Add new drivers

IODevice.h

@@ -242,11 +242,12 @@ protected:
   // Current state of device
   DeviceStateEnum _deviceState = DEVSTATE_DORMANT;
 
+  // Method to find device handling Vpin
+  static IODevice *findDevice(VPIN vpin);
+
 private:
   // Method to check whether the vpin corresponds to this device
   bool owns(VPIN vpin);
-  // Method to find device handling Vpin
-  static IODevice *findDevice(VPIN vpin);
   IODevice *_nextDevice = 0;
   unsigned long _nextEntryTime;
   static IODevice *_firstDevice;

IO_PCA9685_basic.h

@@ -0,0 +1,149 @@
+/*
+ *  © 2023, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  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/>.
+ */
+
+/* 
+ * This driver performs the basic interface between the HAL and an 
+ * I2C-connected PCA9685 16-channel PWM module.  When requested, it 
+ * commands the device to set the PWM mark-to-period ratio accordingly.
+ * The call to IODevice::writeAnalogue(vpin, value) specifies the
+ * desired value in the range 0-4095 (0=0% and 4095=100%).
+ */
+
+#ifndef PCA9685_BASIC_H
+#define PCA9685_BASIC_H
+
+#include "IODevice.h"
+#include "I2CManager.h"
+#include "DIAG.h"
+
+/*
+ * IODevice subclass for PCA9685 16-channel PWM module.
+ */
+ 
+class PCA9685_basic : public IODevice {
+public:
+  // Create device driver instance.
+  static void create(VPIN firstVpin, int nPins, uint8_t I2CAddress) {
+    if (checkNoOverlap(firstVpin, nPins,I2CAddress)) new PCA9685_basic(firstVpin, nPins, I2CAddress);
+  }
+
+private:
+  
+  // structures for setting up non-blocking writes to servo controller
+  I2CRB requestBlock;
+  uint8_t outputBuffer[5];
+
+  // REGISTER ADDRESSES
+  const byte PCA9685_MODE1=0x00;      // Mode Register 
+  const byte PCA9685_FIRST_SERVO=0x06;  /** low byte first servo register ON*/
+  const byte PCA9685_PRESCALE=0xFE;     /** Prescale register for PWM output frequency */
+  // MODE1 bits
+  const byte MODE1_SLEEP=0x10;   /**< Low power mode. Oscillator off */
+  const byte MODE1_AI=0x20;      /**< Auto-Increment enabled */
+  const byte MODE1_RESTART=0x80; /**< Restart enabled */
+
+  const float FREQUENCY_OSCILLATOR=25000000.0; /** Accurate enough for our purposes  */
+  const uint8_t PRESCALE_50HZ = (uint8_t)(((FREQUENCY_OSCILLATOR / (50.0 * 4096.0)) + 0.5) - 1);
+  const uint32_t MAX_I2C_SPEED = 1000000L; // PCA9685 rated up to 1MHz I2C clock speed
+
+  // Constructor
+  PCA9685_basic(VPIN firstVpin, int nPins, uint8_t I2CAddress) {
+    _firstVpin = firstVpin;
+    _nPins = min(nPins, 16);
+    _I2CAddress = I2CAddress;
+    addDevice(this);
+
+    // Initialise structure used for setting pulse rate
+    requestBlock.setWriteParams(_I2CAddress, outputBuffer, sizeof(outputBuffer));
+  }
+
+  // Device-specific initialisation
+  void _begin() override {
+    I2CManager.begin();
+    I2CManager.setClock(1000000); // Nominally able to run up to 1MHz on I2C
+            // In reality, other devices including the Arduino will limit 
+            // the clock speed to a lower rate.
+
+    // Initialise I/O module here.
+    if (I2CManager.exists(_I2CAddress)) {
+      writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_SLEEP | MODE1_AI);    
+      writeRegister(_I2CAddress, PCA9685_PRESCALE, PRESCALE_50HZ);   // 50Hz clock, 20ms pulse period.
+      writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_AI);
+      writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_RESTART | MODE1_AI);
+      // In theory, we should wait 500us before sending any other commands to each device, to allow
+      // the PWM oscillator to get running.  However, we don't do any specific wait, as there's 
+      // plenty of other stuff to do before we will send a command.
+    #if defined(DIAG_IO)
+      _display();
+    #endif
+    } else
+      _deviceState = DEVSTATE_FAILED;
+  }
+
+  // Device-specific writeAnalogue function, invoked from IODevice::writeAnalogue().
+  //            
+  void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
+    #ifdef DIAG_IO
+    DIAG(F("PCA9685 WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"), 
+      vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
+    #endif
+    if (_deviceState == DEVSTATE_FAILED) return;
+    int pin = vpin - _firstVpin;
+    if (value > 4095) value = 4095;
+    else if (value < 0) value = 0;
+
+    writeDevice(pin, value);
+  }
+
+  // Display details of this device.
+  void _display() override {
+    DIAG(F("PCA9685 I2C:x%x Configured on Vpins:%d-%d %S"), _I2CAddress, (int)_firstVpin, 
+      (int)_firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
+  }
+
+  // writeDevice (helper function) takes a pin in range 0 to _nPins-1 within the device, and a value
+  // between 0 and 4095 for the PWM mark-to-period ratio, with 4095 being 100%.
+  void writeDevice(uint8_t pin, int value) {
+    #ifdef DIAG_IO
+    DIAG(F("PCA9685 I2C:x%x WriteDevice Pin:%d Value:%d"), _I2CAddress, pin, value);
+    #endif
+    // Wait for previous request to complete
+    uint8_t status = requestBlock.wait();
+    if (status != I2C_STATUS_OK) {
+      _deviceState = DEVSTATE_FAILED;
+      DIAG(F("PCA9685 I2C:x%x failed %S"), _I2CAddress, I2CManager.getErrorMessage(status));
+    } else {
+      // Set up new request.
+      outputBuffer[0] = PCA9685_FIRST_SERVO + 4 * pin;
+      outputBuffer[1] = 0;
+      outputBuffer[2] = (value == 4095 ? 0x10 : 0);  // 4095=full on
+      outputBuffer[3] = value & 0xff;
+      outputBuffer[4] = value >> 8;
+      I2CManager.queueRequest(&requestBlock);
+    }
+  }
+
+  // Internal helper function for this device
+  static void writeRegister(byte address, byte reg, byte value) {
+    I2CManager.write(address, 2, reg, value);
+  }
+
+};
+
+#endif

IO_Servo.h

@@ -0,0 +1,277 @@
+/*
+ *  © 2023, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  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/>.
+ */
+#ifndef IO_SERVO_H
+
+#include "IODevice.h"
+#include "I2CManager.h"
+#include "DIAG.h"
+
+class Servo : IODevice {
+
+public: 
+  enum ProfileType : uint8_t {
+    Instant = 0,  // Moves immediately between positions (if duration not specified)
+    UseDuration = 0, // Use specified duration
+    Fast = 1,     // Takes around 500ms end-to-end
+    Medium = 2,   // 1 second end-to-end
+    Slow = 3,     // 2 seconds end-to-end
+    Bounce = 4,   // For semaphores/turnouts with a bit of bounce!!
+    NoPowerOff = 0x80, // Flag to be ORed in to suppress power off after move.
+  };
+
+  // Create device driver instance.
+  static void create(VPIN firstVpin, int nPins, VPIN firstSlavePin) {
+    if (checkNoOverlap(firstVpin, nPins)) new Servo(firstVpin, nPins, firstSlavePin);
+  }
+
+private:
+  VPIN _firstSlavePin;
+  IODevice *_slaveDevice = NULL;
+
+  struct ServoData {
+    uint16_t activePosition : 12; // Config parameter
+    uint16_t inactivePosition : 12; // Config parameter
+    uint16_t currentPosition : 12;
+    uint16_t fromPosition : 12;
+    uint16_t toPosition : 12; 
+    uint8_t profile;  // Config parameter
+    uint16_t stepNumber; // Index of current step (starting from 0)
+    uint16_t numSteps;  // Number of steps in animation, or 0 if none in progress.
+    uint8_t currentProfile; // profile being used for current animation.
+    uint16_t duration; // time (tenths of a second) for animation to complete.
+  }; // 14 bytes per element, i.e. per pin in use
+  
+  struct ServoData *_servoData [16];
+
+  static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off
+  static const uint8_t FLASH _bounceProfile[30];
+
+  const unsigned int refreshInterval = 50; // refresh every 50ms
+
+
+  // Configure a port on the Servo.
+  bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
+    if (configType != CONFIGURE_SERVO) return false;
+    if (paramCount != 5) return false;
+    #ifdef DIAG_IO
+    DIAG(F("Servo: Configure VPIN:%d Apos:%d Ipos:%d Profile:%d Duration:%d state:%d"), 
+      vpin, params[0], params[1], params[2], params[3], params[4]);
+    #endif
+
+    int8_t pin = vpin - _firstVpin;
+    VPIN slavePin = vpin - _firstVpin + _firstSlavePin;
+    struct ServoData *s = _servoData[pin];
+    if (s == NULL) { 
+      _servoData[pin] = (struct ServoData *)calloc(1, sizeof(struct ServoData));
+      s = _servoData[pin];
+      if (!s) return false; // Check for failed memory allocation
+    }
+
+    s->activePosition = params[0];
+    s->inactivePosition = params[1];
+    s->profile = params[2];
+    s->duration = params[3];
+    int state = params[4];
+
+    if (state != -1) {
+      // Position servo to initial state
+      IODevice::writeAnalogue(slavePin, state ? s->activePosition : s->inactivePosition, 0, 0);
+    } 
+    return true;
+  }
+
+  // Constructor
+  Servo(VPIN firstVpin, int nPins, VPIN firstSlavePin) {
+    _firstVpin = firstVpin;
+    _nPins = (nPins > 16) ? 16 : nPins;
+    _firstSlavePin = firstSlavePin;
+
+    // To save RAM, space for servo configuration is not allocated unless a pin is used.
+    // Initialise the pointers to NULL.
+    for (int i=0; i<_nPins; i++)
+      _servoData[i] = NULL;
+
+    addDevice(this);
+  }
+
+  // Device-specific initialisation
+  void _begin() override {
+    // Get reference to slave device to make accesses faster.
+    _slaveDevice = this->findDevice(_firstSlavePin);
+    // Check firstSlavePin is actually allocated to a device
+    if (!_slaveDevice) {
+      DIAG(F("Servo: Slave device not found on pins %d-%d"), 
+        _firstSlavePin, _firstSlavePin+_nPins-1);
+      _deviceState = DEVSTATE_FAILED;
+    }
+    // Check that the last slave pin is allocated to the same device.
+    if (_slaveDevice != this->findDevice(_firstSlavePin+_nPins-1)) {
+      DIAG(F("Servo: Slave device does not cover all pins %d-%d"), 
+        _firstSlavePin, _firstSlavePin+_nPins-1);
+      _deviceState = DEVSTATE_FAILED;
+    }
+    #if defined(DIAG_IO)
+    _display();
+    #endif
+  }
+
+  // Device-specific write function, invoked from IODevice::write().  
+  // For this function, the configured profile is used.
+  void _write(VPIN vpin, int value) override {
+    if (_deviceState == DEVSTATE_FAILED) return;
+    #ifdef DIAG_IO
+    DIAG(F("Servo Write Vpin:%d Value:%d"), vpin, value);
+    #endif
+    int pin = vpin - _firstVpin;
+    VPIN slavePin = vpin - _firstVpin + _firstSlavePin;
+    if (value) value = 1;
+
+    struct ServoData *s = _servoData[pin];
+    if (s != NULL) {
+      // Use configured parameters
+      this->_writeAnalogue(vpin, value ? s->activePosition : s->inactivePosition, s->profile, s->duration);
+    }  else {
+      /* simulate digital pin on PWM */
+      this->_writeAnalogue(vpin, value ? 4095 : 0, Instant | NoPowerOff, 0);     
+    }
+  }
+
+  // Device-specific writeAnalogue function, invoked from IODevice::writeAnalogue().
+  // Profile is as follows:
+  //  Bit 7:     0=Set PWM to 0% to power off servo motor when finished
+  //             1=Keep PWM pulses on (better when using PWM to drive an LED)
+  //  Bits 6-0:  0           Use specified duration (defaults to 0 deciseconds)
+  //             1 (Fast)    Move servo in 0.5 seconds
+  //             2 (Medium)  Move servo in 1.0 seconds
+  //             3 (Slow)    Move servo in 2.0 seconds
+  //             4 (Bounce)  Servo 'bounces' at extremes.
+  //            
+  void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
+    #ifdef DIAG_IO
+    DIAG(F("Servo: WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"), 
+      vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
+    #endif
+    if (_deviceState == DEVSTATE_FAILED) return;
+    int pin = vpin - _firstVpin;
+    if (value > 4095) value = 4095;
+    else if (value < 0) value = 0;
+
+    struct ServoData *s = _servoData[pin];
+    if (s == NULL) {
+      // Servo pin not configured, so configure now using defaults
+      s = _servoData[pin] = (struct ServoData *) calloc(sizeof(struct ServoData), 1);
+      if (s == NULL) return;  // Check for memory allocation failure
+      s->activePosition = 4095;
+      s->inactivePosition = 0;
+      s->currentPosition = value;
+      s->profile = Instant | NoPowerOff;  // Use instant profile (but not this time)
+    }
+
+    // Animated profile.  Initiate the appropriate action.
+    s->currentProfile = profile;
+    uint8_t profileValue = profile & ~NoPowerOff;  // Mask off 'don't-power-off' bit.
+    s->numSteps = profileValue==Fast ? 10 :   // 0.5 seconds
+                  profileValue==Medium ? 20 : // 1.0 seconds
+                  profileValue==Slow ? 40 :   // 2.0 seconds
+                  profileValue==Bounce ? sizeof(_bounceProfile)-1 : // ~ 1.5 seconds
+                  duration * 2 + 1; // Convert from deciseconds (100ms) to refresh cycles (50ms)
+    s->stepNumber = 0;
+    s->toPosition = value;
+    s->fromPosition = s->currentPosition;
+  }
+
+  // _read returns true if the device is currently in executing an animation, 
+  //  changing the output over a period of time.
+  int _read(VPIN vpin) override {
+    if (_deviceState == DEVSTATE_FAILED) return 0;
+    int pin = vpin - _firstVpin;
+    struct ServoData *s = _servoData[pin];
+    if (s == NULL) 
+      return false; // No structure means no animation!
+    else
+      return (s->stepNumber < s->numSteps);
+  }
+
+  void _loop(unsigned long currentMicros) override {
+    if (_deviceState == DEVSTATE_FAILED) return;
+    for (int pin=0; pin<_nPins; pin++) {
+      updatePosition(pin);
+    }
+    delayUntil(currentMicros + refreshInterval * 1000UL);
+  }
+
+  // Private function to reposition servo
+  // TODO: Could calculate step number from elapsed time, to allow for erratic loop timing.
+  void updatePosition(uint8_t pin) {
+    struct ServoData *s = _servoData[pin];
+    if (s == NULL) return; // No pin configuration/state data
+
+    if (s->numSteps == 0) return; // No animation in progress
+
+    if (s->stepNumber == 0 && s->fromPosition == s->toPosition) {
+      // Go straight to end of sequence, output final position.
+      s->stepNumber = s->numSteps-1;
+    }
+
+    if (s->stepNumber < s->numSteps) {
+      // Animation in progress, reposition servo
+      s->stepNumber++;
+      if ((s->currentProfile & ~NoPowerOff) == Bounce) {
+        // Retrieve step positions from array in flash
+        uint8_t profileValue = GETFLASH(&_bounceProfile[s->stepNumber]);
+        s->currentPosition = map(profileValue, 0, 100, s->fromPosition, s->toPosition);
+      } else {
+        // All other profiles - calculate step by linear interpolation between from and to positions.
+        s->currentPosition = map(s->stepNumber, 0, s->numSteps, s->fromPosition, s->toPosition);
+      }
+      // Send servo command
+      _slaveDevice->writeAnalogue(_firstSlavePin+pin, s->currentPosition);
+    } else if (s->stepNumber < s->numSteps + _catchupSteps) {
+      // We've finished animation, wait a little to allow servo to catch up
+      s->stepNumber++;
+    } else if (s->stepNumber == s->numSteps + _catchupSteps 
+              && s->currentPosition != 0) {
+  #ifdef IO_SWITCH_OFF_SERVO
+      if ((s->currentProfile & NoPowerOff) == 0) {
+        // Wait has finished, so switch off PWM to prevent annoying servo buzz
+        _slaveDevice->writeAnalogue(_firstSlavePin+pin, 0);
+      }
+  #endif
+      s->numSteps = 0;  // Done now.
+    }
+  }
+
+  // Display details of this device.
+  void _display() override {
+    DIAG(F("Servo Configured on Vpins:%d-%d, slave pins:%d-%d %S"),
+      (int)_firstVpin, (int)_firstVpin+_nPins-1,
+      (int)_firstSlavePin, (int)_firstSlavePin+_nPins-1,
+      (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
+  }
+};
+
+// Profile for a bouncing signal or turnout
+// The profile below is in the range 0-100% and should be combined with the desired limits
+// of the servo set by _activePosition and _inactivePosition.  The profile is symmetrical here,
+// i.e. the bounce is the same on the down action as on the up action.  First entry isn't used.
+const byte FLASH Servo::_bounceProfile[30] = 
+    {0,2,3,7,13,33,50,83,100,83,75,70,65,60,60,65,74,84,100,83,75,70,70,72,75,80,87,92,97,100};
+
+
+#endif