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/*
* 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__)
#define OBJECT_MODEL_FUNC_IF(_condition,...) OBJECT_MODEL_FUNC_IF_BODY(GpInputPort, _condition,__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_IF(!self->IsUnused(), 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)
{
const GCodeResult rslt = CanInterface::DeleteHandle(boardAddress, handle, reply);
if (rslt != GCodeResult::ok)
{
reply.cat('\n');
const MessageType mtype = (rslt == GCodeResult::warning) ? AddWarning(gb.GetResponseMessageType()) : AddError(gb.GetResponseMessageType());
reprap.GetPlatform().Message(mtype, reply.c_str());
reply.Clear();
}
boardAddress = CanId::MasterAddress;
}
#endif
port.Release();
currentState = false;
GCodeResult rslt;
#if SUPPORT_CAN_EXPANSION
const CanAddress newBoard = IoPort::RemoveBoardAddress(pinName.GetRef());
if (newBoard != CanId::MasterAddress)
{
handle.Set(RemoteInputHandle::typeGpIn, gpinNumber, 0);
rslt = CanInterface::CreateHandle(newBoard, handle, pinName.c_str(), 0, MinimumGpinReportInterval, currentState, reply);
if (rslt == GCodeResult::ok)
{
boardAddress = newBoard;
}
else
{
currentState = false;
}
}
else
#endif
{
if (port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpin, PinAccess::read))
{
currentState = port.Read();
rslt = GCodeResult::ok;
}
else
{
rslt = GCodeResult::error;
}
}
reprap.InputsUpdated();
return rslt;
}
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", (GetState()) ? "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;
}
GCodeResult rslt;
#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());
rslt = cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
}
else
#endif
{
if (port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpout, (isServo) ? PinAccess::servo : PinAccess::pwm))
{
rslt = GCodeResult::ok;
port.SetFrequency(freq);
}
else
{
rslt = GCodeResult::error;
}
}
// GPOut pins are not yet in the object model
// reprap.OutputsUpdated();
return rslt;
}
else if (seenFreq)
{
#if SUPPORT_CAN_EXPANSION
if (boardAddress != CanId::MasterAddress)
{
CanMessageGenericConstructor cons(M950GpioParams);
cons.AddUParam('P', gpioNumber);
cons.AddUParam('Q', freq);
// reprap.OutputsUpdated();
return cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply);
}
#endif
port.SetFrequency(freq);
// reprap.OutputsUpdated();
}
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
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