Sensorcam

CamParser.cpp

@@ -0,0 +1,95 @@
+
+//sensorCAM parser.cpp version 3.03  Sep 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 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 
+
+  
+      // send UPPER case to sensorCAM to flag binary data from a DCCEX-CS parser  
+  switch(paramCount) {    
+    case 1:                          //<N ver> produces '^'
+      if((p[0] == ve) || (p[0] == ver) || (p[0] == 'V')) camop='^'; 
+      if (STRCHR_P((const char *)F("EFGMQRVW^"),camop) == nullptr) return false;
+      if (camop=='Q') param3=10;     //<NQ> for activation state of all 10 banks of sensors
+      if (camop=='F') camop=']';     //<NF> for Reset/Finish webCAM.
+      break;    // F 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;
+}

CamParser.h

@@ -0,0 +1,12 @@
+#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

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"
 #ifdef ARDUINO_ARCH_ESP32
 #include "WifiESP32.h"
 #endif
@@ -457,7 +458,7 @@ 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;
@@ -876,7 +877,11 @@ 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 

IODevice.h

@@ -571,5 +571,6 @@ protected:
 #include "IO_TCA8418.h"
 #include "IO_NeoPixel.h"
 #include "IO_TM1638.h"
+#include "IO_EXSensorCAM.h"
 
 #endif // iodevice_h

IO_EXSensorCAM.h

@@ -0,0 +1,424 @@
+/*  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 305
+// v305 less debug & alpha ordered switch
+// v304 static oldb0;  t(##[,%%]; 
+// v303 zipped with CS 5.2.76 and uploaded to repo (with debug)
+// v302 SEND=StringFormatter::send, remove Sp(), add 'q', memcpy( .8) -> .7); 
+// 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(EXSensorCAM 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);
+    }
+//*************************
+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) {
+//static uint8_t oldb0;   //for debug only
+  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 v[er]>
+      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 '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 '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 '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 '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 '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

config.example.h

@@ -333,5 +333,19 @@ The configuration file for DCC-EX Command Station
 // to the sabertooth controller _as_well_. Default: Undefined.
 //
 //#define SABERTOOTH 1
-
+//
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// SENSORCAM
+// ESP32-CAM based video sensors require #define to use appropriate base vpin number.
+//#define SENSORCAM_VPIN 700
+// To bypass vPin number, define CAM for ex-rail use e.g. AT(CAM 012) for S12 etc.
+//#define CAM SENSORCAM_VPIN+
+//
+//#define SENSORCAM2_VPIN 600   //define other CAM's if installed.
+//#define CAM2 SENSORCAM2_VPIN+ //for EX-RAIL commands e.g. IFLT(CAM2 020,1)
+//
+// For smoother power-up, define a STARTUP_DELAY to allow CAM to initialise ref images
+//#define STARTUP_DELAY 5000    // up to 20sec. CS delay
+//
 /////////////////////////////////////////////////////////////////////////////////////

version.h

@@ -3,7 +3,8 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "5.2.86"
+#define VERSION "5.2.87"
+// 5.2.87 - CamParser and IO_EXSensorCam driver
 // 5.2.86 - IO_TCA8418 driver for keypad matrix input now fully functioning, including being able to use an interrupt pin
 // 5.2.85 - IO_TM1638 driver, SEG7 Exrail macro and _s7 segment pattern generator.
 // 5.2.84 - Fix TrackManager setDCCSignal and setPROGSignal for STM32 shadowing of PORTG/PORTH - this time it really is correct!