Added mock master
Fixed communication bugs
This commit is contained in:
parent
ff315ae20e
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da09f40443
263
module/mockmaster/mockmaster.ino
Normal file
263
module/mockmaster/mockmaster.ino
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@ -0,0 +1,263 @@
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/*
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* Stairs lighting
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* Copyright 2017 (c) Mark van Renswoude
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*
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* https://git.x2software.net/pub/Stairs
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*/
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#include <RS485_non_blocking.h>
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#include <SoftwareSerial.h>
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#define SERIAL_COMMANDS_DEBUG
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#include <SerialCommands.h>
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#include "protocol.h"
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const uint8_t PinRS485Receive = 2;
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const uint8_t PinRS485Transmit = 3;
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const uint8_t PinRS485WriteEnable = 4;
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const uint32_t RS485BaudRate = 76800;
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/*
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* RS485 communication
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*/
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SoftwareSerial rs485(PinRS485Receive, PinRS485Transmit);
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size_t doWrite(const byte what)
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{
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return rs485.write (what);
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}
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int doAvailable()
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{
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return rs485.available ();
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}
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int doRead()
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{
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return rs485.read ();
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}
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RS485 comm(doRead, doAvailable, doWrite, 20);
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/*
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* Serial communication (user input)
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*/
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SerialCommand cmdPing("ping", handlePingCommand);
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SerialCommand cmdDisplay("display", handleDisplayCommand);
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SerialCommand cmdLink("link", handleLinkCommand);
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SerialCommand cmdLinkAssign("assign", handleLinkAssignCommand);
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SerialCommand cmdLinkStop("stop", handleLinkStopCommand);
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SerialCommand cmdSetPWM("setPWM", handlesetPWMCommand);
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SerialCommand cmdGetSensors("getSensors", handlegetSensorsCommand);
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char commandBuffer[32];
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SerialCommands serialCommands(&Serial, commandBuffer, sizeof(commandBuffer), "\r\n", " ");
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void cmdUnrecognized(SerialCommands* sender, const char* cmd)
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{
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sender->GetSerial()->print("ERROR: Unrecognized command [");
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sender->GetSerial()->print(cmd);
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sender->GetSerial()->println("]");
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}
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bool inLink = false;
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void showCommands()
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{
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Serial.println("");
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Serial.println("Available commands:");
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Serial.println(" ping [moduleIndex]");
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Serial.println(" display");
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Serial.println(" link");
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Serial.println(" setPWM [moduleIndex] [flags] [value1] [value2]");
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Serial.println(" getSensors [moduleIndex]");
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Serial.println("");
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}
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void setup()
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{
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pinMode(PinRS485WriteEnable, OUTPUT);
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rs485.begin(RS485BaudRate);
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comm.begin();
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Serial.begin(115200);
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serialCommands.AddCommand(&cmdPing);
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serialCommands.AddCommand(&cmdDisplay);
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serialCommands.AddCommand(&cmdLink);
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serialCommands.AddCommand(&cmdLinkAssign);
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serialCommands.AddCommand(&cmdLinkStop);
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serialCommands.AddCommand(&cmdSetPWM);
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serialCommands.AddCommand(&cmdGetSensors);
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serialCommands.SetDefaultHandler(&cmdUnrecognized);
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Serial.println("Stairs module Mock Master ready");
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showCommands();
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}
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void loop ()
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{
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serialCommands.ReadSerial();
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if (comm.update())
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handleCommMessage();
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}
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void sendCommMessage(const byte* data, size_t len)
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{
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digitalWrite(PinRS485WriteEnable, HIGH);
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comm.sendMsg(data, len);
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digitalWrite(PinRS485WriteEnable, LOW);
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}
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void handlePingCommand(SerialCommands* sender)
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{
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if (inLink) return;
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int moduleIndex = atoi(sender->Next());
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sender->GetSerial()->println("> Ping");
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const byte msg[] = { CommandPing, moduleIndex };
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sendCommMessage(msg, sizeof(msg));
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}
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void handleDisplayCommand(SerialCommands* sender)
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{
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if (inLink) return;
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sender->GetSerial()->println("> DisplayModuleIndex");
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const byte msg[] = { CommandDisplayModuleIndex };
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sendCommMessage(msg, sizeof(msg));
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}
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void handleLinkCommand(SerialCommands* sender)
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{
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if (inLink) return;
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sender->GetSerial()->println("> Link");
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const byte msg[] = { CommandStartLink };
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sendCommMessage(msg, sizeof(msg));
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sender->GetSerial()->println("");
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sender->GetSerial()->println("Available commands:");
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sender->GetSerial()->println(" assign [moduleIndex]");
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sender->GetSerial()->println(" stop");
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sender->GetSerial()->println("");
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inLink = true;
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}
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void handleLinkAssignCommand(SerialCommands* sender)
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{
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if (!inLink) return;
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int moduleIndex = atoi(sender->Next());
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sender->GetSerial()->println("> LinkRequest response");
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const byte msg[] = { ResponseRequestLink, moduleIndex };
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sendCommMessage(msg, sizeof(msg));
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}
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void handleLinkStopCommand(SerialCommands* sender)
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{
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if (!inLink) return;
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sender->GetSerial()->println("> StopLink");
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const byte msg[] = { CommandStopLink };
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sendCommMessage(msg, sizeof(msg));
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inLink = false;
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showCommands();
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}
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void handlesetPWMCommand(SerialCommands* sender)
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{
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if (inLink) return;
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int flags = atoi(sender->Next());
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int value1 = atoi(sender->Next());
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int value2 = atoi(sender->Next());
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sender->GetSerial()->println("> Ping");
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const byte msg[] = { CommandSetPWM, (uint8_t)flags, (uint16_t)value1, (uint16_t)value2 };
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sendCommMessage(msg, sizeof(msg));
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}
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void handlegetSensorsCommand(SerialCommands* sender)
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{
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if (inLink) return;
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int moduleIndex = atoi(sender->Next());
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sender->GetSerial()->println("> GetSensors");
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const byte msg[] = { CommandGetSensors, moduleIndex };
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sendCommMessage(msg, sizeof(msg));
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}
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void handleCommMessage()
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{
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uint8_t* data = comm.getData();
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uint8_t length = comm.getLength();
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if (length == 0)
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return;
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uint8_t command = *data; data++; length--;
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switch (command)
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{
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case ResponsePing:
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if (length > 0)
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Serial.println("< Ping response, module index = " + String(*data));
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else
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Serial.println("< Ping response, module index = <missing>");
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break;
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case CommandRequestLink:
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Serial.println("< Request link");
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break;
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case ResponseSetPWM:
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Serial.println("< Set PWM response, module index = " + String(*data));
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break;
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case ResponseGetSensors:
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Serial.println("< Get sensors response, module index = " + String(*data)); data++; length--;
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if (length > 0)
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{
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Serial.println(" Sensor 1 value: " + String(*data)); data++; length--;
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}
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else
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Serial.println(" Sensor 1 value: <missing>");
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if (length > 0)
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{
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Serial.println(" Sensor 2 value: " + String(*data)); data++; length--;
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}
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else
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Serial.println(" Sensor 2 value: <missing>");
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break;
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case ResponseUhmWhat:
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Serial.println("< Uhm, what? module index = " + String(*data));
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break;
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}
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}
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155
module/mockmaster/protocol.h
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155
module/mockmaster/protocol.h
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@ -0,0 +1,155 @@
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/*
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* Stairs lighting
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* Copyright 2017 (c) Mark van Renswoude
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*
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* https://git.x2software.net/pub/Stairs
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*/
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#ifndef __protocol
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#define __protocol
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#include <stdint.h>
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/*
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* There are three classes of messages, these masks provide a way to identify
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* unknown messages if the protocol ever changes.
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*
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* MaskBroadcastCommand: commands which do not expect a response
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* MaskModuleCommand: commands which do expect a command. respond with ResponseUhmWhat to satisfy the response requirement.
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* MaskResponse: responses to commands
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*/
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const uint8_t MaskMessageType = 0b11000000;
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const uint8_t MaskBroadcastCommand = 0b10000000;
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const uint8_t MaskModuleCommand = 0b11000000;
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const uint8_t MaskResponse = 0b01000000;
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const uint8_t ResponseUhmWhat = 0x00 | MaskResponse;
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/*
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* Ping:
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* Aimed at a specific module, which must respond with a
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* ResponsePing message.
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*
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* Request:
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* [0] CommandPing
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* [1] Module index
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*
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* Response:
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* [0] ResponsePing
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* [1] Module index
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*/
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const uint8_t BasePing = 0x01;
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const uint8_t CommandPing = BasePing | MaskModuleCommand;
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const uint8_t ResponsePing = BasePing | MaskResponse;
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/*
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* Display module index:
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* Broadcast to all modules which should turn on their display
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* and show the current settings. No response is expected.
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*
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* Request:
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* [0] CommandDisplayModuleIndex
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*/
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const uint8_t CommandDisplayModuleIndex = 0x02 | MaskBroadcastCommand;
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/*
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* Start linking:
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* Broadcast to all modules which should change to link mode.
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* During link mode the master will disable all other communication,
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* allowing the module to respond at will in response to user input.
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*
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* Each module should send a CommandRequestLink message when user input
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* is provided.
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*
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* Request:
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* [0] CommandStartLink
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*
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* Response (eventually):
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* See CommandRequestLink
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*/
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const uint8_t CommandStartLink = 0x10 | MaskBroadcastCommand;
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/*
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* Request link:
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* Sent by a module when user input is provided to link this module
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* as the next in line. All other modules should disable sending this
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* message until the currently requesting module receives a response.
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*
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* The master must respond with the new module index, which the
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* module must apply and store immediately.
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*
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* Request:
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* [0] CommandRequestLink
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*
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* Response:
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* [0] ResponseRequestLink
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* [1] New module index
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*/
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const uint8_t BaseRequestLink = 0x11;
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const uint8_t CommandRequestLink = BaseRequestLink | MaskBroadcastCommand;
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const uint8_t ResponseRequestLink = BaseRequestLink | MaskResponse;
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/*
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* Stop linking:
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* Broadcast to all modules when the master takes back control
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* over the communication line. No response is expected.
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*
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* Request:
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* [0] CommandStopLink
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*/
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const uint8_t CommandStopLink = 0x12 | MaskBroadcastCommand;
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/*
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* Set PWM value:
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* Aimed at a specific module, which must apply the specified
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* PWM values to the LED strips and respond with a
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* ResponseSetPWM message.
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*
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* Request:
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* [0] CommandSetPWM
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* [1] Module index
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* [2] Flags, see below
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* [3,4] PWM value for step 1 (0-4095, uint16_t)
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* [5,6] PWM value for step 2 (0-4095, uint16_t)
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*
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* Response:
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* [0] ResponseSetPWM
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* [1] Module index
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*/
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const uint8_t BaseSetPWM = 0x20;
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const uint8_t CommandSetPWM = BaseSetPWM | MaskModuleCommand;
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const uint8_t ResponseSetPWM = BaseSetPWM | MaskResponse;
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// If included, the on-board verification LEDs should light up with
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// the specified PWM values as well. Otherwise they should be off.
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const uint8_t SetPWMFlagModuleLEDs = 0x01;
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/*
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* Get sensor values:
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* Aimed at a specific module, which must response with a
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* ResponseGetSensors message containing the current sensor states.
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*
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* Request:
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* [0] CommandGetSensors
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* [1] Module index
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*
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* Response:
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* [0] ResponseGetSensors
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* [1] Module index
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* [2] Analog (0-255) or digital (0, 255) value for sensor 1
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* [3] Analog (0-255) or digital (0, 255) value for sensor 2
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*/
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const uint8_t BaseGetSensors = 0x30;
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const uint8_t CommandGetSensors = BaseGetSensors | MaskModuleCommand;
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const uint8_t ResponseGetSensors = BaseGetSensors | MaskResponse;
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#endif
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@ -15,7 +15,7 @@
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// Source: http://www.robotroom.com/Asynchronous-Serial-Communication-2.html
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const uint32_t CommBaudRate = 76800;
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// Pin connected to the MAX485's Receiver and Driver Output Enable pins
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// Arduino pin number connected to the MAX485's Receiver and Driver Output Enable pins
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const uint8_t CommWriteEnablePin = 2;
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// How long the display should stay on once it's idle and showing the
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@ -28,4 +28,10 @@ const uint32_t DisplayIdleTimeout = 5000;
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// so no need to panic immediately.
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const uint32_t CommIdleTimeout = 1000;
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// Arduino pin number connected to the push button.
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const uint8_t PinButton = 8;
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// Debounce time for the push button. Since it is not used for fast operations, this can be relatively high.
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const uint32_t ButtonDebounceTime = 500;
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#endif
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@ -30,6 +30,7 @@ void Display::update()
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break;
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case State::Linking:
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case State::LinkingRequest:
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drawLinking();
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break;
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@ -38,7 +39,7 @@ void Display::update()
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break;
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case State::DisplayModuleIndex:
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if (currentTime - mLastStateChange >= DisplayIdleTimeout)
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if (mLastDrawnState == state && currentTime - mLastStateChange >= DisplayIdleTimeout)
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{
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state = State::DisplayOff;
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off();
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@ -140,14 +141,26 @@ void Display::setLastDrawnState()
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void Display::off()
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{
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if (mLastDrawnState != State::DisplayOff)
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{
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// I've had trouble waking the display up again, so just clear it for now
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mDisplay->ssd1306_command(SSD1306_DISPLAYOFF);
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mDisplay->ssd1306_command(SSD1306_CHARGEPUMP);
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mDisplay->ssd1306_command(0x10); // disable charge pump
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//mDisplay->clearDisplay();
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//mDisplay->display();
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}
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}
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void Display::checkOn()
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{
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if (mLastDrawnState == State::DisplayOff)
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{
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mDisplay->ssd1306_command(SSD1306_CHARGEPUMP);
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mDisplay->ssd1306_command(0x14); // enable charge pump
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mDisplay->ssd1306_command(SSD1306_DISPLAYON);
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}
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}
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@ -26,6 +26,8 @@ void setup()
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Serial.begin(CommBaudRate);
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pinMode(CommWriteEnablePin, OUTPUT);
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comm.begin();
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pinMode(PinButton, INPUT_PULLUP);
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}
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@ -40,6 +42,8 @@ void handleStopLink(uint8_t* data, uint8_t length);
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void handleSetPWM(uint8_t* data, uint8_t length);
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void handleGetSensors(uint8_t* data, uint8_t length);
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void checkButtonPress();
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void loop()
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{
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@ -48,6 +52,7 @@ void loop()
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if (comm.update())
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handleCommMessage();
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checkButtonPress();
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display.update();
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}
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@ -57,6 +62,18 @@ void sendCommMessage(const uint8_t* data, uint8_t size)
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{
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digitalWrite(CommWriteEnablePin, HIGH);
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comm.sendMsg(data, size);
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// Wait for the hardware buffer to clear before turning
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// off the write enable pin, or we'll cut off the message too early
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// Straight from: http://www.gammon.com.au/forum/?id=11428
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while (!(UCSR0A & (1 << UDRE0))) // Wait for empty transmit buffer
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UCSR0A |= 1 << TXC0; // mark transmission not complete
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while (!(UCSR0A & (1 << TXC0))); // Wait for the transmission to complete
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digitalWrite(CommWriteEnablePin, LOW);
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}
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@ -75,7 +92,7 @@ void handleCommMessage()
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uint8_t command = *data; data++; length--;
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uint8_t moduleIndex = ModuleIndexUndefined;
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if (command & MaskModuleCommand)
|
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if ((command & MaskMessageType) == MaskModuleCommand)
|
||||
{
|
||||
if (!settings.hasModuleIndex())
|
||||
// We're not linked yet
|
||||
@ -99,7 +116,7 @@ void handleCommMessage()
|
||||
case CommandGetSensors: handleGetSensors(data, length); break;
|
||||
|
||||
default:
|
||||
if (command & MaskModuleCommand)
|
||||
if ((command & MaskMessageType) == MaskModuleCommand)
|
||||
{
|
||||
// Sender expects a response from us
|
||||
const uint8_t msg[] = { ResponseUhmWhat, moduleIndex };
|
||||
@ -134,7 +151,7 @@ void handleRequestLinkResponse(uint8_t* data, uint8_t length)
|
||||
if (length == 0)
|
||||
return;
|
||||
|
||||
if (state != State::Linking)
|
||||
if (state != State::LinkingRequest)
|
||||
return;
|
||||
|
||||
settings.setModuleIndex(*data);
|
||||
@ -144,7 +161,7 @@ void handleRequestLinkResponse(uint8_t* data, uint8_t length)
|
||||
|
||||
void handleStopLink(uint8_t* data, uint8_t length)
|
||||
{
|
||||
if (state == State::Linking || state == State::LinkingSet)
|
||||
if (state == State::Linking || state == State::LinkingRequest || state == State::LinkingSet)
|
||||
state = State::DisplayModuleIndex;
|
||||
}
|
||||
|
||||
@ -187,3 +204,21 @@ void handleGetSensors(uint8_t* data, uint8_t length)
|
||||
const uint8_t msg[] = { ResponseSetPWM, settings.getModuleIndex(), sensor1, sensor2 };
|
||||
sendCommMessage(msg, sizeof(msg));
|
||||
}
|
||||
|
||||
|
||||
uint32_t lastButtonPress = 0;
|
||||
|
||||
void checkButtonPress()
|
||||
{
|
||||
if ((state == State::Linking || state == State::LinkingRequest) &&
|
||||
digitalRead(PinButton) == HIGH &&
|
||||
currentTime - lastButtonPress >= ButtonDebounceTime)
|
||||
{
|
||||
state = State::LinkingRequest;
|
||||
|
||||
const uint8_t msg[] = { CommandRequestLink };
|
||||
sendCommMessage(msg, sizeof(msg));
|
||||
|
||||
lastButtonPress = currentTime;
|
||||
}
|
||||
}
|
||||
@ -18,6 +18,8 @@
|
||||
* MaskModuleCommand: commands which do expect a command. respond with ResponseUhmWhat to satisfy the response requirement.
|
||||
* MaskResponse: responses to commands
|
||||
*/
|
||||
const uint8_t MaskMessageType = 0b11000000;
|
||||
|
||||
const uint8_t MaskBroadcastCommand = 0b10000000;
|
||||
const uint8_t MaskModuleCommand = 0b11000000;
|
||||
const uint8_t MaskResponse = 0b01000000;
|
||||
@ -38,8 +40,9 @@ const uint8_t ResponseUhmWhat = 0x00 | MaskResponse;
|
||||
* [0] ResponsePing
|
||||
* [1] Module index
|
||||
*/
|
||||
const uint8_t CommandPing = 0x01 | MaskModuleCommand;
|
||||
const uint8_t ResponsePing = CommandPing | MaskResponse;
|
||||
const uint8_t BasePing = 0x01;
|
||||
const uint8_t CommandPing = BasePing | MaskModuleCommand;
|
||||
const uint8_t ResponsePing = BasePing | MaskResponse;
|
||||
|
||||
|
||||
/*
|
||||
@ -88,8 +91,9 @@ const uint8_t CommandStartLink = 0x10 | MaskBroadcastCommand;
|
||||
* [0] ResponseRequestLink
|
||||
* [1] New module index
|
||||
*/
|
||||
const uint8_t CommandRequestLink = 0x11 | MaskBroadcastCommand;
|
||||
const uint8_t ResponseRequestLink = CommandRequestLink | MaskResponse;
|
||||
const uint8_t BaseRequestLink = 0x11;
|
||||
const uint8_t CommandRequestLink = BaseRequestLink | MaskBroadcastCommand;
|
||||
const uint8_t ResponseRequestLink = BaseRequestLink | MaskResponse;
|
||||
|
||||
|
||||
/*
|
||||
@ -120,8 +124,9 @@ const uint8_t CommandStopLink = 0x12 | MaskBroadcastCommand;
|
||||
* [0] ResponseSetPWM
|
||||
* [1] Module index
|
||||
*/
|
||||
const uint8_t CommandSetPWM = 0x20 | MaskModuleCommand;
|
||||
const uint8_t ResponseSetPWM = CommandSetPWM | MaskResponse;
|
||||
const uint8_t BaseSetPWM = 0x20;
|
||||
const uint8_t CommandSetPWM = BaseSetPWM | MaskModuleCommand;
|
||||
const uint8_t ResponseSetPWM = BaseSetPWM | MaskResponse;
|
||||
|
||||
// If included, the on-board verification LEDs should light up with
|
||||
// the specified PWM values as well. Otherwise they should be off.
|
||||
@ -143,7 +148,8 @@ const uint8_t SetPWMFlagModuleLEDs = 0x01;
|
||||
* [2] Analog (0-255) or digital (0, 255) value for sensor 1
|
||||
* [3] Analog (0-255) or digital (0, 255) value for sensor 2
|
||||
*/
|
||||
const uint8_t CommandGetSensors = 0x30 | MaskModuleCommand;
|
||||
const uint8_t ResponseGetSensors = CommandGetSensors | MaskResponse;
|
||||
const uint8_t BaseGetSensors = 0x30;
|
||||
const uint8_t CommandGetSensors = BaseGetSensors | MaskModuleCommand;
|
||||
const uint8_t ResponseGetSensors = BaseGetSensors | MaskResponse;
|
||||
|
||||
#endif
|
||||
@ -54,5 +54,5 @@ void Settings::setModuleIndex(uint8_t index)
|
||||
return;
|
||||
|
||||
mModuleIndex = index;
|
||||
// ToDo re-enable: EEPROM.put(EEPROMAddressModuleIndex, mModuleIndex);
|
||||
EEPROM.put(EEPROMAddressModuleIndex, mModuleIndex);
|
||||
}
|
||||
@ -11,6 +11,7 @@ enum struct State: uint8_t
|
||||
{
|
||||
WaitingForComm,
|
||||
Linking,
|
||||
LinkingRequest,
|
||||
LinkingSet,
|
||||
DisplayModuleIndex,
|
||||
DisplayOff
|
||||
|
||||
Loading…
Reference in New Issue
Block a user