Interrupt time ACK manager

DCC.cpp

@@ -402,10 +402,6 @@ byte   DCC::ackManagerStash;
 int   DCC::ackManagerCv;
 byte   DCC::ackManagerBitNum;
 bool   DCC::ackReceived;
-int   DCC::ackTriggerMilliamps;
-unsigned long   DCC::ackPulseStart;
-int DCC::ackMaxCurrent;
-int DCC::ackPollCount;
 bool DCC::debugMode=false;
 
 ACK_CALLBACK DCC::ackManagerCallback;
@@ -416,8 +412,6 @@ void  DCC::ackManagerSetup(int cv, byte byteValueOrBitnum, ackOp const program[]
   ackManagerByte = byteValueOrBitnum;
   ackManagerBitNum=byteValueOrBitnum;
   ackManagerCallback = callback;
-  ackMaxCurrent=0;
-  ackPollCount=0;
 }
 
 const byte RESET_MIN=8;  // tuning of reset counter before sending message
@@ -434,10 +428,8 @@ void DCC::ackManagerLoop() {
     switch (opcode) {
       case BASELINE:
           if (resets<RESET_MIN) return; // try later 
-          ackTriggerMilliamps=Hardware::getCurrentMilliamps(false) + ACK_MIN_PULSE;
+          DCCWaveform::progTrack.setAckBaseline(debugMode);
-          if (debugMode) DIAG(F("\nACK_BASELINE trigger mA=%d\n"),ackTriggerMilliamps);
+          break;   
-          break;
-
       case W0:    // write 0 bit 
       case W1:    // write 1 bit 
             {
@@ -445,10 +437,8 @@ void DCC::ackManagerLoop() {
               byte instruction = WRITE_BIT | (opcode==W1 ? BIT_ON : BIT_OFF) | ackManagerBitNum;
               byte message[] = {cv1(BIT_MANIPULATE, ackManagerCv), cv2(ackManagerCv), instruction };
               DCCWaveform::progTrack.schedulePacket(message, sizeof(message), 6);
-              ackPulseStart=0; 
+              DCCWaveform::progTrack.setAckPending(debugMode); 
-              ackMaxCurrent=0;
+         }
-              ackPollCount=0;
-             }
             break; 
       
       case WB:   // write byte 
@@ -456,9 +446,7 @@ void DCC::ackManagerLoop() {
               if (resets<RESET_MIN) return; // try later 
               byte message[] = {cv1(WRITE_BYTE, ackManagerCv), cv2(ackManagerCv), ackManagerByte};
               DCCWaveform::progTrack.schedulePacket(message, sizeof(message), 6);
-              ackPulseStart=0;
+              DCCWaveform::progTrack.setAckPending(debugMode); 
-              ackMaxCurrent=0;
-              ackPollCount=0;
             }
             break;
       
@@ -468,9 +456,7 @@ void DCC::ackManagerLoop() {
           if (debugMode) DIAG(F("\nVB %d %d"),ackManagerCv,ackManagerByte);
           byte message[] = { cv1(VERIFY_BYTE, ackManagerCv), cv2(ackManagerCv), ackManagerByte};
           DCCWaveform::progTrack.schedulePacket(message, sizeof(message), 5);
-          ackPulseStart=0; 
+          DCCWaveform::progTrack.setAckPending(debugMode); 
-          ackMaxCurrent=0;
-          ackPollCount=0;
         }
         break;
       
@@ -482,47 +468,16 @@ void DCC::ackManagerLoop() {
           byte instruction = VERIFY_BIT | (opcode==V0?BIT_OFF:BIT_ON) | ackManagerBitNum;
           byte message[] = {cv1(BIT_MANIPULATE, ackManagerCv), cv2(ackManagerCv), instruction };
           DCCWaveform::progTrack.schedulePacket(message, sizeof(message), 5);
-          ackPulseStart=0;
+          DCCWaveform::progTrack.setAckPending(debugMode); 
-          ackMaxCurrent=0;
-          ackPollCount=0; 
         }
         break;
       
       case WACK:   // wait for ack (or absence of ack)
          {
-          if (resets > 6) {  //ACK timeout
+          byte ackState=DCCWaveform::progTrack.getAck(debugMode);
-            if (debugMode) DIAG(F("\nWACK fail polls=%d, resets=%d, max=%dmA"), ackPollCount, resets, ackMaxCurrent);
+          if (ackState==2) return; // keep polling
-            ackReceived = false;
+          ackReceived=ackState==1;
-            break; // move on to next prog step
+          break;  // we have a genuine ACK result
-            }
-      
-        int current=Hardware::getCurrentMilliamps(false);
-        if (current > ackMaxCurrent) ackMaxCurrent=current;
-        
-        ackPollCount++;
-        
-        // An ACK is a pulse lasting between 4.5 and 8.5 mSecs (refer @haba)
-        
-        if (current>ackTriggerMilliamps) {
-          if (ackPulseStart==0) ackPulseStart=micros();    // leading edge of pulse detected
-          return;
-        }
-      
-        // not in pulse
-        if (ackPulseStart==0) return; // keep waiting for leading edge 
-      
-         // detected trailing edge of pulse
-          long pulseDuration=micros()-ackPulseStart;
-               
-          if (pulseDuration>1000 && pulseDuration<9000) {
-            if (debugMode) DIAG(F("\nWACK-OK polls=%d, max=%dmA, pulse=%duS"),ackPollCount, ackMaxCurrent, pulseDuration);
-            ackReceived=true;
-            DCCWaveform::progTrack.killRemainingRepeats(); // probably no need after 8.5ms!!
-            break;  // we have a genuine ACK result
-          }      
-           if (debugMode) DIAG(F("\nWACK-bad pulse polls=%d, max=%dmA, now=%dmA, pulse=%duS"), ackPollCount, ackMaxCurrent,current, pulseDuration);
-          ackPulseStart=0;  // We have detected a too-short or too-long pulse so ignore and wait for next leading edge 
-          return; // keep waiting 
          }
      case ITC0:
      case ITC1:   // If True Callback(0 or 1)  (if prevous WACK got an ACK)

DCC.h

@@ -86,10 +86,6 @@ private:
   static int    ackManagerCv;
   static byte    ackManagerStash;
   static bool ackReceived;
-  static int ackTriggerMilliamps;
-  static int ackMaxCurrent;
-  static int ackPollCount;
-  static unsigned long ackPulseStart;
   static ACK_CALLBACK  ackManagerCallback;
   static void ackManagerSetup(int cv, byte bitNumOrbyteValue, ackOp const program[], ACK_CALLBACK callback);
   static void ackManagerLoop();

DCCWaveform.cpp

@@ -59,6 +59,7 @@ DCCWaveform::DCCWaveform( byte preambleBits, bool isMain) {
   bits_sent = 0;
   sampleDelay = 0;
   lastSampleTaken = millis();
+  ackPending=false;    
 }
 void DCCWaveform::beginTrack() {
   setPowerMode(POWERMODE::ON);
@@ -138,9 +139,6 @@ bool DCCWaveform::interrupt1() {
 
 }
 
-void DCCWaveform::killRemainingRepeats() {
-   transmitRepeats=0;  // will go idle at end of current packet
-}
 
 void DCCWaveform::interrupt2() {
   // set currentBit to be the next bit to be sent.
@@ -187,6 +185,11 @@ void DCCWaveform::interrupt2() {
       }
     }
   }
+  
+  // ACK check is prog track only and will only be checked if bits_sent=4 ...
+  // This means only once per 9-bit-byte AND never at the same cycle as the 
+  // relatively expensive packet change code just above.
+  if (ackPending && bits_sent==4) checkAck();
 }
 
 
@@ -211,3 +214,64 @@ void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repea
 int DCCWaveform::getLastCurrent() {
    return lastCurrent;
 }
+
+// Operations applicable to PROG track ONLY.
+// (yes I know I could have subclassed the main track but...) 
+
+void DCCWaveform::setAckBaseline(bool debug) {
+      if (isMainTrack) return; 
+      ackThreshold=Hardware::getCurrentMilliamps(false) + ACK_MIN_PULSE;
+      if (debug) DIAG(F("\nACK-BASELINE mA=%d\n"),ackThreshold);
+}
+
+void DCCWaveform::setAckPending(bool debug) {
+      if (isMainTrack) return; 
+      (void)debug;
+      ackMaxCurrent=0;
+      ackPulseStart=0;
+      ackPulseDuration=0;
+      ackDetected=false;
+      ackCheckStart=millis();
+      ackPending=true;  // interrupt routines will now take note
+}
+
+byte DCCWaveform::getAck(bool debug) {
+      if (ackPending) return (2);  // still waiting
+      if (debug) DIAG(F("\nACK-%S after %dmS max=%dmA pulse=%duS"),ackDetected?F("OK"):F("FAIL"), ackCheckDuration,  ackMaxCurrent, ackPulseDuration);
+      if (ackDetected) return (1); // Yes we had an ack
+      return(0);  // pending set off but not detected means no ACK.   
+}
+
+void DCCWaveform::checkAck() {
+    // This function operates in interrupt() time so must be fast and can't DIAG 
+    
+    if (sentResetsSincePacket > 6) {  //ACK timeout
+        ackCheckDuration=millis()-ackCheckStart;
+        ackPending = false;
+        return; 
+    }
+      
+    lastCurrent=Hardware::getCurrentMilliamps(false);
+    if (lastCurrent > ackMaxCurrent) ackMaxCurrent=lastCurrent;
+    // An ACK is a pulse lasting between 4.5 and 8.5 mSecs (refer @haba)
+        
+    if (lastCurrent>ackThreshold) {
+       if (ackPulseStart==0) ackPulseStart=micros();    // leading edge of pulse detected
+       return;
+    }
+    
+    // not in pulse
+    if (ackPulseStart==0) return; // keep waiting for leading edge 
+    
+    // detected trailing edge of pulse
+    ackPulseDuration=micros()-ackPulseStart;
+               
+    if (ackPulseDuration>1000 && ackPulseDuration<9000) {
+        ackCheckDuration=millis()-ackCheckStart;
+        ackDetected=true;
+        ackPending=false;
+        transmitRepeats=0;  // shortcut remaining repeat packets 
+        return;  // we have a genuine ACK result
+    }      
+    ackPulseStart=0;  // We have detected a too-short or too-long pulse so ignore and wait for next leading edge 
+}

DCCWaveform.h

@@ -44,16 +44,19 @@ class DCCWaveform {
     void schedulePacket(const byte buffer[], byte byteCount, byte repeats);
     volatile bool packetPending;
     volatile byte sentResetsSincePacket;
-    void killRemainingRepeats();
+    void setAckBaseline(bool debug);  //prog track only
-
+    void setAckPending(bool debug);  //prog track only
+    byte getAck(bool debug);               //prog track only 0=NACK, 1=ACK 2=keep waiting
+    
   private:
 
     static void interruptHandler();
     bool interrupt1();
     void interrupt2();
-
+    void checkAck();
+    
     bool isMainTrack;
-
+    
     // Transmission controller
     byte transmitPacket[MAX_PACKET_SIZE];  // packet being transmitted
     byte transmitLength;
@@ -75,5 +78,17 @@ class DCCWaveform {
     POWERMODE powerMode;
     unsigned long lastSampleTaken;
     unsigned int sampleDelay;
+
+    // ACK management (Prog track only)  
+    bool ackPending;    
+    bool ackDetected;   
+    int  ackThreshold; 
+    int ackMaxCurrent;
+    unsigned long ackCheckStart; // millis
+    unsigned int ackCheckDuration; // millis       
+    
+    unsigned int ackPulseDuration;  // micros
+    unsigned long ackPulseStart; // micros
+           
 };
 #endif

Hardware.cpp

@@ -1,5 +1,6 @@
 #include <Arduino.h>
 #include <TimerOne.h>  // use IDE menu Tools..Manage Libraries to locate and  install TimerOne
+#include "avdweb_AnalogReadFast.h"
 #include "Hardware.h"
 #include "Config.h"
 #include "DIAG.h"
@@ -41,7 +42,12 @@ void Hardware::setSignal(bool isMainTrack, bool high) {
 int Hardware::getCurrentMilliamps(bool isMainTrack) {
   int pin = isMainTrack ? MAIN_SENSE_PIN : PROG_SENSE_PIN;
   float factor = isMainTrack ? MAIN_SENSE_FACTOR : PROG_SENSE_FACTOR;
-  int rawCurrent = analogRead(pin);
+  
+  // IMPORTANT:  This function can be called in Interrupt() time within the 56uS timer
+  //             The default analogRead takes ~100uS which is catastrphic
+  //             so analogReadFast is used here. (-2uS) 
+  int rawCurrent = analogReadFast(pin);
+  
   return (int)(rawCurrent * factor);
 }
 

WifiInterface.cpp

@@ -107,7 +107,6 @@ void WifiInterface::loop(Stream & wifiStream) {
       switch (loopstate) {
            case 0:  // looking for +
                 connectionId=0;
-                streamer.flush();
                 if (ch=='+') loopstate=1;
                 break;
            case 1:  // Looking for I     
@@ -129,6 +128,7 @@ void WifiInterface::loop(Stream & wifiStream) {
            case 6: // reading for length
                 if (ch==':') loopstate=(datalength==0)?99:7;  // 99 is getout without reading next char
                 else datalength=datalength*10 + (ch-'0');
+                streamer.flush();
                 break;
            case 7: // reading data 
                 streamer.write(ch);

avdweb_AnalogReadFast.h

@@ -0,0 +1,55 @@
+/*
+Copyright (C) 2016  Albert van Dalen http://www.avdweb.nl
+This program 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.
+This program 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 at http://www.gnu.org/licenses .
+
+AUTHOR: Albert van Dalen
+WEBSITE: http://www.avdweb.nl/arduino/libraries/fast-10-bit-adc.html
+
+HISTORY:
+1.0.0 7-3-2018 analogReadFast for SAMD21 (10/12bit) and AVR (10bit)
+*/
+
+#ifndef analogReadFast_H
+#define analogReadFast_H
+
+int inline analogReadFast(byte ADCpin);
+
+#if defined(__arm__) 
+int inline analogReadFast(byte ADCpin)    // inline library functions must be in header
+{ ADC->CTRLA.bit.ENABLE = 0;              // disable ADC
+  while( ADC->STATUS.bit.SYNCBUSY == 1 ); // wait for synchronization
+
+  int CTRLBoriginal = ADC->CTRLB.reg;
+  int AVGCTRLoriginal = ADC->AVGCTRL.reg;
+  int SAMPCTRLoriginal = ADC->SAMPCTRL.reg;
+  
+  ADC->CTRLB.reg &= 0b1111100011111111;          // mask PRESCALER bits
+  ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64;   // divide Clock by 64
+  ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 |   // take 1 sample 
+                     ADC_AVGCTRL_ADJRES(0x00ul); // adjusting result by 0
+  ADC->SAMPCTRL.reg = 0x00;                      // sampling Time Length = 0
+
+  ADC->CTRLA.bit.ENABLE = 1;                     // enable ADC
+  while(ADC->STATUS.bit.SYNCBUSY == 1);          // wait for synchronization
+
+  int adc = analogRead(ADCpin); 
+  
+  ADC->CTRLB.reg = CTRLBoriginal;
+  ADC->AVGCTRL.reg = AVGCTRLoriginal;
+  ADC->SAMPCTRL.reg = SAMPCTRLoriginal;
+   
+  return adc;
+}
+#else
+int inline analogReadFast(byte ADCpin) 
+{ byte ADCSRAoriginal = ADCSRA; 
+  ADCSRA = (ADCSRA & B11111000) | 4; 
+  int adc = analogRead(ADCpin);  
+  ADCSRA = ADCSRAoriginal;
+  return adc;
+}
+#endif
+#endif