn(VPIN vpin) {
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for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
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if (dev->owns(vpin))
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return dev->_configureAnalogIn(vpin);
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}
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#ifdef DIAG_IO
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DIAG(F("IODevice::configureAnalogIn(): VPIN %u not found!"), (int)vpin);
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#endif
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return -1023;
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}
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// Write value to virtual pin(s). If multiple devices are allocated the same pin
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// then only the first one found will be used.
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void IODevice::write(VPIN vpin, int value) {
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IODevice *dev = findDevice(vpin);
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if (dev) {
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dev->_write(vpin, value);
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return;
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}
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#ifdef DIAG_IO
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DIAG(F("IODevice::write(): VPIN %u not found!"), (int)vpin);
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#endif
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}
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// Write analogue value to virtual pin(s). If multiple devices are allocated
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// the same pin then only the first one found will be used.
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//
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// The significance of param1 and param2 may vary from device to device.
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// For servo controllers, param1 is the profile of the transition and param2
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// the duration, i.e. the time that the operation is to be animated over
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// in deciseconds (0-3276 sec)
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//
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void IODevice::writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t param2) {
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IODevice *dev = findDevice(vpin);
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if (dev) {
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dev->_writeAnalogue(vpin, value, param1, param2);
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return;
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}
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#ifdef DIAG_IO
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DIAG(F("IODevice::writeAnalogue(): VPIN %u not found!"), (int)vpin);
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#endif
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}
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// isBusy, when called for a device pin is always a digital output or analogue output,
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// returns input feedback state of the pin, i.e. whether the pin is busy performing
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// an animation or fade over a period of time.
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bool IODevice::isBusy(VPIN vpin) {
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IODevice *dev = findDevice(vpin);
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if (dev)
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return dev->_read(vpin);
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else
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return false;
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}
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void IODevice::setGPIOInterruptPin(int16_t pinNumber) {
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if (pinNumber >= 0)
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pinMode(pinNumber, INPUT_PULLUP);
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_gpioInterruptPin = pinNumber;
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}
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// Helper function to add a new device to the device chain. If
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// slaveDevice is NULL then the device is added to the end of the chain.
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// Otherwise, the chain is searched for slaveDevice and the new device linked
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// in front of it (to support filter devices that share the same VPIN range
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// as the devices they control). If slaveDevice isn't found, then the
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// device is linked to the end of the chain.
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void IODevice::addDevice(IODevice *newDevice, IODevice *slaveDevice /* = NULL */) {
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if (slaveDevice == _firstDevice) {
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newDevice->_nextDevice = _firstDevice;
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_firstDevice = newDevice;
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} else {
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for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
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if (dev->_nextDevice == slaveDevice || dev->_nextDevice == NULL) {
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// Link new device between dev and slaveDevice (or at end of chain)
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newDevice->_nextDevice = dev->_nextDevice;
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dev->_nextDevice = newDevice;
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break;
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}
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}
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}
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newDevice->_begin();
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}
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// Private helper function to locate a device by VPIN. Returns NULL if not found.
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// This is performance-critical, so minimises the calculation and function calls necessary.
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IODevice *IODevice::findDevice(VPIN vpin) {
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for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
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VPIN firstVpin = dev->_firstVpin;
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if (vpin >= firstVpin && vpin < firstVpin+dev->_nPins)
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return dev;
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}
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return NULL;
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}
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// Instance helper function for filter devices (layered over others). Looks for
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// a device that is further down the chain than the current device.
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IODevice *IODevice::findDeviceFollowing(VPIN vpin) {
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for (IODevice *dev = _nextDevice; dev != 0; dev = dev->_nextDevice) {
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VPIN firstVpin = dev->_firstVpin;
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if (vpin >= firstVpin && vpin < firstVpin+dev->_nPins)
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return dev;
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}
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return NULL;
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}
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// Private helper function to check for vpin overlap. Run during setup only.
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// returns true if pins DONT overlap with existing device
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// TODO: Move the I2C address reservation and checks into the I2CManager code.
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// That will enable non-HAL devices to reserve I2C addresses too.
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bool IODevice::checkNoOverlap(VPIN firstPin, uint8_t nPins, I2CAddress i2cAddress) {
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#ifdef DIAG_IO
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DIAG(F("Check no overlap %u %u %s"), firstPin,nPins,i2cAddress.toString());
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#endif
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VPIN lastPin=firstPin+nPins-1;
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for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
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if (nPins > 0 && dev->_nPins > 0) {
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// check for pin range overlaps (verbose but compiler will fix that)
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VPIN firstDevPin=dev->_firstVpin;
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VPIN lastDevPin=firstDevPin+dev->_nPins-1;
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bool noOverlap= firstPin>lastDevPin || lastPin<firstDevPin;
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if (!noOverlap) {
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DIAG(F("WARNING HAL Overlap, redefinition of Vpins %u to %u ignored."),
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firstPin, lastPin);
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return false;
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}
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}
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// Check for overlapping I2C address
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if (i2cAddress && dev->_I2CAddress==i2cAddress) {
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DIAG(F("WARNING HAL Overlap. i2c Addr %s ignored."),i2cAddress.toString());
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return false;
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}
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}
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return true; // no overlaps... OK to go on with constructor
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}
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//==================================================================================================================
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// Static data
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//------------------------------------------------------------------------------------------------------------------
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// Chain of callback blocks (identifying registered callback functions for state changes)
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IONotifyCallback *IONotifyCallback::first = 0;
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// Start and end of chain of devices.
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IODevice *IODevice::_firstDevice = 0;
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// Reference to next device to be called on _loop() method.
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IODevice *IODevice::_nextLoopDevice = 0;
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//==================================================================================================================
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// Instance members
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//------------------------------------------------------------------------------------------------------------------
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// Method to check whether the id corresponds to this device
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bool IODevice::owns(VPIN id) {
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return (id >= _firstVpin && id < _firstVpin + _nPins);
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}
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#else // !defined(IO_NO_HAL)
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// Minimal implementations of public HAL interface, to support Arduino pin I/O and nothing more.
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void IODevice::begin() { DIAG(F("NO HAL CONFIGURED!")); }
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bool IODevice::configure(VPIN pin, ConfigTypeEnum configType, int nParams, int p[]) {
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if (configType!=CONFIGURE_INPUT || nParams!=1 || pin >= NUM_DIGITAL_PINS) return false;
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#ifdef DIAG_IO
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DIAG(F("Arduino _configurePullup pin:%d Val:%d"), pin, p[0]);
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#endif
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pinMode(pin, p[0] ? INPUT_PULLUP : INPUT);
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return true;
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}
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void IODevice::write(VPIN vpin, int value) {
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if (vpin >= NUM_DIGITAL_PINS) return;
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digitalWrite(vpin, value);
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pinMode(vpin, OUTPUT);
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}
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void IODevice::writeAnalogue(VPIN, int, uint8_t, uint16_t) {}
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bool IODevice::isBusy(VPIN) { return false; }
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bool IODevice::hasCallback(VPIN) { return false; }
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int IODevice::read(VPIN vpin) {
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if (vpin >= NUM_DIGITAL_PINS) return 0;
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return !digitalRead(vpin); // Return inverted state (5v=0, 0v=1)
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}
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int IODevice::readAnalogue(VPIN vpin) {
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return ADCee::read(vpin);
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}
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int IODevice::configureAnalogIn(VPIN vpin) {
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return ADCee::init(vpin);
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}
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void IODevice::loop() {}
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void IODevice::DumpAll() {
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DIAG(F("NO HAL CONFIGURED!"));
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}
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bool IODevice::exists(VPIN vpin) { return (vpin > 2 && vpin < NUM_DIGITAL_PINS); }
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void IODevice::setGPIOInterruptPin(int16_t) {}
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// Chain of callback blocks (identifying registered callback functions for state changes)
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// Not used in IO_NO_HAL but must be declared.
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IONotifyCallback *IONotifyCallback::first = 0;
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#endif // IO_NO_HAL
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/////////////////////////////////////////////////////////////////////////////////////////////////////
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// Constructor
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ArduinoPins::ArduinoPins(VPIN firstVpin, int nPins) {
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_firstVpin = firstVpin;
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_nPins = nPins;
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int arrayLen = (_nPins+7)/8;
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_pinPullups = (uint8_t *)calloc(3, arrayLen);
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_pinModes = (&_pinPullups[0]) + arrayLen;
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_pinInUse = (&_pinPullups[0]) + 2*arrayLen;
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for (int i=0; i<arrayLen; i++) {
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_pinPullups[i] = 0xff; // default to pullup on, for inputs
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_pinModes[i] = 0;
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_pinInUse[i] = 0;
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}
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}
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// Device-specific pin configuration. Configure should be called infrequently so simplify
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// code by using the standard pinMode function.
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bool ArduinoPins::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
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if (configType != CONFIGURE_INPUT) return false;
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if (paramCount != 1) return false;
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bool pullup = params[0];
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int pin = vpin;
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#ifdef DIAG_IO
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DIAG(F("Arduino _configurePullup Pin:%d Val:%d"), pin, pullup);
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#endif
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uint8_t mask = 1 << ((pin-_firstVpin) % 8);
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uint8_t index = (pin-_firstVpin) / 8;
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_pinModes[index] &= ~mask; // set to input mode
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if (pullup) {
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_pinPullups[index] |= mask;
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pinMode(pin, INPUT_PULLUP);
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} else {
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_pinPullups[index] &= ~mask;
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pinMode(pin, INPUT);
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}
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_pinInUse[index] |= mask;
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return true;
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|
}
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|
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|
// Device-specific write function.
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void ArduinoPins::_write(VPIN vpin, int value) {
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int pin = vpin;
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#ifdef DIAG_IO
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DIAG(F("Arduino Write Pin:%d Val:%d"), pin, value);
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#endif
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uint8_t mask = 1 << ((pin-_firstVpin) % 8);
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uint8_t index = (pin-_firstVpin) / 8;
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|
// First update the output state, then set into write mode if not already.
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|
fastWriteDigital(pin, value);
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|
if (!(_pinModes[index] & mask)) {
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|
// Currently in read mode, change to write mode
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|
_pinModes[index] |= mask;
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|
// Since mode changes should be infrequent, use standard pinMode function
|
|
pinMode(pin, OUTPUT);
|
|
_pinInUse[index] |= mask;
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|
}
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|
}
|
|
|
|
// Device-specific read function (digital input).
|
|
int ArduinoPins::_read(VPIN vpin) {
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|
int pin = vpin;
|
|
uint8_t mask = 1 << ((pin-_firstVpin) % 8);
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|
uint8_t index = (pin-_firstVpin) / 8;
|
|
if ((_pinModes[index] | ~_pinInUse[index]) & mask) {
|
|
// Currently in write mode or not initialised, change to read mode
|
|
_pinModes[index] &= ~mask;
|
|
// Since mode changes should be infrequent, use standard pinMode function
|
|
if (_pinPullups[index] & mask)
|
|
pinMode(pin, INPUT_PULLUP);
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|
else
|
|
pinMode(pin, INPUT);
|
|
_pinInUse[index] |= mask;
|
|
}
|
|
int value = !fastReadDigital(pin); // Invert (5v=0, 0v=1)
|
|
|
|
#ifdef DIAG_IO
|
|
//DIAG(F("Arduino Read Pin:%d Value:%d"), pin, value);
|
|
#endif
|
|
return value;
|
|
}
|
|
|
|
// Device-specific readAnalogue function (analogue input)
|
|
int ArduinoPins::_readAnalogue(VPIN vpin) {
|
|
if (vpin > 255) return -1023;
|
|
uint8_t pin = vpin;
|
|
int value = ADCee::read(pin);
|
|
|
|
#ifdef DIAG_IO
|
|
DIAG(F("Arduino Read Pin:%d Value:%d"), pin, value);
|
|
#endif
|
|
return value;
|
|
}
|
|
int ArduinoPins::_configureAnalogIn(VPIN vpin) {
|
|
if (vpin > 255) return -1023;
|
|
uint8_t pin = vpin;
|
|
uint8_t mask = 1 << ((pin-_firstVpin) % 8);
|
|
uint8_t index = (pin-_firstVpin) / 8;
|
|
if (_pinModes[index] & mask) {
|
|
// Currently in write mode, change to read mode
|
|
_pinModes[index] &= ~mask;
|
|
// Since mode changes should be infrequent, use standard pinMode function
|
|
if (_pinPullups[index] & mask)
|
|
pinMode(pin, INPUT_PULLUP);
|
|
else
|
|
pinMode(pin, INPUT);
|
|
}
|
|
int value = ADCee::init(pin);
|
|
#ifdef DIAG_IO
|
|
DIAG(F("configureAnalogIn Pin:%d Value:%d"), pin, value);
|
|
#endif
|
|
return value;
|
|
}
|
|
|
|
void ArduinoPins::_display() {
|
|
DIAG(F("Arduino Vpins:%u-%u"), (int)_firstVpin, (int)_firstVpin+_nPins-1);
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
void ArduinoPins::fastWriteDigital(uint8_t pin, uint8_t value) {
|
|
#if defined(USE_FAST_IO)
|
|
if (pin >= NUM_DIGITAL_PINS) return;
|
|
uint8_t mask = digitalPinToBitMask(pin);
|
|
uint8_t port = digitalPinToPort(pin);
|
|
volatile uint8_t *outPortAdr = portOutputRegister(port);
|
|
noInterrupts();
|
|
if (value)
|
|
*outPortAdr |= mask;
|
|
else
|
|
*outPortAdr &= ~mask;
|
|
interrupts();
|
|
#else
|
|
digitalWrite(pin, value);
|
|
#endif
|
|
}
|
|
|
|
bool ArduinoPins::fastReadDigital(uint8_t pin) {
|
|
#if defined(USE_FAST_IO)
|
|
if (pin >= NUM_DIGITAL_PINS) return false;
|
|
uint8_t mask = digitalPinToBitMask(pin);
|
|
uint8_t port = digitalPinToPort(pin);
|
|
volatile uint8_t *inPortAdr = portInputRegister(port);
|
|
// read input
|
|
bool result = (*inPortAdr & mask) != 0;
|
|
#else
|
|
bool result = digitalRead(pin);
|
|
#endif
|
|
return result;
|
|
}
|