servo_timer_tick(void) // servo timer function
{
unsigned char i;
os_timer_disarm(&servo_timer); // dis_arm the timer
os_timer_setfn(&servo_timer, (os_timer_func_t *)servo_timer_tick, NULL); // set the timer function, dot get os_timer_func_t to force function convert
os_timer_arm(&servo_timer, 20, 1); // arm the timer every 20ms and repeat
if (need_sort != 0) { sort_pulse_time(); }
// if only 1 servo is active
if (active_servos == 1)
{
DIRECT_WRITE_HIGH(servo_pin_sorted[0]);
os_delay_us(servo_delay_time[0]);
DIRECT_WRITE_LOW(servo_pin_sorted[0]);
}
// if more than 1 servo is active, loop for all active servo is needed
else if (active_servos > 1)
{
for ( i = 0 ; i < active_servos ; i++ )
{
if (servo_pin_sorted[i] >= 0) {DIRECT_WRITE_HIGH(servo_pin_sorted[i]);}
}
for ( i = 0 ; i < active_servos ; i++ )
{
if (servo_delay_time[i] > 0) {os_delay_us(servo_delay_time[i]);}
if (servo_pin_sorted[i] >= 0) {DIRECT_WRITE_LOW(servo_pin_sorted[i]);}
}
}
}
int CapacitiveSensor::SenseOneCycle(void)
{
noInterrupts();
DIRECT_WRITE_LOW(sReg, sBit); // sendPin Register low
DIRECT_MODE_INPUT(rReg, rBit); // receivePin to input (pullups are off)
DIRECT_MODE_OUTPUT(rReg, rBit); // receivePin to OUTPUT
DIRECT_WRITE_LOW(rReg, rBit); // pin is now LOW AND OUTPUT
delayMicroseconds(10);
DIRECT_MODE_INPUT(rReg, rBit); // receivePin to input (pullups are off)
DIRECT_WRITE_HIGH(sReg, sBit); // sendPin High
interrupts();
while ( !DIRECT_READ(rReg, rBit) && (total < CS_Timeout_Millis) ) { // while receive pin is LOW AND total is positive value
total++;
}
//Serial.print("SenseOneCycle(1): ");
//Serial.println(total);
if (total > CS_Timeout_Millis) {
return -2; // total variable over timeout
}
// set receive pin HIGH briefly to charge up fully - because the while loop above will exit when pin is ~ 2.5V
noInterrupts();
DIRECT_WRITE_HIGH(rReg, rBit);
DIRECT_MODE_OUTPUT(rReg, rBit); // receivePin to OUTPUT - pin is now HIGH AND OUTPUT
DIRECT_WRITE_HIGH(rReg, rBit);
DIRECT_MODE_INPUT(rReg, rBit); // receivePin to INPUT (pullup is off)
DIRECT_WRITE_LOW(sReg, sBit); // sendPin LOW
interrupts();
#ifdef FIVE_VOLT_TOLERANCE_WORKAROUND
DIRECT_MODE_OUTPUT(rReg, rBit);
DIRECT_WRITE_LOW(rReg, rBit);
delayMicroseconds(10);
DIRECT_MODE_INPUT(rReg, rBit); // receivePin to INPUT (pullup is off)
#else
while ( DIRECT_READ(rReg, rBit) && (total < CS_Timeout_Millis) ) { // while receive pin is HIGH AND total is less than timeout
total++;
}
#endif
//Serial.print("SenseOneCycle(2): ");
//Serial.println(total);
if (total >= CS_Timeout_Millis) {
return -2; // total variable over timeout
} else {
return 1;
}
}
// Lua: setup( id, pin, default_pulse_lenght )
static int servo_setup( lua_State* L )
{
unsigned id, pin, default_pulse;
id = luaL_checkinteger( L, 1 );
if (id >= max_servos)
return luaL_error( L, "wrong id, must be 0-5" );
pin = luaL_checkinteger( L, 2 );
MOD_CHECK_ID( gpio, pin );
default_pulse = luaL_checkinteger( L, 3 );
if (default_pulse < 500 || default_pulse > 2500 )
return luaL_error( L, "wrong pulse length, must be 500-2500" );
//os_sprintf(debug_buffer, "id=%d pin=%d time=%d",id,pin,default_pulse);
//debug(debug_buffer);
if (id >= 0 && id < max_servos)
{
servo_pin[id] = pin;
servo_time[id] = default_pulse;
if (servo_pin[id] >= 0)
{
DIRECT_WRITE_LOW(pin);
DIRECT_MODE_OUTPUT(pin);
}
need_sort = 1;
if (timer_running != 1)
{
os_timer_disarm(&servo_timer); // dis_arm the timer
os_timer_setfn(&servo_timer, (os_timer_func_t *)servo_timer_tick, NULL); // set the timer function, dot get os_timer_func_t to force function convert
os_timer_arm(&servo_timer, 20, 1); // arm the timer every 5ms and repeat
timer_running = 1;
}
}
return 1;
}
bool OneWireSlave::presence(uint8_t delta) {
uint8_t mask = pin_bitmask;
volatile uint8_t *reg asm("r30") = baseReg;
errno = ONEWIRE_NO_ERROR;
cli();
DIRECT_WRITE_LOW(reg, mask);
DIRECT_MODE_OUTPUT(reg, mask); // drive output low
sei();
delayMicroseconds(120);
cli();
DIRECT_MODE_INPUT(reg, mask); // allow it to float
sei();
delayMicroseconds(300 - delta);
if ( !DIRECT_READ(reg, mask)) {
errno = ONEWIRE_PRESENCE_LOW_ON_LINE;
return FALSE;
} else
return TRUE;
}
void OneWireSlave::sendBit(uint8_t v) {
uint8_t mask = pin_bitmask;
volatile uint8_t *reg asm("r30") = baseReg;
cli();
DIRECT_MODE_INPUT(reg, mask);
if (!waitTimeSlot() ) {
errno = ONEWIRE_WRITE_TIMESLOT_TIMEOUT;
sei();
return;
}
if (v & 1)
delayMicroseconds(30);
else {
cli();
DIRECT_WRITE_LOW(reg, mask);
DIRECT_MODE_OUTPUT(reg, mask);
delayMicroseconds(30);
DIRECT_WRITE_HIGH(reg, mask);
sei();
}
sei();
return;
}
//
// Read the 40 bit data stream from the DHT 22
// Store the results in private member data to be read by public member functions
//
DHT22_ERROR_t DHT22::readData()
{
uint8_t bitmask = _bitmask;
volatile uint8_t *reg asm("r30") = _baseReg;
uint8_t retryCount;
uint8_t bitTimes[DHT22_DATA_BIT_COUNT];
int currentHumidity;
int currentTemperature;
uint8_t checkSum, csPart1, csPart2, csPart3, csPart4;
unsigned long currentTime;
int i;
currentHumidity = 0;
currentTemperature = 0;
checkSum = 0;
currentTime = millis();
for(i = 0; i < DHT22_DATA_BIT_COUNT; i++)
{
bitTimes[i] = 0;
}
if(currentTime - _lastReadTime < 2000)
{
// Caller needs to wait 2 seconds between each call to readData
return DHT_ERROR_TOOQUICK;
}
_lastReadTime = currentTime;
// Pin needs to start HIGH, wait until it is HIGH with a timeout
cli();
DIRECT_MODE_INPUT(reg, bitmask);
sei();
retryCount = 0;
do
{
if (retryCount > 125)
{
return DHT_BUS_HUNG;
}
retryCount++;
delayMicroseconds(2);
} while(!DIRECT_READ(reg, bitmask));
// Send the activate pulse
cli();
DIRECT_WRITE_LOW(reg, bitmask);
DIRECT_MODE_OUTPUT(reg, bitmask); // Output Low
sei();
delayMicroseconds(1100); // 1.1 ms
cli();
DIRECT_MODE_INPUT(reg, bitmask); // Switch back to input so pin can float
sei();
// Find the start of the ACK Pulse
retryCount = 0;
do
{
if (retryCount > 25) //(Spec is 20 to 40 us, 25*2 == 50 us)
{
return DHT_ERROR_NOT_PRESENT;
}
retryCount++;
delayMicroseconds(2);
} while(!DIRECT_READ(reg, bitmask));
// Find the end of the ACK Pulse
retryCount = 0;
do
{
if (retryCount > 50) //(Spec is 80 us, 50*2 == 100 us)
{
return DHT_ERROR_ACK_TOO_LONG;
}
retryCount++;
delayMicroseconds(2);
} while(DIRECT_READ(reg, bitmask));
// Read the 40 bit data stream
for(i = 0; i < DHT22_DATA_BIT_COUNT; i++)
{
// Find the start of the sync pulse
retryCount = 0;
do
{
if (retryCount > 35) //(Spec is 50 us, 35*2 == 70 us)
{
return DHT_ERROR_SYNC_TIMEOUT;
}
retryCount++;
delayMicroseconds(2);
} while(!DIRECT_READ(reg, bitmask));
// Measure the width of the data pulse
retryCount = 0;
do
{
if (retryCount > 50) //(Spec is 80 us, 50*2 == 100 us)
{
return DHT_ERROR_DATA_TIMEOUT;
}
retryCount++;
delayMicroseconds(2);
} while(DIRECT_READ(reg, bitmask));
bitTimes[i] = retryCount;
}
// Now bitTimes have the number of retries (us *2)
// that were needed to find the end of each data bit
// Spec: 0 is 26 to 28 us
// Spec: 1 is 70 us
// bitTimes[x] <= 11 is a 0
// bitTimes[x] > 11 is a 1
// Note: the bits are offset by one from the data sheet, not sure why
for(i = 0; i < 16; i++)
{
if(bitTimes[i + 1] > 11)
{
currentHumidity |= (1 << (15 - i));
}
}
for(i = 0; i < 16; i++)
{
if(bitTimes[i + 17] > 11)
{
currentTemperature |= (1 << (15 - i));
}
}
for(i = 0; i < 8; i++)
{
if(bitTimes[i + 33] > 11)
{
checkSum |= (1 << (7 - i));
}
}
_lastHumidity = currentHumidity & 0x7FFF;
if(currentTemperature & 0x8000)
{
// Below zero, non standard way of encoding negative numbers!
// Convert to native negative format.
currentTemperature &= 0x7FFF;
_lastTemperature = -currentTemperature;
}
else
{
_lastTemperature = currentTemperature;
}
csPart1 = currentHumidity >> 8;
csPart2 = currentHumidity & 0xFF;
csPart3 = currentTemperature >> 8;
csPart4 = currentTemperature & 0xFF;
if(checkSum == ((csPart1 + csPart2 + csPart3 + csPart4) & 0xFF))
{
return DHT_ERROR_NONE;
}
return DHT_ERROR_CHECKSUM;
}
// return values:
// DHTLIB_OK
// DHTLIB_ERROR_TIMEOUT
int dht_readSensor(uint8_t pin, uint8_t wakeupDelay)
{
// INIT BUFFERVAR TO RECEIVE DATA
uint8_t mask = 128;
uint8_t idx = 0;
uint8_t i = 0;
// replace digitalRead() with Direct Port Reads.
// reduces footprint ~100 bytes => portability issue?
// direct port read is about 3x faster
// uint8_t bit = digitalPinToBitMask(pin);
// uint8_t port = digitalPinToPort(pin);
// volatile uint8_t *PIR = portInputRegister(port);
// EMPTY BUFFER
for (i = 0; i < 5; i++) dht_bytes[i] = 0;
// REQUEST SAMPLE
// pinMode(pin, OUTPUT);
platform_gpio_mode(pin, PLATFORM_GPIO_OUTPUT, PLATFORM_GPIO_PULLUP);
DIRECT_MODE_OUTPUT(pin);
// digitalWrite(pin, LOW); // T-be
DIRECT_WRITE_LOW(pin);
// delay(wakeupDelay);
for (i = 0; i < wakeupDelay; i++) os_delay_us(1000);
// Disable interrupts
ets_intr_lock();
// digitalWrite(pin, HIGH); // T-go
DIRECT_WRITE_HIGH(pin);
os_delay_us(40);
// pinMode(pin, INPUT);
DIRECT_MODE_INPUT(pin);
// GET ACKNOWLEDGE or TIMEOUT
uint16_t loopCntLOW = DHTLIB_TIMEOUT;
while (DIRECT_READ(pin) == LOW ) // T-rel
{
os_delay_us(1);
if (--loopCntLOW == 0) return DHTLIB_ERROR_TIMEOUT;
}
uint16_t loopCntHIGH = DHTLIB_TIMEOUT;
while (DIRECT_READ(pin) != LOW ) // T-reh
{
os_delay_us(1);
if (--loopCntHIGH == 0) return DHTLIB_ERROR_TIMEOUT;
}
// READ THE OUTPUT - 40 BITS => 5 BYTES
for (i = 40; i != 0; i--)
{
loopCntLOW = DHTLIB_TIMEOUT;
while (DIRECT_READ(pin) == LOW )
{
os_delay_us(1);
if (--loopCntLOW == 0) return DHTLIB_ERROR_TIMEOUT;
}
uint32_t t = system_get_time();
loopCntHIGH = DHTLIB_TIMEOUT;
while (DIRECT_READ(pin) != LOW )
{
os_delay_us(1);
if (--loopCntHIGH == 0) return DHTLIB_ERROR_TIMEOUT;
}
if ((system_get_time() - t) > 40)
{
dht_bytes[idx] |= mask;
}
mask >>= 1;
if (mask == 0) // next byte?
{
mask = 128;
idx++;
}
}
// Enable interrupts
ets_intr_unlock();
// pinMode(pin, OUTPUT);
DIRECT_MODE_OUTPUT(pin);
// digitalWrite(pin, HIGH);
DIRECT_WRITE_HIGH(pin);
return DHTLIB_OK;
}