iBUStelemetry.cpp

/*
SoftwareSerialWithHalfDuplex.cpp (formerly SoftwareSerial.cpp) - 
Multi-instance software serial with half duplex library for Arduino/Wiring

By default the library works the same as the SoftwareSerial library, but by adding a couple of additional arguments
it can be configured for half-duplex. In that case, the transmit pin is set by default to an input, with the pull-up set. 
When transmitting, the pin temporarily switches to an output until the byte is sent, then flips back to input. When a module is 
receiving it should not be able to transmit, and vice-versa. This library probably won't work as is if you need inverted-logic.

This is a first draft of the library and test programs. It appears to work, but has only been tested on a limited basis.
The library also works to communicate with Robotis Bioloid AX-12 motors.
Seems fairly reliable up to 57600 baud. As with all serial neither error checking, nor addressing are implemented, 
so it is likely that you will need to do this yourself. Also, you can make use of other protocols such as i2c. 
I am looking for any feedback, advice and help at this stage. 
Changes from SoftwareSerial have been noted with a comment of "//NS" for your review. Only a few were required.
Contact me at n.stedman@steddyrobots.com, or on the arduino forum.
----
SoftwareSerial.cpp (formerly NewSoftSerial.cpp) - 
Multi-instance software serial library for Arduino/Wiring
-- Interrupt-driven receive and other improvements by ladyada
   (http://ladyada.net)
-- Tuning, circular buffer, derivation from class Print/Stream,
   multi-instance support, porting to 8MHz processors,
   various optimizations, PROGMEM delay tables, inverse logic and 
   direct port writing by Mikal Hart (http://www.arduiniana.org)
-- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
-- 20MHz processor support by Garrett Mace (http://www.macetech.com)
-- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/


// When set, _DEBUG co-opts pins 11 and 13 for debugging with an
// oscilloscope or logic analyzer.  Beware: it also slightly modifies
// the bit times, so don't rely on it too much at high baud rates
#define _DEBUG 0
#define _DEBUG_PIN1 11
#define _DEBUG_PIN2 13
// 
// Includes
// 
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <Arduino.h>
#include "iBUStelemetry.h"
#include <util/delay_basic.h>

//
// Statics
//
iBUStelemetry *iBUStelemetry::active_object = 0;
char iBUStelemetry::_receive_buffer[_SS_MAX_RX_BUFF]; 
volatile uint8_t iBUStelemetry::_receive_buffer_tail = 0;
volatile uint8_t iBUStelemetry::_receive_buffer_head = 0;

//
// Debugging
//
// This function generates a brief pulse
// for debugging or measuring on an oscilloscope.
inline void DebugPulse(uint8_t pin, uint8_t count)
{
#if _DEBUG
  volatile uint8_t *pport = portOutputRegister(digitalPinToPort(pin));

  uint8_t val = *pport;
  while (count--)
  {
    *pport = val | digitalPinToBitMask(pin);
    *pport = val;
  }
#endif
}

//
// Private methods
//

/* static */ 
inline void iBUStelemetry::tunedDelay(uint16_t delay) { 
  _delay_loop_2(delay);
}

// This function sets the current object as the "listening"
// one and returns true if it replaces another 
bool iBUStelemetry::listen()
{
  if (!_rx_delay_stopbit)
    return false;

  if (active_object != this)
  {
    if (active_object)
      active_object->stopListening();

    _buffer_overflow = false;
    _receive_buffer_head = _receive_buffer_tail = 0;
    active_object = this;

    setRxIntMsk(true);
    return true;
  }

  return false;
}

// Stop listening. Returns true if we were actually listening.
bool iBUStelemetry::stopListening()
{
  if (active_object == this)
  {
    setRxIntMsk(false);
    active_object = NULL;
    return true;
  }
  return false;
}

//
// The receive routine called by the interrupt handler
//
void iBUStelemetry::recv()
{

#if GCC_VERSION < 40302
// Work-around for avr-gcc 4.3.0 OSX version bug
// Preserve the registers that the compiler misses
// (courtesy of Arduino forum user *etracer*)
  asm volatile(
    "push r18 \n\t"
    "push r19 \n\t"
    "push r20 \n\t"
    "push r21 \n\t"
    "push r22 \n\t"
    "push r23 \n\t"
    "push r26 \n\t"
    "push r27 \n\t"
    ::);
#endif  

  uint8_t d = 0;

  // If RX line is high, then we don't see any start bit
  // so interrupt is probably not for us
  if (_inverse_logic ? rx_pin_read() : !rx_pin_read())
  {
    // Disable further interrupts during reception, this prevents
    // triggering another interrupt directly after we return, which can
    // cause problems at higher baudrates.
    setRxIntMsk(false);

    // Wait approximately 1/2 of a bit width to "center" the sample
    tunedDelay(_rx_delay_centering);
    DebugPulse(_DEBUG_PIN2, 1);
    
    // Read each of the 8 bits
    for (uint8_t i=8; i > 0; --i)
    {
      tunedDelay(_rx_delay_intrabit);
      d >>= 1;
      DebugPulse(_DEBUG_PIN2, 1);
      if (rx_pin_read())
        d |= 0x80;
    }

    if (_inverse_logic)
      d = ~d;
    
    // if buffer full, set the overflow flag and return
    uint8_t next = (_receive_buffer_tail + 1) % _SS_MAX_RX_BUFF;
    if (next != _receive_buffer_head)
    {
      // save new data in buffer: tail points to where byte goes
      _receive_buffer[_receive_buffer_tail] = d; // save new byte
      _receive_buffer_tail = next;
    } 
    else 
    {
      DebugPulse(_DEBUG_PIN1, 1);
      _buffer_overflow = true;
    }
    
    // skip the stop bit
    tunedDelay(_rx_delay_stopbit);
    DebugPulse(_DEBUG_PIN1, 1);
    
    // Re-enable interrupts when we're sure to be inside the stop bit
    setRxIntMsk(true);
    
	//#ifdef iBUS
	  iBUSmsg();
	//#endif
  }

#if GCC_VERSION < 40302
// Work-around for avr-gcc 4.3.0 OSX version bug
// Restore the registers that the compiler misses
  asm volatile(
    "pop r27 \n\t"
    "pop r26 \n\t"
    "pop r23 \n\t"
    "pop r22 \n\t"
    "pop r21 \n\t"
    "pop r20 \n\t"
    "pop r19 \n\t"
    "pop r18 \n\t"
    ::);
#endif
}

uint8_t iBUStelemetry::rx_pin_read()
{
  return *_receivePortRegister & _receiveBitMask;
}

//
// Interrupt handling
//

/* static */
inline void iBUStelemetry::handle_interrupt()
{
  if (active_object)
  {
    active_object->recv();
  }
}

#if defined(PCINT0_vect)
ISR(PCINT0_vect)
{
  iBUStelemetry::handle_interrupt();
}
#endif

#if defined(PCINT1_vect)
ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect));
#endif

#if defined(PCINT2_vect)
ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect));
#endif

#if defined(PCINT3_vect)
ISR(PCINT3_vect, ISR_ALIASOF(PCINT0_vect));
#endif

//
// Constructor
//
iBUStelemetry::iBUStelemetry(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic /* = false */, bool full_duplex /* = true */) : 
  _rx_delay_centering(0),
  _rx_delay_intrabit(0),
  _rx_delay_stopbit(0),
  _tx_delay(0),
  _buffer_overflow(false),
  _inverse_logic(inverse_logic)
{
  // @micooke - passing half_duplex is fairly pointless as you can determine it from the tx and rx pin chose.
  // Im inclined to remove full_duplex as an argument.
  // This change allows the user to test half-duplex with different or the same pins
  _full_duplex = (transmitPin == receivePin)?false:full_duplex;				//NS Added 
  setTX(transmitPin);
  setRX(receivePin);
  sensorCount = 0;
  pinMode(13, OUTPUT);
}

iBUStelemetry::iBUStelemetry(uint8_t receivePin) : 
  _rx_delay_centering(0),
  _rx_delay_intrabit(0),
  _rx_delay_stopbit(0),
  _tx_delay(0),
  _buffer_overflow(false),
  _inverse_logic(false)
{
  uint8_t transmitPin = receivePin;
  bool full_duplex = false;
  // @micooke - passing half_duplex is fairly pointless as you can determine it from the tx and rx pin chose.
  // Im inclined to remove full_duplex as an argument.
  // This change allows the user to test half-duplex with different or the same pins
  _full_duplex = (transmitPin == receivePin)?false:full_duplex;        //NS Added 
  setTX(transmitPin);
  setRX(receivePin);
  sensorCount = 0;
  pinMode(13, OUTPUT);
}

//
// Destructor
//
iBUStelemetry::~iBUStelemetry()
{
  end();
}

void iBUStelemetry::setTX(uint8_t tx)
{
  // First write, then set output. If we do this the other way around,
  // the pin would be output low for a short while before switching to
  // output high. Now, it is input with pullup for a short while, which
  // is fine. With inverse logic, either order is fine.
  digitalWrite(tx, _inverse_logic ? LOW : HIGH);
  if(_full_duplex)	pinMode(tx, OUTPUT);					//NS Added
  else pinMode(tx, INPUT);									//NS Added
  _transmitPin = tx;  										//NS Added  

  _transmitBitMask = digitalPinToBitMask(tx);
  uint8_t port = digitalPinToPort(tx);
  _transmitPortRegister = portOutputRegister(port);
}

void iBUStelemetry::setRX(uint8_t rx)
{
  pinMode(rx, INPUT);
  if (!_inverse_logic)
    digitalWrite(rx, HIGH);  // pullup for normal logic!
  _receivePin = rx;
  _receiveBitMask = digitalPinToBitMask(rx);
  uint8_t port = digitalPinToPort(rx);
  _receivePortRegister = portInputRegister(port);
}

uint16_t iBUStelemetry::subtract_cap(uint16_t num, uint16_t sub) {
  if (num > sub)
    return num - sub;
  else
    return 1;
}

//
// Public methods
//

void iBUStelemetry::begin(long speed)
{
  _rx_delay_centering = _rx_delay_intrabit = _rx_delay_stopbit = _tx_delay = 0;

  // Precalculate the various delays, in number of 4-cycle delays
  uint16_t bit_delay = (F_CPU / speed) / 4;

  // 12 (gcc 4.8.2) or 13 (gcc 4.3.2) cycles from start bit to first bit,
  // 15 (gcc 4.8.2) or 16 (gcc 4.3.2) cycles between bits,
  // 12 (gcc 4.8.2) or 14 (gcc 4.3.2) cycles from last bit to stop bit
  // These are all close enough to just use 15 cycles, since the inter-bit
  // timings are the most critical (deviations stack 8 times)
  _tx_delay = subtract_cap(bit_delay, 15 / 4);

  // Only setup rx when we have a valid PCINT for this pin
  if (digitalPinToPCICR(_receivePin)) {
    #if GCC_VERSION > 40800
    // Timings counted from gcc 4.8.2 output. This works up to 115200 on
    // 16Mhz and 57600 on 8Mhz.
    //
    // When the start bit occurs, there are 3 or 4 cycles before the
    // interrupt flag is set, 4 cycles before the PC is set to the right
    // interrupt vector address and the old PC is pushed on the stack,
    // and then 75 cycles of instructions (including the RJMP in the
    // ISR vector table) until the first delay. After the delay, there
    // are 17 more cycles until the pin value is read (excluding the
    // delay in the loop).
    // We want to have a total delay of 1.5 bit time. Inside the loop,
    // we already wait for 1 bit time - 23 cycles, so here we wait for
    // 0.5 bit time - (71 + 18 - 22) cycles.
    _rx_delay_centering = subtract_cap(bit_delay / 2, (4 + 4 + 75 + 17 - 23) / 4);

    // There are 23 cycles in each loop iteration (excluding the delay)
    _rx_delay_intrabit = subtract_cap(bit_delay, 23 / 4);

    // There are 37 cycles from the last bit read to the start of
    // stopbit delay and 11 cycles from the delay until the interrupt
    // mask is enabled again (which _must_ happen during the stopbit).
    // This delay aims at 3/4 of a bit time, meaning the end of the
    // delay will be at 1/4th of the stopbit. This allows some extra
    // time for ISR cleanup, which makes 115200 baud at 16Mhz work more
    // reliably
    _rx_delay_stopbit = subtract_cap(bit_delay * 3 / 4, (37 + 11) / 4);
    #else // Timings counted from gcc 4.3.2 output
    // Note that this code is a _lot_ slower, mostly due to bad register
    // allocation choices of gcc. This works up to 57600 on 16Mhz and
    // 38400 on 8Mhz.
    _rx_delay_centering = subtract_cap(bit_delay / 2, (4 + 4 + 97 + 29 - 11) / 4);
    _rx_delay_intrabit = subtract_cap(bit_delay, 11 / 4);
    _rx_delay_stopbit = subtract_cap(bit_delay * 3 / 4, (44 + 17) / 4);
    #endif


    // Enable the PCINT for the entire port here, but never disable it
    // (others might also need it, so we disable the interrupt by using
    // the per-pin PCMSK register).
    *digitalPinToPCICR(_receivePin) |= _BV(digitalPinToPCICRbit(_receivePin));
    // Precalculate the pcint mask register and value, so setRxIntMask
    // can be used inside the ISR without costing too much time.
    _pcint_maskreg = digitalPinToPCMSK(_receivePin);
    _pcint_maskvalue = _BV(digitalPinToPCMSKbit(_receivePin));

    tunedDelay(_tx_delay); // if we were low this establishes the end
  }

#if _DEBUG
  pinMode(_DEBUG_PIN1, OUTPUT);
  pinMode(_DEBUG_PIN2, OUTPUT);
#endif

  listen();
}

void iBUStelemetry::setRxIntMsk(bool enable)
{
    if (enable)
      *_pcint_maskreg |= _pcint_maskvalue;
    else
      *_pcint_maskreg &= ~_pcint_maskvalue;
}

void iBUStelemetry::end()
{
  stopListening();
}


// Read data from buffer
int iBUStelemetry::read()
{
  if (!isListening())
    return -1;

  // Empty buffer?
  if (_receive_buffer_head == _receive_buffer_tail)
    return -1;

  // Read from "head"
  uint8_t d = _receive_buffer[_receive_buffer_head]; // grab next byte
  _receive_buffer_head = (_receive_buffer_head + 1) % _SS_MAX_RX_BUFF;
  return d;
}

int iBUStelemetry::available()
{
  if (!isListening())
    return 0;

  return (_receive_buffer_tail + _SS_MAX_RX_BUFF - _receive_buffer_head) % _SS_MAX_RX_BUFF;
}

size_t iBUStelemetry::write(uint8_t b)
{
  if (_tx_delay == 0) {
    setWriteError();
    return 0;
  }

  // By declaring these as local variables, the compiler will put them
  // in registers _before_ disabling interrupts and entering the
  // critical timing sections below, which makes it a lot easier to
  // verify the cycle timings
  volatile uint8_t *reg = _transmitPortRegister;
  uint8_t reg_mask = _transmitBitMask;
  uint8_t inv_mask = ~_transmitBitMask;
  uint8_t oldSREG = SREG;
  bool inv = _inverse_logic;
  uint16_t delay = _tx_delay;

  if (inv)
    b = ~b;

  cli();  // turn off interrupts for a clean txmit

  // NS - Set Pin to Output
  if(!_full_duplex)															//NS Added
	  pinMode(_transmitPin, OUTPUT);										//NS Added    

  // Write the start bit
  if (inv)
    *reg |= reg_mask;
  else
    *reg &= inv_mask;

  tunedDelay(delay);

  // Write each of the 8 bits
  for (uint8_t i = 8; i > 0; --i)
  {
    if (b & 1) // choose bit
      *reg |= reg_mask; // send 1
    else
      *reg &= inv_mask; // send 0

    tunedDelay(delay);
    b >>= 1;
  }

  // restore pin to natural state
  if (inv)
    *reg &= inv_mask;
  else
    *reg |= reg_mask;

  // NS - Set Pin back to Input
  if(!_full_duplex){
	  pinMode(_transmitPin, INPUT);							//NS Added
	  *reg |= reg_mask; 									//pull _transmitPin HIGH
  }
  SREG = oldSREG; // turn interrupts back on
  tunedDelay(_tx_delay);
  
  return 1;
}

void iBUStelemetry::flush()
{
  if (!isListening())
    return;

  uint8_t oldSREG = SREG;
  cli();
  _receive_buffer_head = _receive_buffer_tail = 0;
  SREG = oldSREG;
}

int iBUStelemetry::peek()
{
  if (!isListening())
    return -1;

  // Empty buffer?
  if (_receive_buffer_head == _receive_buffer_tail)
    return -1;

  // Read from "head"
  return _receive_buffer[_receive_buffer_head];
}

//#ifdef iBUS
void iBUStelemetry::iBUSmsg(){
  if(available() >= 4){
    bool msgReceived = 0;
    byte len;
    byte msgAdr;
    byte msg;
    byte adr;
    unsigned int checksum;
    unsigned int checksumCalc;
    
    do {
      len = _receive_buffer[_receive_buffer_head];
      msgAdr = _receive_buffer[(_receive_buffer_head + 1) % _SS_MAX_RX_BUFF];
      checksum = _receive_buffer[(_receive_buffer_head + 2) % _SS_MAX_RX_BUFF];
      checksum |= _receive_buffer[(_receive_buffer_head + 3) % _SS_MAX_RX_BUFF] << 8;
      checksumCalc = 0xFFFF - (len + msgAdr);
      if(checksumCalc == checksum) {
        msgReceived = 1;
        _receive_buffer_head = (_receive_buffer_head + 4) % _SS_MAX_RX_BUFF;
      } else {
        msgReceived = 0;
        _receive_buffer_head = (_receive_buffer_head + 1) % _SS_MAX_RX_BUFF;
      }
    } while((!msgReceived) && (_receive_buffer_head != _receive_buffer_tail));
    
    if(msgReceived){
      msg = msgAdr >> 4;
      adr = msgAdr & 0b1111;
      
      switch(msg){
        case 0b1000:
          delayMicroseconds(100);
          if(adr <= sensorCount){
            write(0x04);
            write((0b1000 << 4) + adr);
            checksum = 0xFFFF - (0x04 + ((0b1000 << 4) + adr));
            write(checksum);
            write(checksum >> 8);
          }
          break;
        case 0b1001:
          delayMicroseconds(100);
          write(0x06);
          write((0b1001 << 4) + adr);
          write(sensorType[adr]);
          write(0x02);
          checksum = 0xFFFF - (0x06 + ((0b1001 << 4) + adr) + sensorType[adr] + 0x02);
          write(checksum);
          write(checksum >> 8);
          break;
        case 0b1010:
          delayMicroseconds(100);
          write(0x06);
          write((0b1010 << 4) + adr);
          write(sensorValue[adr]);
          write(sensorValue[adr] >> 8);
          checksum = 0xFFFF - (0x06 + ((0b1010 << 4) + adr) + (sensorValue[adr] & 0b11111111) + (sensorValue[adr] >> 8));
          write(checksum);
          write(checksum >> 8);
          break;
      }
    }
  }
}

void iBUStelemetry::addSensor(byte type){
  sensorCount++;
  sensorType[sensorCount] = type;
}

void iBUStelemetry::setSensorMeasurement(byte adr, float value){
  switch(sensorType[adr]){
    case 0:
      sensorValue[adr] = (int)value*100.0;
      break;
    case 1:
      sensorValue[adr] = (int)(value*10.0)+400;
      break;
    case 2:
      sensorValue[adr] = (int)value;
      break;
  }
}
//#endif