From 2f3d489f1836d5ed1f6650b65bafc7d7a104ac54 Mon Sep 17 00:00:00 2001 From: Harald Barth Date: Fri, 10 Nov 2023 23:58:30 +0100 Subject: [PATCH] ESP32: autoreverse and booster prototype --- EXRAIL2.cpp | 2 +- MotorDriver.cpp | 2 +- MotorDriver.h | 12 +++- TrackManager.cpp | 162 ++++++++++++++++++++++++++--------------------- TrackManager.h | 2 +- 5 files changed, 102 insertions(+), 78 deletions(-) diff --git a/EXRAIL2.cpp b/EXRAIL2.cpp index c902708..2e9761a 100644 --- a/EXRAIL2.cpp +++ b/EXRAIL2.cpp @@ -857,7 +857,7 @@ void RMFT2::loop2() { // If DC/DCX use my loco for DC address { TRACK_MODE mode = (TRACK_MODE)(operand>>8); - int16_t cab=(mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) ? loco : 0; + int16_t cab=(mode & TRACK_MODE_DC) ? loco : 0; TrackManager::setTrackMode(operand & 0x0F, mode, cab); } break; diff --git a/MotorDriver.cpp b/MotorDriver.cpp index 15b5607..c9b820e 100644 --- a/MotorDriver.cpp +++ b/MotorDriver.cpp @@ -605,7 +605,7 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) { DIAG(F("TRACK %c ALERT FAULT"), trackno + 'A'); } setPower(POWERMODE::ALERT); - if (trackMode & (TRACK_MODE_MAIN|TRACK_MODE_EXT)){ // add (&& isAutoreverse) later + if ((trackMode & TRACK_MODE_AUTOINV) && (trackMode & (TRACK_MODE_MAIN|TRACK_MODE_EXT|TRACK_MODE_BOOST))){ DIAG(F("TRACK %c INVERT"), trackno + 'A'); invertOutput(); } diff --git a/MotorDriver.h b/MotorDriver.h index c6e06b8..db2ccc5 100644 --- a/MotorDriver.h +++ b/MotorDriver.h @@ -3,7 +3,7 @@ * © 2021 Mike S * © 2021 Fred Decker * © 2020 Chris Harlow - * © 2022 Harald Barth + * © 2022,2023 Harald Barth * All rights reserved. * * This file is part of CommandStation-EX @@ -28,8 +28,14 @@ #include "DCCTimer.h" // use powers of two so we can do logical and/or on the track modes in if clauses. +// RACK_MODE_DCX is (TRACK_MODE_DC|TRACK_MODE_INV) +template inline T operator~ (T a) { return (T)~(int)a; } +template inline T operator| (T a, T b) { return (T)((int)a | (int)b); } +template inline T operator& (T a, T b) { return (T)((int)a & (int)b); } +template inline T operator^ (T a, T b) { return (T)((int)a ^ (int)b); } enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4, - TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32}; + TRACK_MODE_DC = 8, TRACK_MODE_EXT = 16, TRACK_MODE_BOOST = 32, + TRACK_MODE_INV = 64, TRACK_MODE_DCX = 72, TRACK_MODE_AUTOINV = 128}; #define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH #define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW @@ -240,7 +246,7 @@ class MotorDriver { #endif inline void setMode(TRACK_MODE m) { trackMode = m; - invertOutput(trackMode & TRACK_MODE_DCX);// change later to TRACK_MODE_INVERTED? + invertOutput(trackMode & TRACK_MODE_INV); }; inline void invertOutput() { // toggles output inversion invertPhase = !invertPhase; diff --git a/TrackManager.cpp b/TrackManager.cpp index 772f64e..1fffb0b 100644 --- a/TrackManager.cpp +++ b/TrackManager.cpp @@ -1,6 +1,6 @@ /* * © 2022 Chris Harlow - * © 2022 Harald Barth + * © 2022,2023 Harald Barth * © 2023 Colin Murdoch * All rights reserved. * @@ -45,6 +45,9 @@ const int16_t HASH_KEYWORD_DC = 2183; const int16_t HASH_KEYWORD_DCX = 6463; // DC reversed polarity const int16_t HASH_KEYWORD_EXT = 8201; // External DCC signal const int16_t HASH_KEYWORD_A = 65; // parser makes single chars the ascii. +const int16_t HASH_KEYWORD_AUTO = -5457; +const int16_t HASH_KEYWORD_BOOST = 11269; +const int16_t HASH_KEYWORD_INV = 11857; MotorDriver * TrackManager::track[MAX_TRACKS]; int16_t TrackManager::trackDCAddr[MAX_TRACKS]; @@ -87,7 +90,7 @@ void TrackManager::sampleCurrent() { if (!waiting) { // look for a valid track to sample or until we are around while (true) { - if (track[tr]->getMode() & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_DCX|TRACK_MODE_EXT )) { + if (track[tr]->getMode() & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_BOOST|TRACK_MODE_EXT )) { track[tr]->startCurrentFromHW(); // for scope debug track[1]->setBrake(1); waiting = true; @@ -197,7 +200,7 @@ void TrackManager::setPROGSignal( bool on) { void TrackManager::setDCSignal(int16_t cab, byte speedbyte) { FOR_EACH_TRACK(t) { if (trackDCAddr[t]!=cab && cab != 0) continue; - if (track[t]->getMode() & (TRACK_MODE_DC|TRACK_MODE_DCX)) + if (track[t]->getMode() & TRACK_MODE_DC) track[t]->setDCSignal(speedbyte); } } @@ -207,7 +210,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr //DIAG(F("Track=%c Mode=%d"),trackToSet+'A', mode); // DC tracks require a motorDriver that can set brake! - if (mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) { + if (mode & TRACK_MODE_DC) { #if defined(ARDUINO_AVR_UNO) DIAG(F("Uno has no PWM timers available for DC")); return false; @@ -227,24 +230,30 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr //DIAG(F("Track=%c remove ^pin %d"),trackToSet+'A', p.invpin); gpio_reset_pin((gpio_num_t)p.invpin); } - - if (mode == TRACK_MODE_EXT) { - pinMode(26, INPUT); + if (mode & TRACK_MODE_BOOST) { + DIAG(F("Track=%c mode boost pin %d"),trackToSet+'A', p.pin); + pinMode(26, INPUT); // hardcoded XXX gpio_matrix_in(26, SIG_IN_FUNC228_IDX, false); //pads 224 to 228 available as loopback gpio_matrix_out(p.pin, SIG_IN_FUNC228_IDX, false, false); if (p.invpin != UNUSED_PIN) { gpio_matrix_out(p.invpin, SIG_IN_FUNC228_IDX, true /*inverted*/, false); } + } else if (mode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_DC)) { + // gpio_reset_pin may reset to input + pinMode(p.pin, OUTPUT); + if (p.invpin != UNUSED_PIN) + pinMode(p.invpin, OUTPUT); } + #endif #ifndef DISABLE_PROG - if (mode==TRACK_MODE_PROG) { + if (mode & TRACK_MODE_PROG) { #else if (false) { #endif // only allow 1 track to be prog FOR_EACH_TRACK(t) - if (track[t]->getMode()==TRACK_MODE_PROG && t != trackToSet) { + if ( (track[t]->getMode() & TRACK_MODE_PROG) && t != trackToSet) { track[t]->setPower(POWERMODE::OFF); track[t]->setMode(TRACK_MODE_NONE); track[t]->makeProgTrack(false); // revoke prog track special handling @@ -262,18 +271,20 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr // state, otherwise trains run away or just dont move. // This can be done BEFORE the PWM-Timer evaluation (methinks) - if (!(mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX)) { + if (!(mode & TRACK_MODE_DC)) { // DCC tracks need to have set the PWM to zero or they will not work. track[trackToSet]->detachDCSignal(); track[trackToSet]->setBrake(false); } -#ifndef ARDUINO_ARCH_ESP32 - // EXT is a special case where the signal pin is - // turned off. So unless that is set, the signal - // pin should be turned on - track[trackToSet]->enableSignal(mode != TRACK_MODE_EXT); -#endif + // BOOST: + // Leave it as is + // otherwise: + // EXT is a special case where the signal pin is + // turned off. So unless that is set, the signal + // pin should be turned on + if (!(mode & TRACK_MODE_BOOST)) + track[trackToSet]->enableSignal(!(mode & TRACK_MODE_EXT)); #ifndef ARDUINO_ARCH_ESP32 // re-evaluate HighAccuracy mode @@ -283,7 +294,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr // DC tracks must not have the DCC PWM switched on // so we globally turn it off if one of the PWM // capable tracks is now DC or DCX. - if (track[t]->getMode()==TRACK_MODE_DC || track[t]->getMode()==TRACK_MODE_DCX) { + if (track[t]->getMode() & TRACK_MODE_DC) { if (track[t]->isPWMCapable()) { canDo=false; // this track is capable but can not run PWM break; // in this mode, so abort and prevent globally below @@ -291,7 +302,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr track[t]->trackPWM=false; // this track sure can not run with PWM //DIAG(F("Track %c trackPWM 0 (not capable)"), t+'A'); } - } else if (track[t]->getMode()==TRACK_MODE_MAIN || track[t]->getMode()==TRACK_MODE_PROG) { + } else if (track[t]->getMode() & (TRACK_MODE_MAIN |TRACK_MODE_PROG)) { track[t]->trackPWM = track[t]->isPWMCapable(); // trackPWM is still a guess here //DIAG(F("Track %c trackPWM %d"), t+'A', track[t]->trackPWM); canDo &= track[t]->trackPWM; @@ -309,10 +320,12 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr #else // For ESP32 we just reinitialize the DCC Waveform DCCWaveform::begin(); + // setMode() again AFTER Waveform::begin() of ESP32 fixes INVERTED signal + track[trackToSet]->setMode(mode); #endif // This block must be AFTER the PWM-Timer modifications - if (mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) { + if (mode & TRACK_MODE_DC) { // DC tracks need to be given speed of the throttle for that cab address // otherwise will not match other tracks on same cab. // This also needs to allow for inverted DCX @@ -321,7 +334,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr // Normal running tracks are set to the global power state track[trackToSet]->setPower( - (mode==TRACK_MODE_MAIN || mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX || mode==TRACK_MODE_EXT) ? + (mode & (TRACK_MODE_MAIN | TRACK_MODE_DC | TRACK_MODE_EXT | TRACK_MODE_BOOST)) ? mainPowerGuess : POWERMODE::OFF); //DIAG(F("TrackMode=%d"),mode); return true; @@ -361,11 +374,20 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[]) if (params==2 && p[1]==HASH_KEYWORD_EXT) // <= id EXT> return setTrackMode(p[0],TRACK_MODE_EXT); + if (params==2 && p[1]==HASH_KEYWORD_BOOST) // <= id BOOST> + return setTrackMode(p[0],TRACK_MODE_BOOST); + + if (params==2 && p[1]==HASH_KEYWORD_AUTO) // <= id AUTO> + return setTrackMode(p[0], track[p[0]]->getMode() | TRACK_MODE_AUTOINV); + + if (params==2 && p[1]==HASH_KEYWORD_INV) // <= id AUTO> + return setTrackMode(p[0], track[p[0]]->getMode() | TRACK_MODE_INV); + if (params==3 && p[1]==HASH_KEYWORD_DC && p[2]>0) // <= id DC cab> return setTrackMode(p[0],TRACK_MODE_DC,p[2]); if (params==3 && p[1]==HASH_KEYWORD_DCX && p[2]>0) // <= id DCX cab> - return setTrackMode(p[0],TRACK_MODE_DCX,p[2]); + return setTrackMode(p[0],TRACK_MODE_DC|TRACK_MODE_INV,p[2]); return false; } @@ -374,35 +396,38 @@ void TrackManager::streamTrackState(Print* stream, byte t) { // null stream means send to commandDistributor for broadcast if (track[t]==NULL) return; auto format=F(""); - bool pstate = TrackManager::isPowerOn(t); - - switch(track[t]->getMode()) { - case TRACK_MODE_MAIN: - if (pstate) {format=F("<= %c MAIN ON>\n");} else {format = F("<= %c MAIN OFF>\n");} - break; +// bool pstate = TrackManager::isPowerOn(t); +// char *statestr; +// if (pstate) +// statestr = (char *)"ON"; +// else +// statestr = (char *)"OFF"; + TRACK_MODE tm = track[t]->getMode(); + if (tm & TRACK_MODE_MAIN) + format=F("<= %c MAIN>\n"); #ifndef DISABLE_PROG - case TRACK_MODE_PROG: - if (pstate) {format=F("<= %c PROG ON>\n");} else {format=F("<= %c PROG OFF>\n");} - break; + else if (tm & TRACK_MODE_PROG) + format=F("<= %c PROG>\n"); #endif - case TRACK_MODE_NONE: - if (pstate) {format=F("<= %c NONE ON>\n");} else {format=F("<= %c NONE OFF>\n");} - break; - case TRACK_MODE_EXT: - if (pstate) {format=F("<= %c EXT ON>\n");} else {format=F("<= %c EXT OFF>\n");} - break; - case TRACK_MODE_DC: - if (pstate) {format=F("<= %c DC %d ON>\n");} else {format=F("<= %c DC %d OFF>\n");} - break; - case TRACK_MODE_DCX: - if (pstate) {format=F("<= %c DCX %d ON>\n");} else {format=F("<= %c DCX %d OFF>\n");} - break; - default: - break; // unknown, dont care + else if (tm & TRACK_MODE_NONE) + format=F("<= %c NONE>\n"); + else if(tm & TRACK_MODE_EXT) + format=F("<= %c EXT>\n"); + else if(tm & TRACK_MODE_BOOST) + format=F("<= %c BOOST>\n"); + else if (tm & TRACK_MODE_DC) { + if (tm & TRACK_MODE_INV) + format=F("<= %c DCX>\n"); + else + format=F("<= %c DC>\n"); } + else + format=F("<= %c XXX>\n"); - if (stream) StringFormatter::send(stream,format,'A'+t, trackDCAddr[t]); - else CommandDistributor::broadcastTrackState(format,'A'+t, trackDCAddr[t]); + if (stream) + StringFormatter::send(stream,format,'A'+t, trackDCAddr[t]); + else + CommandDistributor::broadcastTrackState(format,'A'+t, trackDCAddr[t]); } @@ -418,13 +443,13 @@ void TrackManager::loop() { if (nextCycleTrack>lastTrack) nextCycleTrack=0; if (track[nextCycleTrack]==NULL) return; MotorDriver * motorDriver=track[nextCycleTrack]; - bool useProgLimit=dontLimitProg? false: track[nextCycleTrack]->getMode()==TRACK_MODE_PROG; + bool useProgLimit=dontLimitProg ? false : (bool)(track[nextCycleTrack]->getMode() & TRACK_MODE_PROG); motorDriver->checkPowerOverload(useProgLimit, nextCycleTrack); } MotorDriver * TrackManager::getProgDriver() { FOR_EACH_TRACK(t) - if (track[t]->getMode()==TRACK_MODE_PROG) return track[t]; + if (track[t]->getMode() & TRACK_MODE_PROG) return track[t]; return NULL; } @@ -432,7 +457,7 @@ MotorDriver * TrackManager::getProgDriver() { std::vectorTrackManager::getMainDrivers() { std::vector v; FOR_EACH_TRACK(t) - if (track[t]->getMode()==TRACK_MODE_MAIN) v.push_back(track[t]); + if (track[t]->getMode() & TRACK_MODE_MAIN) v.push_back(track[t]); return v; } #endif @@ -453,40 +478,33 @@ void TrackManager::setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byt MotorDriver * driver=track[thistrack]; if (!driver) return; - switch (track[thistrack]->getMode()) { - case TRACK_MODE_MAIN: - if (setProg) break; + TRACK_MODE tm = track[thistrack]->getMode(); + if ( (tm & TRACK_MODE_MAIN) + && !setProg ){ // toggle brake before turning power on - resets overcurrent error // on the Pololu board if brake is wired to ^D2. // XXX see if we can make this conditional driver->setBrake(true); driver->setBrake(false); // DCC runs with brake off - driver->setPower(mode); - break; - case TRACK_MODE_DC: - case TRACK_MODE_DCX: - //DIAG(F("Processing track - %d setProg %d"), thistrack, setProg); - if (setProg || setJoin) break; + driver->setPower(mode); + } else if ( (tm & TRACK_MODE_DC) + && !(setProg || setJoin)){ + //DIAG(F("Processing track - %d setProg %d"), thistrack, setProg); driver->setBrake(true); // DC starts with brake on applyDCSpeed(thistrack); // speed match DCC throttles driver->setPower(mode); - break; - case TRACK_MODE_PROG: - if (!setProg && !setJoin) break; + } else if ( (tm & TRACK_MODE_PROG) + && (setProg || setJoin) ){ driver->setBrake(true); driver->setBrake(false); driver->setPower(mode); - break; - case TRACK_MODE_EXT: + } else if ( (tm & TRACK_MODE_EXT) + || (tm & TRACK_MODE_BOOST)){ driver->setBrake(true); driver->setBrake(false); driver->setPower(mode); - break; - case TRACK_MODE_NONE: - break; - } - - } + } +} void TrackManager::reportPowerChange(Print* stream, byte thistrack) { // This function is for backward JMRI compatibility only @@ -499,7 +517,7 @@ void TrackManager::setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byt POWERMODE TrackManager::getProgPower() { FOR_EACH_TRACK(t) - if (track[t]->getMode()==TRACK_MODE_PROG) + if (track[t]->getMode() & TRACK_MODE_PROG) return track[t]->getPower(); return POWERMODE::OFF; } @@ -544,7 +562,7 @@ void TrackManager::setJoin(bool joined) { #ifdef ARDUINO_ARCH_ESP32 if (joined) { FOR_EACH_TRACK(t) { - if (track[t]->getMode()==TRACK_MODE_PROG) { + if (track[t]->getMode() & TRACK_MODE_PROG) { tempProgTrack = t; setTrackMode(t, TRACK_MODE_MAIN); break; @@ -573,7 +591,7 @@ bool TrackManager::isPowerOn(byte t) { } bool TrackManager::isProg(byte t) { - if (track[t]->getMode()==TRACK_MODE_PROG) + if (track[t]->getMode() & TRACK_MODE_PROG) return true; return false; } diff --git a/TrackManager.h b/TrackManager.h index d197751..d1edca2 100644 --- a/TrackManager.h +++ b/TrackManager.h @@ -112,7 +112,7 @@ class TrackManager { static POWERMODE mainPowerGuess; static void applyDCSpeed(byte t); - static int16_t trackDCAddr[MAX_TRACKS]; // dc address if TRACK_MODE_DC or TRACK_MODE_DCX + static int16_t trackDCAddr[MAX_TRACKS]; // dc address if TRACK_MODE_DC #ifdef ARDUINO_ARCH_ESP32 static byte tempProgTrack; // holds the prog track number during join #endif