mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-25 05:31:24 +01:00
Servo Turnouts
This commit is contained in:
parent
030cb654b4
commit
1a1429bf72
@ -16,10 +16,6 @@
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void myFilter(Stream & stream, byte & opcode, byte & paramCount, int p[]) {
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void myFilter(Stream & stream, byte & opcode, byte & paramCount, int p[]) {
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switch (opcode) {
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switch (opcode) {
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case 'T': // Intercept turnout functions because I have special hardware
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DIAG(F("\nStop messing with Turnouts!"));
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opcode=0; // tell parssr to ignore ithis command
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break;
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case 'F': // Invent new command to call the new Loco Function API <F cab func 1|0>
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case 'F': // Invent new command to call the new Loco Function API <F cab func 1|0>
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DIAG(F("Setting loco %d F%d %S"),p[0],p[1],p[2]?F("ON"):F("OFF"));
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DIAG(F("Setting loco %d F%d %S"),p[0],p[1],p[2]?F("ON"):F("OFF"));
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DCC::setFn(p[0],p[1],p[2]==1);
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DCC::setFn(p[0],p[1],p[2]==1);
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@ -51,7 +47,7 @@ DCCEXParser serialParser;
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// Try monitoring the memory
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// Try monitoring the memory
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#include "freeMemory.h"
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#include "freeMemory.h"
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int minMemory;
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int minMemory=32767;
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void setup() {
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void setup() {
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Serial.begin(SERIAL_BAUD_RATE);
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Serial.begin(SERIAL_BAUD_RATE);
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@ -65,8 +61,6 @@ void setup() {
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DCCEXParser::setFilter(myFilter);
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DCCEXParser::setFilter(myFilter);
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malloc(1);
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malloc(1);
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minMemory=freeMemory();
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DIAG(F("\nFree memory=%d"),minMemory);
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DIAG(F("\nReady for JMRI commands\n"));
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DIAG(F("\nReady for JMRI commands\n"));
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}
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}
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2
Config.h
2
Config.h
@ -25,7 +25,7 @@ const byte PROG_BRAKE_PIN = 10;
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const float PROG_SENSE_FACTOR=1; // analgRead(PROG_SENSE_PIN) * PROG_SENSE_FACTOR = milliamps
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const float PROG_SENSE_FACTOR=1; // analgRead(PROG_SENSE_PIN) * PROG_SENSE_FACTOR = milliamps
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// Allocations with memory implications..!
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// Allocations with memory implications..!
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// Base system takes approx 500 bytes + 8 per loco. Turnouts, Sensors etc are dynamically created
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// Base system takes approx 700 bytes + 8 per loco. Turnouts, Sensors etc are dynamically created
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const byte MAX_LOCOS=50;
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const byte MAX_LOCOS=50;
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#endif
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#endif
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@ -4,6 +4,7 @@
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#include "Config.h"
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#include "Config.h"
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#include "DIAG.h"
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#include "DIAG.h"
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#if defined(ARDUINO_ARCH_AVR)
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#if defined(ARDUINO_ARCH_AVR)
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#include <DIO2.h> // use IDE menu Tools..Manage Libraries to locate and install DIO2
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#include <DIO2.h> // use IDE menu Tools..Manage Libraries to locate and install DIO2
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#define WritePin digitalWrite2
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#define WritePin digitalWrite2
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@ -52,10 +53,6 @@ void Hardware::setCallback(int duration, void (*isr)()) {
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Timer1.attachInterrupt(isr);
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Timer1.attachInterrupt(isr);
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}
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}
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void Hardware::setServo(byte pin, int angle) {
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// TBD
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}
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// Railcom support functions, not yet implemented
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// Railcom support functions, not yet implemented
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void Hardware::setSingleCallback(int duration, void (*isr)()) {
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void Hardware::setSingleCallback(int duration, void (*isr)()) {
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@ -11,6 +11,5 @@ class Hardware {
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static void setCallback(int duration, void (*isr)());
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static void setCallback(int duration, void (*isr)());
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static void setSingleCallback(int duration, void (*isr)());
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static void setSingleCallback(int duration, void (*isr)());
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static void resetSingleCallback(int duration);
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static void resetSingleCallback(int duration);
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static void setServo(byte pin, int angle);
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};
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};
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#endif
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#endif
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89
PWMServoDriver.cpp
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89
PWMServoDriver.cpp
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@ -0,0 +1,89 @@
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/*!
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* @file PWMServoDriver.cpp
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*
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* @mainpage Adafruit 16-channel PWM & Servo driver, based on Adafruit_PWMServoDriver
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*
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* @section intro_sec Introduction
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*
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* This is a library for the 16-channel PWM & Servo driver.
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*
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* Designed specifically to work with the Adafruit PWM & Servo driver.
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* This class contains a very small subset of the Adafruit version which
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* is relevant to driving simple servos at 50Hz through a number of chained
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* servo driver boards (ie servos 0-15 on board 0x40, 16-31 on board 0x41 etc.)
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*
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* @section author Author
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* Chris Harlow (TPL)
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* original by Limor Fried/Ladyada (Adafruit Industries).
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*
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* @section license License
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*
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* BSD license, all text above must be included in any redistribution
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*/
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#include <Arduino.h>
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#include <Wire.h>
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#include "PWMServoDriver.h"
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#define DIAG_ENABLED true
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#include "DIAG.h"
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// REGISTER ADDRESSES
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const byte PCA9685_MODE1=0x00; // Mode Register
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const byte PCA9685_FIRST_SERVO=0x06; /** low byte first servo register ON*/
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const byte PCA9685_PRESCALE=0xFE; /** Prescale register for PWM output frequency */
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// MODE1 bits
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const byte MODE1_SLEEP=0x10; /**< Low power mode. Oscillator off */
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const byte MODE1_AI=0x20; /**< Auto-Increment enabled */
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const byte MODE1_RESTART=0x80; /**< Restart enabled */
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const byte PCA9685_I2C_ADDRESS=0x40; /** First PCA9685 I2C Slave Address */
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const float FREQUENCY_OSCILLATOR=25000000.0; /** Accurate enough for our purposes */
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const uint8_t PRESCALE_50HZ = (uint8_t)(((FREQUENCY_OSCILLATOR / (50.0 * 4096.0)) + 0.5) - 1);
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/*!
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* @brief Sets the PWM frequency for a chip to 50Hz for servos
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*/
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byte PWMServoDriver::setupFlags=0; // boards that have been initialised
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void PWMServoDriver::setup(int board) {
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if (board>3 || setupFlags & (1<<board)) return;
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Wire.begin();
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uint8_t i2caddr=PCA9685_I2C_ADDRESS + board;
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//DIAG(F("\nPWMServoDriver::setup %x prescale=%d"),i2caddr,PRESCALE_50HZ);
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writeRegister(i2caddr,PCA9685_MODE1, MODE1_SLEEP | MODE1_AI);
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writeRegister(i2caddr,PCA9685_PRESCALE, PRESCALE_50HZ);
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writeRegister(i2caddr,PCA9685_MODE1,MODE1_AI);
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writeRegister(i2caddr,PCA9685_MODE1, MODE1_RESTART | MODE1_AI);
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setupFlags|=1<<board;
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}
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/*!
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* @brief Sets the PWM output to a servo
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*/
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void PWMServoDriver::setServo(short servoNum, uint16_t value) {
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//DIAG(F("\nsetServo %d %d\n"),servoNum,value);
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int board=servoNum/16;
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int pin=servoNum%16;
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if (board<0 | board>3) return; // safe dropout
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setup(board); // in case not already done
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Wire.beginTransmission(PCA9685_I2C_ADDRESS + board);
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Wire.write(PCA9685_FIRST_SERVO + 4 * pin); // 4 registers per pin
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Wire.write(0);
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Wire.write(0);
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Wire.write(value);
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Wire.write(value >> 8);
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Wire.endTransmission();
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}
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void PWMServoDriver::writeRegister(uint8_t i2caddr,uint8_t hardwareRegister, uint8_t d) {
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Wire.beginTransmission(i2caddr);
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Wire.write(hardwareRegister);
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Wire.write(d);
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Wire.endTransmission();
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delay(5); // allow registers to settle before continuing
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}
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20
PWMServoDriver.h
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20
PWMServoDriver.h
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@ -0,0 +1,20 @@
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/*!
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* @file PWMServoDriver.h
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*
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* Used to set servo positions on an I2C bus with 1 or more PCA96685 boards.
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*/
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#ifndef PWMServoDriver_H
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#define PWMServoDriver_H
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class PWMServoDriver {
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public:
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static void setServo(short servoNum, uint16_t pos);
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private:
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static byte setupFlags;
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static void setup(int board);
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static void writeRegister(uint8_t i2caddr,uint8_t hardwareRegister, uint8_t d);
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};
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#endif
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@ -2,6 +2,8 @@
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#include "EEStore.h"
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#include "EEStore.h"
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#include "StringFormatter.h"
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#include "StringFormatter.h"
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#include "Hardware.h"
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#include "Hardware.h"
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#include "PWMServoDriver.h"
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bool Turnout::activate(int n,bool state){
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bool Turnout::activate(int n,bool state){
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Turnout * tt=get(n);
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Turnout * tt=get(n);
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if (tt==NULL) return false;
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if (tt==NULL) return false;
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@ -14,7 +16,7 @@
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void Turnout::activate(bool state) {
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void Turnout::activate(bool state) {
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if (state) data.tStatus|=STATUS_ACTIVE;
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if (state) data.tStatus|=STATUS_ACTIVE;
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else data.tStatus &= ~STATUS_ACTIVE;
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else data.tStatus &= ~STATUS_ACTIVE;
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if (data.tStatus & STATUS_PWM) Hardware::setServo(data.tStatus & STATUS_PWMPIN, (data.inactiveAngle+state?data.moveAngle:0));
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if (data.tStatus & STATUS_PWM) PWMServoDriver::setServo(data.tStatus & STATUS_PWMPIN, (data.inactiveAngle+state?data.moveAngle:0));
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else DCC::setAccessory(data.address,data.subAddress, state);
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else DCC::setAccessory(data.address,data.subAddress, state);
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////
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