Refactored GP inputs

2 files changed, 308 insertions, 0 deletions

diff --git a/src/GPIO/GpioPorts.cpp b/src/GPIO/GpioPorts.cpp
new file mode 100644
index 00000000..3ee8b45f
--- /dev/null
+++ b/src/GPIO/GpioPorts.cpp
@@ -0,0 +1,237 @@
+/*
+ * GpioPorts.cpp
+ *
+ *  Created on: 11 Feb 2020
+ *      Author: David
+ */
+
+#include "GpioPorts.h"
+#include <GCodes/GCodeBuffer/GCodeBuffer.h>
+#include <RepRap.h>
+#include <Platform.h>
+
+#if SUPPORT_CAN_EXPANSION
+# include <CAN/CanInterface.h>
+# include <CAN/CanMessageGenericConstructor.h>
+#endif
+
+#if SUPPORT_OBJECT_MODEL
+
+// Object model table and functions
+// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
+// Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM.
+
+// Macro to build a standard lambda function that includes the necessary type conversions
+#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(GpInputPort, __VA_ARGS__)
+
+constexpr ObjectModelTableEntry GpInputPort::objectModelTable[] =
+{
+	// Within each group, these entries must be in alphabetical order
+	// 0. sensors members
+	{ "configured",			OBJECT_MODEL_FUNC(!self->IsUnused()),							ObjectModelEntryFlags::none },
+	{ "value",				OBJECT_MODEL_FUNC(self->GetState()),							ObjectModelEntryFlags::live },
+};
+
+constexpr uint8_t GpInputPort::objectModelTableDescriptor[] = { 1, 2 };
+
+DEFINE_GET_OBJECT_MODEL_TABLE(GpInputPort)
+
+#endif
+
+bool GpInputPort::GetState() const noexcept
+{
+	// Temporary implementation until we use interrupts to track input pin state changes
+#if SUPPORT_CAN_EXPANSION
+	if (boardAddress != CanId::MasterAddress)
+	{
+		return currentState;
+	}
+#endif
+	return port.Read();
+}
+
+// Return true if the port is not configured
+bool GpInputPort::IsUnused() const noexcept
+{
+	return
+#if SUPPORT_CAN_EXPANSION
+		boardAddress == CanId::MasterAddress &&
+#endif
+		!port.IsValid();
+}
+
+GCodeResult GpInputPort::Configure(uint32_t gpinNumber, GCodeBuffer &gb, const StringRef &reply)
+{
+	if (gb.Seen('C'))
+	{
+		String<StringLength50> pinName;
+		gb.GetReducedString(pinName.GetRef());
+
+		// Remove any existing assignment
+#if SUPPORT_CAN_EXPANSION
+		if (boardAddress != CanId::MasterAddress)
+		{
+			if (CanInterface::DeleteHandle(boardAddress, handle, reply) != GCodeResult::ok)
+			{
+				reprap.GetPlatform().Message(AddWarning(gb.GetResponseMessageType()), reply.c_str());
+			}
+			boardAddress = CanId::MasterAddress;
+		}
+#endif
+		port.Release();
+		currentState = false;
+
+#if SUPPORT_CAN_EXPANSION
+		const CanAddress newBoard = IoPort::RemoveBoardAddress(pinName.GetRef());
+		if (newBoard != CanId::MasterAddress)
+		{
+			handle.Set(RemoteInputHandle::typeGpIn, gpinNumber, 0);
+			const GCodeResult rslt = CanInterface::CreateHandle(newBoard, handle, pinName.c_str(), 0, MinimumGpinReportInterval, currentState, reply);
+			if (rslt == GCodeResult::ok)
+			{
+				boardAddress = newBoard;
+			}
+			else
+			{
+				currentState = false;
+			}
+			return rslt;
+		}
+#endif
+		if (!port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpin, PinAccess::read))
+		{
+			return GCodeResult::error;
+		}
+		currentState = port.Read();
+	}
+	else
+	{
+		// Report the pin details
+#if SUPPORT_CAN_EXPANSION
+		if (boardAddress != CanId::MasterAddress)
+		{
+			const GCodeResult rslt = CanInterface::GetHandlePinName(boardAddress, handle, currentState, reply);
+			if (rslt != GCodeResult::ok)
+			{
+				return rslt;
+			}
+			reply.Prepend("Pin ");
+		}
+		else
+#endif
+		{
+			reply.copy("Pin ");
+			port.AppendPinName(reply);
+		}
+		reply.catf(", active: %s", (currentState) ? "true" : "false");
+	}
+	return GCodeResult::ok;
+}
+
+GCodeResult GpOutputPort::Configure(uint32_t gpioNumber, bool isServo, GCodeBuffer &gb, const StringRef &reply)
+{
+	PwmFrequency freq = 0;
+	const bool seenFreq = gb.Seen('Q');
+	if (seenFreq)
+	{
+		freq = gb.GetPwmFrequency();
+	}
+
+	if (gb.Seen('C'))
+	{
+		String<StringLength50> pinName;
+		gb.GetReducedString(pinName.GetRef());
+
+		// Remove any existing assignment
+#if SUPPORT_CAN_EXPANSION
+		if (boardAddress != CanId::MasterAddress)
+		{
+			CanMessageGenericConstructor cons(M950GpioParams);
+			cons.AddUParam('P', gpioNumber);
+			cons.AddStringParam('C', NoPinName);
+			if (cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply) != GCodeResult::ok)
+			{
+				reprap.GetPlatform().Message(WarningMessage, reply.c_str());
+				reply.Clear();
+			}
+			boardAddress = CanId::MasterAddress;
+		}
+#endif
+		port.Release();
+
+		if (!seenFreq)
+		{
+			freq = (isServo) ? ServoRefreshFrequency : DefaultPinWritePwmFreq;
+		}
+
+#if SUPPORT_CAN_EXPANSION
+		boardAddress = IoPort::RemoveBoardAddress(pinName.GetRef());
+		if (boardAddress != CanId::MasterAddress)
+		{
+			CanMessageGenericConstructor cons(M950GpioParams);
+			cons.AddUParam('P', gpioNumber);
+			cons.AddUParam('Q', freq);
+			cons.AddUParam('S', (isServo) ? 1 : 0);
+			cons.AddStringParam('C', pinName.c_str());
+			return cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
+		}
+#endif
+		if (!port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpout, (isServo) ? PinAccess::servo : PinAccess::pwm))
+		{
+			return GCodeResult::error;
+		}
+		port.SetFrequency(freq);
+	}
+	else if (seenFreq)
+	{
+#if SUPPORT_CAN_EXPANSION
+		if (boardAddress != CanId::MasterAddress)
+		{
+			CanMessageGenericConstructor cons(M950GpioParams);
+			cons.AddUParam('P', gpioNumber);
+			cons.AddUParam('Q', freq);
+			return cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
+		}
+#endif
+		port.SetFrequency(freq);
+	}
+	else
+	{
+#if SUPPORT_CAN_EXPANSION
+		if (boardAddress != CanId::MasterAddress)
+		{
+			CanMessageGenericConstructor cons(M950GpioParams);
+			cons.AddUParam('P', gpioNumber);
+			return cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
+		}
+#endif
+		reply.printf("GPIO/servo port %" PRIu32, gpioNumber);
+		port.AppendDetails(reply);
+	}
+	return GCodeResult::ok;
+}
+
+GCodeResult GpOutputPort::WriteAnalog(uint32_t gpioPortNumber, bool isServo, float pwm, const GCodeBuffer& gb, const StringRef& reply) const noexcept
+{
+#if SUPPORT_CAN_EXPANSION
+	if (boardAddress != CanId::MasterAddress)
+	{
+		return CanInterface::WriteGpio(boardAddress, gpioPortNumber, pwm, isServo, gb, reply);
+	}
+#endif
+	port.WriteAnalog(pwm);
+	return GCodeResult::ok;
+}
+
+#ifdef PCCB
+
+// Function used to assign default GPOUT devices
+void GpOutputPort::Assign(const char *pinName) noexcept
+{
+	String<1> dummy;
+	port.AssignPort(pinName, dummy.GetRef(), PinUsedBy::gpout, PinAccess::pwm);
+}
+
+#endif
+
+// End
diff --git a/src/GPIO/GpioPorts.h b/src/GPIO/GpioPorts.h
new file mode 100644
index 00000000..b8290c28
--- /dev/null
+++ b/src/GPIO/GpioPorts.h
@@ -0,0 +1,71 @@
+/*
+ * GpioPorts.h
+ *
+ *  Created on: 11 Feb 2020
+ *      Author: David
+ */
+
+#ifndef SRC_GPIO_GPIOPORTS_H_
+#define SRC_GPIO_GPIOPORTS_H_
+
+#include <RepRapFirmware.h>
+#include <Hardware/IoPorts.h>
+#include <GCodes/GCodeResult.h>
+#include <ObjectModel/ObjectModel.h>
+
+#if SUPPORT_CAN_EXPANSION
+# include <RemoteInputHandle.h>
+#endif
+
+class GpInputPort INHERIT_OBJECT_MODEL
+{
+public:
+	GpInputPort() noexcept :
+#if SUPPORT_CAN_EXPANSION
+		boardAddress (CanId::MasterAddress),
+#endif
+		currentState(false) { }
+
+	bool GetState() const noexcept;
+	bool IsUnused() const noexcept;
+
+#if SUPPORT_CAN_EXPANSION
+	void SetState(CanAddress src, bool b) noexcept { if (src == boardAddress) { currentState = b; } }
+#endif
+
+	GCodeResult Configure(uint32_t gpinNumber, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
+
+protected:
+	DECLARE_OBJECT_MODEL
+
+private:
+	IoPort port;									// will be initialised by PwmPort default constructor
+#if SUPPORT_CAN_EXPANSION
+	RemoteInputHandle handle;
+	CanAddress boardAddress;
+#endif
+	bool currentState;
+};
+
+class GpOutputPort
+{
+public:
+#if SUPPORT_CAN_EXPANSION
+	GpOutputPort() noexcept { boardAddress = CanId::MasterAddress; }
+#endif
+
+	GCodeResult WriteAnalog(uint32_t gpioPortNumber, bool isServo, float pwm, const GCodeBuffer& gb, const StringRef& reply) const noexcept;
+	GCodeResult Configure(uint32_t gpioNumber, bool isServo, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
+
+#ifdef PCCB
+	void Assign(const char *pinName) noexcept;
+#endif
+
+private:
+	PwmPort port;									// will be initialised by PwmPort default constructor
+#if SUPPORT_CAN_EXPANSION
+	CanAddress boardAddress;
+#endif
+};
+
+#endif /* SRC_GPIO_GPIOPORTS_H_ */