virtual void loop() {
if(!active()) return;
if(interruptPending_) {
interruptPending_ = false;
uint8_t n = mcp_.getInterruptPinValuesA();
if(st_.active() &&
( !bitRead(n,PIN_FRAME_STOP) ||
!bitRead(n,PIN_STEP_STOP1) ||
!bitRead(n,PIN_STEP_STOP2)))
st_.stop();
if(fan_.tachoActive() && !bitRead(n,PIN_FAN_TACHO))
fan_.tachoCount();
}
if(buttonPending_) {
buttonPending_ = false;
button_ &= mcp_.getInterruptPinValuesB();
}
sv_.loop();
st_.loop();
fan_.loop();
led_.loop();
tmp_.loop();
}
void Sensor::initSensors() {
sensGPIO.begin(1);
//Address pins
sensGPIO.pinMode(FRPIN, OUTPUT);
sensGPIO.pinMode(LTRPIN, OUTPUT);
sensGPIO.pinMode(LTLPIN, OUTPUT);
sensGPIO.pinMode(FLPIN, OUTPUT);
sensGPIO.pinMode(MRPIN, OUTPUT);
sensGPIO.pinMode(MLPIN, OUTPUT);
sensGPIO.pinMode(BRPIN, OUTPUT);
sensGPIO.pinMode(BLPIN, OUTPUT);
//-------Set all sensor select pins to high---------------
sensGPIO.writeGPIOA(0xFF);
//Ultrasonic pins
pinMode(A0, OUTPUT);
pinMode(A1, INPUT);
for (byte i = sC::FR; i < sC::invalid; i++) {
SelectSensor(i);
tsl.begin(TSL2561_ADDR_0);
tsl.setTiming(TSL2561_GAIN_16X, TSL2561_INTEGRATIONTIME_14MS);
tsl.setPowerUp();
}
delay(14);
_sensorInitComplete = true;
}
static void stepperInterrupt(bool on) {
if(on) {
mcp_.setupInterruptPin(PIN_FRAME_STOP,CHANGE);
mcp_.setupInterruptPin(PIN_STEP_STOP1,CHANGE);
mcp_.setupInterruptPin(PIN_STEP_STOP2,CHANGE);
if(fan_.tachoActive()) {
mcp_.setupInterruptPin(PIN_FAN_TACHO,LOW);
mcp_.pullUp(PIN_FAN_TACHO,LOW);
}
}else{
mcp_.setupInterruptPin(PIN_FRAME_STOP,LOW);
mcp_.setupInterruptPin(PIN_STEP_STOP1,LOW);
mcp_.setupInterruptPin(PIN_STEP_STOP2,LOW);
if(fan_.tachoActive()){
mcp_.setupInterruptPin(PIN_FAN_TACHO,CHANGE);
mcp_.pullUp(PIN_FAN_TACHO,HIGH);
}
}
}
//Switches the I2C address of the desired sensor and removes others
void Sensor::SelectSensor(byte sensorNumber) {
if (sensorNumber == sC::FR) { sensGPIO.writeGPIOA(0x7F); SEN_PRINTLN("FR Selected"); }
else if (sensorNumber == sC::LTR) { sensGPIO.writeGPIOA(0xBF); SEN_PRINTLN("LTR Selected"); }
else if (sensorNumber == sC::LTL) { sensGPIO.writeGPIOA(0xDF); SEN_PRINTLN("LTL Selected"); }
else if (sensorNumber == sC::FL) { sensGPIO.writeGPIOA(0xEF); SEN_PRINTLN("FL Selected"); }
else if (sensorNumber == sC::MR) { sensGPIO.writeGPIOA(0xF7); SEN_PRINTLN("MR Selected"); }
else if (sensorNumber == sC::ML) { sensGPIO.writeGPIOA(0xFB); SEN_PRINTLN("ML Selected"); }
else if (sensorNumber == sC::BR) { sensGPIO.writeGPIOA(0xFD); SEN_PRINTLN("BR Selected"); }
else if (sensorNumber == sC::BL) { sensGPIO.writeGPIOA(0xFE); SEN_PRINTLN("BL Selected"); }
else {
ERROR_PRINTLN("Sensor Select Error");
ERROR_PRINTLN("All address lines returned to default");
sensGPIO.writeGPIOA(0xFF);
}
}
static void ioSetup() {
digitalWrite(PIN_IO_RST,LOW);
delay(100);
digitalWrite(PIN_IO_RST,HIGH);
delay(100);
mcp_.begin(IO_ADDR);
mcp_.pinMode(PIN_EP_EN,OUTPUT);
mcp_.pinMode(PIN_LED_EN,OUTPUT);
mcp_.pinMode(PIN_SRV_EN,OUTPUT);
mcp_.pinMode(PIN_FAN_EN,OUTPUT);
mcp_.pinMode(PIN_FAN_TACHO,INPUT);
mcp_.pinMode(PIN_HOST_INT,OUTPUT);
mcp_.pinMode(PIN_STEP_SLP,OUTPUT);
mcp_.pullUp(PIN_FRAME_STOP,HIGH);
mcp_.pullUp(PIN_STEP_STOP1,HIGH);
mcp_.pullUp(PIN_STEP_STOP2,HIGH);
mcp_.pullUp(PIN_BTN11,HIGH);
mcp_.pullUp(PIN_BTN12,HIGH);
mcp_.pullUp(PIN_BTN13,HIGH);
mcp_.pullUp(PIN_BTN21,HIGH);
mcp_.pullUp(PIN_BTN22,HIGH);
mcp_.pullUp(PIN_BTN23,HIGH);
mcp_.setupInterruptPin(PIN_BTN11,CHANGE);
mcp_.setupInterruptPin(PIN_BTN12,CHANGE);
mcp_.setupInterruptPin(PIN_BTN13,CHANGE);
mcp_.setupInterruptPin(PIN_BTN21,CHANGE);
mcp_.setupInterruptPin(PIN_BTN22,CHANGE);
mcp_.setupInterruptPin(PIN_BTN23,CHANGE);
mcp_.setupInterrupts(false,false,LOW);
if(st_.active())
stepperInterrupt(true);
if(fan_.tachoActive())
fanInterrupt(true);
}
static void powerSetup(byte pin, byte value) {
mcp_.digitalWrite(pin,value?HIGH:LOW);
}
static void fanInterrupt(bool on) {
if(!on || !st_.active()) {
mcp_.pullUp(PIN_FAN_TACHO,on?HIGH:LOW);
mcp_.setupInterruptPin(PIN_FAN_TACHO,on?CHANGE:LOW);
}
}
