Update version

Rotary-encoder-send-position

IO_RotaryEncoder.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2023, Peter Cole. All rights reserved.
  *  © 2022, Peter Cole. All rights reserved.
  *
  *  This file is part of EX-CommandStation
@@ -28,9 +29,23 @@
 * ONCHANGE(vpin) - flag when the rotary encoder position has changed from the previous position
 * IFRE(vpin, position) - test to see if specified rotary encoder position has been received
 *
-* Further to this, feedback can be sent to the rotary encoder by using 2 Vpins, and sending a SET()/RESET() to the second Vpin.
+* Feedback can also be sent to the rotary encoder by using 2 Vpins, and sending a SET()/RESET() to the second Vpin.
 * A SET(vpin) will flag that a turntable (or anything else) is in motion, and a RESET(vpin) that the motion has finished.
 *
+* In addition, defining a third Vpin will allow a position number to be sent so that when an EXRAIL automation or some other
+* activity has moved a turntable, the position can be reflected in the rotary encoder software. This can be accomplished
+* using the EXRAIL SERVO(vpin, position, profile) command, where:
+* - vpin = the third defined Vpin (any other is ignored)
+* - position = the defined position in the DCC-EX Rotary Encoder software, 0 (Home) to 255
+* - profile = Must be defined as per the SERVO() command, but is ignored as it has no relevance
+*
+* Defining in myAutomation.h requires the device driver to be included in addition to the HAL() statement. Examples:
+*
+* #include "IO_RotaryEncoder.h"
+* HAL(RotaryEncoder, 700, 1, 0x70)    // Define single Vpin, no feedback or position sent to rotary encoder software
+* HAL(RotaryEncoder, 700, 2, 0x70)    // Define two Vpins, feedback only sent to rotary encoder software
+* HAL(RotaryEncoder, 700, 3, 0x70)    // Define three Vpins, can send feedback and position update to rotary encoder software
+*
 * Refer to the documentation for further information including the valid activities and examples.
 */
 
@@ -44,50 +59,79 @@
 
 class RotaryEncoder : public IODevice {
 public:
-  // Constructor
-  RotaryEncoder(VPIN firstVpin, int nPins, I2CAddress i2cAddress){
-    _firstVpin = firstVpin;
-    _nPins = nPins;
-    _I2CAddress = i2cAddress;
-    addDevice(this);
-  }
+  
   static void create(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
     if (checkNoOverlap(firstVpin, nPins, i2cAddress)) new RotaryEncoder(firstVpin, nPins, i2cAddress);
   }
 
 private:
+  // Constructor
+  RotaryEncoder(VPIN firstVpin, int nPins, I2CAddress i2cAddress){
+    _firstVpin = firstVpin;
+    _nPins = nPins;
+    if (_nPins > 3) {
+      _nPins = 3;
+      DIAG(F("RotaryEncoder WARNING:%d vpins defined, only 3 supported"), _nPins);
+    }
+    _I2CAddress = i2cAddress;
+    addDevice(this);
+  }
+
   // Initiate the device
   void _begin() {
+    uint8_t _status;
+    // Attempt to initilalise device
     I2CManager.begin();
     if (I2CManager.exists(_I2CAddress)) {
-      byte _getVersion[1] = {RE_VER};
-      I2CManager.read(_I2CAddress, _versionBuffer, 3, _getVersion, 1);
+      // Send RE_RDY, must receive RE_RDY to be online
+      _sendBuffer[0] = RE_RDY;
+      _status = I2CManager.read(_I2CAddress, _rcvBuffer, 1, _sendBuffer, 1);
+      if (_status == I2C_STATUS_OK) {
+        if (_rcvBuffer[0] == RE_RDY) {
+          _sendBuffer[0] = RE_VER;
+          if (I2CManager.read(_I2CAddress, _versionBuffer, 3, _sendBuffer, 1) == I2C_STATUS_OK) {
             _majorVer = _versionBuffer[0];
             _minorVer = _versionBuffer[1];
             _patchVer = _versionBuffer[2];
-      _buffer[0] = RE_OP;
-      I2CManager.write(_I2CAddress, _buffer, 1);
+          }
+        } else {
+          DIAG(F("RotaryEncoder I2C:%s garbage received: %d"), _I2CAddress.toString(), _rcvBuffer[0]);
+          _deviceState = DEVSTATE_FAILED;
+          return;
+        }
+      } else {
+        DIAG(F("RotaryEncoder I2C:%s ERROR connecting"), _I2CAddress.toString());
+        _deviceState = DEVSTATE_FAILED;
+        return;
+      }
 #ifdef DIAG_IO
       _display();
 #endif
     } else {
+      DIAG(F("RotaryEncoder I2C:%s device not found"), _I2CAddress.toString());
       _deviceState = DEVSTATE_FAILED;
     }
   }
 
   void _loop(unsigned long currentMicros) override {
-    I2CManager.read(_I2CAddress, _buffer, 1);
-    _position = _buffer[0];
-    // This here needs to have a change check, ie. position is a different value.
-  #if defined(EXRAIL_ACTIVE)
+    if (_deviceState == DEVSTATE_FAILED) return;  // Return if device has failed
+    if (_i2crb.isBusy()) return;                  // Return if I2C operation still in progress
+
+    if (currentMicros - _lastPositionRead > _positionRefresh) {
+      _lastPositionRead = currentMicros;
+      _sendBuffer[0] = RE_READ;
+      I2CManager.read(_I2CAddress, _rcvBuffer, 1, _sendBuffer, 1, &_i2crb); // Read position from encoder
+      _position = _rcvBuffer[0];
+      // If EXRAIL is active, we need to trigger the ONCHANGE() event handler if it's in use
+#if defined(EXRAIL_ACTIVE)
       if (_position != _previousPosition) {
         _previousPosition = _position;
-        RMFT2::changeEvent(_firstVpin,1);
+        RMFT2::changeEvent(_firstVpin, 1);
       } else {
-        RMFT2::changeEvent(_firstVpin,0);
+        RMFT2::changeEvent(_firstVpin, 0);
+      }
+#endif
     }
-  #endif
-    delayUntil(currentMicros + 100000);
   }
 
   // Device specific read function
@@ -104,6 +148,16 @@ private:
     }
   }
 
+  void _writeAnalogue(VPIN vpin, int position, uint8_t profile, uint16_t duration) override {
+    if (vpin == _firstVpin + 2) {
+      if (position >= 0 && position <= 255) {
+        byte newPosition = position & 0xFF;
+        byte _positionBuffer[2] = {RE_MOVE, newPosition};
+        I2CManager.write(_I2CAddress, _positionBuffer, 2);
+      }
+    }
+  }
+  
   void _display() override {
     DIAG(F("Rotary Encoder I2C:%s v%d.%d.%d Configured on VPIN:%u-%d %S"), _I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
       (int)_firstVpin, _firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
@@ -112,14 +166,21 @@ private:
   int8_t _position;
   int8_t _previousPosition = 0;
   uint8_t _versionBuffer[3];
-  uint8_t _buffer[1];
+  uint8_t _sendBuffer[1];
+  uint8_t _rcvBuffer[1];
   uint8_t _majorVer = 0;
   uint8_t _minorVer = 0;
   uint8_t _patchVer = 0;
+  I2CRB _i2crb;
+  unsigned long _lastPositionRead = 0;
+  const unsigned long _positionRefresh = 100000UL;    // Delay refreshing position for 100ms
 
   enum {
-    RE_VER = 0xA0,   // Flag to retrieve rotary encoder version from the device
-    RE_OP = 0xA1,    // Flag for normal operation
+    RE_RDY = 0xA0,   // Flag to check if encoder is ready for operation
+    RE_VER = 0xA1,   // Flag to retrieve rotary encoder software version
+    RE_READ = 0xA2,  // Flag to read the current position of the encoder
+    RE_OP = 0xA3,    // Flag for operation start/end, sent to when sending feedback on move start/end
+    RE_MOVE = 0xA4,  // Flag for sending a position update from the device driver to the encoder
   };
 
 };

version.h

@@ -4,7 +4,10 @@
 #include "StringFormatter.h"
 
 
-#define VERSION "4.2.55"
+#define VERSION "4.2.56"
+// 4.2.56 - Update IO_RotaryEncoder.h:
+//        - Improved I2C communication, non-blocking reads
+//        - Enable sending positions to the encoder from EXRAIL via SERVO()
 // 4.2.55 - Optimize analog read for AVR
 // 4.2.54 - EX8874 shield in config.example.h
 //        - Fix: Better warnings for pin number errors