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Merge branch 'devel-cam76' into devel-temp0910

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Ash-4 2024-09-10 10:23:51 -05:00 committed by GitHub
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10 changed files with 956 additions and 4 deletions
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95
CamParser.cpp Normal file
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@ -0,0 +1,95 @@
//sensorCAM parser.cpp version 3.01 Aug 2024
#include "CamParser.h"
#include "FSH.h"
#include "IO_EXSensorCAM.h"
#ifndef SENSORCAM_VPIN //define CAM vpin (700?) in config.h
#define SENSORCAM_VPIN 0
#endif
#define CAM_VPIN SENSORCAM_VPIN
#ifndef SENSORCAM2_VPIN
#define SENSORCAM2_VPIN CAM_VPIN
#endif
#ifndef SENSORCAM3_VPIN
#define SENSORCAM3_VPIN 0
#endif
const int CAMVPINS[] = {CAM_VPIN,SENSORCAM_VPIN,SENSORCAM2_VPIN,SENSORCAM3_VPIN};
const int16_t version=9914;
const int16_t ver=30177;
const int16_t ve =2899;
VPIN EXSensorCAM::CAMBaseVpin = CAM_VPIN;
bool CamParser::parseN(Print * stream, byte paramCount, int16_t p[]) {
(void)stream; // probably unused parameter
VPIN vpin=EXSensorCAM::CAMBaseVpin; //use current CAM selection
if (paramCount==0) {
DIAG(F("vpin:%d EXSensorCAMs defined at Vpins #1@ %d #2@ %d #3@ %d"),vpin,CAMVPINS[1],CAMVPINS[2],CAMVPINS[3]);
return true;
}
uint8_t camop=p[0]; // cam oprerator
int param1=0;
int16_t param3=9999; // =0 could invoke parameter changes. & -1 gives later errors
if(camop=='C'){
if(p[1]>=100) EXSensorCAM::CAMBaseVpin=p[1];
if(p[1]<4) EXSensorCAM::CAMBaseVpin=CAMVPINS[p[1]];
DIAG(F("CAM base Vpin: %c %d "),p[0],EXSensorCAM::CAMBaseVpin);
return true;
}
if (camop<100) { //switch CAM# if p[1] dictates
if(p[1]>=100 && p[1]<400) { //limits to CAM# 1 to 3 for now
vpin=CAMVPINS[p[1]/100];
EXSensorCAM::CAMBaseVpin=vpin;
DIAG(F("switching to CAM %d baseVpin:%d"),p[1]/100,vpin);
p[1]=p[1]%100; //strip off CAM #
}
}
if (EXSensorCAM::CAMBaseVpin==0) return false; // no cam defined
if((p[0] == ve) || (p[0] == ver) || (p[0] == version)) camop='^';
// send UPPER case to sensorCAM to flag binary data from a DCCEX-CS parser
switch(paramCount) {
case 1: //<N ver> produces '^'
if (STRCHR_P((const char *)F("EFGMQRVW^"),camop) == nullptr) return false;
if (camop=='F') camop=']'; //<NF> for Reset/Finish webCAM.
if (camop=='Q') param3=10; //<NQ> for activation state of all 10 banks of sensors
break; // Coded as ']' else conflicts with <Nf %%>
case 2: //<N camop p1>
if (STRCHR_P((const char *)F("ABFILMNOPQRSTUV^"),camop)==nullptr) return false;
param1=p[1];
break;
case 3: //<N vpin rowY colx > or <N cmd p1 p2>
camop=p[0];
if (p[0]>=100) { //vpin - i.e. NOT 'A' through 'Z'
if (p[1]>236 || p[1]<0) return false; //row
if (p[2]>316 || p[2]<0) return false; //column
camop=0x80; // special 'a' case for IO_SensorCAM
vpin = p[0];
}else if (STRCHR_P((const char *)F("IJMNT"),camop) == nullptr) return false;
param1 = p[1];
param3 = p[2];
break;
case 4: //<N a id row col>
if (camop!='A') return false; //must start with 'a'
if (p[3]>316 || p[3]<0) return false;
if (p[2]>236 || p[2]<0) return false;
if (p[1]>97 || p[1]<0) return false; //treat as bsNo.
vpin = vpin + (p[1]/10)*8 + p[1]%10; //translate p[1]
camop=0x80; // special 'a' case for IO_SensorCAM
param1=p[2]; // row
param3=p[3]; // col
break;
default:
return false;
}
DIAG(F("CamParser: %d %c %d %d"),vpin,camop,param1,param3);
IODevice::writeAnalogue(vpin,param1,camop,param3);
return true;
}

12
CamParser.h Normal file
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#ifndef CamParser_H
#define CamParser_H
#include <Arduino.h>
#include "IODevice.h"
class CamParser {
public:
static bool parseN(Print * stream, byte paramCount, int16_t p[]);
};
#endif

9
DCCEXParser.cpp
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@ -117,6 +117,7 @@ Once a new OPCODE is decided upon, update this list.
#include "Turntables.h"
#include "version.h"
#include "KeywordHasher.h"
#include "CamParser.h"
// This macro can't be created easily as a portable function because the
// flashlist requires a far pointer for high flash access.
@ -401,7 +402,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
else IODevice::write(-p[0],LOW);
return;
}
if (params>=2 && params<=4) { // <z vpin ana;og profile duration>
if (params>=2 && params<=4) { // <z vpin analog profile duration>
// unused params default to 0
IODevice::writeAnalogue(p[0],p[1],p[2],p[3]);
return;
@ -807,7 +808,11 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
return;
break;
#endif
#ifndef IO_NO_HAL
case 'N': // <N commands for SensorCam
if (CamParser::parseN(stream,params,p)) return;
break;
#endif
case '/': // implemented in EXRAIL parser
case 'L': // LCC interface implemented in EXRAIL parser
break; // Will <X> if not intercepted by EXRAIL

2
FSH.h
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@ -52,6 +52,7 @@ typedef __FlashStringHelper FSH;
#define STRNCPY_P strncpy_P
#define STRNCMP_P strncmp_P
#define STRLEN_P strlen_P
#define STRCHR_P strchr_P
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
// AVR_MEGA memory deliberately placed at end of link may need _far functions
@ -92,5 +93,6 @@ typedef char FSH;
#define STRNCPY_P strncpy
#define STRNCMP_P strncmp
#define STRLEN_P strlen
#define STRCHR_P strchr
#endif
#endif

3
IODevice.h
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@ -546,7 +546,8 @@ protected:
#include "IO_PCA9555.h"
#include "IO_duinoNodes.h"
#include "IO_EXIOExpander.h"
#include "IO_trainbrains.h"
#include "IO_trainbrains.h
#include "IO_EncoderThrottle.h"
#include "IO_EXSensorCAM.h
#endif // iodevice_h

422
IO_EXSensorCAM.h Normal file
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@ -0,0 +1,422 @@
/* 2024/08/14
* © 2024, Barry Daniel ESP32-CAM revision
*
* This file is part of EX-CommandStation
*
* This is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* It is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
#define driverVer 303
// v301 improved 'f','p'&'q' code and driver version calc. Correct bsNo calc. for 'a'
// v300 stripped & revised without expander functionality. Needs sensorCAM.h v300 AND CamParser.cpp
// v222 uses '@'for EXIORDD read. handles <NB $> and <NN $ ##>
// v216 includes 'j' command and uses CamParser rather than myFilter.h Incompatible with v203 senorCAM
// v203 added pvtThreshold to 'i' output
// v201 deleted code for compatibility with CAM pre v171. Needs CAM ver201 with o06 only
// v200 rewrite reduces need for double reads of ESP32 slave CAM. Deleted ESP32CAP.
// Inompatible with pre-v170 sensorCAM, unless set S06 to 0 and S07 to 1 (o06 & l07 say)
/*
* The IO_EXSensorCAM.h device driver can integrate with the sensorCAM device.
* It is modelled on the IO_EXIOExpander.h device driver to include specific needs of the ESP32 sensorCAM
* This device driver will configure the device on startup, along with CamParser.cpp
* interacting with the sensorCAM device for all input/output duties.
*
* #include "CamParser.h" in DCCEXParser.cpp
* #include "IO_EXSensorCAM.h" in IODevice.h
* To create EX-SensorCAM devices, define them in myHal.cpp: with
* EXSensorCAM::create(baseVpin,num_vpins,i2c_address) or
♠ * alternatively use HAL(baseVpin,numpins,i2c_address) in myAutomation.h
* also #define SENSORCAM_VPIN baseVpin in config.h
*
* void halSetup() {
* // EXSensorCAM::create(vpin, num_vpins, i2c_address);
* EXSensorCAM::create(700, 80, 0x11);
* }
*
* I2C packet size of 32 bytes (in the Wire library).
*/
# define DIGITALREFRESH 20000UL // min uSec delay between digital reads of digitalInputStates
#ifndef IO_EX_EXSENSORCAM_H
#define IO_EX_EXSENSORCAM_H
#define SEND StringFormatter::send
#include "IODevice.h"
#include "I2CManager.h"
#include "DIAG.h"
#include "FSH.h"
#include "CamParser.h"
/////////////////////////////////////////////////////////////////////////////////////////////////////
/*
* IODevice subclass for EX-SensorCAM.
*/
class EXSensorCAM : public IODevice {
public:
static void create(VPIN vpin, int nPins, I2CAddress i2cAddress) {
if (checkNoOverlap(vpin, nPins, i2cAddress))
new EXSensorCAM(vpin, nPins, i2cAddress);
}
static VPIN CAMBaseVpin;
private:
// Constructor
EXSensorCAM(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
_firstVpin = firstVpin;
// Number of pins cannot exceed 255 (1 byte) because of I2C message structure.
if (nPins > 80) nPins = 80;
_nPins = nPins;
_I2CAddress = i2cAddress;
addDevice(this);
}
//*************************
uint8_t oldb0;
void _begin() {
uint8_t status;
// Initialise EX-SensorCAM device
I2CManager.begin();
if (!I2CManager.exists(_I2CAddress)) {
DIAG(F("EX-SensorCAM I2C:%s device not found"), _I2CAddress.toString());
_deviceState = DEVSTATE_FAILED;
return;
}else {
uint8_t commandBuffer[4]={EXIOINIT,(uint8_t)_nPins,(uint8_t)(_firstVpin & 0xFF),(uint8_t)(_firstVpin>>8)};
status = I2CManager.read(_I2CAddress,_inputBuf,sizeof(_inputBuf),commandBuffer,sizeof(commandBuffer));
//EXIOINIT needed to trigger and send firstVpin to CAM
if (status == I2C_STATUS_OK) {
// Attempt to get version, non-blocking results in poor placement of response. Can be blocking here!
commandBuffer[0] = '^'; //new version code
status = I2CManager.read(_I2CAddress, _inputBuf, sizeof(_inputBuf), commandBuffer, 1);
// for ESP32 CAM, read again for good immediate response version data
status = I2CManager.read(_I2CAddress, _inputBuf, sizeof(_inputBuf), commandBuffer, 1);
if (status == I2C_STATUS_OK) {
_majorVer= _inputBuf[1]/10;
_minorVer= _inputBuf[1]%10;
_patchVer= _inputBuf[2];
DIAG(F("EX-SensorCAM device found, I2C:%s, Version v%d.%d.%d"),
_I2CAddress.toString(),_majorVer, _minorVer,_patchVer);
}
}
if (status != I2C_STATUS_OK)
reportError(status);
}
}
//*************************
// Digital input pin configuration, used to enable on EX-IOExpander device and set pullups if requested.
// Configuration isn't done frequently so we can use blocking I2C calls here, and so buffers can
// be allocated from the stack to reduce RAM allocation.
bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override {
if(_verPrint) DIAG(F("_configure() driver IO_EXSensorCAM v0.%d.%d vpin: %d "), driverVer/100,driverVer%100,vpin);
_verPrint=false; //only give driver versions once
if (paramCount != 1) return false;
return true; //at least confirm that CAM is (always) configured (no vpin check!)
}
//*************************
// Analogue input pin configuration, used to enable an EX-IOExpander device.
int _configureAnalogIn(VPIN vpin) override {
DIAG(F("_configureAnalogIn() IO_EXSensorCAM vpin %d"),vpin);
return true; // NOTE: use of EXRAIL IFGTE() etc use "analog" reads.
}
//*************************
// Main loop, collect both digital and "analog" pin states continuously (faster sensor/input reads)
void _loop(unsigned long currentMicros) override {
if (_deviceState == DEVSTATE_FAILED) return;
// Request block is used for "analogue" (cmd. data) and digital reads from the sensorCAM, which
// are performed on a cyclic basis. Writes are performed synchronously as and when requested.
if (_readState != RDS_IDLE) { //expecting a return packet
if (_i2crb.isBusy()) return; // If I2C operation still in progress, return
uint8_t status = _i2crb.status;
if (status == I2C_STATUS_OK) { // If device request ok, read input data
//apparently the above checks do not guarantee a good packet! error rate about 1 pkt per 1000
//there should be a packet in _CAMresponseBuff[32]
if ((_CAMresponseBuff[0] & 0x60) >= 0x60) { //Buff[0] seems to have ascii cmd header (bit6 high) (o06)
int error = processIncomingPkt( _CAMresponseBuff, _CAMresponseBuff[0]); // '~' 'i' 'm' 'n' 't' etc
if (error>0) DIAG(F("CAM packet header(0x%x) not recognised"),_CAMresponseBuff[0]);
}else{ // Header not valid - typically replaced by bank 0 data! To avoid any bad responses set S06 to 0
// Versions of sensorCAM.h after v300 should return header for '@' of '`'(0x60) (not 0xE6)
// followed by digitalInputStates sensor state array
}
}else reportError(status, false); // report i2c eror but don't go offline.
_readState = RDS_IDLE;
}
// If we're not doing anything now, check to see if a new state table transfer, or for 't' repeat, is due.
if (_readState == RDS_IDLE) { //check if time for digitalRefresh
if ( currentMicros - _lastDigitalRead > _digitalRefresh) {
// Issue new read request for digital states.
_readCommandBuffer[0] = '@'; //start new read of digitalInputStates Table // non-blocking read
I2CManager.read(_I2CAddress,_CAMresponseBuff, 32,_readCommandBuffer, 1, &_i2crb);
_lastDigitalRead = currentMicros;
_readState = RDS_DIGITAL;
}else{ //slip in a repeat <NT n> if pending
if (currentMicros - _lasttStateRead > _tStateRefresh) // Delay for "analog" command repetitions
if (_savedCmd[2]>1) { //repeat a 't' command
for (int i=0;i<7;i++) _readCommandBuffer[i] =_savedCmd[i];
int errors = ioESP32(_I2CAddress, _CAMresponseBuff, 32, _readCommandBuffer, 7);
_lasttStateRead = currentMicros;
_savedCmd[2] -= 1; //decrement repeats
if (errors==0) return;
DIAG(F("ioESP32 error %d header 0x%x"),errors,_CAMresponseBuff[0]);
_readState = RDS_TSTATE; //this should stop further cmd requests until packet read (or timeout)
}
} //end repeat 't'
}
}
//*************************
// Obtain the bank of 8 sensors as an "analog" value
// can be used to track the position through a sequential sensor bank
int _readAnalogue(VPIN vpin) override {
if (_deviceState == DEVSTATE_FAILED) return 0;
return _digitalInputStates[(vpin - _firstVpin) / 8];
}
//*************************
// Obtain the correct digital sensor input value
int _read(VPIN vpin) override {
if (_deviceState == DEVSTATE_FAILED) return 0;
int pin = vpin - _firstVpin;
return bitRead(_digitalInputStates[pin / 8], pin % 8);
}
//*************************
// Write digital value.
void _write(VPIN vpin, int value) override {
DIAG(F("**_write() vpin %d = %d"),vpin,value);
return ;
}
//*************************
// i2cAddr of ESP32 CAM
// rBuf buffer for return packet
// inbytes number of bytes to request from CAM
// outBuff holds outbytes to be sent to CAM
int ioESP32(uint8_t i2cAddr,uint8_t *rBuf,int inbytes,uint8_t *outBuff,int outbytes) {
uint8_t status = _i2crb.status;
while( _i2crb.status != I2C_STATUS_OK){status = _i2crb.status;} //wait until bus free
status = I2CManager.read(i2cAddr, rBuf, inbytes, outBuff, outbytes);
if (status != I2C_STATUS_OK){
DIAG(F("EX-SensorCAM I2C:%s Error:%d %S"), _I2CAddress.toString(), status, I2CManager.getErrorMessage(status));
reportError(status); return status;
}
return 0; // 0 for no error != 0 for error number.
}
//*************************
//function to interpret packet from sensorCAM.ino
//i2cAddr to identify CAM# (if # >1)
//rBuf contains packet of up to 32 bytes usually with (ascii) cmd header in rBuf[0]
//sensorCmd command header byte from CAM (in rBuf[0]?)
int processIncomingPkt(uint8_t *rBuf,uint8_t sensorCmd) {
int k;
int b;
char str[] = "11111111";
// if (sensorCmd <= '~') DIAG(F("processIncomingPkt %c %d %d %d"),rBuf[0],rBuf[1],rBuf[2],rBuf[3]);
switch (sensorCmd){
case '`': //response to request for digitalInputStates[] table '@'=>'`'
memcpy(_digitalInputStates, rBuf+1, digitalBytesNeeded);
if ( _digitalInputStates[0]!=oldb0) { oldb0=_digitalInputStates[0]; //debug
for (k=0;k<5;k++) {Serial.print(" ");Serial.print(_digitalInputStates[k],HEX);}
}break;
case EXIORDY: //some commands give back acknowledgement only
break;
case CAMERR: //cmd format error code from CAM
DIAG(F("CAM cmd error 0xFE 0x%x"),rBuf[1]);
break;
case '~': //information from '^' version request <N ve[r]>
DIAG(F("EX-SensorCAM device found, I2C:%s,CAM Version v%d.%d.%d vpins %u-%u"),
_I2CAddress.toString(), rBuf[1]/10, rBuf[1]%10, rBuf[2],(int) _firstVpin, (int) _firstVpin +_nPins-1);
DIAG(F("IO_EXSensorCAM driver v0.%d.%d vpin: %d "), driverVer/100,driverVer%100,_firstVpin);
break;
case 'i': //information from i%%
k=256*rBuf[5]+rBuf[4];
DIAG(F("(i%%%%[,$$]) Info: Sensor 0%o(%d) enabled:%d status:%d row=%d x=%d Twin=0%o pvtThreshold=%d A~%d")
,rBuf[1],rBuf[1],rBuf[3],rBuf[2],rBuf[6],k,rBuf[7],rBuf[9],int(rBuf[8])*16);
break;
case 'm':
DIAG(F("(m$[,##]) Min/max: $ frames min2flip (trip) %d, maxSensors 0%o, minSensors 0%o, nLED %d,"
" threshold %d, TWOIMAGE_MAXBS 0%o"),rBuf[1],rBuf[3],rBuf[2],rBuf[4],rBuf[5],rBuf[6]);
break;
case 'n':
DIAG(F("(n$[,##]) Nominate: $ nLED %d, ## minSensors 0%o (maxSensors 0%o threshold %d)")
,rBuf[4],rBuf[2],rBuf[3],rBuf[5]);
break;
case 'q':
for (int i =0; i<8; i++) str[i] = ((rBuf[2] << i) & 0x80 ? '1' : '0');
DIAG(F("(q $) Query bank %c ENABLED sensors(S%c7-%c0): %s "), rBuf[1], rBuf[1], rBuf[1], str);
break;
case 'f':
DIAG(F("(f %%%%) frame header 'f' for bsNo %d/%d - showing Quarter sample (1 row) only"), rBuf[1]/8,rBuf[1]%8);
SEND(&USB_SERIAL,F("<n row: %d Ref bytes: "),rBuf[2]);
for(k=3;k<15;k++)
SEND(&USB_SERIAL,F("%x%x%s"), rBuf[k]>>4, rBuf[k]&15, k%3==2 ? " " : " ");
Serial.print(" latest grab: ");
for(k=16;k<28;k++)
SEND(&USB_SERIAL,F("%x%x%s"), rBuf[k]>>4, rBuf[k]&15, (k%3==0) ? " " : " ");
Serial.print(" n>\n");
break;
case 'p':
b=rBuf[1]-2;
if(b<4) { Serial.print("<n (p%%) Bank empty n>\n"); break; }
SEND(&USB_SERIAL,F("<n (p%%) Bank: %d "),(0x7F&rBuf[2])/8);
for (int j=2; j<b; j+=3)
SEND(&USB_SERIAL,F(" S[%d%d]: r=%d x=%d"),0x7F&rBuf[j]/8,0x7F&rBuf[j]%8,rBuf[j+1],rBuf[j+2]+2*(rBuf[j]&0x80));
Serial.print(" n>\n");
break;
case 't': //threshold etc. from t## //bad pkt if 't' FF's
if(rBuf[1]==0xFF) {Serial.println("<n bad CAM 't' packet: 74 FF n>");_savedCmd[2] +=1; return 0;}
SEND(&USB_SERIAL,F("<n (t[##[,%%]]) Threshold:%d sensor S00:-%d"),rBuf[1],min(rBuf[2]&0x7F,99));
if(rBuf[2]>127) Serial.print("##* ");
else{
if(rBuf[2]>rBuf[1]) Serial.print("-?* ");
else Serial.print("--* ");
}
for(int i=3;i<31;i+=2){
uint8_t valu=rBuf[i]; //get bsn
if(valu==80) break; //80 = end flag
else{
SEND(&USB_SERIAL,F("%d%d:"), (valu&0x7F)/8,(valu&0x7F)%8);
if(valu>=128) Serial.print("?-");
else {if(rBuf[i+1]>=128) Serial.print("oo");else Serial.print("--");}
valu=rBuf[i+1];
SEND(&USB_SERIAL,F("%d%s"),min(valu&0x7F,99),(valu<128) ? "--* ":"##* ");
}
}
Serial.print(" >\n");
break;
default: //header not a recognised cmd character
DIAG(F("CAM packet header not valid (0x%x) (0x%x) (0x%x)"),rBuf[0],rBuf[1],rBuf[2]);
return 1;
}
return 0;
}
//*************************
// Write (analogue) 8bit (command) values. Write the parameters to the sensorCAM
void _writeAnalogue(VPIN vpin, int param1, uint8_t camop, uint16_t param3) override {
uint8_t outputBuffer[7];
int errors=0;
outputBuffer[0] = camop;
int pin = vpin - _firstVpin;
if(camop >= 0x80) { //case "a" (4p) also (3p) e.g. <N 713 210 310>
camop=param1; //put row (0-236) in expected place
param1=param3; //put column in expected place
outputBuffer[0] = 'A';
pin = (pin/8)*10 + pin%8; //restore bsNo. as integer
}
if (_deviceState == DEVSTATE_FAILED) return;
outputBuffer[1] = pin; //vpin => bsn
outputBuffer[2] = param1 & 0xFF;
outputBuffer[3] = param1 >> 8;
outputBuffer[4] = camop; //command code
outputBuffer[5] = param3 & 0xFF;
outputBuffer[6] = param3 >> 8;
int count=param1+1;
if(camop=='Q'){
if(param3<=10) {count=param3; camop='B';}
//if(param1<10) outputBuffer[2] = param1*10;
}
if(camop=='B'){ //then 'b'(b%) cmd - can totally deal with that here. (but can't do b%,# (brightSF))
if(param1>97) return;
if(param1>9) param1 = param1/10; //accept a bsNo
for(int bnk=param1;bnk<count;bnk++) {
uint8_t b=_digitalInputStates[bnk];
char str[] = "11111111";
for (int i=0;i<8;i++) if(((b<<i)&0x80) == 0) str[i]='0';
DIAG(F("(b $) Bank: %d activated byte: 0x%x%x (sensors S%d7->%d0) %s"), bnk,b>>4,b&15,bnk,bnk,str );
}
return;
}
if (outputBuffer[4]=='T') { //then 't' cmd
if(param1<31) { //repeated calls if param < 31
//for (int i=0;i<7;i++) _savedCmd[i]=outputBuffer[i];
memcpy( _savedCmd, outputBuffer, 7);
}else _savedCmd[2] = 0; //no repeats if ##>30
}else _savedCmd[2] = 0; //no repeats unless 't'
_lasttStateRead = micros(); //don't repeat until _tStateRefresh mSec
errors = ioESP32(_I2CAddress, _CAMresponseBuff, 32 , outputBuffer, 7); //send to esp32-CAM
if (errors==0) return;
else { // if (_CAMresponseBuff[0] != EXIORDY) //can't be sure what is inBuff[0] !
DIAG(F("ioESP32 i2c error %d header 0x%x"),errors,_CAMresponseBuff[0]);
}
}
//*************************
// Display device information and status.
void _display() override {
DIAG(F("EX-SensorCAM I2C:%s v%d.%d.%d Vpins %u-%u %S"),
_I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
(int)_firstVpin, (int)_firstVpin+_nPins-1,
_deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F(""));
}
//*************************
// Helper function for error handling
void reportError(uint8_t status, bool fail=true) {
DIAG(F("EX-SensorCAM I2C:%s Error:%d (%S)"), _I2CAddress.toString(),
status, I2CManager.getErrorMessage(status));
if (fail) _deviceState = DEVSTATE_FAILED;
}
//*************************
uint8_t _numDigitalPins = 80;
size_t digitalBytesNeeded=10;
uint8_t _CAMresponseBuff[34];
uint8_t _majorVer = 0;
uint8_t _minorVer = 0;
uint8_t _patchVer = 0;
uint8_t _digitalInputStates[10];
I2CRB _i2crb;
uint8_t _inputBuf[12];
byte _outputBuffer[8];
bool _verPrint=true;
uint8_t _readCommandBuffer[8];
uint8_t _savedCmd[8]; //for repeat 't' command
//uint8_t _digitalPinBytes = 10; // Size of allocated memory buffer (may be longer than needed)
enum {RDS_IDLE, RDS_DIGITAL, RDS_TSTATE}; // Read operation states
uint8_t _readState = RDS_IDLE;
//uint8_t cmdBuffer[7]={0,0,0,0,0,0,0};
unsigned long _lastDigitalRead = 0;
unsigned long _lasttStateRead = 0;
unsigned long _digitalRefresh = DIGITALREFRESH; // Delay refreshing digital inputs for 10ms
const unsigned long _tStateRefresh = 120000UL; // Delay refreshing repeat "tState" inputs
enum {
EXIOINIT = 0xE0, // Flag to initialise setup procedure
EXIORDY = 0xE1, // Flag we have completed setup procedure, also for EX-IO to ACK setup
CAMERR = 0xFE
};
};
#endif

1
config.example.h
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@ -335,3 +335,4 @@ The configuration file for DCC-EX Command Station
//#define SABERTOOTH 1
/////////////////////////////////////////////////////////////////////////////////////

362
myHal.cpp Normal file
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@ -0,0 +1,362 @@
// Sample myHal.cpp file.
//
// To use this file, copy it to myHal.cpp and uncomment the directives and/or
// edit them to satisfy your requirements. If you only want to use up to
// two MCP23017 GPIO Expander modules and/or up to two PCA9685 Servo modules,
// then you don't need this file as DCC++EX configures these for free!
// Note that if the file has a .cpp extension it WILL be compiled into the build
// and the halSetup() function WILL be invoked.
//
// To prevent this, temporarily rename the file to myHal.txt or similar.
//
// The #if directive prevent compile errors for Uno and Nano by excluding the
// HAL directives from the build.
#if !defined(IO_NO_HAL)
// Include devices you need.
#include "IODevice.h"
//#include "IO_HALDisplay.h" // Auxiliary display devices (LCD/OLED)
//#include "IO_HCSR04.h" // Ultrasonic range sensor
//#include "IO_VL53L0X.h" // Laser time-of-flight sensor
//#include "IO_DFPlayer.h" // MP3 sound player
//#include "IO_TouchKeypad.h // Touch keypad with 16 keys
//#include "IO_EXTurntable.h" // Turntable-EX turntable controller
//#include "IO_EXFastClock.h" // FastClock driver
#include "IO_EXSensorCAM.h" // sensorCAM driver
//==========================================================================
// The function halSetup() is invoked from CS if it exists within the build.
// The setup calls are included between the open and close braces "{ ... }".
// Comments (lines preceded by "//") are optional.
//==========================================================================
void halSetup() {
I2CManager.setClock(100000);
//=======================================================================
// The following directives define auxiliary display devices.
// These can be defined in addition to the system display (display
// number 0) that is defined in config.h.
// A write to a line which is beyond the length of the screen will overwrite
// the bottom line, unless the line number is 255 in which case the
// screen contents will scroll up before the text is written to the
// bottom line.
//=======================================================================
//
// Create a 128x32 OLED display device as display number 1
// (line 0 is written by EX-RAIL 'SCREEN(1, 0, "text")').
//HALDisplay<OLED>::create(1, 0x3d, 128, 32);
// Create a 20x4 LCD display device as display number 2
// (line 0 is written by EX-RAIL 'SCREEN(2, 0, "text")').
// HALDisplay<LiquidCrystal>(2, 0x27, 20, 4);
//=======================================================================
// User Add-ins
//=======================================================================
// User add-ins can be created when you want to do something that
// can't be done in EX-RAIL but does not merit a HAL driver. The
// user add-in is a C++ function that is executed periodically by the
// HAL subsystem.
// Example: The function will be executed once per second and will display,
// on screen #3, the first eight entries (assuming an 8-line display)
// from the loco speed table.
// Put the following block of code in myHal.cpp OUTSIDE of the
// halSetup() function:
//
// void updateLocoScreen() {
// for (int i=0; i<8; i++) {
// if (DCC::speedTable[i].loco > 0) {
// int speed = DCC::speedTable[i].speedCode;
// char direction = (speed & 0x80) ? 'R' : 'F';
// speed = speed & 0x7f;
// if (speed > 0) speed = speed - 1;
// SCREEN(3, i, F("Loco:%4d %3d %c"), DCC::speedTable[i].loco,
// speed, direction);
// }
// }
// }
//
// Put the following line INSIDE the halSetup() function:
//
// UserAddin::create(updateLocoScreen, 1000);
//
//=======================================================================
// The following directive defines a PCA9685 PWM Servo driver module.
//=======================================================================
// The parameters are:
// First Vpin=100
// Number of VPINs=16 (numbered 100-115)
// I2C address of module=0x40
//PCA9685::create(100, 16, 0x40);
//=======================================================================
// The following directive defines an MCP23017 16-port I2C GPIO Extender module.
//=======================================================================
// The parameters are:
// First Vpin=196
// Number of VPINs=16 (numbered 196-211)
// I2C address of module=0x22
//MCP23017::create(196, 16, 0x22);
// Alternative form, which allows the INT pin of the module to request a scan
// by pulling Arduino pin 40 to ground. Means that the I2C isn't being polled
// all the time, only when a change takes place. Multiple modules' INT pins
// may be connected to the same Arduino pin.
//MCP23017::create(196, 16, 0x22, 40);
//=======================================================================
// The following directive defines an MCP23008 8-port I2C GPIO Extender module.
//=======================================================================
// The parameters are:
// First Vpin=300
// Number of VPINs=8 (numbered 300-307)
// I2C address of module=0x22
//MCP23008::create(300, 8, 0x22);
//=======================================================================
// The following directive defines a PCF8574 8-port I2C GPIO Extender module.
//=======================================================================
// The parameters are:
// First Vpin=200
// Number of VPINs=8 (numbered 200-207)
// I2C address of module=0x23
//PCF8574::create(200, 8, 0x23);
// Alternative form using INT pin (see above)
//PCF8574::create(200, 8, 0x23, 40);
//=======================================================================
// The following directive defines a PCF8575 16-port I2C GPIO Extender module.
//=======================================================================
// The parameters are:
// First Vpin=200
// Number of VPINs=16 (numbered 200-215)
// I2C address of module=0x23
//PCF8575::create(200, 16, 0x23);
// Alternative form using INT pin (see above)
//PCF8575::create(200, 16, 0x23, 40);
//=======================================================================
// The following directive defines an HCSR04 ultrasonic ranging module.
//=======================================================================
// The parameters are:
// Vpin=2000 (only one VPIN per directive)
// Number of VPINs=1
// Arduino pin connected to TRIG=30
// Arduino pin connected to ECHO=31
// Minimum trigger range=20cm (VPIN goes to 1 when <20cm)
// Maximum trigger range=25cm (VPIN goes to 0 when >25cm)
// Note: Multiple devices can be configured by using a different ECHO pin
// for each one. The TRIG pin can be shared between multiple devices.
// Be aware that the 'ping' of one device may be received by another
// device and position them accordingly!
//HCSR04::create(2000, 30, 31, 20, 25);
//HCSR04::create(2001, 30, 32, 20, 25);
//=======================================================================
// The following directive defines a single VL53L0X Time-of-Flight range sensor.
//=======================================================================
// The parameters are:
// VPIN=5000
// Number of VPINs=1
// I2C address=0x29 (default for this chip)
// Minimum trigger range=200mm (VPIN goes to 1 when <20cm)
// Maximum trigger range=250mm (VPIN goes to 0 when >25cm)
//VL53L0X::create(5000, 1, 0x29, 200, 250);
// For multiple VL53L0X modules, add another parameter which is a VPIN connected to the
// module's XSHUT pin. This allows the modules to be configured, at start,
// with distinct I2C addresses. In this case, the address 0x29 is only used during
// initialisation to configure each device in turn with the desired unique I2C address.
// The examples below have the modules' XSHUT pins connected to the first two pins of
// the first MCP23017 module (164 and 165), but Arduino pins may be used instead.
// The first module here is given I2C address 0x30 and the second is 0x31.
//VL53L0X::create(5000, 1, 0x30, 200, 250, 164);
//VL53L0X::create(5001, 1, 0x31, 200, 250, 165);
//=======================================================================
// Play mp3 files from a Micro-SD card, using a DFPlayer MP3 Module.
//=======================================================================
// Parameters:
// 10000 = first VPIN allocated.
// 10 = number of VPINs allocated.
// Serial1 = name of serial port (usually Serial1 or Serial2).
// With these parameters, up to 10 files may be played on pins 10000-10009.
// Play is started from EX-RAIL with SET(10000) for first mp3 file, SET(10001)
// for second file, etc. Play may also be initiated by writing an analogue
// value to the first pin, e.g. ANOUT(10000,23,0,0) will play the 23rd mp3 file.
// ANOUT(10000,23,30,0) will do the same thing, as well as setting the volume to
// 30 (maximum value).
// Play is stopped by RESET(10000) (or any other allocated VPIN).
// Volume may also be set by writing an analogue value to the second pin for the player,
// e.g. ANOUT(10001,30,0,0) sets volume to maximum (30).
// The EX-RAIL script may check for completion of play by calling WAITFOR(pin), which will only proceed to the
// following line when the player is no longer busy.
// E.g.
// SEQUENCE(1)
// AT(164) // Wait for sensor attached to pin 164 to activate
// SET(10003) // Play fourth MP3 file
// LCD(4, "Playing") // Display message on LCD/OLED
// WAITFOR(10003) // Wait for playing to finish
// LCD(4, "") // Clear LCD/OLED line
// FOLLOW(1) // Go back to start
// DFPlayer::create(10000, 10, Serial1);
//=======================================================================
// 16-pad capacitative touch key pad based on TP229 IC.
//=======================================================================
// Parameters below:
// 11000 = first VPIN allocated
// 16 = number of VPINs allocated
// 25 = local GPIO pin number for clock signal
// 24 = local GPIO pin number for data signal
//
// Pressing the key pads numbered 1-16 cause each of the nominated digital VPINs
// (11000-11015 in this case) to be activated.
// TouchKeypad::create(11000, 16, 25, 24);
//=======================================================================
// The following directive defines an EX-Turntable turntable instance.
//=======================================================================
// EXTurntable::create(VPIN, Number of VPINs, I2C Address)
//
// The parameters are:
// VPIN=600
// Number of VPINs=1 (Note there is no reason to change this)
// I2C address=0x60
//
// Note that the I2C address is defined in the EX-Turntable code, and 0x60 is the default.
//EXTurntable::create(600, 1, 0x60);
//=======================================================================
// The following directive defines an EX-IOExpander instance.
//=======================================================================
// EXIOExpander::create(VPIN, Number of VPINs, I2C Address)
//
// The parameters are:
// VPIN=an available Vpin
// Number of VPINs=pin count (must match device in use as per documentation)
// I2C address=an available I2C address (default 0x65)
//
// Note that the I2C address is defined in the EX-IOExpander code, and 0x65 is the default.
// The example is for an Arduino Nano.
// EXIOExpander::create(800, 18, 0x65);
EXIOExpander::create(800, 18, 0x65); // NanoEXIOExpander::create(820, 18, 0x75); // Nano
//EXSensorCAM::create(840, 18, 0x85); // Nano
//EXIOExpander::create(880, 18, 0x95); // Nano
//EXIOExpander::create(780, 18, 0xA5); // Nanoc
//EXIOExpander::create(600, 18, 0xB5); // Nano
//EXIOExpander::create(500, 18, 0xC5); // Nano
//=======================================================================
// The following directive defines a rotary encoder instance.
//=======================================================================
// The parameters are:
// firstVpin = First available Vpin to allocate
// numPins= Number of Vpins to allocate, can be either 1 or 2
// i2cAddress = Available I2C address (default 0x70)
//RotaryEncoder::create(firstVpin, numPins, i2cAddress);
//RotaryEncoder::create(700, 1, 0x70);
//RotaryEncoder::create(701, 2, 0x71);
//=======================================================================
// The following directive defines an EX-FastClock instance.
//=======================================================================
// EXFastCLock::create(I2C Address)
//
// The parameters are:
//
// I2C address=0x55 (decimal 85)
//
// Note that the I2C address is defined in the EX-FastClock code, and 0x55 is the default.
// EXFastClock::create(0x55);
//=======================================================================
// The following directive defines an ESP32-CAM instance.
//=======================================================================
// EXSensorCAM::create(VPIN, Number of VPINs, I2C Address)
//
// The parameters are:
// VPIN=an available Vpin as start of block of consecutive sensors (up to 80)
// #define SENSORCAM_VPIN0 #00 in config.h if not using 700.
// Number of VPINs=pin count (must not exceed 80)
// I2C address=an available I2C address (default 0x11)
// #define ESP32CAP 0x13 in config.h to raise allowable ESP32 range of addresses
// Note that the I2C address (0x11) is the default in the sensorCAM code
//
// EXSensorCAM::create(700, 80, 0x11);
EXSensorCAM::create(700, 80, 0x11); //preference is now to use HAL(700 80 0x11) in myAutomation.h
//EXSensorCAM::create(600, 80, 0x12); //alternate or second CAM device address creation
}
#endif

28
myHal.cpp_example.txt
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@ -26,6 +26,7 @@
//#include "IO_EXFastClock.h" // FastClock driver
//#include "IO_PCA9555.h" // 16-bit I/O expander (NXP & Texas Instruments).
//#include "IO_I2CDFPlayer.h" // DFPlayer over I2C
#include "IO_EXSensorCAM.h" // sensorCAM driver
//==========================================================================
// The function halSetup() is invoked from CS if it exists within the build.
@ -35,6 +36,8 @@
void halSetup() {
I2CManager.setClock(100000);
//=======================================================================
// The following directives define auxiliary display devices.
// These can be defined in addition to the system display (display
@ -303,7 +306,14 @@ void halSetup() {
// Note that the I2C address is defined in the EX-IOExpander code, and 0x65 is the default.
// The example is for an Arduino Nano.
//EXIOExpander::create(800, 18, 0x65);
//=======================================================================
@ -332,7 +342,23 @@ void halSetup() {
// EXFastClock::create(0x55);
//=======================================================================
// The following directive defines an ESP32-CAM instance.
//=======================================================================
// EXSensorCAM::create(VPIN, Number of VPINs, I2C Address)
//
// The parameters are:
// VPIN=an available Vpin as start of block of consecutive sensors (up to 80)
// #define SENSORCAM_VPIN0 #00 in config.h if not using 700.
// Number of VPINs=pin count (must not exceed 80)
// I2C address=an available I2C address (default 0x11)
// #define ESP32CAP 0x13 in config.h to raise allowable ESP32 range of addresses
// Note that the I2C address (0x11) is the default in the sensorCAM code
//
// EXSensorCAM::create(700, 80, 0x11);
EXSensorCAM::create(700, 80, 0x11); //preference is now to use HAL(700 80 0x11) in myAutomation.h
//EXSensorCAM::create(600, 80, 0x12); //alternate or second CAM device address creation
}
#endif

26
mySetup.h Normal file
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@ -0,0 +1,26 @@
// setup for sensorCAM on an ESP32-CAM NUMDigitalPins <= 80
// assume 700 is first vpin (set with ...CREATE(700,80,0x11)
// the optional SETUP operations below initiate jmri monitoring of sensors for any change of state
// Mostly only useful during debug of initial system but load up CS with extra work. Use judiciously
// id vPin
SETUP("<Z 100 700 0>"); // set up for control OUTPUT on vpin #00
// start of up to 80 sensors numbered bsNo's 100 to 197 (OCT) (0/0 to 9/7)
SETUP("<S 100 700 0>"); // first sensor (S00) (reference)
SETUP("<S 101 701 0>");
SETUP("<S 102 702 0>");
// as many as you want. You can add later manually with CS native commands
SETUP("<S 107 707 0>");
SETUP("<S 110 708 0>"); // Note: suggested id is b/s format (~OCT); vpin is DEC.
SETUP("<S 111 709 0>"); // myFilter.cpp REQUIRES this relationship for bsNo to vPin conversion
SETUP("<S 112 710 0>");
SETUP("<S 113 711 0>");
SETUP("<S 114 712 0>");
//etc. // can create a bulk set of sensors with c++ code so:
//for(uint16_t b=2; b<=9;b++) for(uint16_t s=0;s<8;s++) Sensor::create(100+b*10+s,700+b*8+s,1);
//SETUP("<S 120 716 0>");
SETUP("<S 121 717 0>");
SETUP("<S 122 718 0>");
//SETUP("<S 123 719 0>");
//
SETUP("<S 181 765 0>");
SETUP("<S 191 773 0>");