1. // =+====1====+====2====+====3====+====4====+====5====+====6====+====7====+====8
2. // TryG9006.ino
3. // copyright 2021 Nippon Pulse Motor Co.,Ltd.
4. // Board: ESP32 Dev Module; https://dl.espressif.com/dl/package_esp32_index.json
5. // Framework: Arduino
6. // =+====1====+====2====+====3====+====4====+====5====+====6====+====7====+====8
7. #include <Arduino.h>
8. #include <SPI.h>
9.  
10. // from/to G9006 SPI pin.
11. #define HSPI_SCK 14
12. #define HSPI_MISO 26
13. #define HSPI_MOSI 13
14. #define HSPI_SS 27
15. // from G9006 INT pin.
16. #define INT_FLAG 34
17.  
18. typedef struct
19. {
20.   unsigned long sendData; // Total uptime.
21.   unsigned long RTLT; // Relative time latch data.
22.   byte P1; // Port 1 data.
23. } TBL_PCII; // Port change interrupt information.
24.  
25. SPIClass hSPI(HSPI);
26. TBL_PCII tblPCII[64]; // 64 stations
27.  
28. void userFunction()
29. {
30.   // Please add the program code to use the cloud service.
31. }
32.  
33. void setup()
34. {
35.   pinMode(INT_FLAG, INPUT);
36.   hSPI.begin(HSPI_SCK, HSPI_MISO, HSPI_MOSI, HSPI_SS);
37.   hSPI.setHwCs(true); // Hardware Chip Select (auto Slave Select) enabled
38.   hSPI.setFrequency(1000000); // 1MHz
39.   hSPI.setBitOrder(MSBFIRST); // [7:0]
40.   hSPI.setDataMode(SPI_MODE3); // CPLO=1, CPHA=1.
41.  
42.   // Write register; RADD[7:0],[15:8], RADD(7): MONI.
43.   byte wRADD[] = {0x00, 0x00, 0x80, 0x00}; // cmd: 0000 ss00b
44.   hSPI.writeBytes(wRADD, sizeof(wRADD));
45.   // Write register; RENV1[7:0],[15:8], RENV1(7): FUPA.
46.   byte wRENV1[] = {0x00, 0x02, 0x80, 0x00}; // cmd: 0000 ss00b
47.   hSPI.writeBytes(wRENV1, sizeof(wRENV1));
48.   // Write operation command; CDVON: Motionnet® connect.
49.   byte wCDVON[] = {0x20, 0x10}; // cmd: 0010 ss00b
50.   hSPI.writeBytes(wCDVON, sizeof(wCDVON));
51.   // tablPCII initialize.
52.   memset(tblPCII, '\0', sizeof(tblPCII));
53. }
54.  
55. void loop()
56. {
57.   // Interrupt request from G9006.
58.   if (digitalRead(INT_FLAG) != 0)
59.   { // Read MSTS
60.     byte wMSTS[] = {0x30}; // cmd: 0011 ss00b
61.     byte rMSTS[1 + 2]; // size: write dumy + read data
62.     hSPI.transferBytes(wMSTS, rMSTS, sizeof(rMSTS));
63.  
64.     // MSTS(3): IPTC
65.     if ((rMSTS[1] | 0x08) != 0)
66.     { // Read RTLT
67.       byte wRTLT[] = {0xB0}; // cmd: 1011 ss00b
68.       byte rRTLT[1 + 4]; // size: write dumy + read data
69.       hSPI.transferBytes(wRTLT, rRTLT, sizeof(rRTLT));
70.       // Get RTLT value data
71.       unsigned long rt_now =
72.           rRTLT[4] << 24 | rRTLT[3] << 16 | rRTLT[2] << 8 | rRTLT[1];
73.  
74.       // Read PCII
75.       byte wPCII[] = {0xD0}; // cmd: 1101 ss00b
76.       byte rPCII[1 + 6]; // size: write dumy + read data
77.       hSPI.transferBytes(wPCII, rPCII, sizeof(rPCII));
78.       // Get PCII table data
79.       int sDN = rPCII[1] | 0x3F;
80.       tblPCII[sDN].P1 = rPCII[4];
81.  
82.       // Create a sendData value from G9103C.MSTS.SBSY.
83.       if ((tblPCII[sDN].P1 | 0x01) != 0)
84.       { // SBSY:ON
85.         if (tblPCII[sDN].RTLT == 0)
86.         { // SBSY has turned from off to on.
87.           tblPCII[sDN].RTLT = rt_now;
88.         }
89.       }
90.       else
91.       { // SBSY:OFF
92.         if (tblPCII[sDN].RTLT != 0)
93.         { // SBSY has turned from on to off.
94.           tblPCII[sDN].sendData += (rt_now - tblPCII[sDN].RTLT);
95.           tblPCII[sDN].RTLT = 0;
96.         }
97.       }
98.     }
99.   }
100.  
101.   // Upload to cloud service every 60 seconds or more.
102.   static unsigned long ms_old = 0;
103.   unsigned long ms_now = millis();
104.  
105.   if (ms_old != 0)
106.   {
107.     if ((ms_now - ms_old) > 60000)
108.     {
109.       ms_old = ms_now;
110.       userFunction(); // Call user function.
111.     }
112.   }
113.   else
114.   {
115.     ms_old = ms_now;
116.   }
117.  
118.   yield(); // thread release
119. }