├── .github └── workflows │ └── build.yml ├── LICENSE ├── Readme.md ├── examples └── lwIOLink_Demo │ └── lwIOLink_Demo.ino ├── library.properties └── src ├── lwIOLink.cpp └── lwIOLink.hpp /.github/workflows/build.yml: -------------------------------------------------------------------------------- 1 | name: Build 2 | 3 | on: [push, pull_request] 4 | 5 | jobs: 6 | build: 7 | env: 8 | ARDUINO_LIB_PATH: /home/runner/Arduino/libraries 9 | ESP32_BOARD_URL: https://dl.espressif.com/dl/package_esp32_index.json 10 | RPI_BOARD_URL: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json 11 | strategy: 12 | matrix: 13 | arduino-platform: ["arduino:avr","esp32:esp32","rp2040:rp2040"] 14 | # This is usually optional but we need to statically define the 15 | # FQBN of the boards we want to test for each platform. In the 16 | # future the CLI might automatically detect and download the core 17 | # needed to compile against a certain FQBN, at that point the 18 | # following `include` section will be useless. 19 | include: 20 | # This works like this: when the platform is "arduino:samd", the 21 | # variable `fqbn` is set to "arduino:samd:nano_33_iot". 22 | - arduino-platform: "esp32:esp32" 23 | fqbn: "esp32:esp32:esp32" 24 | - arduino-platform: "rp2040:rp2040" 25 | fqbn: "rp2040:rp2040:rpipico" 26 | - arduino-platform: "arduino:avr" 27 | fqbn: "arduino:avr:uno" 28 | 29 | runs-on: ubuntu-22.04 30 | 31 | steps: 32 | # Clone the repo 33 | - name: Checkout 34 | uses: actions/checkout@v4 35 | 36 | # Install Arduino CLI 37 | - name: Setup Arduino CLI 38 | uses: arduino/setup-arduino-cli@v1 39 | 40 | # Install the Arduino platform 41 | # Will be determined dynamically by the build matrix. 42 | - name: Install platform 43 | run: | 44 | arduino-cli core update-index 45 | arduino-cli config init 46 | arduino-cli config set board_manager.additional_urls "${ESP32_BOARD_URL}" 47 | arduino-cli config set board_manager.additional_urls "${RPI_BOARD_URL}" 48 | arduino-cli core install ${{ matrix.arduino-platform }} 49 | 50 | # Install lwIOLink as an Arduino library 51 | - name: Install library 52 | run: | 53 | sudo mkdir -p $ARDUINO_LIB_PATH 54 | sudo cp $GITHUB_WORKSPACE/../lwIOLink -r $ARDUINO_LIB_PATH 55 | 56 | # Finally, we compile the sketch, using the FQBN that was set 57 | # in the build matrix. 58 | - name: Compile Sketch 59 | run: | 60 | arduino-cli lib list 61 | arduino-cli compile --fqbn ${{ matrix.fqbn }} ./examples/lwIOLink_Demo 62 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /Readme.md: -------------------------------------------------------------------------------- 1 | # lwIOLink 2 | 3 | [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-green.svg)](https://www.gnu.org/licenses/gpl-3.0) 4 | ![version](https://img.shields.io/badge/version-0.2.1-blue) 5 | 6 | [!["Buy Me A Coffee"](https://www.buymeacoffee.com/assets/img/custom_images/orange_img.png)](https://www.buymeacoffee.com/unrefptr) 7 | 8 | 9 | *A Light weight IO-Link device communication library for Arduino.* 10 | 11 | This library reduces the complexity of the IO-Link communication to send (PDIn) and receive data (PDOut) over an IO-Link Master. The reason the library is called "light weight" is because it simplifies the communication and some of the "complex" features are missing. It must be noted that the aim of this library was not to follow the spec. but to simplify the communication by "dumbing down" the protocol. Hence this library can be used to understand how IO-Link works in a basic way, for commercial development 12 | please look for commercial alternatives as this library will not scale and is not optimized for production environments. 13 | 14 | ## Features 15 | 16 | - Send PDIn 17 | - Recieve PDOut 18 | - Configurable Cycletime 19 | - Recover device after disconnection 20 | - Events 21 | 22 | ## Caveats 23 | 24 | - The scope of this library is to build light-weight IO-Link devices. 25 | - It is not intended to use for production as it will probably not conform to the spec. 26 | - The library is not optimized for real-time applications as it polls for serial IO-Link data. 27 | - The library is not intended to be use to read IO-Link devices. You will need to develop your own IO-Link Master stack (which is out of the scope of this project). 28 | - There is no IODD available. The library is used to test the communication protocol. Please consult the IO-Link [IODD spec](https://io-link.com/share/Downloads/Spec-IODD/IO_Device_Description_V1.1_Specification.zip) to generate your own IODD. 29 | - The IO-Link Master inspection level has to be set disabled (NO_CHECK) as ISDU is not supported. See spec v1.1.3 for technical info about Inspection Level (Table 80 and Table E.3). Disabling it is IO-Link Master specific. 30 | 31 | 32 | ### TODO 33 | 34 | #### Low Priority 35 | 36 | - ISDU: ISDU processing requires to follow the IO-Link spec. and its state machines...left to any highly motivated developer out there to contribute ;) 37 | - Data Storage: Depends on ISDU, and it requires a HAL to access non-volatile storage. 38 | 39 | ## Tested Arduino Targets 40 | 41 | * UNO (COM1,COM2) 42 | * ESP32 (COM1,COM2,COM3) 43 | * RPI Pico (COM1,COM2) 44 | 45 | If you find that the library works for another Arduino board or does not work, notify me by opening an Issue. 46 | 47 | Note: Some MCUs might not work in COM3 due to the timing constraings of the IO-Link spec. and the non-optimized Arduino Core libraries. 48 | 49 | ## How to Use 50 | 51 | You can test the library by using the demo located in the [examples dir](https://github.com/unref-ptr/lwIOLink/tree/main/examples). In general the user has to define the process data size, and the cycle time. Whenever the device is in operate mode data from the master can be retrieved (PDOut) by implementing the callback function `lwIOLink::OnNewCycle()`. 52 | 53 | Its important that in the arduino `loop()` no blocking functions or functions that take a long time to execute (e.g. communication over I2C, reading ADC,etc) are not executed. This is because this library works in a polling fashion and is always looking for serial data to communicate with the IO-Link Master. The reason for this is that the 54 | Arduino Core API does not have a way to access Serial data over interrupts, in addition the API is not really standardized over all the cores so I tried to make it as simple as possible for portability reasons (within the Arduino ecosystem). Instead execute all your logic that could block this library in `lwIOLink::OnNewCycle()`. 55 | 56 | The [cycle time](https://github.com/unref-ptr/lwIOLink/blob/ea4fb8b749b550778cd0273a291457a5b9b49628/src/lwIOLink.hpp#L113) should be set to the minimum required to get data for your arduino (for example reading an ADC, setting an RGB led stripe,etc). This is due to the fact that IO-Link can lose communication if the device does not reply quick enough. It is important to mention that `lwIOLink::Device::SetPDIn()` can be updated ( at any time, but will only be set if the device is in operate mode. For a more details about the api check the header of the library. 57 | 58 | ## Hardware 59 | 60 | - Hardware-wise IO-Link requires an IO-Link device transceiver. Tested with an LT3669 transciever but theoretically any transciever, that has a UART interface (TX,RX), a Wakeup pin (for notification via interrupt) and an TXEN pin (pin that has to be pulled high to send data), should work. 61 | 62 | ## Contributions 63 | 64 | You are welcomed to make contributions by creating a pull request or sending your patch with information about the changes to unref-ptr@protonmail.com . 65 | 66 | -------------------------------------------------------------------------------- /examples/lwIOLink_Demo/lwIOLink_Demo.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright (C) 2022 unref-ptr 3 | This file is part of lwIOLink. 4 | lwIOLink is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | lwIOLink is distributed in the hope that it will be useful, 9 | but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | GNU General Public License for more details. 12 | You should have received a copy of the GNU General Public License 13 | along with lwIOLink. If not, see . 14 | 15 | Contact information: 16 | 17 | */ 18 | #include 19 | #include 20 | 21 | using namespace lwIOLink; 22 | 23 | static unsigned constexpr PDInSize = 2; 24 | static unsigned constexpr PDOutSize = 2; 25 | static unsigned constexpr min_cycle_time = 50000; //Cycle time in microseconds for operate mode 26 | uint8_t PDOut[PDOutSize] = {0, 0}; //Buffer that recieves data from the Master 27 | uint8_t PDIn[PDInSize] = {0, 1}; //Buffer which will be sent to the Master 28 | 29 | //Hardware configuration for the device 30 | constexpr Device::HWConfig HWCfg = 31 | { 32 | #if defined(ARDUINO_ARCH_AVR) 33 | .SerialPort = Serial, 34 | #else 35 | .SerialPort = Serial2, 36 | #endif 37 | .Baud = lwIOLink::COM2, 38 | .WakeupMode = FALLING, 39 | .Pin = 40 | { 41 | .TxEN = 18, 42 | .Wakeup = 5, 43 | #if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_RASPBERRY_PI_PICO) 44 | .Tx = 17, 45 | .Rx = 16 46 | #endif 47 | } 48 | }; 49 | 50 | Device iol_device( PDInSize, PDOutSize, min_cycle_time); 51 | 52 | /* 53 | * Optional static callback to know when Master has read events 54 | */ 55 | void Device::OnEventsProcessed() 56 | { 57 | Serial.println("Events Processed by Master!"); 58 | } 59 | 60 | void Device::OnNewCycle() 61 | { 62 | PDStatus PDOutStatus; 63 | bool pdOut_ok = iol_device.GetPDOut(PDOut, &PDOutStatus); 64 | if (pdOut_ok && PDOutStatus == Valid) 65 | { 66 | //dosomething with pdOut 67 | } 68 | 69 | //Modify PDIn 70 | PDIn[0]++; 71 | PDIn[1]++; 72 | bool result = iol_device.SetPDIn(PDIn, sizeof(PDIn)); 73 | if ( result == true) 74 | { 75 | iol_device.SetPDInStatus(lwIOLink::Valid); 76 | } 77 | 78 | } 79 | 80 | void setup() 81 | { 82 | Serial.begin(115200); 83 | iol_device.begin(HWCfg); 84 | /* Example API of how to Set IO-Link Events 85 | */ 86 | uint16_t EventCode = 0x1234; 87 | // Note: Cannot Set events in ISR, not concurrent safe 88 | Event::POD MyEvent(Event::Qualifier::Application, Event::Qualifier::SingleShot, EventCode); 89 | Device::EventResult result = iol_device.SetEvent(MyEvent); 90 | (void)result; //Normally you would check that the Event could be set 91 | } 92 | 93 | void loop() 94 | { 95 | iol_device.run(); 96 | } 97 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=lwIOLink 2 | version=0.2.1 3 | author=unref-ptr 4 | maintainer=unref-ptr 5 | sentence=Lightweight IOLink Device library. 6 | paragraph=A minimalistic IOLink communication library. 7 | category=Communication 8 | url=https://github.com/unref-ptr/lwIOLink 9 | architectures=* 10 | includes=lwIOLink.hpp 11 | -------------------------------------------------------------------------------- /src/lwIOLink.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright (C) 2022 unref-ptr 3 | This file is part of lwIOLink. 4 | lwIOLink is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | lwIOLink is distributed in the hope that it will be useful, 9 | but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | GNU General Public License for more details. 12 | You should have received a copy of the GNU General Public License 13 | along with lwIOLink. If not, see. 14 | 15 | Contact information: 16 | 17 | */ 18 | #include "lwIOLink.hpp" 19 | 20 | #ifdef ARDUINO_ARCH_ESP32 21 | #include "driver/uart.h" 22 | #include "soc/uart_reg.h" 23 | #endif //ARDUINO_ARCH_ESP32 24 | 25 | using namespace lwIOLink; 26 | 27 | //Checksum constants (Figure A.3) 28 | static constexpr uint8_t ck8_seed = 0x52; 29 | static constexpr uint8_t status_bit_offset = 0x06; 30 | static constexpr uint8_t eventFlag_bit_offset = 0x07; 31 | static constexpr uint8_t ckt_offset = 0x01; 32 | //Figure A.2 33 | static uint8_t mseq_ckt_mask = 0xC0; 34 | static uint8_t ck6_mask = 0x3F; 35 | //Time encoding constants (Figure B.2) 36 | static constexpr uint8_t timebase_bitoffset = 0x06; 37 | static constexpr uint8_t multiplier_mask = 0x3F; 38 | //MC Constants (Figure A.1) 39 | static constexpr uint8_t MC_ChMask = 0x60; 40 | static constexpr uint8_t MC_AddrMask = 0x1F; 41 | static constexpr uint8_t MC_ChBitOffset = 5; 42 | 43 | uint32_t constexpr Device::TimeBaseLUT[TotalTimeEncodings]; 44 | uint32_t constexpr Device::TimeOffsetLUT[TotalTimeEncodings]; 45 | static volatile bool wakeup_signal = false; 46 | 47 | 48 | static void WakeupIRQ() 49 | { 50 | wakeup_signal = true; 51 | } 52 | 53 | void __attribute__((weak)) Device::OnEventsProcessed() 54 | { 55 | 56 | } 57 | 58 | uint8_t Device::GetChecksum(const uint8_t *data, 59 | uint8_t length) const 60 | { 61 | uint8_t ck8 = ck8_seed; 62 | for (uint8_t i = 0; i < length; i++) 63 | { 64 | ck8 ^= *data++; 65 | } 66 | //Section A.1.6 67 | const uint8_t bit5 = ((ck8 >> 7) & 1U) ^ ((ck8 >> 5) & 1U) ^ ((ck8 >> 3) & 1U) ^ ((ck8 >> 1) & 1U); 68 | const uint8_t bit4 = ((ck8 >> 6) & 1U) ^ ((ck8 >> 4) & 1U) ^ ((ck8 >> 2) & 1U) ^ (ck8 & 1U); 69 | const uint8_t bit3 = ((ck8 >> 7) & 1U) ^ ((ck8 >> 6) & 1U); 70 | const uint8_t bit2 = ((ck8 >> 5) & 1U) ^ ((ck8 >> 4) & 1U); 71 | const uint8_t bit1 = ((ck8 >> 3) & 1U) ^ ((ck8 >> 2) & 1U); 72 | const uint8_t bit0 = ((ck8 >> 1) & 1U) ^ ((ck8 & 1U)); 73 | const uint8_t ck6 = bit5 << 5 | 74 | bit4 << 4 | 75 | bit3 << 3 | 76 | bit2 << 2 | 77 | bit1 << 1 | 78 | bit0; 79 | return ck6; 80 | } 81 | 82 | //Encode PD according to B.1.6 83 | uint8_t EncodePD(uint8_t size_bytes) 84 | { 85 | uint8_t Byte; 86 | uint8_t Len; 87 | // Table B.6 88 | if (size_bytes <= 2) 89 | { 90 | Byte = 0; 91 | Len = size_bytes * 8; 92 | } 93 | else 94 | { 95 | Byte = 1; 96 | Len = size_bytes - 1; 97 | } 98 | 99 | return Byte << 7 | (Len & 0x1F); 100 | } 101 | 102 | uint8_t Device::GetMseqCap() const 103 | { 104 | uint8_t PreopCode; 105 | uint8_t OpCode; 106 | //Table A.8 107 | if (ODSize.Preop == 1) 108 | { 109 | PreopCode = 0; 110 | } 111 | else if (ODSize.Preop == 2) 112 | { 113 | PreopCode = 1; 114 | } 115 | else if (ODSize.Preop == 8) 116 | { 117 | PreopCode = 2; 118 | } 119 | else 120 | { 121 | PreopCode = 3; 122 | } 123 | //Table A.10 124 | if (ODSize.Op == 1) 125 | { 126 | if ((Pd.In.Size > 0 && Pd.Out.Size >= 3) || 127 | (Pd.In.Size >= 3 && Pd.Out.Size > 0) 128 | ) 129 | { 130 | OpCode = 4; 131 | } 132 | else 133 | { 134 | OpCode = 0; 135 | } 136 | } 137 | else if (ODSize.Op == 2) 138 | { 139 | if (Pd.In.Size == 0 && Pd.Out.Size == 0) 140 | { 141 | OpCode = 1; 142 | } 143 | else 144 | { 145 | OpCode = 5; 146 | } 147 | } 148 | else if (ODSize.Op == 8) 149 | { 150 | OpCode = 6; 151 | } 152 | else 153 | { 154 | OpCode = 7; 155 | } 156 | return PreopCode << 4 | OpCode << 1 | static_cast (ISDUSupported); 157 | } 158 | 159 | uint32_t Device::DecodeCycleTime(uint8_t encoded_time) const 160 | { 161 | const uint8_t timebase_code = encoded_time >> timebase_bitoffset; 162 | const uint8_t multiplier = encoded_time & multiplier_mask; 163 | return TimeOffsetLUT[timebase_code] + (multiplier *TimeBaseLUT[timebase_code]); 164 | } 165 | 166 | uint8_t Device::EncodeCycleTime(uint32_t cycleTime_us) const 167 | { 168 | uint8_t timebase_code; 169 | uint8_t multiplier; 170 | const unsigned max_multiplier = 63; 171 | if (cycleTime_us < 400) 172 | { 173 | cycleTime_us = 400; 174 | } 175 | else if (cycleTime_us > 6300 && cycleTime_us < 6400) 176 | { 177 | cycleTime_us = 6300; 178 | } 179 | else if (cycleTime_us > 31600 && cycleTime_us < 32000) 180 | { 181 | cycleTime_us = 31600; 182 | } 183 | else if (cycleTime_us > 132800) 184 | { 185 | cycleTime_us = 132800; 186 | } 187 | 188 | if (cycleTime_us <= 6300) 189 | { 190 | timebase_code = 0; 191 | } 192 | else if (cycleTime_us <= 31600) 193 | { 194 | timebase_code = 1; 195 | } 196 | else 197 | { 198 | timebase_code = 2; 199 | } 200 | for (multiplier = 0; multiplier <= max_multiplier; multiplier++) 201 | { 202 | uint32_t cycletime_match = TimeOffsetLUT[timebase_code] + (multiplier *TimeBaseLUT[timebase_code]); 203 | if (cycletime_match >= cycleTime_us) 204 | { 205 | break; 206 | } 207 | } 208 | return (timebase_code << timebase_bitoffset | multiplier); 209 | } 210 | 211 | Device::Device(uint8_t PDIn, uint8_t PDOut, uint32_t min_cycletime) 212 | { 213 | EventMemory[EventStatusCodeAddr] = Event::StatusCodeDefault; 214 | Pd.Out.Size = PDOut; 215 | Pd.In.Size = PDIn; 216 | /*Populate Direct Parameter Page 1 */ 217 | ParameterPage1[DP1_Param::MinCycleTime] = EncodeCycleTime(min_cycletime); 218 | ParameterPage1[DP1_Param::MSeqCap] = GetMseqCap(); 219 | ParameterPage1[DP1_Param::ProcessDataIn] = EncodePD(PDIn); 220 | ParameterPage1[DP1_Param::ProcessDataOut] = EncodePD(PDOut); 221 | ParameterPage1[DP1_Param::RevisionID] = 0x11; 222 | ParameterPage1[DP1_Param::VID1] = 0xAB; 223 | ParameterPage1[DP1_Param::VID2] = 0xCD; 224 | ParameterPage1[DP1_Param::DID1] = 0x12; 225 | ParameterPage1[DP1_Param::DID2] = 0x34; 226 | ParameterPage1[DP1_Param::DID3] = 0x56; 227 | ParameterPage1[DP1_Param::FID1] = 0x00; 228 | ParameterPage1[DP1_Param::FID2] = 0x00; 229 | CurrentCycleTime = DecodeCycleTime(ParameterPage1[DP1_Param::MinCycleTime]); 230 | } 231 | 232 | bool Device::GetPDOut(uint8_t *buffer, PDStatus *pStatus) const 233 | { 234 | memcpy(buffer, Pd.Out.Data, Pd.Out.Size); 235 | if (deviceMode == operate) 236 | { 237 | *pStatus = status.PDOut; 238 | return true; 239 | } 240 | else 241 | { 242 | return false; 243 | } 244 | } 245 | 246 | 247 | Device::EventResult Device::SetEvent(Event::POD newEvent) 248 | { 249 | EventResult result = EventResult::EventOK; 250 | do 251 | { 252 | if (ReadingEventMemory == true) 253 | { 254 | result = EventResult::ProcessingEvents; 255 | break; 256 | } 257 | if (TotalEvents < MaxEvents ) 258 | { 259 | const uint8_t memory_offset = Event::SizeStatusCode + (TotalEvents * Event::SizeRawEvent); 260 | const uint8_t QualifierOffset = memory_offset; 261 | const uint8_t EventCodeMSB = memory_offset + 1U; 262 | const uint8_t EventCodeLSB = memory_offset + 2U; 263 | EventMemory[QualifierOffset] = newEvent.EventQualifier; 264 | EventMemory[EventCodeMSB] = static_cast(newEvent.EventCode >> 8U); 265 | EventMemory[EventCodeLSB] = static_cast(newEvent.EventCode & 0xFF); 266 | 267 | EventMemory[EventStatusCodeAddr] |= 1UL << TotalEvents; 268 | 269 | TotalEvents++; 270 | } 271 | else 272 | { 273 | result = EventResult::EventMemoryFull; 274 | break; 275 | } 276 | 277 | } while(0); 278 | return result; 279 | 280 | } 281 | 282 | lwIOLink::Mode Device::GetMode() const 283 | { 284 | return deviceMode; 285 | } 286 | 287 | bool Device::SetPDInStatus(PDStatus pd_status) 288 | { 289 | if (deviceMode == operate) 290 | { 291 | status.PDIn = pd_status; 292 | return true; 293 | } 294 | else 295 | { 296 | return false; 297 | } 298 | } 299 | 300 | bool Device::SetPDIn(uint8_t *pData, uint8_t len) 301 | { 302 | if (deviceMode == operate) 303 | { 304 | if (len <= Pd.In.Size) 305 | { 306 | memcpy(Pd.In.Data, pData, len); 307 | } 308 | return true; 309 | } 310 | else 311 | { 312 | return false; 313 | } 314 | } 315 | 316 | void Device::ProcessMessage() 317 | { 318 | uint8_t MasterOD_offset = MCSize + ChecksumSize; 319 | ParseMC(); 320 | memset(ODBuffer, 0, sizeof(ODBuffer)); //Clear OD 321 | if (deviceMode == operate) 322 | { 323 | memcpy(Pd.Out.Data, &rxBuffer[MasterOD_offset], Pd.Out.Size); 324 | MasterOD_offset += Pd.Out.Size; 325 | } 326 | switch (message.channel) 327 | { 328 | case Page: 329 | if (MasterAccess == MCAccess::Read) 330 | { 331 | ODBuffer[0] = ParameterPage1[message.addr]; 332 | } 333 | else 334 | { 335 | auto write_param = static_cast (message.addr); 336 | const uint8_t ODWrite = rxBuffer[MasterOD_offset]; 337 | if (write_param == DP1_Param::MasterCommand) 338 | { 339 | Cmd = static_cast (ODWrite); 340 | NewCmd = true; 341 | } 342 | if (write_param == DP1_Param::MasterCycleTime) 343 | { 344 | CurrentCycleTime = DecodeCycleTime(ODWrite); 345 | } 346 | } 347 | break; 348 | case ISDU: //Not implemented 349 | if (MasterAccess == MCAccess::Read) 350 | { 351 | memset(ODBuffer, 0x69, sizeof(ODBuffer)); 352 | } 353 | break; 354 | case Diagnosis: 355 | if ( MasterAccess == MCAccess::Read) 356 | { 357 | if( TotalEvents > 0 ) 358 | { 359 | if ( ReadingEventMemory != true) 360 | { 361 | ReadingEventMemory = true; 362 | } 363 | } 364 | if( message.addr < sizeof(EventMemory) ) 365 | { 366 | const uint8_t read_bytes = sizeof(EventMemory) - message.addr; 367 | uint8_t od_size; 368 | if (deviceMode == start) 369 | { 370 | od_size = ODSize.Startup; 371 | } 372 | else if (deviceMode == preoperate) 373 | { 374 | od_size = ODSize.Preop; 375 | } 376 | else 377 | { 378 | od_size = ODSize.Op; 379 | } 380 | uint8_t copy_size; 381 | if( read_bytes < od_size) 382 | { 383 | copy_size = read_bytes; 384 | } 385 | else 386 | { 387 | copy_size = od_size; 388 | } 389 | memcpy(ODBuffer,&EventMemory[message.addr],copy_size); 390 | } 391 | } 392 | else 393 | { 394 | if ( message.addr == EventStatusCodeAddr) 395 | { 396 | ReadingEventMemory = false; 397 | TotalEvents = 0; 398 | EventMemory[EventStatusCodeAddr] = Event::StatusCodeDefault; 399 | EventsProcessed = true; 400 | } 401 | } 402 | break; 403 | } 404 | } 405 | 406 | uint8_t Device::SetResponse() 407 | { 408 | uint8_t tx_size = ChecksumSize; 409 | uint8_t od_size = 0; 410 | memset(txBuffer, 0, sizeof(txBuffer)); 411 | switch (deviceMode) 412 | { 413 | case start: 414 | od_size = ODSize.Startup; 415 | break; 416 | case preoperate: 417 | od_size = ODSize.Preop; 418 | break; 419 | case operate: 420 | od_size = ODSize.Op; 421 | tx_size += Pd.In.Size; 422 | uint8_t pd_offset = 0; 423 | if (MasterAccess == MCAccess::Read) 424 | { 425 | pd_offset += ODSize.Op; 426 | } 427 | memcpy(&txBuffer[pd_offset], Pd.In.Data, Pd.In.Size); 428 | break; 429 | } 430 | if (MasterAccess == MCAccess::Read) 431 | { 432 | memcpy(txBuffer, ODBuffer, od_size); 433 | tx_size += od_size; 434 | } 435 | const uint8_t checksum_offset = tx_size - 1; 436 | bool eventFlag = false; 437 | if ( TotalEvents > 0) 438 | { 439 | eventFlag = true; 440 | } 441 | const uint8_t status_encoded = static_cast(status.PDIn << status_bit_offset) 442 | | static_cast(eventFlag<> MC_ChBitOffset; 453 | message.addr = rxBuffer[MCOffset] & MC_AddrMask; 454 | } 455 | 456 | void Device::begin(const HWConfig config) 457 | { 458 | TxEn = config.Pin.TxEN; 459 | WuPin = config.Pin.Wakeup; 460 | SerialPort = &config.SerialPort; 461 | #ifdef ARDUINO_SAM_DUE 462 | static_cast(SerialPort)->begin(static_cast (config.Baud), SERIAL_8E1); 463 | #elif defined(ARDUINO_ARCH_ESP32) 464 | static_cast(SerialPort)->begin(static_cast (config.Baud), SERIAL_8E1, config.Pin.Rx, config.Pin.Tx); 465 | uint8_t uart_num; 466 | if (SerialPort == &Serial) 467 | { 468 | uart_num = 0; 469 | } 470 | else if (SerialPort == &Serial1) 471 | { 472 | uart_num = 1; 473 | } 474 | else 475 | { 476 | uart_num = 2; 477 | } 478 | uart_intr_config_t uart_intr; 479 | uart_intr.intr_enable_mask = UART_RXFIFO_FULL_INT_ENA_M | 480 | UART_RXFIFO_TOUT_INT_ENA_M | 481 | UART_FRM_ERR_INT_ENA_M | 482 | UART_RXFIFO_OVF_INT_ENA_M | 483 | UART_BRK_DET_INT_ENA_M | 484 | UART_PARITY_ERR_INT_ENA_M; 485 | uart_intr.rxfifo_full_thresh = 1; 486 | uart_intr.rx_timeout_thresh = 10; 487 | uart_intr.txfifo_empty_intr_thresh = 10; 488 | uart_intr_config(uart_num, &uart_intr); 489 | #else 490 | #ifdef ARDUINO_RASPBERRY_PI_PICO 491 | static_cast(SerialPort)->setRX(config.Pin.Rx); 492 | static_cast(SerialPort)->setTX(config.Pin.Tx); 493 | static_cast(SerialPort)->setPollingMode(true); 494 | #endif //ARDUINO_RASPBERRY_PI_PICO 495 | static_cast(SerialPort)->begin(static_cast (config.Baud), SERIAL_8E1); 496 | #endif 497 | initTransciever(config.WakeupMode); 498 | } 499 | 500 | inline uint8_t Device::GetMasterTXSize() 501 | { 502 | uint8_t od_size = 0; 503 | uint8_t pd_size = 0; 504 | if (deviceMode == start) 505 | { 506 | if (MasterAccess == MCAccess::Write) 507 | { 508 | od_size = ODSize.Startup; 509 | } 510 | } 511 | else if (deviceMode == preoperate) 512 | { 513 | if (MasterAccess == MCAccess::Write) 514 | { 515 | od_size = ODSize.Preop; 516 | } 517 | } 518 | else //Operate mod 519 | { 520 | if (MasterAccess == MCAccess::Write) 521 | { 522 | od_size = ODSize.Op; 523 | } 524 | pd_size = Pd.Out.Size; 525 | } 526 | return MasterMetadataOffset + od_size + pd_size; 527 | } 528 | 529 | void Device::SaveMasterFrame(const uint8_t rx_byte) 530 | { 531 | rxBuffer[rxCnt] = rx_byte; 532 | if (rxCnt == MCOffset) 533 | { 534 | MasterAccess = static_cast (rxBuffer[MCOffset] >> 7); //Figure A.1 535 | ExpectedRXCnt = GetMasterTXSize(); 536 | } 537 | if (++rxCnt == ExpectedRXCnt) 538 | { 539 | const uint8_t master_checksum = rxBuffer[ckt_offset] & ck6_mask; 540 | rxBuffer[ckt_offset] &= mseq_ckt_mask; //Remove checksum 541 | const uint8_t calculated_checksum = GetChecksum(rxBuffer,rxCnt); //Calculate the checksum 542 | if ( master_checksum == calculated_checksum) 543 | { 544 | NewMasterMsg = true; 545 | } 546 | else 547 | { 548 | rxCnt = 0; 549 | ExpectedRXCnt = 0xFF; 550 | } 551 | } 552 | } 553 | 554 | void Device::ResetRX() 555 | { 556 | rxCnt = 0; 557 | ExpectedRXCnt = 0xFF; 558 | while (SerialPort->available() > 0) 559 | { 560 | SerialPort->read(); 561 | } 562 | } 563 | 564 | void Device::initTransciever(int wakeup_mode) const 565 | { 566 | pinMode(TxEn, OUTPUT); 567 | pinMode(WuPin, INPUT_PULLUP); 568 | digitalWrite(TxEn, HIGH); 569 | #ifdef ARDUINO_RASPBERRY_PI_PICO 570 | attachInterrupt(digitalPinToInterrupt(WuPin), WakeupIRQ, static_cast(wakeup_mode)); 571 | #else 572 | attachInterrupt(digitalPinToInterrupt(WuPin), WakeupIRQ, wakeup_mode); 573 | #endif 574 | } 575 | 576 | void Device::DeviceRsp(uint8_t *data, uint8_t len) 577 | { 578 | digitalWrite(TxEn, HIGH); 579 | for (uint8_t i = 0; i < len; i++) 580 | { 581 | SerialPort->write(*(data + i)); 582 | } 583 | SerialPort->flush(); //Wait until transmission is finished 584 | digitalWrite(TxEn, LOW); 585 | ResetRX(); 586 | } 587 | 588 | void Device::run() 589 | { 590 | switch (deviceState) 591 | { 592 | case wait_wake: 593 | if (wakeup_signal) 594 | { 595 | wakeup_signal = false; 596 | deviceState = wait_valid_frame; 597 | digitalWrite(TxEn, LOW); 598 | } 599 | break; 600 | case wait_valid_frame: 601 | //First valid frame 0xA2 = MC (Read Page Channel, Min Cycle Time) 602 | if (SerialPort->available() > 0) 603 | { 604 | const uint8_t rx_byte = SerialPort->read(); 605 | if (rx_byte == 0xA2) 606 | { 607 | deviceState = run_mode; 608 | SaveMasterFrame(rx_byte); 609 | } 610 | } 611 | break; 612 | case run_mode: 613 | unsigned long current_time = micros(); 614 | if (SerialPort->available() > 0) 615 | { 616 | const uint8_t rx_byte = SerialPort->read(); 617 | SaveMasterFrame(rx_byte); 618 | } 619 | if (deviceMode == operate && 620 | (current_time - LastMessage) > CurrentCycleTime) 621 | { 622 | deviceMode = start; 623 | deviceState = wait_wake; 624 | ResetRX(); 625 | digitalWrite(TxEn, HIGH); 626 | } 627 | else if (NewMasterMsg) 628 | { 629 | NewMasterMsg = false; 630 | ProcessMessage(); 631 | const uint8_t tx_size = SetResponse(); 632 | DeviceRsp(txBuffer, tx_size); 633 | if (EventsProcessed == true) 634 | { 635 | EventsProcessed = false; 636 | OnEventsProcessed(); 637 | } 638 | LastMessage = micros(); 639 | if (deviceMode == operate) 640 | { 641 | OnNewCycle(); 642 | } 643 | } 644 | break; 645 | } 646 | if (NewCmd) 647 | { 648 | NewCmd = false; 649 | switch (Cmd) 650 | { 651 | case MasterCommands::Operate: 652 | LastMessage = micros(); 653 | deviceMode = operate; 654 | status.PDOut = Invalid; 655 | break; 656 | case MasterCommands::PDOutOperate: 657 | status.PDOut = Valid; 658 | break; 659 | case MasterCommands::Preoperate: 660 | deviceMode = preoperate; 661 | break; 662 | } 663 | } 664 | } 665 | -------------------------------------------------------------------------------- /src/lwIOLink.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright (C) 2022 unref-ptr 3 | This file is part of lwIOLink. 4 | lwIOLink is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | lwIOLink is distributed in the hope that it will be useful, 9 | but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | GNU General Public License for more details. 12 | You should have received a copy of the GNU General Public License 13 | along with lwIOLink. If not, see . 14 | 15 | Contact information: 16 | 17 | */ 18 | #define pragma once 19 | #include 20 | #include 21 | 22 | namespace lwIOLink 23 | { 24 | //IO-Link device modes 25 | enum Mode 26 | { 27 | start, 28 | preoperate, 29 | operate 30 | }; 31 | //IO-Link baudrates 32 | enum BaudRate: uint32_t 33 | { 34 | COM1 = 4800, 35 | COM2 = 38400, 36 | COM3 = 230400 37 | }; 38 | //Table A.5 39 | enum PDStatus 40 | { 41 | Valid = 0, 42 | Invalid = 1 43 | }; 44 | 45 | namespace Event 46 | { 47 | constexpr unsigned SizeRawEvent = 3U; 48 | constexpr unsigned SizeStatusCode = 1U; 49 | constexpr unsigned StatusCodeDefault = 0x80; //Event details << 6 50 | //Figure A.24 51 | namespace Qualifier 52 | { 53 | namespace BitOffset 54 | { 55 | constexpr unsigned Instance = 0x00; 56 | constexpr unsigned Source = 0x03; 57 | constexpr unsigned Type = 0x04; 58 | constexpr unsigned Mode = 0x06; 59 | } 60 | enum Instance 61 | { 62 | Unknown = 0x00, 63 | Rsv1 = 0x01, 64 | Rsv2 = 0x02, 65 | Rsv3 = 0x03, 66 | Application = 0x04, 67 | Rsv5 = 0x05, 68 | Rsv6 = 0x06, 69 | Rsv7 = 0x07 70 | }; 71 | enum Source 72 | { 73 | Device = 0x00, 74 | Master = 0x01 75 | }; 76 | enum Type 77 | { 78 | Reserved = 0x00, 79 | SingleShot = 0x01, 80 | Disappears = 0x02, 81 | Appears = 0x03 82 | }; 83 | } 84 | // Table 58 85 | struct POD 86 | { 87 | POD(Qualifier::Instance instance,Qualifier::Type type,uint16_t event_code) 88 | { 89 | EventQualifier = instance << Qualifier::BitOffset::Instance 90 | | Qualifier::Master << Qualifier::BitOffset::Source 91 | | type << Qualifier::BitOffset::Type; 92 | EventCode = event_code; 93 | } 94 | POD() 95 | { 96 | EventQualifier = Qualifier::Master << Qualifier::BitOffset::Source; 97 | EventCode = 0x00; 98 | } 99 | uint8_t EventQualifier; 100 | uint16_t EventCode; 101 | }; 102 | } 103 | 104 | class Device 105 | { 106 | public: 107 | /* 108 | Device Constructor 109 | PDIn = total # bytes the device sends (Device->Master) 110 | PDOut = total # bytes the device gets (Master->Device) 111 | min_cycletime = minimum cycle time in us (See B.1.3) 112 | */ 113 | Device(uint8_t PDIn, uint8_t PDOut,uint32_t min_cycletime); 114 | 115 | struct HWConfig 116 | { 117 | Stream &SerialPort; //reference to Arduino Serial port 118 | BaudRate Baud; // baud rate for transmission 119 | int WakeupMode; /* Type of interrupt to detect wakeup from transceiver 120 | FALLING, RISING */ 121 | struct Pin_t 122 | { 123 | unsigned TxEN; //Digital Output pin used to enable TX of data 124 | unsigned Wakeup; /* Digital Input pin used to get Wakeup Requests 125 | Must be interrupt capable. */ 126 | #if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_RASPBERRY_PI_PICO) 127 | /* Some Arduino boards require to specify the UART Pins 128 | */ 129 | unsigned Tx; 130 | unsigned Rx; 131 | #endif 132 | }; 133 | Pin_t Pin; 134 | }; 135 | 136 | /* 137 | Begin the IOLink Device Hardware 138 | */ 139 | void begin(const HWConfig config); 140 | /* 141 | Run the IOLink Device, should be called in a loop 142 | */ 143 | void run(); 144 | /* 145 | Get the Process Data Output 146 | buffer = Pointer to Buffer where to store PDOut 147 | pStats = Pointer to memory where status of PDOut will be saved 148 | Returns false if the device is not in operate mode 149 | */ 150 | bool GetPDOut(uint8_t * buffer, PDStatus * pStatus) const; 151 | /* 152 | Sets the Process Data Input 153 | Returns false if the device is not in operate mode 154 | or the len > than the available PDIn Size 155 | */ 156 | bool SetPDIn(uint8_t * pData, uint8_t len); 157 | /* 158 | * Sets the validity of PDIn 159 | * Return false if not in operate mode 160 | * By default the PDIN status is set to valid 161 | * See Table A.5 162 | */ 163 | bool SetPDInStatus(PDStatus pd_status); 164 | // Gets the current Mode of the IOLink device 165 | Mode GetMode() const; 166 | /* Callback for whenever an IOLink Cycle is completed in operate mode 167 | * Can be used to update the PDIN data, read a sensor or do a specific operation 168 | * for the application 169 | */ 170 | static void OnNewCycle(void); 171 | 172 | enum class EventResult 173 | { 174 | EventOK, /* Event Added, will be processed by the master */ 175 | EventMemoryFull, /* Cant add events to Device memory */ 176 | ProcessingEvents /* The Master is already reading events, wait until it finished */ 177 | }; 178 | 179 | /* 180 | Add an event to the device, which will be processed by the Master Asynchronously 181 | Note: Function is not concurrent safe. Do not Call inside ISR 182 | */ 183 | EventResult SetEvent(Event::POD newEvent); 184 | /* User Callback for whenever IO-Link Master has processed Events [Optional] 185 | * Events sent from the IO-Link device are read from the so-called Event Memory. 186 | * The Master can take up some IO-Link MSeq Frames to complete reading the data. 187 | * This function is called once the Master confirms it has read the complete Event Memory 188 | * It can be useful to call this function in case more events are pending to be sent. 189 | */ 190 | static void OnEventsProcessed(void); 191 | private: 192 | static unsigned constexpr MaxPD = 32; 193 | static unsigned constexpr MaxOD = 32; 194 | static unsigned constexpr SizeDP1 = 16; 195 | static unsigned constexpr ChecksumSize = 1; 196 | static unsigned constexpr MCSize = 1; 197 | static unsigned constexpr MaxIOLMsgSize = MCSize + ChecksumSize + MaxOD + MaxPD; 198 | static unsigned constexpr MasterMetadataOffset = MCSize + ChecksumSize; 199 | static unsigned constexpr MCOffset = 0; 200 | static unsigned constexpr CKTFrameOffset = 1; 201 | static unsigned constexpr EventFlagBitOffset = 6; //Figure A.3 202 | static unsigned constexpr MaxEvents = 6; //Table 58 203 | static unsigned constexpr EventStatusCodeAddr = 0x00; 204 | 205 | /* Cycle time constants See B.3*/ 206 | static unsigned constexpr TotalTimeEncodings = 3; 207 | static uint32_t constexpr TimeBaseLUT[TotalTimeEncodings] = {100, 400, 1600}; //us 208 | static uint32_t constexpr TimeOffsetLUT[TotalTimeEncodings] = {0,6400,32000}; //us 209 | 210 | 211 | uint8_t TotalEvents = 0; 212 | bool ReadingEventMemory = false; 213 | bool EventsProcessed = false; 214 | uint8_t EventMemory[Event::SizeStatusCode + (MaxEvents * Event::SizeRawEvent)]; 215 | 216 | 217 | //ISDU Not implemented 218 | static bool constexpr ISDUSupported = false; 219 | //Message struct for IO-Link 220 | struct ioLink_message_t 221 | { 222 | uint8_t channel; 223 | uint8_t addr; 224 | }; 225 | 226 | enum Channel 227 | { 228 | Process = 0, 229 | Page , 230 | Diagnosis, 231 | ISDU 232 | }; 233 | struct ODSize_t 234 | { 235 | uint8_t Startup; 236 | uint8_t Preop; 237 | uint8_t Op; 238 | }; 239 | //OD Size for the device (1,2,8 or 32) 240 | static ODSize_t constexpr ODSize = 241 | { 242 | .Startup = 1, 243 | .Preop = 8, 244 | .Op = 2 245 | }; 246 | //Table A.2 247 | enum class MCAccess 248 | { 249 | Read = 1, 250 | Write = 0 251 | }; 252 | 253 | //Table A.3 254 | enum class MSeqType 255 | { 256 | Type0 = 0, 257 | Type1, 258 | Type2 259 | }; 260 | //States for interpreting IO-Link data 261 | enum ioLink_states 262 | { 263 | wait_wake, //Waiting for wakeup signal 264 | wait_valid_frame, //Waiting for a valid startup message 265 | run_mode //Master started communication with device 266 | }; 267 | 268 | //Table B.2 269 | enum MasterCommands 270 | { 271 | MasterIdent = 0x95, 272 | DeviceIden = 0x96, 273 | DeviceStartup = 0x97, 274 | PDOutOperate = 0x98, 275 | Operate = 0x99, 276 | Preoperate = 0x9A, 277 | }; 278 | /* Table B.1 */ 279 | enum DP1_Param 280 | { 281 | MasterCommand = 0x00, 282 | MasterCycleTime, 283 | MinCycleTime, 284 | MSeqCap, 285 | RevisionID, 286 | ProcessDataIn, 287 | ProcessDataOut, 288 | VID1, 289 | VID2, 290 | VID3, 291 | DID1, 292 | DID2, 293 | DID3, 294 | FID1, 295 | FID2, 296 | Res, 297 | SystemCommand 298 | }; 299 | 300 | struct Status 301 | { 302 | PDStatus PDIn; 303 | PDStatus PDOut; 304 | }; 305 | 306 | struct PDBuffer 307 | { 308 | uint8_t Data[MaxPD]; 309 | size_t Size; 310 | }; 311 | 312 | struct PD 313 | { 314 | PDBuffer Out; 315 | PDBuffer In; 316 | }; 317 | 318 | uint8_t GetMasterTXSize(); 319 | //Reset the RX Line 320 | void ResetRX(); 321 | //Get the MSeq Cap according B.1.4 322 | uint8_t GetMseqCap() const; 323 | //Process an incoming Master Message 324 | void ProcessMessage(); 325 | //Sets the Response for the Master, returns the total bytes to send 326 | uint8_t SetResponse(); 327 | uint8_t rxBuffer[MaxIOLMsgSize]{}; 328 | uint8_t txBuffer[MaxIOLMsgSize]{}; 329 | void initTransciever(int wakeup_mode) const; 330 | //Parse the MC (Figure A.1) 331 | void ParseMC(); 332 | //Send device response to master 333 | void DeviceRsp(uint8_t *data, uint8_t len); 334 | //Prepare the device message 335 | void prepareMessage(uint8_t od_size); 336 | /* 337 | * Called whenever a new RX frame 338 | * from the master is recieved 339 | * rx_byte = byte recieved from the UART 340 | */ 341 | void SaveMasterFrame(uint8_t rx_byte); 342 | //Generate IOLink checksum 343 | uint8_t GetChecksum(const uint8_t *data, uint8_t length) const; 344 | //Decode cycletime according to Table B.3, return value time in microseconds 345 | uint32_t DecodeCycleTime(uint8_t encoded_time) const; 346 | /* Encode cycletime according to Table B.3 347 | * If the cycle time time cannot be encoded 348 | * the nearest greater cycle time will be used. 349 | * e.g., cycleTime_us = 1333 us -> encoded value = 1340 us 350 | */ 351 | uint8_t EncodeCycleTime(uint32_t cycleTime_us) const; 352 | Stream * SerialPort = nullptr; 353 | ioLink_message_t message; 354 | PD Pd{}; 355 | uint8_t ODBuffer[MaxOD]{}; 356 | /* Process Data status */ 357 | Status status = { .PDIn = Valid, .PDOut = Invalid}; 358 | /* Table B.1 */ 359 | uint8_t ParameterPage1[SizeDP1]{}; 360 | bool NewCmd = false; 361 | unsigned TxEn; 362 | unsigned WuPin; 363 | MasterCommands Cmd; 364 | Mode deviceMode = start; 365 | MCAccess MasterAccess; 366 | uint8_t ExpectedRXCnt = 0; 367 | ioLink_states deviceState = wait_wake; 368 | bool NewMasterMsg = false; 369 | uint8_t rxCnt = 0; 370 | unsigned long CurrentCycleTime = 0; 371 | unsigned long LastMessage = 0; 372 | }; 373 | }; 374 | --------------------------------------------------------------------------------