Assume that we have enough HW serials

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "devel-202305201256Z"
+#define GITHUB_SHA "devel-202305202114Z"

MotorDriver.cpp

@@ -214,14 +214,12 @@ int MotorDriver::getCurrentRaw(bool fromISR) {
   // if (fromISR == false) DIAG(F("%c: %d"), trackLetter, current);
   current = current-senseOffset;     // adjust with offset
   if (current<0) current=0-current;
-  if ((faultPin != UNUSED_PIN) && powerMode==POWERMODE::ON) {
+  // current >= 0 here, we use negative current as fault pin flag
-    if (invertFault && isLOW(fastFaultPin))
+  if ((faultPin != UNUSED_PIN) && powerPin) {
-      return (current == 0 ? -1 : -current);
+    if (invertFault ? isHIGH(fastFaultPin) : isLOW(fastFaultPin))
-    if (!invertFault && !isLOW(fastFaultPin))
       return (current == 0 ? -1 : -current);
   }
   return current;
-   
 }
 
 #ifdef ANALOG_READ_INTERRUPT

MotorDrivers.h

@@ -73,8 +73,8 @@
 
 // EX 8874 based shield connected to a 3V3 system with 12-bit (4096) ADC
 #define EX8874_SHIELD F("EX8874"), \
- new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 1.27, 5000, -A4), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 1.27, 5000, A4), \
- new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.27, 5000, -A5)
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.27, 5000, A5)
 
 
 #elif defined(ARDUINO_ARCH_ESP32)
@@ -90,8 +90,8 @@
 // EX 8874 based shield connected to a 3.3V system (like ESP32) and 12bit (4096) ADC
 // numbers are GPIO numbers. comments are UNO form factor shield pin numbers
 #define EX8874_SHIELD F("EX8874"),\
- new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.27, 5000, -36 /*-A4*/), \
+ new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.27, 5000, 36 /*A4*/), \
- new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.27, 5000, -39 /*-A5*/)
+ new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.27, 5000, 39 /*A5*/)
 
 #else
 // STANDARD shield on any Arduino Uno or Mega compatible with the original specification.
@@ -104,8 +104,8 @@
 
 // EX 8874 based shield connected to a 5V system (like Arduino) and 10bit (1024) ADC
 #define EX8874_SHIELD F("EX8874"), \
- new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 5000, -A4), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 5000, A4), \
- new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 5000, -A5)
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 5000, A5)
 
 #endif
 

WifiInterface.cpp

@@ -58,6 +58,20 @@ Stream * WifiInterface::wifiStream;
 #define NUM_SERIAL 1
 #endif
 
+// To be able to define these in platform specific
+// DCCTimer<PLATFORM>.cpp files, we here make the
+// assumption that these exist to link against.
+// if enough serial interfaces exist.
+#if NUM_SERIAL > 0
+extern HardwareSerial Serial1;
+#endif
+#if NUM_SERIAL > 1
+extern HardwareSerial Serial2;
+#endif
+#if NUM_SERIAL > 2
+extern HardwareSerial Serial3;
+#endif
+
 bool WifiInterface::setup(long serial_link_speed, 
                           const FSH *wifiESSID,
                           const FSH *wifiPassword,

version.h

@@ -4,7 +4,8 @@
 #include "StringFormatter.h"
 
 
-#define VERSION "4.2.52"
+#define VERSION "4.2.53"
+// 4.2.53 - Fix: Fault pin handling made more straight forward
 // 4.2.52 - Experimental support for sabertooth motor controller on ESP32
 // 4.2.51 - Add DISABLE_PROG to disable programming to save RAM/Flash
 // 4.2.50 - Fixes: estop all, turnout eeprom, cab ID check