Adding digital input support for TCA

youseetoo · Aug 29, 2023 · 20ec3c3 · 20ec3c3
1 parent 284225e
commit 20ec3c3
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Showing 8 changed files with 63 additions and 16 deletions.
diff --git a/main/PinConfig.h b/main/PinConfig.h
@@ -548,9 +548,9 @@ struct UC2_3 : PinConfig
      int8_t LED_COUNT = 64;
 
      // FIXME: Is this redudant?!
-     int8_t PIN_DEF_END_X = disabled;
-     int8_t PIN_DEF_END_Y = disabled;
-     int8_t PIN_DEF_END_Z = disabled;
+     int8_t PIN_DEF_END_X = 105; // I2C TCA
+     int8_t PIN_DEF_END_Y = 106;
+     int8_t PIN_DEF_END_Z = 107;
      int8_t DIGITAL_IN_1 = PIN_DEF_END_X;
      int8_t DIGITAL_IN_2 = PIN_DEF_END_Y;
      int8_t DIGITAL_IN_3 = PIN_DEF_END_Z;
@@ -585,4 +585,4 @@ struct UC2_3 : PinConfig
      int8_t SPI_CS = GPIO_NUM_5;
 };
 
-const UC2_2 pinConfig; // UC2_1 pinConfig; //_WEMOS pinConfig; //_2 pinConfig; //_2 pinConfig; OMNISCOPE;
+const UC2_3 pinConfig; // UC2_1 pinConfig; //_WEMOS pinConfig; //_2 pinConfig; //_2 pinConfig; OMNISCOPE;
diff --git a/main/json_api_BD.txt b/main/json_api_BD.txt
@@ -73,10 +73,6 @@
 
 
 # DIGITAL IN
-{"task": "/digitalin_set", "digitalinid":1, "digitalinpin":13}
-{"task": "/digitalin_set", "digitalinid":2, "digitalinpin":5}
-{"task": "/digitalin_set", "digitalinid":3, "digitalinpin":23}
-
 {"task": "/digitalin_get", "digitalinid":1}
 {"task": "/digitalin_get", "digitalinid":2}
 {"task": "/digitalin_get", "digitalinid":3}
@@ -101,7 +97,6 @@ payload = {
 
 # HOME
 {"task": "/home_get"}
-{"task": "/home_set"}
 {"task":"/home_act", "home": {"steppers": [{"stepperid":1, "timeout": 20000, "speed": 10000, "direction":1, "endposrelease":3000, "endstoppolarity":1}]}}
 {"task":"/home_act", "home": {"steppers": [{"stepperid":2, "timeout": 20000, "speed": 10000, "direction":-1, "endposrelease":3000, "endstoppolarity":1}]}}
 {"task":"/home_act", "home": {"steppers": [{"stepperid":3, "timeout": 2000, "speed": 10000, "direction":-1, "endposrelease":3000, "endstoppolarity":0}]}}

diff --git a/main/src/digitalin/DigitalInController.cpp b/main/src/digitalin/DigitalInController.cpp
@@ -23,21 +23,41 @@ cJSON* DigitalInController::get(cJSON* jsonDocument)
 	int digitalinval = 0;
 
 	// cretae new json document
-	//
+	// {"task": "/digitalin_get", "digitalinid":1}
+	// {"task": "/digitalin_get", "digitalinid":2}
+	FocusMotor *motor = (FocusMotor *)moduleController.get(AvailableModules::motor);
 	if (digitalinid == 1)
 	{
 		digitalinpin = pinConfig.DIGITAL_IN_1;
-		digitalinval = digitalRead(pinConfig.DIGITAL_IN_1);
+		if (pinConfig.I2C_SCL > 0){
+			// use the external port extender on UC2v3
+			digitalinval = motor->getExternalPinValue(pinConfig.DIGITAL_IN_1);
+		}
+		else{
+			digitalinval = digitalRead(pinConfig.DIGITAL_IN_1);
+		}		
 	}
 	else if (digitalinid == 2)
 	{
 		digitalinpin = pinConfig.DIGITAL_IN_2;
-		digitalinval = digitalRead(pinConfig.DIGITAL_IN_2);
+		if (pinConfig.I2C_SCL > 0){
+			// use the external port extender on UC2v3
+			digitalinval = motor->getExternalPinValue(pinConfig.DIGITAL_IN_2);
+		}
+		else{
+			digitalinval = digitalRead(pinConfig.DIGITAL_IN_2);
+		}	
 	}
 	else if (digitalinid == 3)
 	{
 		digitalinpin = pinConfig.DIGITAL_IN_3;
-		digitalinval = digitalRead(pinConfig.DIGITAL_IN_3);
+		if (pinConfig.I2C_SCL > 0){
+			// use the external port extender on UC2v3
+			digitalinval = motor->getExternalPinValue(pinConfig.DIGITAL_IN_3);
+		}
+		else{
+			digitalinval = digitalRead(pinConfig.DIGITAL_IN_3);
+		}	
 	}
 	monitor_json = cJSON_CreateObject();
 	cJSON * id = cJSON_CreateNumber(digitalinid);
@@ -51,25 +71,37 @@ cJSON* DigitalInController::get(cJSON* jsonDocument)
 
 void DigitalInController::setup()
 {
+
 	log_i("Setting Up digitalin");
+	if (pinConfig.I2C_SCL == 0){
 	/* setup the output nodes and reset them to 0*/
 	log_i("DigitalIn 1: %i", pinConfig.DIGITAL_IN_1);
 	pinMode(pinConfig.DIGITAL_IN_1, INPUT_PULLDOWN);
 	log_i("DigitalIn 2: %i", pinConfig.DIGITAL_IN_2);
 	pinMode(pinConfig.DIGITAL_IN_2, INPUT_PULLDOWN);
 	log_i("DigitalIn 3: %i", pinConfig.DIGITAL_IN_3);
 	pinMode(pinConfig.DIGITAL_IN_3, INPUT_PULLDOWN);
+	}
 }
 
 void DigitalInController::loop()
 {
 
 	//FIXME: Never reaches this position..
 
+	if (pinConfig.I2C_SCL == 0){
 	// readout digital pins one by one
 	digitalin_val_1 = digitalRead(pinConfig.DIGITAL_IN_1);
 	digitalin_val_2 = digitalRead(pinConfig.DIGITAL_IN_2);
 	digitalin_val_3 = digitalRead(pinConfig.DIGITAL_IN_3);
+	}
+	else{
+		// read values from the TCA input register
+		FocusMotor *motor = (FocusMotor *)moduleController.get(AvailableModules::motor);
+		digitalin_val_1 = motor->getExternalPinValue(pinConfig.DIGITAL_IN_1);
+		digitalin_val_2 = motor->getExternalPinValue(pinConfig.DIGITAL_IN_2);
+		digitalin_val_3 = motor->getExternalPinValue(pinConfig.DIGITAL_IN_3);
+	}
 	//log_i("digitalin_val_1: %i, digitalin_val_2: %i, digitalin_val_3: %i", digitalin_val_1, digitalin_val_2, digitalin_val_3);
 }
 
diff --git a/main/src/digitalin/DigitalInController.h b/main/src/digitalin/DigitalInController.h
@@ -1,6 +1,6 @@
 #pragma once
 #include "../../Module.h"
-
+#include "../motor/FocusMotor.h"
 class DigitalInController : public Module
 {
 private:

diff --git a/main/src/motor/FocusMotor.cpp b/main/src/motor/FocusMotor.cpp
@@ -187,6 +187,24 @@ cJSON *FocusMotor::get(cJSON *docin)
 	return doc;
 }
 
+
+int FocusMotor::getExternalPinValue(uint8_t pin)
+{
+	// read register?
+	//_tca9535->TCA9535WriteOutput(&outRegister);
+	_tca9535->TCA9535ReadInput(&inRegister);
+
+	int value = -1;
+	pin = pin & ~PIN_EXTERNAL_FLAG;
+	if (pin == 105) // endstop X
+		value = inRegister.Port.P0.bit.Bit5;
+	if (pin == 106) // endstop Y
+		value = inRegister.Port.P0.bit.Bit6;
+	if (pin == 107) // endstop Z
+		value = inRegister.Port.P0.bit.Bit7;
+	return value;
+}
+
 bool FocusMotor::setExternalPin(uint8_t pin, uint8_t value)
 {
 	// This example returns the previous value of the output.

diff --git a/main/src/motor/FocusMotor.h b/main/src/motor/FocusMotor.h
@@ -32,12 +32,14 @@ class FocusMotor : public Module
 	void startStepper(int i);
 	void sendMotorPos(int i, int arraypos);
 	bool setExternalPin(uint8_t pin, uint8_t value);
+	int getExternalPinValue(uint8_t pin);
 	void setPosition(Stepper s, int pos);
 	void move(Stepper s, int steps, bool blocking);
 	bool isRunning(int i);
 private:
 	tca9535 *_tca9535;
 	TCA9535_Register outRegister;
+	TCA9535_Register inRegister;
 	FAccelStep faccel;
 
 	int logcount;

diff --git a/main/src/serial/SerialProcess.cpp b/main/src/serial/SerialProcess.cpp
@@ -35,7 +35,7 @@ void SerialProcess::loop()
 			cJSON *tasks = cJSON_GetObjectItemCaseSensitive(root, "tasks");
 			if (tasks != NULL)
 			{
-
+				// {"tasks:":[{"task": "/state_get"}, {"task": "/state_act", "delay": 1000}], "nTimes": 3}
 				// {"tasks":[{"task":"/state_get"},{"task":"/state_act", "delay":1000}],"nTimes":2}
 				int nTimes = 1;
 				// perform the table n-times

diff --git a/platformio.ini b/platformio.ini
@@ -25,7 +25,7 @@ framework =
 	espidf
 	arduino
 build_flags = 
-	-DCORE_DEBUG_LEVEL=0
+	-DCORE_DEBUG_LEVEL=5
 	-Wno-format