make mDC a vector in the Container and bugfixes

DCC.cpp

@@ -56,24 +56,26 @@ void DCC::begin() {
   StringFormatter::send(Serial,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE),
 			MotorDriverContainer::mDC.getMotorShieldName(), F(GITHUB_SHA));
 
+  /*
+NOT YES, PIN CONFLICTS  
   // Initialise HAL layer before reading EEprom.
   IODevice::begin();
+  */
+  //MotorDriverContainer::mDC.add(new MotorDriver(16, 21, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.00, 2000, UNUSED_PIN, RMT_MAIN));
 
   // Load stuff from EEprom
   (void)EEPROM; // tell compiler not to warn this is unused
   EEStore::init();
 
+  MotorDriverContainer::mDC.diag();
   DCCWaveform::begin(MotorDriverContainer::mDC.mainTrack(),MotorDriverContainer::mDC.progTrack());
-  DCCTrack::mainTrack.addDriver(MotorDriverContainer::mDC.mainTrack());
-  DCCTrack::progTrack.addDriver(MotorDriverContainer::mDC.progTrack());
 
-  MotorDriver *md;
+  // Add main and prog drivers to the main and prog packet sources (dcc-tracks).
-  MotorDriverContainer::mDC.add(2, md = new MotorDriver(16, 21, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.00, 2000, UNUSED_PIN, RMT_MAIN));
+  std::vector<MotorDriver*>  v;
-  DCCTrack::mainTrack.addDriver(md);
+  v = MotorDriverContainer::mDC.getDriverType(RMT_MAIN|TIMER_MAIN);
-  /*
-  std::vector<MotorDriver*>  v = MotorDriverContainer::mDC.getDriverType(RMT_MAIN);
   for (const auto& d: v) DCCTrack::mainTrack.addDriver(d);
-  */
+  v = MotorDriverContainer::mDC.getDriverType(RMT_PROG|TIMER_PROG);
+  for (const auto& d: v) DCCTrack::progTrack.addDriver(d);
 }
 
 void DCC::setJoinRelayPin(byte joinRelayPin) {

DCCTrack.cpp

@@ -29,7 +29,7 @@ void DCCTrack::schedulePacket(dccPacket packet) {
       //DIAG(F("DCCTrack::schedulePacket RMT l=%d d=%x"),packet.length, packet.data[0]);
       driver->schedulePacket(packet);
     }
-    if (driver->type() == TIMERINTERRUPT && waveform && once) {
+    if (driver->type() & (TIMER_MAIN | TIMER_PROG) && waveform && once) {
       //DIAG(F("DCCTrack::schedulePacket WAVE l=%d d=%x"),packet.length, packet.data[0]);
       waveform->schedulePacket(packet);
       once=false;

DCCTrack.h

@@ -3,13 +3,16 @@
 #include <Arduino.h>
 #include "DCCPacket.h"
 #include "DCCWaveform.h"
+#include "DIAG.h"
 
 class DCCTrack {
  public:
   DCCTrack(DCCWaveform *w);
   void schedulePacket(const byte buffer[], byte byteCount, byte repeats);
   void schedulePacket(dccPacket packet);
-  inline void addDriver(MotorDriver *m) { mD.push_back(m); };
+  inline void addDriver(MotorDriver *m) { mD.push_back(m);
+    DIAG(F("Track: mDType=%d count=%d"),m->type(), mD.size());
+  };
   static DCCTrack mainTrack;
   static DCCTrack progTrack;
  private:

DCCWaveform.cpp

@@ -49,19 +49,27 @@ uint8_t DCCWaveform::trailingEdgeCounter=0;
 
 void DCCWaveform::begin(MotorDriver * mainDriver, MotorDriver * progDriver) {
 
-  mainTrack.motorDriver=mainDriver;
+  if(mainDriver) {
-  progTrack.motorDriver=progDriver;
+    mainTrack.motorDriver=mainDriver;
-  progTripValue = progDriver->mA2raw(TRIP_CURRENT_PROG); // need only calculate once hence static
+    mainTrack.setPowerMode(POWERMODE::OFF);
-  mainTrack.setPowerMode(POWERMODE::OFF);      
+  }
-  progTrack.setPowerMode(POWERMODE::OFF);
+  if(progDriver) {
-  // Fault pin config for odd motor boards (example pololu)
+    progTrack.motorDriver=progDriver;
-  MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
+    progTripValue = progDriver->mA2raw(TRIP_CURRENT_PROG); // need only calculate once hence static
-				 && (mainDriver->getFaultPin() != UNUSED_PIN));
+    progTrack.setPowerMode(POWERMODE::OFF);
-  // Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
+  }
-  MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
+  if(mainDriver && progDriver) {
-  DIAG(F("Signal pin config: %S accuracy waveform"),
+    // Fault pin config for odd motor boards (example pololu)
+    MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
+				   && (mainDriver->getFaultPin() != UNUSED_PIN));
+    // Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
+    MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
+  }
+  if(mainDriver || progDriver) {
+    DIAG(F("Signal pin config: %S accuracy waveform"),
 	 MotorDriver::usePWM ? F("high") : F("normal") );
-  DCCTimer::begin(DCCWaveform::interruptHandler);     
+  }
+  DCCTimer::begin(DCCWaveform::interruptHandler);
 }
 
 #ifdef SLOW_ANALOG_READ

MotorDriver.cpp

@@ -44,7 +44,7 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
     rmtChannel = new RMTChannel(signalPin, 0, PREAMBLE_BITS_MAIN);
 #endif
     dualSignal=false;
-  } else if (dtype == TIMERINTERRUPT) {
+  } else if (dtype & (TIMER_MAIN | TIMER_PROG)) {
     signalPin=signal_pin;
     getFastPin(F("SIG"),signalPin,fastSignalPin);
     pinMode(signalPin, OUTPUT);
@@ -212,8 +212,9 @@ bool MotorDriver::schedulePacket(dccPacket packet) {
   if(!rmtChannel) return true; // fake success if functionality is not there
 
   outQueue.push(packet);
-  if (outQueue.size() > 10) {
+  uint16_t size = outQueue.size();
-    DIAG(F("Warning: outQueue > 10"));
+  if (size > 10) {
+    DIAG(F("Warning: outQueue %d > 10"),size);
   }
   return true;
 }
@@ -232,33 +233,41 @@ MotorDriverContainer::MotorDriverContainer(const FSH * motorShieldName,
 					   MotorDriver *m5,
 					   MotorDriver *m6,
 					   MotorDriver *m7) {
-  mD[0]=m0;
+  // THIS AUTOMATIC DOES NOT WORK YET. TIMER_MAIN AND TIMER_PROG required in CONSTRUCTOR
-  mD[1]=m1;
+  // AND CAN NOT BE ADDED LATER
-  mD[2]=m2;
+  if (m0) {
-  mD[3]=m3;
+    if (m0->type() == TYPE_UNKNOWN)
-  mD[4]=m4;
+      m0->setType(TIMER_MAIN);
-  mD[5]=m5;
+    mD.push_back(m0);
-  mD[6]=m6;
+  }
-  mD[7]=m7;
+  if (m1) {
+    if (m1->type() == TYPE_UNKNOWN)
+      m1->setType(TIMER_PROG);
+    mD.push_back(m1);
+  }
+  if (m2) mD.push_back(m2);
+  if (m3) mD.push_back(m3);
+  if (m4) mD.push_back(m4);
+  if (m5) mD.push_back(m5);
+  if (m6) mD.push_back(m6);
+  if (m7) mD.push_back(m7);
   shieldName = (FSH *)motorShieldName;
 }
 
 void MotorDriverContainer::loop() {
-  static byte i = 0;
-
   // loops over MotorDrivers which have loop tasks
-  if (mD[i])
+  if (mD.empty())
-    if (mD[i]->type() == RMT_MAIN || mD[i]->type() == RMT_PROG)
+    return;
-      mD[i]->loop();
+  for(const auto& d: mD)
-  i++;
+    if (d->type() & (RMT_MAIN | RMT_PROG))
-  if(i > 7) i=0;
+      d->loop();
 }
 
 std::vector<MotorDriver*> MotorDriverContainer::getDriverType(driverType t) {
   std::vector<MotorDriver*> v;
-  for(byte i=0; i<8; i++) {
+  for(const auto& d: mD){
-    if (mD[i] && mD[i]->type() == t)
+    if (d->type() & t)
-      v.push_back(mD[i]);
+      v.push_back(d);
   }
   return v;
 }

MotorDriver.h

@@ -22,6 +22,7 @@
 #include <vector>
 #include "defines.h"
 #include "FSH.h"
+#include "DIAG.h"
 
 #if defined(ARDUINO_ARCH_ESP32)
 #include <queue>
@@ -57,13 +58,20 @@ struct FASTPIN {
 #define isHIGH(fastpin)   (*fastpin.inout & fastpin.maskHIGH)
 #define isLOW(fastpin)    (!isHIGH(fastpin))
 
-enum driverType { TIMERINTERRUPT, RMT_MAIN, RMT_PROG, DC_ENA, DC_BRAKE };
+typedef byte driverType;
+const driverType TYPE_UNKNOWN=0;
+const driverType TIMER_MAIN=1;
+const driverType TIMER_PROG=2;
+const driverType RMT_MAIN=4;
+const driverType RMT_PROG=16;
+const driverType DC_ENA=32;
+const driverType DC_BRAKE=64;
 		  
 class MotorDriver {
   public:
     MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, 
                 byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin,
-		driverType t=TIMERINTERRUPT);
+		driverType t=TYPE_UNKNOWN);
     void setPower( bool on);
     void setSignal( bool high);
     void setBrake( bool on);
@@ -83,6 +91,7 @@ class MotorDriver {
 #if defined(ARDUINO_ARCH_ESP32)
     void loop();
     inline driverType type() { return dtype; };
+    inline void setType(driverType t) { dtype = t; };
     bool schedulePacket(dccPacket packet);
 #endif
 
@@ -129,19 +138,35 @@ public:
 		       MotorDriver *m6=NULL,
 		       MotorDriver *m7=NULL);
   static MotorDriverContainer mDC;
-  inline void add(byte n, MotorDriver *m) {
+  inline void add(MotorDriver *m) {
-    if (n>8) return;
+    mD.push_back(m);
-    mD[n] = m;
+    DIAG(F("Container: mDType=%d count=%d"),m->type(), mD.size());
   };
   //  void SetCapability(byte n, byte cap, char [] name);
   inline FSH *getMotorShieldName() { return shieldName; };
-  inline MotorDriver *mainTrack() { return mD[0]; }; //start fixed
+  inline void diag() {
-  inline MotorDriver *progTrack() { return mD[1]; };
+    if (mD.empty()) {
+      DIAG(F("Container empty"));
+      return;
+    }
+    for(const auto& d: mD)
+      DIAG(F("Container: mDType=%d count=%d"),d->type(), mD.size());
+  };
+  inline MotorDriver *mainTrack() {
+    std::vector<MotorDriver *> v = getDriverType(TIMER_MAIN);
+    if(v.empty()) return NULL;
+    return v.front();
+  };
+  inline MotorDriver *progTrack() {
+    std::vector<MotorDriver *> v = getDriverType(TIMER_PROG);
+    if(v.empty()) return NULL;
+    return v.front();
+  };
   void loop();
   std::vector<MotorDriver*>  getDriverType(driverType t);
 
 private:
-  MotorDriver *mD[8];
+  std::vector<MotorDriver *>mD;
   FSH *shieldName;
 };
 #endif