diff --git a/CamParser.cpp b/CamParser.cpp new file mode 100644 index 0000000..fa9eee5 --- /dev/null +++ b/CamParser.cpp @@ -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: // produces '^' + if (STRCHR_P((const char *)F("EFGMQRVW^"),camop) == nullptr) return false; + if (camop=='F') camop=']'; // for Reset/Finish webCAM. + if (camop=='Q') param3=10; // for activation state of all 10 banks of sensors + break; // Coded as ']' else conflicts with + + case 2: // + if (STRCHR_P((const char *)F("ABFILMNOPQRSTUV^"),camop)==nullptr) return false; + param1=p[1]; + break; + + case 3: // or + 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: // + 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; +} \ No newline at end of file diff --git a/CamParser.h b/CamParser.h new file mode 100644 index 0000000..ad1b7e6 --- /dev/null +++ b/CamParser.h @@ -0,0 +1,12 @@ +#ifndef CamParser_H +#define CamParser_H +#include +#include "IODevice.h" + +class CamParser { + public: + static bool parseN(Print * stream, byte paramCount, int16_t p[]); +}; + + +#endif \ No newline at end of file diff --git a/DCCEXParser.cpp b/DCCEXParser.cpp index fd13a41..08e4097 100644 --- a/DCCEXParser.cpp +++ b/DCCEXParser.cpp @@ -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) { // + if (params>=2 && params<=4) { // // 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': // if not intercepted by EXRAIL diff --git a/FSH.h b/FSH.h index 280d37e..58974ed 100644 --- a/FSH.h +++ b/FSH.h @@ -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 diff --git a/IODevice.h b/IODevice.h index d507cd6..eb1738a 100644 --- a/IODevice.h +++ b/IODevice.h @@ -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 diff --git a/IO_EXSensorCAM.h b/IO_EXSensorCAM.h new file mode 100644 index 0000000..7fdfdc3 --- /dev/null +++ b/IO_EXSensorCAM.h @@ -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 . +*/ + +#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 and +// 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 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 + 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(">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"); break; } + SEND(&USB_SERIAL,F("\n"); + break; + + case 't': //threshold etc. from t## //bad pkt if 't' FF's + if(rBuf[1]==0xFF) {Serial.println("");_savedCmd[2] +=1; return 0;} + SEND(&USB_SERIAL,F("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. + 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%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 \ No newline at end of file diff --git a/config.example.h b/config.example.h index 7c4e254..26b8cf4 100644 --- a/config.example.h +++ b/config.example.h @@ -335,3 +335,4 @@ The configuration file for DCC-EX Command Station //#define SABERTOOTH 1 ///////////////////////////////////////////////////////////////////////////////////// + diff --git a/myHal.cpp b/myHal.cpp new file mode 100644 index 0000000..752bc21 --- /dev/null +++ b/myHal.cpp @@ -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::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(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 diff --git a/myHal.cpp_example.txt b/myHal.cpp_example.txt index f715c63..e42138c 100644 --- a/myHal.cpp_example.txt +++ b/myHal.cpp_example.txt @@ -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 diff --git a/mySetup.h b/mySetup.h new file mode 100644 index 0000000..2dc2360 --- /dev/null +++ b/mySetup.h @@ -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(""); // 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(""); // first sensor (S00) (reference) +SETUP(""); +SETUP(""); +// as many as you want. You can add later manually with CS native commands +SETUP(""); +SETUP(""); // Note: suggested id is b/s format (~OCT); vpin is DEC. +SETUP(""); // myFilter.cpp REQUIRES this relationship for bsNo to vPin conversion +SETUP(""); +SETUP(""); +SETUP(""); +//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(""); +SETUP(""); +SETUP(""); +//SETUP(""); +// +SETUP(""); +SETUP("");