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/*
* GpOutPort.cpp
*
* Created on: 11 Feb 2020
* Author: David
*/
#include "GpOutPort.h"
#include <GCodes/GCodeBuffer/GCodeBuffer.h>
#include <Platform/RepRap.h>
#include <Platform/Platform.h>
#if SUPPORT_CAN_EXPANSION
# include <CAN/CanInterface.h>
# include <CAN/CanMessageGenericConstructor.h>
# include <CanMessageGenericTables.h>
#endif
#if SUPPORT_REMOTE_COMMANDS
# include <CanMessageGenericParser.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(GpOutputPort, __VA_ARGS__)
#define OBJECT_MODEL_FUNC_IF(_condition,...) OBJECT_MODEL_FUNC_IF_BODY(GpOutputPort, _condition,__VA_ARGS__)
constexpr ObjectModelTableEntry GpOutputPort::objectModelTable[] =
{
// Within each group, these entries must be in alphabetical order
{ "pwm", OBJECT_MODEL_FUNC(self->lastPwm, 2), ObjectModelEntryFlags::live },
};
constexpr uint8_t GpOutputPort::objectModelTableDescriptor[] = { 1, 1 };
DEFINE_GET_OBJECT_MODEL_TABLE(GpOutputPort)
#endif
// Return true if the port is not configured
bool GpOutputPort::IsUnused() const noexcept
{
return
#if SUPPORT_CAN_EXPANSION
boardAddress == CanInterface::GetCanAddress() &&
#endif
!port.IsValid();
}
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 != CanInterface::GetCanAddress())
{
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 = CanInterface::GetCanAddress();
}
#endif
port.Release();
if (!seenFreq)
{
freq = (isServo) ? DefaultServoRefreshFrequency : DefaultPinWritePwmFreq;
}
GCodeResult rslt;
#if SUPPORT_CAN_EXPANSION
boardAddress = IoPort::RemoveBoardAddress(pinName.GetRef());
if (boardAddress != CanInterface::GetCanAddress())
{
CanMessageGenericConstructor cons(M950GpioParams);
cons.AddUParam('P', gpioNumber);
cons.AddUParam('Q', freq);
cons.AddUParam('S', (isServo) ? 1 : 0);
cons.AddStringParam('C', pinName.c_str());
rslt = cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
}
else
#endif
{
rslt = (port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpout, (isServo) ? PinAccess::servo : PinAccess::pwm))
? GCodeResult::ok
: GCodeResult::error;
}
if (Succeeded(rslt))
{
port.SetFrequency(freq); // we need to set the frequency even if it is a remote port because M280 uses it
reprap.StateUpdated();
}
return rslt;
}
// If we get here then there was no port name parameter
if (seenFreq)
{
GCodeResult rslt;
#if SUPPORT_CAN_EXPANSION
if (boardAddress != CanInterface::GetCanAddress())
{
CanMessageGenericConstructor cons(M950GpioParams);
cons.AddUParam('P', gpioNumber);
cons.AddUParam('Q', freq);
reprap.StateUpdated();
rslt = cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
}
else
#endif
{
rslt = GCodeResult::ok;
}
if (Succeeded(rslt))
{
port.SetFrequency(freq);
reprap.StateUpdated();
}
return rslt;
}
// If we get here then we have neither a port name nor a frequency, so just print the port details
#if SUPPORT_CAN_EXPANSION
if (boardAddress != CanInterface::GetCanAddress())
{
CanMessageGenericConstructor cons(M950GpioParams);
cons.AddUParam('P', gpioNumber);
return cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
}
#endif
reply.printf("GPIO/servo port %" PRIu32, gpioNumber);
port.AppendFullDetails(reply);
return GCodeResult::ok;
}
GCodeResult GpOutputPort::WriteAnalog(uint32_t gpioPortNumber, bool isServo, float pwm, const GCodeBuffer& gb, const StringRef& reply) noexcept
{
lastPwm = pwm;
#if SUPPORT_CAN_EXPANSION
if (boardAddress != CanInterface::GetCanAddress())
{
return CanInterface::WriteGpio(boardAddress, gpioPortNumber, pwm, isServo, &gb, reply);
}
#endif
port.WriteAnalog(pwm);
return GCodeResult::ok;
}
#if SUPPORT_REMOTE_COMMANDS
GCodeResult GpOutputPort::AssignFromRemote(uint32_t gpioPortNumber, const CanMessageGenericParser& parser, const StringRef& reply) noexcept
{
bool isServo;
if (!parser.GetBoolParam('S', isServo))
{
isServo = false;
}
PwmFrequency freq;
const bool seenFreq = parser.GetUintParam('Q', freq);
if (!seenFreq)
{
freq = (isServo) ? DefaultServoRefreshFrequency : DefaultPinWritePwmFreq;
}
String<StringLength50> pinName;
if (parser.GetStringParam('C', pinName.GetRef()))
{
// Creating or destroying a port
boardAddress = CanInterface::GetCanAddress();
const bool ok = port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpout, (isServo) ? PinAccess::servo : PinAccess::pwm);
if (ok && port.IsValid())
{
port.SetFrequency(freq);
}
return (ok) ? GCodeResult::ok : GCodeResult::error;
}
else
{
// Changing frequency, or reporting on a port
if (!port.IsValid() || boardAddress != CanInterface::GetCanAddress())
{
reply.printf("Board %u does not have GPIO/servo port %" PRIu32, CanInterface::GetCanAddress(), gpioPortNumber);
return GCodeResult::error;
}
if (seenFreq)
{
port.SetFrequency(freq);
}
else
{
reply.printf("GPIO/servo port %" PRIu32, gpioPortNumber);
port.AppendFullDetails(reply);
}
return GCodeResult::ok;
}
}
void GpOutputPort::WriteAnalog(float pwm) noexcept
{
if (boardAddress == CanInterface::GetCanAddress())
{
lastPwm = pwm;
port.WriteAnalog(pwm);
}
}
#endif
#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
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