Motor drivers tested

AnalogReadFast.h

@@ -89,7 +89,18 @@ int inline analogReadFast(uint8_t ADCpin)
   return adc;
 }
 
+#elif defined(ARDUINO_AVR_UNO_WIFI_REV2) || defined(ARDUINO_AVR_NANO_EVERY)
+
+int inline analogReadFast(uint8_t ADCpin) 
+{ byte ADC0CTRLCoriginal = ADC0.CTRLC; 
+  ADC0.CTRLC = (ADC0CTRLCoriginal & 0b00110000) + 0b01000011; 
+  int adc = analogRead(ADCpin);  
+  ADC0.CTRLC = ADC0CTRLCoriginal;
+  return adc;
+}
+
 #else
+
 int inline analogReadFast(uint8_t ADCpin) 
 { byte ADCSRAoriginal = ADCSRA; 
   ADCSRA = (ADCSRA & B11111000) | 4; 

CVReader.ino

@@ -24,6 +24,14 @@
 #include "DCCEXParser.h"
 #include "WifiInterface.h"
 
+#ifdef ARDUINO_AVR_UNO 
+  #include <SoftwareSerial.h>
+  SoftwareSerial Serial1(15,16); // YOU must get thee pins correct to use Wifi on a UNO
+  #define WIFI_BAUD 9600
+#else 
+  #define WIFI_BAUD 115200 
+#endif 
+ 
 // this code is here to demonstrate use of the DCC API and other techniques
 
 // myFilter is an example of an OPTIONAL command filter used to intercept < > commands from
@@ -74,9 +82,9 @@ void setup() {
   
   // Responsibility 1: Start the usb connection for diagnostics and possible JMRI input
   // DIAGSERAL is normally Serial but uses SerialUSB on a SAMD processor
-   DIAGSERIAL.begin(115200);
-   while(!DIAGSERIAL);
-   
+  DIAGSERIAL.begin(115200);
+  while(!DIAGSERIAL);
+  
    // Responsibility 2: Start the DCC engine.
    // Note: this provides DCC with two motor drivers, main and prog, which handle the motor shield(s)
    // Standard supported devices have pre-configured macros but custome hardware installations require 
@@ -84,16 +92,16 @@ void setup() {
      
    DCC::begin(STANDARD_MOTOR_SHIELD);
 
-   // Responsibility 3: Optionally Start the WiFi interface if required.
+   // Responsibility 3: **Optionally** Start the WiFi interface if required.
    //   NOTE: On a Uno you will have to provide a SoftwareSerial 
    //         configured for the pins connected to the Wifi card
    //         and a 9600 baud rate. 
    //  setup(serial, F(router name), F(password) , port)
-   //            
-#ifdef WIFI
-    Serial1.begin(115200);
-    WifiInterface::setup(Serial1, F(WIFI_CONNECT_TO_SSID), F(WIFI_CONNECT_PASSWORD),F("DCCEX"),F("CVReader"),3532); // (3532 is 0xDCC decimal... )
-#endif
+   //   (port 3532 is 0xDCC decimal.)     
+
+      
+    Serial1.begin(WIFI_BAUD);
+    WifiInterface::setup(Serial1, F("BTHub5-M6PT"), F("49de8d4862"),F("DCCEX"),F("CVReader"),3532); 
     
    //  This is just for demonstration purposes 
    DIAG(F("\n===== CVReader demonstrating DCC::getLocoId() call ==========\n"));
@@ -102,7 +110,7 @@ void setup() {
    
    // Optionally tell the command parser to use my example filter.
    // This will intercept JMRI commands from both USB and Wifi 
-   DCCEXParser::setFilter(myFilter);
+    DCCEXParser::setFilter(myFilter);
    
    DIAG(F("\nReady for JMRI commands\n"));
    
@@ -119,13 +127,11 @@ void loop() {
   serialParser.loop(DIAGSERIAL);
 
   // Responsibility 3: Optionally handle any incoming WiFi traffic
-#ifdef WIFI
   WifiInterface::loop();
-#endif
 
-  // Your additional code
+  // Your additional loop code
   
-  // OPtionally report any decrease in memory (will automatically trigger on first call)
+  // Optionally report any decrease in memory (will automatically trigger on first call)
   int freeNow=freeMemory();
   if (freeNow<ramLowWatermark) {
     ramLowWatermark=freeNow;

Config.h

@@ -9,23 +9,28 @@
 // A custom hardware setup will require your sketch to create MotorDriver instances
 // similar to those defined here, WITHOUT editing this file.
    
-// Define these if you have a WiFi board on Serial1
-#define WIFI
-#define WIFI_CONNECT_TO_SSID  "RPi-JMRI"
-#define WIFI_CONNECT_PASSWORD "rpI-jmri"
 
 const byte UNUSED_PIN = 255;
 
-// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
+// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin,
+//             float senseFactor, unsigned int tripMilliamps, byte faultPin);
     
 // Arduino standard Motor Shield
 #define STANDARD_MOTOR_SHIELD     \
-   new MotorDriver(3 , 12, UNUSED_PIN, 9, A0, 2.99, 2000, UNUSED_PIN),    \
-   new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 250 , UNUSED_PIN) 
+   new MotorDriver(3 , 12, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 2000, UNUSED_PIN),    \
+   new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 250 , UNUSED_PIN) 
 
+// Pololu Motor Shield
+#define POLOLU_MOTOR_SHIELD     \
+   new MotorDriver(4, 7, UNUSED_PIN, 9 , A0, 18, 2000, 12),    \
+   new MotorDriver(2, 8, UNUSED_PIN, 10, A1, 18, 250 , UNUSED_PIN) 
 
 // Allocations with memory implications..!
 // Base system takes approx 900 bytes + 8 per loco. Turnouts, Sensors etc are dynamically created
-const byte MAX_LOCOS=50;             
+ #ifdef ARDUINO_AVR_UNO 
+  const byte MAX_LOCOS=20;
+ #else 
+  const byte MAX_LOCOS=50; 
+ #endif              
 
 #endif

DCC.cpp

@@ -44,7 +44,7 @@ const byte FN_GROUP_5=0x10;
 
 void DCC::begin(MotorDriver * mainDriver, MotorDriver* progDriver) {
   debugMode=false;
-  DCCWaveform::begin(mainDriver,progDriver);
+  DCCWaveform::begin(mainDriver,progDriver); 
 }
 
 void DCC::setThrottle( uint16_t cab, uint8_t tSpeed, bool tDirection)  {

DCCWaveform.cpp

@@ -26,17 +26,19 @@
 DCCWaveform  DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
 DCCWaveform  DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
 
-//const int ACK_MIN_PULSE_RAW=65 / PROG_SENSE_FACTOR;
 
 bool DCCWaveform::progTrackSyncMain=false; 
 
 void DCCWaveform::begin(MotorDriver * mainDriver, MotorDriver * progDriver) {
   mainTrack.motorDriver=mainDriver;
   progTrack.motorDriver=progDriver;
+
   TimerA.initialize();
   TimerA.setPeriod(58);
   TimerA.attachInterrupt(interruptHandler);
   TimerA.start();
+  mainTrack.setPowerMode(POWERMODE::ON);      
+  progTrack.setPowerMode(POWERMODE::ON);      
 
 }
 
@@ -85,7 +87,6 @@ DCCWaveform::DCCWaveform( byte preambleBits, bool isMain) {
   sampleDelay = 0;
   lastSampleTaken = millis();
   ackPending=false;
-  setPowerMode(POWERMODE::ON);      
 }
 
 POWERMODE DCCWaveform::getPowerMode() {

DCCWaveform.h

@@ -25,7 +25,7 @@ const int  POWER_SAMPLE_ON_WAIT = 100;
 const int  POWER_SAMPLE_OFF_WAIT = 1000;
 const int  POWER_SAMPLE_OVERLOAD_WAIT = 20;
 
-const int  MIN_ACK_PULSE_DURATION = 3000;
+const int  MIN_ACK_PULSE_DURATION = 2000;
 const int  MAX_ACK_PULSE_DURATION = 8500;
  
 

MotorDriver.cpp

@@ -22,13 +22,16 @@
 #include "DIAG.h"
 
 
-#if defined(ARDUINO_ARCH_AVR)
+
+#if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_SAMC) || defined(ARDUINO_ARCH_MEGAAVR)
+    #define WritePin digitalWrite
+    #define ReadPin digitalRead
+#else
+    // use the DIO2 libraray for much faster pin access
+    #define GPIO2_PREFER_SPEED 1
     #include <DIO2.h>  // use IDE menu Tools..Manage Libraries to locate and  install DIO2
     #define WritePin digitalWrite2
     #define ReadPin digitalRead2
-#else
-    #define WritePin digitalWrite
-    #define ReadPin digitalRead
 #endif
     
 MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, 

StringFormatter.h

@@ -26,6 +26,9 @@
   #define DIAGSERIAL SerialUSB
 #elif defined(ARDUINO_ARCH_AVR)
   #define DIAGSERIAL Serial
+#elif defined(ARDUINO_ARCH_MEGAAVR)
+  #define DIAGSERIAL Serial
+  #define __FlashStringHelper char
 #endif
 
 class StringFormatter