MotorDriverContainer (multi-motordriver) start

CommandStation-EX.ino

@@ -85,11 +85,7 @@ void setup()
 #endif // ETHERNET_ON
 
   // Responsibility 3: 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
-  //  detailed pin mappings and may also require modified subclasses of the MotorDriver to implement specialist logic.
-  // STANDARD_MOTOR_SHIELD, POLOLU_MOTOR_SHIELD, FIREBOX_MK1, FIREBOX_MK1S are pre defined in MotorShields.h
-  DCC::begin(MOTOR_SHIELD_TYPE);
+  DCC::begin();
          
   // Start RMFT (ignored if no automnation)
   RMFT::begin();

DCC.cpp

@@ -26,6 +26,9 @@
 #include "FSH.h"
 #include "IODevice.h"
 
+#include "MotorDriver.h"
+extern MotorDriverContainer mDC;
+
 // This module is responsible for converting API calls into
 // messages to be sent to the waveform generator.
 // It has no visibility of the hardware, timers, interrupts
@@ -49,9 +52,8 @@ FSH* DCC::shieldName=NULL;
 byte DCC::joinRelay=UNUSED_PIN;
 byte DCC::globalSpeedsteps=128;
 
-void DCC::begin(const FSH * motorShieldName, MotorDriver * mainDriver, MotorDriver* progDriver) {
-  shieldName=(FSH *)motorShieldName;
-  StringFormatter::send(Serial,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
+void DCC::begin() {
+  StringFormatter::send(Serial,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), mDC.getMotorShieldName(), F(GITHUB_SHA));
 
   // Initialise HAL layer before reading EEprom.
   IODevice::begin();
@@ -60,7 +62,7 @@ void DCC::begin(const FSH * motorShieldName, MotorDriver * mainDriver, MotorDriv
   (void)EEPROM; // tell compiler not to warn this is unused
   EEStore::init();
 
-  DCCWaveform::begin(mainDriver,progDriver); 
+  DCCWaveform::begin(mDC.mainTrack(),mDC.progTrack()); 
 }
 
 void DCC::setJoinRelayPin(byte joinRelayPin) {

DCC.h

@@ -77,7 +77,7 @@ const byte MAX_LOCOS = 50;
 class DCC
 {
 public:
-  static void begin(const FSH * motorShieldName, MotorDriver *mainDriver, MotorDriver *progDriver);
+  static void begin();
   static void setJoinRelayPin(byte joinRelayPin);
   static void loop();
 

DCCWaveform.cpp

@@ -92,8 +92,10 @@ void IRAM_ATTR DCCWaveform::interruptHandler() {
   byte sigMain=signalTransform[mainTrack.state];
   byte sigProg=progTrackSyncMain? sigMain : signalTransform[progTrack.state];
   // Set the signal state for both tracks
-  mainTrack.motorDriver->setSignal(sigMain);
-  progTrack.motorDriver->setSignal(sigProg);
+  if (mainTrack.motorDriver)
+    mainTrack.motorDriver->setSignal(sigMain);
+  if (progTrack.motorDriver)
+    progTrack.motorDriver->setSignal(sigProg);
   // Move on in the state engine
   mainTrack.state=stateTransform[mainTrack.state];    
   progTrack.state=stateTransform[progTrack.state];    
@@ -148,12 +150,14 @@ POWERMODE DCCWaveform::getPowerMode() {
 void DCCWaveform::setPowerMode(POWERMODE mode) {
   powerMode = mode;
   bool ison = (mode == POWERMODE::ON);
-  motorDriver->setPower( ison);
+  if (motorDriver)
+    motorDriver->setPower( ison);
   sentResetsSincePacket=0; 
 }
 
 
 void DCCWaveform::checkPowerOverload(bool ackManagerActive) {
+  if (!motorDriver) return;
   if (millis() - lastSampleTaken  < sampleDelay) return;
   lastSampleTaken = millis();
   int tripValue= motorDriver->getRawCurrentTripValue();
@@ -323,6 +327,7 @@ void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repea
 // (yes I know I could have subclassed the main track but...) 
 
 void DCCWaveform::setAckBaseline() {
+      if (!motorDriver) return;
       if (isMainTrack) return;
       int baseline=motorDriver->getCurrentRaw();
       ackThreshold= baseline + motorDriver->mA2raw(ackLimitmA);
@@ -345,6 +350,7 @@ void DCCWaveform::setAckPending() {
 }
 
 byte DCCWaveform::getAck() {
+      if (!motorDriver) return 0;
       if (ackPending) return (2);  // still waiting
       if (Diag::ACK) DIAG(F("%S after %dmS max=%d/%dmA pulse=%duS samples=%d gaps=%d"),ackDetected?F("ACK"):F("NO-ACK"), ackCheckDuration,
 			  ackMaxCurrent,motorDriver->raw2mA(ackMaxCurrent), ackPulseDuration, numAckSamples, numAckGaps);
@@ -355,6 +361,7 @@ byte DCCWaveform::getAck() {
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
 void IRAM_ATTR DCCWaveform::checkAck() {
+    if (!motorDriver) return;
     // This function operates in interrupt() time so must be fast and can't DIAG 
     if (sentResetsSincePacket > 6) {  //ACK timeout
         ackCheckDuration=millis()-ackCheckStart;

MotorDriver.cpp

@@ -17,6 +17,8 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
 #include <Arduino.h>
+#include "config.h"
+#include "defines.h"
 #include "MotorDriver.h"
 #include "DCCTimer.h"
 #include "DIAG.h"
@@ -194,3 +196,25 @@ void  MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & res
     result.maskLOW = ~result.maskHIGH;
     // DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
 }
+
+MotorDriverContainer::MotorDriverContainer(const FSH * motorShieldName,
+					   MotorDriver *m0,
+					   MotorDriver *m1,
+					   MotorDriver *m2,
+					   MotorDriver *m3,
+					   MotorDriver *m4,
+					   MotorDriver *m5,
+					   MotorDriver *m6,
+					   MotorDriver *m7) {
+  mD[0]=m0;
+  mD[1]=m1;
+  mD[2]=m2;
+  mD[3]=m3;
+  mD[4]=m4;
+  mD[5]=m5;
+  mD[6]=m6;
+  mD[7]=m7;
+  shieldName = (FSH *)motorShieldName;
+}
+
+MotorDriverContainer mDC(MOTOR_SHIELD_TYPE);

MotorDriver.h

@@ -106,4 +106,25 @@ class MotorDriver {
     }
 #endif
 };
+
+class MotorDriverContainer {
+public:
+  MotorDriverContainer(const FSH * motorShieldName,
+		       MotorDriver *m0=NULL,
+		       MotorDriver *m1=NULL,
+		       MotorDriver *m2=NULL,
+		       MotorDriver *m3=NULL,
+		       MotorDriver *m4=NULL,
+		       MotorDriver *m5=NULL,
+		       MotorDriver *m6=NULL,
+		       MotorDriver *m7=NULL);
+  //  void SetCapability(byte n, byte cap, char [] name);
+  inline FSH *getMotorShieldName() { return shieldName; };
+  inline MotorDriver *mainTrack() { return mD[0]; }; //start fixed
+  inline MotorDriver *progTrack() { return mD[1]; };
+
+private:
+  MotorDriver *mD[8];
+  FSH *shieldName;
+};
 #endif