CcioBoardManager.h

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/*
 * Copyright (c) 2020 Teknic, Inc.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

#ifndef __CCIOBOARDMANAGER_H__
#define __CCIOBOARDMANAGER_H__

#include <stddef.h>
#include <stdint.h>
#include "CcioPin.h"
#include "SerialDriver.h"
#include "SysConnectors.h"
#include "SysTiming.h"

namespace ClearCore {

#define CCIO_PINS_PER_BOARD  8
#ifndef MAX_CCIO_DEVICES

#define MAX_CCIO_DEVICES 8

#define CCIO_PIN_CNT (CCIO_PINS_PER_BOARD * MAX_CCIO_DEVICES)
#endif

#ifndef MAX_FLUSH_ATTEMPTS
#define MAX_FLUSH_ATTEMPTS 4
#endif

#ifndef MAX_GLITCH_LIM
#define MAX_GLITCH_LIM 4
#endif

#ifndef CCIO_OVERLOAD_TRIP_TICKS
#define CCIO_OVERLOAD_TRIP_TICKS ((uint8_t)(2.4 * MS_TO_SAMPLES))
#endif

#ifndef CCIO_OVERLOAD_FOLDBACK_TICKS
#define CCIO_OVERLOAD_FOLDBACK_TICKS (100 * MS_TO_SAMPLES)
#endif

class CcioBoardManager {
    friend class SysManager;
    friend class CcioPin;

public:
#ifndef HIDE_FROM_DOXYGEN

    static CcioBoardManager &Instance();
#endif

    bool PinState(ClearCorePins pinNum);

    void PinState(ClearCorePins pinNum, bool newState);

    void OutputPulsesStart(ClearCorePins pinNum, uint32_t onTime,
                           uint32_t offTime, uint16_t pulseCount = 0,
                           bool blockUntilDone = false);
    void OutputPulsesStop(ClearCorePins pinNum, bool stopImmediately = true);

    volatile const uint64_t &OutputPulsesActive() {
        return m_pulseActive;
    }

    uint8_t CcioDiscover(SerialDriver *comInstance);

#ifndef HIDE_FROM_DOXYGEN

    void LinkClose();
#endif

    volatile const uint8_t &CcioCount() {
        return m_ccioCnt;
    }

    volatile const bool &LinkBroken() {
        return m_ccioLinkBroken;
    }

    volatile const uint64_t &IoOverloadRT() {
        return m_ccioOverloaded;
    }

    uint64_t IoOverloadAccum();

    volatile const uint64_t &IoOverloadSinceStartupAccum() {
        return m_overloadSinceStartupAccum;
    }

    uint64_t InputsRisen(uint64_t mask = UINT64_MAX);

    uint64_t InputsFallen(uint64_t mask = UINT64_MAX);

    volatile const uint64_t &InputState() {
        return m_filteredInputs;
    }

    volatile const uint64_t &OutputState() {
        return m_lastOutputs;
    }

    void CcioRediscoverEnable(bool enable);

    CcioPin *PinByIndex(ClearCorePins connectorIndex);

    uint8_t RefreshRate() {
        uint8_t cnt = CcioCount();
        return (cnt > 1) ? (cnt >> 1) : 1;
    }

private:
    union CcioBuf {
        struct __attribute__((packed)) {
            uint8_t writeMarker;
            uint64_t inputs;
            uint64_t outputsSwapped;
            uint8_t readMarker;
        } buf64;
        uint8_t buf8[2 * MAX_CCIO_DEVICES + 2];
        CcioBuf() {
            Clear();
        }
        void Clear() {
            buf64.writeMarker = 0;
            buf64.inputs = 0;
            buf64.outputsSwapped = 0;
            buf64.readMarker = 0;
        };
    };

    typedef enum {
        CCIO_SEARCH,
        CCIO_TEST,
        CCIO_FOUND
    } CcioDiscoverState;

    CcioBuf m_writeBuf;
    CcioBuf m_readBuf;

    // Reference for the discovery state of the CCIO-8 link network
    CcioDiscoverState m_discoverState;

    // Reference to serial port
    SerialDriver *m_serPort;
    // CCIO-8 Device Count
    uint8_t m_ccioCnt;
    // Refresh rate
    uint8_t m_ccioRefreshRate;
    // Refresh delay
    uint8_t m_ccioRefreshDelay;
    // Currently overloaded outputs
    uint64_t m_throttledOutputs;

    // Storage for inputs/outputs (max 64 pins to a serial port)
    // LSB corresponds to 1st pin on 1st CCIO-8 in the chain
    uint64_t m_currentInputs;
    uint64_t m_filteredInputs;
    uint64_t m_currentOutputs;
    uint64_t m_outputMask;
    uint64_t m_lastOutputsSwapped;
    // copy of last outputs sent, prior to any swapping or throttling
    uint64_t m_lastOutputs;
    uint64_t m_outputsWithThrottling;
    uint64_t m_ccioMask;    // mask for active CCIOs

    // Pulse out control variables
    uint64_t m_pulseActive;
    uint64_t m_pulseValue;
    uint64_t m_pulseStopPending;

    uint16_t m_consGlitchCnt;   // count of consecutive glitches detected
    bool m_ccioLinkBroken;
    uint64_t m_ccioOverloaded;
    uint64_t m_ccioOverloadAccum;
    uint64_t m_overloadSinceStartupAccum;
    uint64_t m_inputRegRisen;
    uint64_t m_inputRegFallen;
    uint32_t m_faultLed;
    bool m_autoRediscover;
    uint32_t m_lastDiscoverTime;

    CcioPin m_ccioPins[CCIO_PIN_CNT];

    CcioBoardManager();

    void Initialize();

    void Refresh();

    void RefreshSlow();

    void IoOverloadRT(uint64_t overloadState);

    /*
        Fill a buffer with len bytes of the given val
    */
    static void FillBuffer(uint8_t *buf, uint8_t len, uint8_t val) {
        uint8_t i;
        for (i = 0; i < len; i++) {
            *buf++ = val;
        }
    }

    /*
        Return true if all entries are equal to val
    */
    static bool AllEntriesEqual(const uint8_t *buf, uint8_t len, uint8_t val) {
        uint8_t i;
        for (i = 0; i < len; i++) {
            if (buf[i] != val) {
                return false;
            }
        }
        return true;
    }

}; // CcioBoardManager

} // ClearCore namespace

#endif // __CCIOBOARDMANAGER_H__