PicoLC.cpp

#include "PicoLCClass.h"
#include "internal/PicoLCPins.h"
#include "PicoLCInput.h"
#include "PicoLCTimer.h"

#include <Arduino.h>
#include <SPI.h>

#define MCPREG_IODIRA 0x00
#define MCPREG_IODIRB 0x01
#define MCPREG_IPOLA 0x02
#define MCPREG_IPOLB 0x03
#define MCPREG_GPINTENA 0x04
#define MCPREG_GPINTENB 0x05
#define MCPREG_DEFVALA 0x06
#define MCPREG_DEFVALB 0x07
#define MCPREG_INTCONA 0x08
#define MCPREG_INTCONB 0x09
#define MCPREG_IOCON 0x0A
#define MCPREG_GPPUA 0x0C
#define MCPREG_GPPUB 0x0D
#define MCPREG_INTFA 0x0E
#define MCPREG_INTFB 0x0F
#define MCPREG_INTCAPA 0x10
#define MCPREG_INTCAPB 0x11
#define MCPREG_GPIOA 0x12
#define MCPREG_GPIOB 0x13
#define MCPREG_OLATA 0x14
#define MCPREG_OLATB 0x15

#define MCP_WRITE 0x40
#define MCP_READ 0x41

#define SPI_SETTINGS SPISettings(10000000, MSBFIRST, SPI_MODE0)

static void mcpWrite(uint8_t reg, uint8_t value) {
 digitalWrite( picolc::pins::SPI1_CS, LOW);
 SPI1.beginTransaction(SPI_SETTINGS);
 SPI1.transfer(MCP_WRITE);
 SPI1.transfer(reg);
 SPI1.transfer(value);
 SPI1.endTransaction();
 digitalWrite( picolc::pins::SPI1_CS, HIGH);
}
static uint8_t mcpRead(uint8_t reg) {
 digitalWrite( picolc::pins::SPI1_CS, LOW);
 SPI1.beginTransaction(SPI_SETTINGS);
 SPI1.transfer(MCP_READ);
 SPI1.transfer(reg);
 uint8_t value = SPI1.transfer(0x00);
 SPI1.endTransaction();
 digitalWrite( picolc::pins::SPI1_CS, HIGH);
 return value;
}
static void mcpWrite16(uint8_t reg, uint16_t value) {
 digitalWrite( picolc::pins::SPI1_CS, LOW);
 SPI1.beginTransaction(SPI_SETTINGS);
 SPI1.transfer(MCP_WRITE);
 SPI1.transfer(reg);
 SPI1.transfer((value >> 8) & 0xFF);
 SPI1.transfer(value & 0xFF);
 SPI1.endTransaction();
 digitalWrite( picolc::pins::SPI1_CS, HIGH);
}
static uint16_t mcpRead16(uint8_t reg) {
 digitalWrite( picolc::pins::SPI1_CS, LOW);
 SPI1.beginTransaction(SPI_SETTINGS);
 SPI1.transfer(MCP_READ);
 SPI1.transfer(reg);
 uint16_t value = (SPI1.transfer(0x00) << 8);
 value |= SPI1.transfer(0x00);
 SPI1.endTransaction();
 digitalWrite( picolc::pins::SPI1_CS, HIGH);
 return value;
}

PicoLC::PicoLC() :
 Y0(), Y1(), Y2(), Y3(),
 X0(*this), X1(*this), X2(*this), X3(*this),
 P0(0), P1(2),
 StatusLED(), CommLED(), FaultLED(),
 RunStopButton(*this),UserButton(*this), BootButton(*this) {
}

void PicoLC::begin() {
 pinMode( picolc::pins::CommTX, OUTPUT);
 pinMode( picolc::pins::CommRX, INPUT);
 pinMode( picolc::pins::CommDE, OUTPUT);
 pinMode( picolc::pins::CommRE, OUTPUT);
 digitalWrite( picolc::pins::CommDE, LOW);
 digitalWrite( picolc::pins::CommRE, HIGH);

 pinMode( picolc::pins::OutputEnable, OUTPUT);
 digitalWrite( picolc::pins::OutputEnable, LOW);
 pinMode( picolc::pins::OutputFault, INPUT);
 pinMode( picolc::pins::BoardReset, OUTPUT);
 digitalWrite( picolc::pins::BoardReset, HIGH);

 pinMode( picolc::pins::Y0_EN, OUTPUT);
 pinMode( picolc::pins::Y1_EN, OUTPUT);
 pinMode( picolc::pins::Y2_EN, OUTPUT);
 pinMode( picolc::pins::Y3_EN, OUTPUT);

 pinMode( picolc::pins::SPI1_CS, OUTPUT);
 digitalWrite( picolc::pins::SPI1_CS, HIGH);
 SPI1.setTX(picolc::pins::SPI1_MOSI);
 SPI1.setRX(picolc::pins::SPI1_MISO);
 SPI1.setSCK(picolc::pins::SPI1_SCK);
 SPI1.setCS(picolc::pins::SPI1_CS);
 SPI1.begin();
 delay(1);

 mcpWrite16(MCPREG_IODIRA, 0xFF80 );
 mcpWrite16(MCPREG_GPPUA, 0xFFFF );
 mcpWrite16(MCPREG_IPOLA, 0xFFFF );

 analogWriteFreq(1000);
 analogWriteRange(1000);
}

void PicoLC::update() {
 _currentMillis = millis();
 _cycles++;
 uint16_t inval = mcpRead16(MCPREG_GPIOA);
 X0.update(_currentMillis, (inval >> picolc::pins::X0bit) & 0x01);
 X1.update(_currentMillis, (inval >> picolc::pins::X1bit) & 0x01);
 X2.update(_currentMillis, (inval >> picolc::pins::X2bit) & 0x01);
 X3.update(_currentMillis, (inval >> picolc::pins::X3bit) & 0x01);

 uint16_t outEnables = 0;
 uint16_t outDirs = 0;
 uint16_t out = 0;
 out = Y0.update(_currentMillis);
 outEnables |= (out & 0x01) << picolc::pins::Y0_EN;
 outDirs |= (((out & 0x02) >> 1) << (picolc::pins::Y0_DIRbit));

 out = Y1.update(_currentMillis);
 outEnables |= (out & 0x01) << picolc::pins::Y1_EN;
 outDirs |= (((out & 0x02) >> 1) << (picolc::pins::Y1_DIRbit));

 out = Y2.update(_currentMillis);
 outEnables |= (out & 0x01) << picolc::pins::Y2_EN;
 outDirs |= (((out & 0x02) >> 1) << (picolc::pins::Y2_DIRbit));

 out = Y3.update(_currentMillis);
 outEnables |= (out & 0x01) << picolc::pins::Y3_EN;
 outDirs |= (((out & 0x02) >> 1) << (picolc::pins::Y3_DIRbit));

 out = StatusLED.update(_currentMillis);
 outDirs |= (out & 0x01) << picolc::pins::ScanLEDbit;

 out = CommLED.update(_currentMillis);
 outDirs |= (out & 0x01) << picolc::pins::LED_485bit;

 out = FaultLED.update(_currentMillis);
 outDirs |= (out & 0x01) << picolc::pins::FaultLEDbit;

 //outDirs >>= 8;
 mcpWrite16(MCPREG_GPIOA, outDirs);

 digitalWrite(picolc::pins::Y0_EN, (outEnables >> picolc::pins::Y0_EN) & 0x01);
 digitalWrite(picolc::pins::Y1_EN, (outEnables >> picolc::pins::Y1_EN) & 0x01);
 digitalWrite(picolc::pins::Y2_EN, (outEnables >> picolc::pins::Y2_EN) & 0x01);
 digitalWrite(picolc::pins::Y3_EN, (outEnables >> picolc::pins::Y3_EN) & 0x01);

 RunStopButton.update(_currentMillis, (inval >> picolc::pins::RunStopBtnbit) & 0x01);
 UserButton.update(_currentMillis, (inval >> picolc::pins::UserBtnbit) & 0x01);
 BootButton.update(_currentMillis, BOOTSEL ? 1 : 0);
}

uint32_t PicoLC::currentMillis() const {
 return _currentMillis;
}

uint32_t PicoLC::cycles() const {
 return _cycles;
}

void PicoLC::enableOutputs(){

}

void PicoLC::disableOutputs(){

}

bool PicoLC::outputsEnabled() const {
 return false;
}

bool PicoLC::outputFault() const {
 return false;
}

void PicoLC::resetOutputDriver() {

}

float PicoLC::supplyVoltage() const {
 return 0.0F;
}