Arduino, PWM Ao added

otherio/exp/rt/src/pwr_arduino_uno.pde

@@ -39,6 +39,8 @@ int i;
 int j;
 int aiList[32];
 int aiCnt;
+int aoList[32];
+int aoCnt;
 byte msgType;
 byte msgId;
 byte msgSize;
@@ -52,9 +54,10 @@ const int debug = 0;
 const int MSG_TYPE_WRITE = 1;
 const int MSG_TYPE_DIREAD = 2;
 const int MSG_TYPE_AIREAD = 3;
-const int MSG_TYPE_CONFIGURE = 4;
-const int MSG_TYPE_STATUS = 5;
-const int MSG_TYPE_DEBUG = 6;
+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 ARD__SUCCESS = 1;
 const int ARD__DICONFIG = 2;
@@ -79,14 +82,14 @@ void sendDebug( byte sts)
 //
 void resetOutput()
 {  
-  if ( msgSize == doSize) {
   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);
 }
 
 //
@@ -176,6 +179,19 @@ void loop()
         sts = ARD__COMMERROR;
       }
     }
+    else if ( msgType == MSG_TYPE_AOWRITE) {
+      // Write analog outputs
+
+      if ( msgSize == aoSize) {
+        for ( i = 0; i < aoCnt; i++)
+   	  analogWrite( aoList[i], msgData[i]);
+
+        sts = ARD__SUCCESS;
+      }
+      else {
+        sts = ARD__COMMERROR;
+      }
+    }
     else if ( msgType == MSG_TYPE_DIREAD) {
       // Read Digital inputs
       smsg[0] = diSize + 3;
@@ -296,6 +312,17 @@ void loop()
             }
           }
         }
+
+        // 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

otherio/lib/rt/src/rt_io_m_arduino_uno.c

@@ -51,6 +51,7 @@ typedef struct {
   int DiPollId;
   int DiPendingPoll;
   int AiIntervalCnt;
+  int AoIntervalCnt;
   io_sChannel *DChanList[D_MAX_SIZE * 8];
   io_sChannel *AiChanList[AI_MAX_SIZE * 8];
   io_sChannel *AoChanList[AO_MAX_SIZE * 8];
@@ -86,9 +87,10 @@ typedef enum {
   ard_eMsgType_Write 	= 1,
   ard_eMsgType_DiRead 	= 2,
   ard_eMsgType_AiRead 	= 3,
-  ard_eMsgType_Configure = 4,
-  ard_eMsgType_Status 	= 5,
-  ard_eMsgType_Debug 	= 6
+  ard_eMsgType_AoWrite 	= 4,
+  ard_eMsgType_Configure = 5,
+  ard_eMsgType_Status 	= 6,
+  ard_eMsgType_Debug 	= 7
 } ard_eMsgType;
 
 #define ARD__SUCCESS 1
@@ -501,6 +503,7 @@ static pwr_tStatus IoCardRead( io_tCtx ctx,
       if ( EVEN(sts)) {
       }
       else {
+	int ai_cnt = 0;
 	for ( i = 0; i < local->AiSize; i++) {
 	  for ( j = 0; j < 8; j++) {
 	    m = 1 << j;
@@ -513,7 +516,7 @@ static pwr_tStatus IoCardRead( io_tCtx ctx,
 		// Request to calculate new coefficients
 		io_AiRangeToCoef( chanp);
 	      
-	      ivalue = rmsg.data[(i*8+j)*2] * 256 + rmsg.data[(i*8+j)*2+1];
+	      ivalue = rmsg.data[ai_cnt*2] * 256 + rmsg.data[ai_cnt*2+1];
 	      io_ConvertAi( cop, ivalue, &actvalue);
 
 	      // Filter
@@ -527,6 +530,7 @@ static pwr_tStatus IoCardRead( io_tCtx ctx,
 	      *(pwr_tFloat32 *)chanp->vbp = actvalue;
 	      sop->SigValue = cop->SigValPolyCoef1 * ivalue + cop->SigValPolyCoef0;
 	      sop->RawValue = ivalue;
+	      ai_cnt++;
 	    }	    
 	  }
 	}
@@ -582,6 +586,62 @@ static pwr_tStatus IoCardWrite( io_tCtx ctx,
     sts = write( local->fd, &msg, msg.size);
   }
  
+  if ( local->AoSize) {
+    int skip_ao = 0;
+
+    if ( op->AoScanInterval > 1) {
+      skip_ao = local->AoIntervalCnt;
+
+      local->AoIntervalCnt++;
+      if ( local->AoIntervalCnt >= op->AoScanInterval)
+	local->AoIntervalCnt = 0;
+    }
+
+    if ( !skip_ao) {
+      ard_sMsg msg;
+      int value;
+
+      memset( &msg, 0, sizeof(msg));
+      msg.size = local->AoNum + 3;
+      msg.id = local->IdCnt++;
+      msg.type = ard_eMsgType_AoWrite;
+
+      int ao_cnt = 0;
+      for ( i = 0; i < local->AoSize; i++) {
+	for ( j = 0; j < 8; j++) {
+	  m = 1 << j;
+	  if ( local->AoMask[i] & m) {
+	    io_sChannel *chanp = local->AoChanList[i*8+j];
+	    pwr_sClass_ChanAo *cop = (pwr_sClass_ChanAo *)chanp->cop;
+	    pwr_sClass_Ao *sop = (pwr_sClass_Ao *)chanp->sop;
+	      
+	    if ( cop->CalculateNewCoef)
+	      // Request to calculate new coefficients
+	      io_AoRangeToCoef( chanp);
+	      
+
+	    value = *(pwr_tFloat32 *)chanp->vbp * cop->OutPolyCoef1 + 
+	      cop->OutPolyCoef0 + 0.49;
+	    if ( value < 0)
+	      value = 0;
+	    else if (value > 255)
+	      value = 255;
+
+	    msg.data[ao_cnt]  = value;
+
+	    sop->SigValue = cop->SigValPolyCoef1 * *(pwr_tFloat32 *)chanp->vbp + 
+	      cop->SigValPolyCoef0;
+	    sop->RawValue = value;
+	    ao_cnt++;
+	  }
+	}
+      }
+      // logg( "Write Ao");
+      sts = write( local->fd, &msg, msg.size);
+    }
+
+  }
+ 
   if ( op->ErrorCount >= op->ErrorSoftLimit && 
        error_count < op->ErrorSoftLimit) {
     errh_Warning( "IO Card ErrorSoftLimit reached, '%s'", cp->Name);

otherio/wbl/mcomp/src/otherio.wb_load

@@ -2485,7 +2485,7 @@ Volume OtherIO $ClassVolume 0.0.250.10
       Object RtBody $ObjBodyDef 1 13-DEC-2010 21:36:40.01
         Body SysBody 13-DEC-2010 21:39:07.38
           Attr StructName = "Arduino_Uno"
-          Attr NextAix = "_X24"
+          Attr NextAix = "_X25"
         EndBody
         !/**
         ! Optional description.
@@ -2634,6 +2634,20 @@ Volume OtherIO $ClassVolume 0.0.250.10
             Attr TypeRef = "pwrs:Type-$UInt32"
           EndBody
         EndObject
+        !/**
+        ! Specifies, in relation to the scantime of the thread, how often
+        ! the Ao channels of the board are handled. If AoScanInterval is 1 or 0, 
+        ! the Ao are handled every scan. If AoScanInterval is for example 10, they
+        ! are handled every 10'th scan, i.e. the scantime for the module
+        ! will be AoScanInterval times the scantime of the thread.
+        !*/
+        Object AoScanInterval $Attribute 24 19-JAN-2011 18:24:34.75
+          Body SysBody 19-JAN-2011 18:24:35.83
+            Attr PgmName = "AoScanInterval"
+            Attr Flags = 16777216
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
       EndObject
       Object IoMethods $RtMethod 144 13-DEC-2010 21:36:40.01
         Object IoCardInit $Method 145 13-DEC-2010 21:36:40.01