添加GPIO输入读取

components/iflytop_can_slave_modules/io_control_service.cpp

@@ -0,0 +1,104 @@
+#include "io_control_service.hpp"
+using namespace iflytop;
+void IOControlService::initialize(IflytopCanProtocolStackProcesser* protocol_processer, int32_t regStartOff, write_io_cb_t write_io_cb,
+                                  read_io_cb_t read_io_cb) {
+  m_protocol_processer = protocol_processer;
+  m_slave              = protocol_processer->createICPSSlaveModule("IOControlService", this, regStartOff);
+  m_write_io_cb        = write_io_cb;
+  m_read_io_cb         = read_io_cb;
+
+  m_input0Reg = protocol_processer->activeReg(m_slave, REG_IO_INPUT0, icps::kr, 0);
+  // m_input1Reg = protocol_processer->activeReg(m_slave, REG_IO_INPUT1, icps::kr, 0);
+
+  m_output0Reg = protocol_processer->activeReg(m_slave, REG_IO_OUTPUT0_CTL, icps::kw, 0);
+  m_output1Reg = protocol_processer->activeReg(m_slave, REG_IO_OUTPUT0_STATE, icps::kr, 0);
+  m_output1Reg = protocol_processer->activeReg(m_slave, REG_IO_OUTPUT1_CTL, icps::kw, 0);
+  m_output1Reg = protocol_processer->activeReg(m_slave, REG_IO_OUTPUT1_STATE, icps::kr, 0);
+
+  ZHALCORE::getInstance()->regPeriodJob([this](ZHALCORE::Context& context) { this->readinputjob(); }, 5);
+}
+
+void IOControlService::call_write_io_cb(int io_off, bool ioval) {
+  if (m_write_io_cb) {
+    m_write_io_cb(io_off, ioval);
+  }
+}
+uint32_t IOControlService::call_read_io_cb(int io_off) {
+  if (m_read_io_cb) {
+    return m_read_io_cb(io_off) ? 1 : 0;
+  }
+  return 0;
+}
+
+icps::error_t IOControlService::onHostRegisterWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent) {  //
+  int regoff = writeEvent->reg->add - regStartOff;
+#if 0
+  if (regoff == REG_IO_OUTPUT0) {
+    uint32_t mask = writeEvent->newvalue >> 16;
+    uint32_t val  = writeEvent->newvalue & 0xFFFF;
+    
+    for (int i = 0; i < 32; i++) {
+      if (mask & (1 << i)) {
+        call_write_io_cb(i, val & (1 << i));
+      }
+    }
+  } else if (regoff == REG_IO_OUTPUT1) {
+    uint32_t mask = writeEvent->reg->mask >> 16;
+    uint32_t val  = writeEvent->reg->value >> 16;
+    for (int i = 0; i < 32; i++) {
+      if (mask & (1 << i)) {
+        call_write_io_cb(i + 32, val & (1 << i));
+      }
+    }
+  }
+#endif
+  return icps::kSuccess;
+}
+
+void IOControlService::readinputjob() {
+  //
+  uint32_t val = readgpiotable0();
+  m_input0Reg->setValue(val);
+}
+
+uint32_t IOControlService::readgpiotable0() {
+  uint32_t val = 0;
+  val |= call_read_io_cb(0) << 0;
+  val |= call_read_io_cb(1) << 1;
+  val |= call_read_io_cb(2) << 2;
+  val |= call_read_io_cb(3) << 3;
+  val |= call_read_io_cb(4) << 4;
+  val |= call_read_io_cb(5) << 5;
+  val |= call_read_io_cb(6) << 6;
+  val |= call_read_io_cb(7) << 7;
+
+  val |= call_read_io_cb(8) << 8;
+  val |= call_read_io_cb(9) << 9;
+  val |= call_read_io_cb(10) << 10;
+  val |= call_read_io_cb(11) << 11;
+  val |= call_read_io_cb(12) << 12;
+  val |= call_read_io_cb(13) << 13;
+  val |= call_read_io_cb(14) << 14;
+  val |= call_read_io_cb(15) << 15;
+
+  val |= call_read_io_cb(16) << 16;
+  val |= call_read_io_cb(17) << 17;
+  val |= call_read_io_cb(18) << 18;
+  val |= call_read_io_cb(19) << 19;
+  val |= call_read_io_cb(20) << 20;
+  val |= call_read_io_cb(21) << 21;
+  val |= call_read_io_cb(22) << 22;
+  val |= call_read_io_cb(23) << 23;
+
+  val |= call_read_io_cb(24) << 24;
+  val |= call_read_io_cb(25) << 25;
+  val |= call_read_io_cb(26) << 26;
+  val |= call_read_io_cb(27) << 27;
+  val |= call_read_io_cb(28) << 28;
+  val |= call_read_io_cb(29) << 29;
+  val |= call_read_io_cb(30) << 30;
+  val |= call_read_io_cb(31) << 31;
+  return val;
+}
+
+// uint32_t IOControlService::readgpiotable1() {}

components/iflytop_can_slave_modules/io_control_service.hpp

@@ -0,0 +1,55 @@
+#pragma once
+#include "sdk/hal/zhal.hpp"
+#ifdef HAL_CAN_MODULE_ENABLED
+#include <stdlib.h>
+
+#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
+
+namespace iflytop {
+
+#define REG_IO_INPUT0 (0)  // 输入采集0
+
+#define REG_IO_OUTPUT0_CTL   (10)  // 输出控制 //高16位掩码，低16位输出值
+#define REG_IO_OUTPUT0_STATE (11)  // 输出控制 //高16位掩码，低16位输出值
+#define REG_IO_OUTPUT1_CTL   (12)  // 输出控制 //高16位掩码，低16位输出值
+#define REG_IO_OUTPUT1_STATE (13)  // 输出控制 //高16位掩码，低16位输出值
+
+class IOControlService;
+
+class IOControlService : public ICPSListener {
+ public:
+  typedef function<void(int io_off, bool ioval)> write_io_cb_t;
+  typedef function<bool(int io_off)>             read_io_cb_t;
+
+ private:
+  IflytopCanProtocolStackProcesser* m_protocol_processer;
+  int32_t                           regStartOff;
+  ICPSSlaveModule*                  m_slave;
+
+  write_io_cb_t m_write_io_cb;
+  read_io_cb_t  m_read_io_cb;
+
+  icps::Reg_t* m_input0Reg;
+  icps::Reg_t* m_input1Reg;
+
+  icps::Reg_t* m_output0Reg;
+  icps::Reg_t* m_output1Reg;
+
+ public:
+  IOControlService() {}
+  virtual ~IOControlService() {}
+
+  void initialize(IflytopCanProtocolStackProcesser* protocol_processer, int32_t regStartOff, write_io_cb_t write_io_cb, read_io_cb_t read_io_cb);
+
+  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackWriteEvent* writeEvent);
+
+ private:
+  void     call_write_io_cb(int io_off, bool ioval);
+  uint32_t call_read_io_cb(int io_off);
+  uint32_t readgpiotable0();
+  //
+  void readinputjob();
+  // uint32_t readgpiotable1();
+};
+}  // namespace iflytop
+#endif