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Add serial output for sabertooth controller

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This commit is contained in:
Harald Barth 2023-05-01 20:18:32 +02:00
parent 33306219c8
commit efdbfcb030
2 changed files with 33 additions and 0 deletions
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30
CommandDistributor.cpp
View File

@ -205,6 +205,36 @@ int16_t CommandDistributor::retClockTime() {
void CommandDistributor::broadcastLoco(byte slot) {
DCC::LOCO * sp=&DCC::speedTable[slot];
broadcastReply(COMMAND_TYPE, F("<l %d %d %d %l>\n"), sp->loco,slot,sp->speedCode,sp->functions);
#ifdef SABERTOOTH
if (Serial2 && sp->loco == SABERTOOTH) {
static uint8_t rampingmode = 0;
bool direction = (sp->speedCode & 0x80) !=0; // true for forward
int32_t speed = sp->speedCode & 0x7f;
if (speed == 1) { // emergency stop
if (rampingmode != 1) {
rampingmode = 1;
Serial2.print("R1: 0\r\n");
Serial2.print("R2: 0\r\n");
}
Serial2.print("MD: 0\r\n");
} else {
if (speed != 0) {
// speed is here 2 to 127
speed = (speed - 1) * 1625 / 100;
speed = speed * (direction ? 1 : -1);
// speed is here -2047 to 2047
}
if (rampingmode != 2) {
rampingmode = 2;
Serial2.print("R1: 2047\r\n");
Serial2.print("R2: 2047\r\n");
}
Serial2.print("MD: ");
Serial2.print(speed);
Serial2.print("\r\n");
}
}
#endif
#ifdef CD_HANDLE_RING
WiThrottle::markForBroadcast(sp->loco);
#endif

3
SerialManager.cpp
View File

@ -87,6 +87,9 @@ void SerialManager::init() {
delay(1000);
}
#endif
#ifdef SABERTOOTH
Serial2.begin(9600, SERIAL_8N1, 16, 17); // GPIO 16 RXD2; GPIO 17 TXD2 on ESP32
#endif
}
void SerialManager::broadcast(char * stringBuffer) {