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Commit 51d8a9e3 authored by claes's avatar claes
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IO arduino fix

parent 826ee2c5
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otherio/exp/rt/src/pwr_arduino_uno.ino
View file @ 51d8a9e3
...@@ -20,7 +20,7 @@ ...@@ -20,7 +20,7 @@
// Sketch for Arduino USB board to communicate with Proview I/O // Sketch for Arduino USB board to communicate with Proview I/O
// object OtherIO:Arduino_Uno. // object OtherIO:Arduino_Uno.
// //
byte firmware[20] = "Proview 2012-02-29"; byte firmware[20] = "Proview V2.0.0-1";
byte version_major = 2; byte version_major = 2;
byte version_minor = 0; byte version_minor = 0;
byte msg = 0; byte msg = 0;
......
otherio/exp/rt/src/pwr_arduino_uno.pde deleted 100644 → 0
View file @ 826ee2c5
//
// Proview
// Copyright (C) 2010 SSAB Oxelösund AB.
//
// This program 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 2 of
// the License, or (at your option) any later version.
//
// This program 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 the program, if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// Description:
// Sketch for Arduino USB board to communicate with Proview I/O
// object OtherIO:Arduino_Uno.
//
byte msg = 0;
byte sts;
int val = 0;
byte amsg[50];
byte smsg[10];
byte diSize = 0;
byte doSize = 0;
byte aiSize = 0;
byte aoSize = 0;
byte diMask[10];
byte doMask[10];
byte aiMask[4];
byte aoMask[4];
int watchdogTime = 5000;
int status;
int i;
int j;
int aiList[32];
int aiCnt;
int aoList[32];
int aoCnt;
byte msgType;
byte msgId;
byte msgSize;
byte msgData[100];
byte rmsg[40];
int sizeErrorCnt = 0;
int noMessageCnt = 0;
const int delayTime = 1;
const int debug = 0;
const int MSG_TYPE_DOWRITE = 1;
const int MSG_TYPE_DIREAD = 2;
const int MSG_TYPE_AIREAD = 3;
const int MSG_TYPE_AOWRITE = 4;
const int MSG_TYPE_CONFIGURE = 5;
const int MSG_TYPE_STATUS = 6;
const int MSG_TYPE_DEBUG = 7;
const int MSG_TYPE_WRITEALL = 8;
const int MSG_TYPE_READALL = 9;
const int ARD__SUCCESS = 1;
const int ARD__DICONFIG = 2;
const int ARD__DOCONFIG = 4;
const int ARD__AICONFIG = 6;
const int ARD__AOCONFIG = 8;
const int ARD__COMMERROR = 10;
const int ARD__MSGSIZE = 12;
const int ARD__NOMSG = 14;
void sendDebug( byte sts)
{
rmsg[0] = 4;
rmsg[1] = 0;
rmsg[2] = MSG_TYPE_DEBUG;
rmsg[3] = sts;
Serial.write( rmsg, rmsg[0]);
}
//
// Reset all outputs when communication communication is down
//
void resetOutput()
{
for ( i = 0; i < doSize; i++) {
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & doMask[i]) != 0)
digitalWrite( i * 8 + j, LOW);
}
}
for ( i = 0; i < aoCnt; i++)
analogWrite( aoList[i], 0);
}
//
// Read a message from the serial port
//
int serialRead()
{
int num;
num = Serial.available();
if ( num == 0)
return ARD__NOMSG;
msgSize = Serial.peek();
if ( num < msgSize)
return ARD__MSGSIZE;
msgSize = Serial.read();
msgId = Serial.read();
msgType = Serial.read();
msgSize -= 3;
for ( int i = 0; i < msgSize; i++)
msgData[i] = Serial.read();
if ( debug) {
rmsg[0] = msgSize + 3;
rmsg[1] = msgId;
rmsg[2] = MSG_TYPE_DEBUG;
for ( int j = 0; j < msgSize; j++)
rmsg[j+3] = msgData[j];
Serial.write( rmsg, msgSize + 3);
}
return ARD__SUCCESS;
}
void setup()
{
// Start serial port at the configured baud rate
Serial.begin(9600);
Serial.flush();
}
void loop()
{
status = serialRead();
if ( status == ARD__NOMSG) {
if ( watchdogTime != 0) {
// Increment watchdog counter
noMessageCnt++;
if ( noMessageCnt * delayTime > watchdogTime)
resetOutput();
}
}
else if ( status == ARD__MSGSIZE) {
sizeErrorCnt++;
if ( sizeErrorCnt > 50) {
Serial.flush();
sizeErrorCnt = 0;
}
}
else if ( (status & 1) != 0) {
// A message is received
sizeErrorCnt = 0;
noMessageCnt = 0;
if ( msgType == MSG_TYPE_DOWRITE) {
// Write digital outputs
if ( msgSize == doSize) {
for ( i = 0; i < doSize; i++) {
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & doMask[i]) != 0) {
if ( ((1 << j) & msgData[i]) != 0)
digitalWrite( i * 8 + j, HIGH);
else
digitalWrite( i * 8 + j, LOW);
}
}
}
sts = ARD__SUCCESS;
}
else {
sts = ARD__COMMERROR;
}
}
else if ( msgType == MSG_TYPE_AOWRITE) {
// Write analog outputs
if ( msgSize == aoCnt) {
for ( i = 0; i < aoCnt; i++)
analogWrite( aoList[i], msgData[i]);
sts = ARD__SUCCESS;
}
else {
sts = ARD__COMMERROR;
}
}
else if ( msgType == MSG_TYPE_WRITEALL) {
// Write digital outputs
if ( msgSize == doSize + aoCnt) {
for ( i = 0; i < doSize; i++) {
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & doMask[i]) != 0) {
if ( ((1 << j) & msgData[i]) != 0)
digitalWrite( i * 8 + j, HIGH);
else
digitalWrite( i * 8 + j, LOW);
}
}
}
for ( i = 0; i < aoCnt; i++)
analogWrite( aoList[i], msgData[doSize + i]);
sts = ARD__SUCCESS;
}
else {
sts = ARD__COMMERROR;
}
}
else if ( msgType == MSG_TYPE_DIREAD) {
// Read Digital inputs
smsg[0] = diSize + 3;
smsg[1] = msgId;
smsg[2] = MSG_TYPE_DIREAD;
for ( i = 0; i < diSize; i++) {
smsg[i + 3] = 0;
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & diMask[i]) != 0) {
val = digitalRead( i * 8 + j);
if ( val == HIGH)
smsg[i + 3] |= 1 << j;
}
}
}
Serial.write( smsg, smsg[0]);
}
else if ( msgType == MSG_TYPE_AIREAD) {
// Read analog inputs
amsg[0] = aiCnt * 2 + 3;
amsg[1] = msgId;
amsg[2] = MSG_TYPE_AIREAD;
for ( i = 0; i < aiCnt; i++) {
val = analogRead( aiList[i]);
amsg[i*2 + 3] = val / 256;
amsg[i*2 + 1 + 3] = val % 256;
}
Serial.write( amsg, amsg[0]);
}
else if ( msgType == MSG_TYPE_READALL) {
// Read Digital inputs
amsg[0] = diSize + aiCnt * 2 + 3;
amsg[1] = msgId;
amsg[2] = MSG_TYPE_READALL;
for ( i = 0; i < diSize; i++) {
amsg[i + 3] = 0;
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & diMask[i]) != 0) {
val = digitalRead( i * 8 + j);
if ( val == HIGH)
amsg[i + 3] |= 1 << j;
}
}
}
for ( i = 0; i < aiCnt; i++) {
val = analogRead( aiList[i]);
amsg[diSize + i*2 + 3] = val / 256;
amsg[diSize + i*2 + 1 + 3] = val % 256;
}
Serial.write( amsg, amsg[0]);
}
else if ( msgType == MSG_TYPE_CONFIGURE) {
// Configure message
int offs = 0;
sts = ARD__SUCCESS;
if ( debug) {
smsg[0] = msgSize + 3;
smsg[1] = msgId;
smsg[2] = MSG_TYPE_DEBUG;
for ( int j = 0; j < msgSize; j++)
smsg[j+3] = msgData[j];
Serial.write( smsg, smsg[0]);
}
watchdogTime = msgData[offs++] * 100;
diSize = msgData[offs++];
if ( diSize > 10) {
diSize = 10;
sts = ARD__DICONFIG;
}
if ( sts & 1 != 0) {
for ( i = 0; i < diSize; i++)
diMask[i] = msgData[offs++];
}
if ( sts & 1 != 0) {
doSize = msgData[offs++];
if ( doSize > 10) {
doSize = 10;
sts = ARD__DOCONFIG;
}
}
if ( sts & 1 != 0) {
for ( i = 0; i < doSize; i++)
doMask[i] = msgData[offs++];
}
if ( sts & 1 != 0) {
aiSize = msgData[offs++];
if ( aiSize > 4) {
aiSize = 4;
sts = ARD__AICONFIG;
}
}
if ( sts & 1 != 0) {
for ( i = 0; i < aiSize; i++)
aiMask[i] = msgData[offs++];
}
if ( sts & 1 != 0) {
aoSize = msgData[offs++];
if ( aoSize > 4) {
aoSize = 4;
sts = ARD__AOCONFIG;
}
}
if ( sts & 1 != 0) {
for ( i = 0; i < aoSize; i++)
aoMask[i] = msgData[offs++];
}
if ( sts & 1 != 0) {
// Set Di pinmode
for ( i = 0; i < diSize; i++) {
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & diMask[i]) != 0)
pinMode( i * 8 + j, INPUT);
}
}
// Set Do pinmode
for ( i = 0; i < doSize; i++) {
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & doMask[i]) != 0)
pinMode( i * 8 + j, OUTPUT);
}
}
// Create list of configured Ai
aiCnt = 0;
for ( i = 0; i < aiSize; i++) {
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & aiMask[i]) != 0) {
aiList[aiCnt] = i * 8 + j;
aiCnt++;
}
}
}
// Create list of configured Ao
aoCnt = 0;
for ( i = 0; i < aoSize; i++) {
for ( j = 0; j < 8; j++) {
if ( ((1 << j) & aoMask[i]) != 0) {
aoList[aoCnt] = i * 8 + j;
aoCnt++;
}
}
}
}
// Send configuration status
smsg[0] = 4;
smsg[1] = msgId;
smsg[2] = MSG_TYPE_STATUS;
smsg[3] = sts;
Serial.write(smsg, 4);
}
}
else {
// Return error status
smsg[0] = 4;
smsg[1] = msgId;
smsg[2] = MSG_TYPE_STATUS;
smsg[3] = status;
Serial.write(smsg, 4);
}
delay(delayTime);
}
otherio/lib/rt/src/rt_io_m_arduino_uno.c
View file @ 51d8a9e3
...@@ -98,6 +98,8 @@ typedef struct { ...@@ -98,6 +98,8 @@ typedef struct {
int WriteId; int WriteId;
int AiIntervalCnt; int AiIntervalCnt;
int AoIntervalCnt; int AoIntervalCnt;
int Reopendev;
int ReopendevCnt;
int Reconnect; int Reconnect;
int ReconnectCnt; int ReconnectCnt;
int VersionMajor; int VersionMajor;
...@@ -144,6 +146,11 @@ static void add_checksum( void *buf); ...@@ -144,6 +146,11 @@ static void add_checksum( void *buf);
static int check_checksum( void *buf); static int check_checksum( void *buf);
static int receive( int fd, int id, ard_sMsg *rmsg, int size, float tmo, pwr_sClass_Arduino_Uno *op); static int receive( int fd, int id, ard_sMsg *rmsg, int size, float tmo, pwr_sClass_Arduino_Uno *op);
static int close_device( io_sLocal *local)
{
close( local->fd);
return IO__SUCCESS;
}
static int open_device( io_sLocal *local, pwr_sClass_Arduino_Uno *op, io_sCard *cp) static int open_device( io_sLocal *local, pwr_sClass_Arduino_Uno *op, io_sCard *cp)
{ {
...@@ -210,6 +217,8 @@ static int open_device( io_sLocal *local, pwr_sClass_Arduino_Uno *op, io_sCard * ...@@ -210,6 +217,8 @@ static int open_device( io_sLocal *local, pwr_sClass_Arduino_Uno *op, io_sCard *
tcflush( local->fd, TCIOFLUSH); tcflush( local->fd, TCIOFLUSH);
sleep(5);
return IO__SUCCESS; return IO__SUCCESS;
} }
...@@ -263,8 +272,6 @@ static int send_configuration( io_sLocal *local, pwr_sClass_Arduino_Uno *op, io_ ...@@ -263,8 +272,6 @@ static int send_configuration( io_sLocal *local, pwr_sClass_Arduino_Uno *op, io_
printf( "%u ", msg.data[i]); printf( "%u ", msg.data[i]);
printf( "\n"); printf( "\n");
sleep(5);
if ( op->Options & pwr_mArduino_OptionsMask_Checksum) if ( op->Options & pwr_mArduino_OptionsMask_Checksum)
add_checksum( &msg); add_checksum( &msg);
...@@ -310,8 +317,8 @@ static int send_connect_request( io_sLocal *local, pwr_sClass_Arduino_Uno *op, i ...@@ -310,8 +317,8 @@ static int send_connect_request( io_sLocal *local, pwr_sClass_Arduino_Uno *op, i
op->Status = rmsg.data[0]; op->Status = rmsg.data[0];
local->VersionMajor = rmsg.data[1]; local->VersionMajor = rmsg.data[1];
local->VersionMinor = rmsg.data[2]; local->VersionMinor = rmsg.data[2];
snprintf( op->FirmwareVersion, sizeof(op->FirmwareVersion), "V%d.%d %s", snprintf( op->FirmwareVersion, sizeof(op->FirmwareVersion), "%s",
local->VersionMajor, local->VersionMinor, (char *)&rmsg.data[3]); (char *)&rmsg.data[3]);
} }
else { else {
return IO__INITFAIL; return IO__INITFAIL;
...@@ -320,6 +327,24 @@ static int send_connect_request( io_sLocal *local, pwr_sClass_Arduino_Uno *op, i ...@@ -320,6 +327,24 @@ static int send_connect_request( io_sLocal *local, pwr_sClass_Arduino_Uno *op, i
return IO__SUCCESS; return IO__SUCCESS;
} }
static int open_and_connect( io_sLocal *local, pwr_sClass_Arduino_Uno *op, io_sCard *cp)
{
int sts;
sts = open_device( local, op, cp);
if ( EVEN(sts)) return sts;
if ( op->Options & pwr_mArduino_OptionsMask_ConnectionRequest) {
sts = send_connect_request( local, op, cp);
if ( EVEN(sts)) return sts;
}
sts = send_configuration( local, op, cp);
if ( EVEN(sts)) return sts;
return IO__SUCCESS;
}
static void add_checksum( void *buf) static void add_checksum( void *buf)
{ {
int i; int i;
...@@ -564,15 +589,7 @@ static pwr_tStatus IoCardInit( io_tCtx ctx, ...@@ -564,15 +589,7 @@ static pwr_tStatus IoCardInit( io_tCtx ctx,
} }
} }
sts = open_device( local, op, cp); sts = open_and_connect( local, op, cp);
if ( EVEN(sts)) return sts;
if ( op->Options & pwr_mArduino_OptionsMask_ConnectionRequest) {
sts = send_connect_request( local, op, cp);
if ( EVEN(sts)) return sts;
}
sts = send_configuration( local, op, cp);
if ( EVEN(sts)) return sts; if ( EVEN(sts)) return sts;
errh_Info( "Init of Arduino card '%s'", cp->Name); errh_Info( "Init of Arduino card '%s'", cp->Name);
...@@ -587,7 +604,7 @@ static pwr_tStatus IoCardClose( io_tCtx ctx, ...@@ -587,7 +604,7 @@ static pwr_tStatus IoCardClose( io_tCtx ctx,
{ {
io_sLocal *local = cp->Local; io_sLocal *local = cp->Local;
close( local->fd); close_device( local);
free( cp->Local); free( cp->Local);
// fclose(fp); //Test // fclose(fp); //Test
...@@ -611,10 +628,11 @@ static pwr_tStatus IoCardRead( io_tCtx ctx, ...@@ -611,10 +628,11 @@ static pwr_tStatus IoCardRead( io_tCtx ctx,
ard_sMsg msg; ard_sMsg msg;
io_sChannel *chanp; io_sChannel *chanp;
if ( local->Reconnect) if ( local->Reopendev || local->Reconnect)
return IO__SUCCESS; return IO__SUCCESS;
if ( local->ReceiveWriteRespons) { if ( local->ReceiveWriteRespons) {
#if 0
// Receive response status from last write // Receive response status from last write
ard_sMsg rmsg; ard_sMsg rmsg;
...@@ -626,6 +644,7 @@ static pwr_tStatus IoCardRead( io_tCtx ctx, ...@@ -626,6 +644,7 @@ static pwr_tStatus IoCardRead( io_tCtx ctx,
if ( EVEN(op->Status)) if ( EVEN(op->Status))
op->ErrorCount++; op->ErrorCount++;
} }
#endif
local->ReceiveWriteRespons = 0; local->ReceiveWriteRespons = 0;
} }
...@@ -675,6 +694,10 @@ static pwr_tStatus IoCardRead( io_tCtx ctx, ...@@ -675,6 +694,10 @@ static pwr_tStatus IoCardRead( io_tCtx ctx,
op->Status = sts; op->Status = sts;
if ( EVEN(sts)) { if ( EVEN(sts)) {
op->ErrorCount++; op->ErrorCount++;
if ( sts == ARD__NOMSG &&
op->Options & pwr_mArduino_OptionsMask_SerialPort) {
local->Reconnect = 1;
}
} }
else { else {
// printf( "Read: %u %u (%d)\n", rmsg.data[0], rmsg.data[1], sts); // printf( "Read: %u %u (%d)\n", rmsg.data[0], rmsg.data[1], sts);
...@@ -739,6 +762,10 @@ static pwr_tStatus IoCardRead( io_tCtx ctx, ...@@ -739,6 +762,10 @@ static pwr_tStatus IoCardRead( io_tCtx ctx,
sts = receive( local->fd, local->DiPollId, &rmsg, local->DiSize, op->Timeout, op); sts = receive( local->fd, local->DiPollId, &rmsg, local->DiSize, op->Timeout, op);
op->Status = sts; op->Status = sts;
if ( EVEN(sts)) { if ( EVEN(sts)) {
if ( sts == ARD__NOMSG &&
op->Options & pwr_mArduino_OptionsMask_SerialPort) {
local->Reconnect = 1;
}
op->ErrorCount++; op->ErrorCount++;
} }
else { else {
...@@ -835,16 +862,39 @@ static pwr_tStatus IoCardWrite( io_tCtx ctx, ...@@ -835,16 +862,39 @@ static pwr_tStatus IoCardWrite( io_tCtx ctx,
int skip_ao; int skip_ao;
io_sChannel *chanp; io_sChannel *chanp;
if ( local->Reconnect) { if ( local->Reopendev) {
local->ReopendevCnt++;
if ( local->ReopendevCnt * ctx->ScanTime > 5.0) {
close_device( local);
sts = open_and_connect( local, op, cp);
if ( EVEN(sts)) {
local->Reopendev = 1;
local->ReopendevCnt = 0;
return IO__SUCCESS;
}
else
local->Reopendev = 0;
}
else
return IO__SUCCESS;
}
else if ( local->Reconnect) {
local->ReconnectCnt++; local->ReconnectCnt++;
if ( local->ReconnectCnt * ctx->ScanTime > 5.0) { if ( local->ReconnectCnt * ctx->ScanTime > 5.0) {
sts = IoCardClose( ctx, ap, rp, cp); if ( op->Options & pwr_mArduino_OptionsMask_ConnectionRequest) {
sts = IoCardInit( ctx, ap, rp, cp); sts = send_connect_request( local, op, cp);
local = cp->Local;
if ( EVEN(sts)) { if ( EVEN(sts)) {
local->Reconnect = 1; local->Reconnect = 1;
local->ReconnectCnt = 0;
return IO__SUCCESS;
}
else
local->Reconnect = 0;
} }
else
local->Reconnect = 0;
} }
else
return IO__SUCCESS; return IO__SUCCESS;
} }
...@@ -1068,8 +1118,8 @@ static pwr_tStatus IoCardWrite( io_tCtx ctx, ...@@ -1068,8 +1118,8 @@ static pwr_tStatus IoCardWrite( io_tCtx ctx,
} }
if ( sts < 0) { if ( sts < 0) {
/* Connection lost, open device again */ /* Connection lost, open device again */
local->Reconnect = 1; local->Reopendev = 1;
local->ReconnectCnt = 0; local->ReopendevCnt = 0;
return IO__SUCCESS; return IO__SUCCESS;
} }
......
otherio/wbl/mcomp/src/otherio.wb_load
View file @ 51d8a9e3
Volume OtherIO $ClassVolume 0.0.250.10 Volume OtherIO $ClassVolume 0.0.250.10
Body SysBody 01-JAN-1970 01:00:00.00 Body SysBody 01-JAN-1970 01:00:00.00
Attr NextOix = "_X368" Attr NextOix = "_X369"
Attr NextCix = "_X38" Attr NextCix = "_X38"
Attr NextTix[0] = "_X15" Attr NextTix[0] = "_X15"
EndBody EndBody
...@@ -484,6 +484,13 @@ Volume OtherIO $ClassVolume 0.0.250.10 ...@@ -484,6 +484,13 @@ Volume OtherIO $ClassVolume 0.0.250.10
Attr Value = 8 Attr Value = 8
EndBody EndBody
EndObject EndObject
Object SerialPort $Bit 369 04-MAR-2012 13:51:26.95
Body SysBody 04-MAR-2012 13:51:31.41
Attr Text = "SerialPort"
Attr PgmName = "SerialPort"
Attr Value = 16
EndBody
EndObject
EndObject EndObject
Object Hilscher_cifX_CommStateEnum $TypeDef 8 11-MAR-2011 09:57:02.13 Object Hilscher_cifX_CommStateEnum $TypeDef 8 11-MAR-2011 09:57:02.13
Body SysBody 11-MAR-2011 09:57:13.54 Body SysBody 11-MAR-2011 09:57:13.54
......
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