Add EX-Turntable to PORTX_HAL ready to test

EXRAIL2MacroReset.h

@@ -78,6 +78,7 @@
 #undef LATCH 
 #undef LCD 
 #undef LCN 
+#undef MOVETT
 #undef ONACTIVATE
 #undef ONACTIVATEL
 #undef ONAMBER
@@ -187,6 +188,7 @@
 #define LATCH(sensor_id) 
 #define LCD(row,msg) 
 #define LCN(msg) 
+#define MOVETT(id,steps,activity)
 #define ONACTIVATE(addr,subaddr)
 #define ONACTIVATEL(linear)
 #define ONAMBER(signal_id) 

EXRAILMacros.h

@@ -267,6 +267,7 @@ const  FLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define LATCH(sensor_id) OPCODE_LATCH,V(sensor_id),
 #define LCD(id,msg) PRINT(msg)
 #define LCN(msg) PRINT(msg)
+#define MOVETT(id,steps,activity) OPCODE_SERVO,V(id),OPCODE_PAD,V(steps),OPCODE_PAD,V(EXTurntable::activity),OPCODE_PAD,V(0),
 #define ONACTIVATE(addr,subaddr) OPCODE_ONACTIVATE,V(addr<<2|subaddr),
 #define ONACTIVATEL(linear) OPCODE_ONACTIVATE,V(linear+3),
 #define ONAMBER(signal_id) OPCODE_ONAMBER,V(signal_id),

IODevice.h

@@ -364,6 +364,39 @@ private:
   uint8_t *_pinInUse; 
 };
 
+/////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ * IODevice subclass for EX-Turntable.
+ */
+ 
+class EXTurntable : public IODevice {
+public:
+  static void create(VPIN firstVpin, int nPins, uint8_t I2CAddress);
+  // Constructor
+  EXTurntable(VPIN firstVpin, int nPins, uint8_t I2CAddress);
+  enum ActivityNumber : uint8_t {
+    Turn = 0,             // Rotate turntable, maintain phase
+    Turn_PInvert = 1,     // Rotate turntable, invert phase
+    Home = 2,             // Initiate homing
+    Calibrate = 3,        // Initiate calibration sequence
+    LED_On = 4,           // Turn LED on
+    LED_Slow = 5,         // Set LED to a slow blink
+    LED_Fast = 6,         // Set LED to a fast blink
+    LED_Off = 7,          // Turn LED off
+    Acc_On = 8,           // Turn accessory pin on
+    Acc_Off = 9,          // Turn accessory pin off
+  };
+
+private:
+  // Device-specific write function.
+  void _begin() override;
+  void _loop(unsigned long currentMicros) override;
+  int _read(VPIN vpin) override;
+  void _writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) override;
+  void _display() override;
+  uint8_t _stepperStatus;
+};
+
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 
 #include "IO_MCP23008.h"

IO_EXTurntable.h

@@ -0,0 +1,121 @@
+/*
+ *  © 2021, Peter Cole. All rights reserved.
+ *
+ *  This file is part of CommandStation-EX
+ *
+ *  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/>.
+*/
+
+/*
+* The IO_EXTurntable device driver is used to control a turntable via an Arduino with a stepper motor over I2C.
+*
+* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/Turntable-EX) and contains the stepper motor logic.
+*
+* This device driver sends a step position to Turntable-EX to indicate the step position to move to using either of these commands:
+* <D TT vpin steps activity> in the serial console
+* MOVETT(vpin, steps, activity) in EX-RAIL
+* Refer to the documentation for further information including the valid activities.
+*/
+
+#ifndef IO_EXTurntable_h
+#define IO_EXTurntable_h
+
+#include "IODevice.h"
+#include "I2CManager.h"
+#include "DIAG.h"
+
+void EXTurntable::create(VPIN firstVpin, int nPins, uint8_t I2CAddress) {
+  new EXTurntable(firstVpin, nPins, I2CAddress);
+}
+
+// Constructor
+EXTurntable::EXTurntable(VPIN firstVpin, int nPins, uint8_t I2CAddress) {
+  _firstVpin = firstVpin;
+  _nPins = nPins;
+  _I2CAddress = I2CAddress;
+  addDevice(this);
+}
+
+// Initialisation of TurntableEX
+void EXTurntable::_begin() {
+  I2CManager.begin();
+  I2CManager.setClock(1000000);
+  if (I2CManager.exists(_I2CAddress)) {
+#ifdef DIAG_IO
+    _display();
+#endif
+  } else {
+    _deviceState = DEVSTATE_FAILED;
+  }
+}
+
+// Processing loop to obtain status of stepper
+// 0 = finished moving and in correct position
+// 1 = still moving
+void EXTurntable::_loop(unsigned long currentMicros) {
+  uint8_t readBuffer[1];
+  I2CManager.read(_I2CAddress, readBuffer, 1);
+  _stepperStatus = readBuffer[0];
+  // DIAG(F("Turntable-EX returned status: %d"), _stepperStatus);
+  delayUntil(currentMicros + 500000);  // Wait 500ms before checking again, turntables turn slowly
+}
+
+// Read returns status as obtained in our loop.
+// Return false if our status value is invalid.
+int EXTurntable::_read(VPIN vpin) {
+  if (_deviceState == DEVSTATE_FAILED) return 0;
+  // DIAG(F("_read status: %d"), _stepperStatus);
+  if (_stepperStatus > 1) {
+    return false;
+  } else {
+    return _stepperStatus;
+  }
+}
+
+// writeAnalogue to send the steps and activity to Turntable-EX.
+// Sends 3 bytes containing the MSB and LSB of the step count, and activity.
+// value contains the steps, bit shifted to MSB + LSB.
+// activity contains the activity flag as per this list:
+// 
+// Turn = 0,             // Rotate turntable, maintain phase
+// Turn_PInvert = 1,     // Rotate turntable, invert phase
+// Home = 2,             // Initiate homing
+// Calibrate = 3,        // Initiate calibration sequence
+// LED_On = 4,           // Turn LED on
+// LED_Slow = 5,         // Set LED to a slow blink
+// LED_Fast = 6,         // Set LED to a fast blink
+// LED_Off = 7,          // Turn LED off
+// Acc_On = 8,           // Turn accessory pin on
+// Acc_Off = 9           // Turn accessory pin off
+void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) {
+  if (_deviceState == DEVSTATE_FAILED) return;
+  uint8_t stepsMSB = value >> 8;
+  uint8_t stepsLSB = value & 0xFF;
+#ifdef DIAG_IO
+  DIAG(F("TurntableEX WriteAnalogue Vpin:%d Value:%d Activity:%d Duration:%d"),
+    vpin, value, activity, duration);
+  DIAG(F("I2CManager write I2C Address:%d stepsMSB:%d stepsLSB:%d activity:%d"),
+    _I2CAddress, stepsMSB, stepsLSB, activity);
+#endif
+  _stepperStatus = 1;     // Tell the device driver Turntable-EX is busy
+  I2CManager.write(_I2CAddress, 3, stepsMSB, stepsLSB, activity);
+}
+
+// Display Turnetable-EX device driver info.
+void EXTurntable::_display() {
+  DIAG(F("TurntableEX I2C:x%x Configured on Vpins:%d-%d %S"), _I2CAddress, (int)_firstVpin, 
+    (int)_firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
+}
+
+#endif