clean up diag, multiple gpio pin test worked

CommandStation-EX.ino

@@ -58,6 +58,9 @@ void setup()
   // Responsibility 1: Start the usb connection for diagnostics
   // This is normally Serial but uses SerialUSB on a SAMD processor
   Serial.begin(115200);
+#ifdef ESP_DEBUG
+  Serial.setDebugOutput(true);
+#endif
 
   DIAG(F("License GPLv3 fsf.org (c) dcc-ex.com"));
 
@@ -71,19 +74,18 @@ void setup()
   // Start the WiFi interface on a MEGA, Uno cannot currently handle WiFi
   // Start Ethernet if it exists
 #if WIFI_ON
+#ifndef ESP_FAMILY
   WifiInterface::setup(WIFI_SERIAL_LINK_SPEED, F(WIFI_SSID), F(WIFI_PASSWORD), F(WIFI_HOSTNAME), IP_PORT, WIFI_CHANNEL);
+#else
+  WifiESP::setup(WIFI_SSID, WIFI_PASSWORD, WIFI_HOSTNAME, IP_PORT, WIFI_CHANNEL);
+#endif
 #endif // WIFI_ON
-
 #if ETHERNET_ON
   EthernetInterface::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();
@@ -112,14 +114,18 @@ void loop()
   // Responsibility 1: Handle DCC background processes
   //                   (loco reminders and power checks)
   DCC::loop();
-
   // Responsibility 2: handle any incoming commands on USB connection
   serialParser.loop(Serial);
 
 // Responsibility 3: Optionally handle any incoming WiFi traffic
 #if WIFI_ON
+#ifndef ESP_FAMILY
   WifiInterface::loop();
 #endif
+#if defined(ARDUINO_ARCH_ESP8266) // on ESP32 own task
+  WifiESP::loop();
+#endif
+#endif //WIFI_ON
 #if ETHERNET_ON
   EthernetInterface::loop();
 #endif
@@ -137,7 +143,9 @@ void loop()
   
   // Report any decrease in memory (will automatically trigger on first call)
   static int ramLowWatermark = __INT_MAX__; // replaced on first loop 
-
+#ifdef ESP_FAMILY
+  updateMinimumFreeMemory(128);
+#endif
   int freeNow = minimumFreeMemory();
   if (freeNow < ramLowWatermark)
   {

DCC.cpp

@@ -20,12 +20,15 @@
 #include "DIAG.h"
 #include "DCC.h"
 #include "DCCWaveform.h"
+#include "DCCTrack.h"
 #include "EEStore.h"
 #include "GITHUB_SHA.h"
 #include "version.h"
 #include "FSH.h"
 #include "IODevice.h"
 
+#include "MotorDriver.h"
+
 // 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
@@ -49,18 +52,29 @@ 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),
+			MotorDriverContainer::mDC.getMotorShieldName(), F(GITHUB_SHA));
 
+  //  BE AWARE, USES I2C PINS, MAY LEAD TO PIN CONFLICTS  
   // Initialise HAL layer before reading EEprom.
   IODevice::begin();
 
+  //example how to use add:
+  //MotorDriverContainer::mDC.add(new MotorDriver(16, 21, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.00, 2000, UNUSED_PIN, RMT_MAIN));
   // Load stuff from EEprom
   (void)EEPROM; // tell compiler not to warn this is unused
   EEStore::init();
 
-  DCCWaveform::begin(mainDriver,progDriver); 
+  MotorDriverContainer::mDC.diag();
+  DCCWaveform::begin(MotorDriverContainer::mDC.mainTrack(),MotorDriverContainer::mDC.progTrack());
+
+  // Add main and prog drivers to the main and prog packet sources (dcc-tracks).
+  std::vector<MotorDriver*>  v;
+  v = MotorDriverContainer::mDC.getDriverType(RMT_MAIN|TIMER_MAIN);
+  for (const auto& d: v) DCCTrack::mainTrack.addDriver(d);
+  v = MotorDriverContainer::mDC.getDriverType(RMT_PROG|TIMER_PROG);
+  for (const auto& d: v) DCCTrack::progTrack.addDriver(d);
 }
 
 void DCC::setJoinRelayPin(byte joinRelayPin) {
@@ -116,7 +130,7 @@ void DCC::setThrottle2( uint16_t cab, byte speedCode)  {
 
   }
 
-  DCCWaveform::mainTrack.schedulePacket(b, nB, 0);
+  DCCTrack::mainTrack.schedulePacket(b, nB, 0);
 }
 
 void DCC::setFunctionInternal(int cab, byte byte1, byte byte2) {
@@ -130,7 +144,7 @@ void DCC::setFunctionInternal(int cab, byte byte1, byte byte2) {
   if (byte1!=0) b[nB++] = byte1;
   b[nB++] = byte2;
 
-  DCCWaveform::mainTrack.schedulePacket(b, nB, 0);
+  DCCTrack::mainTrack.schedulePacket(b, nB, 0);
 }
 
 uint8_t DCC::getThrottleSpeed(int cab) {
@@ -165,7 +179,7 @@ void DCC::setFn( int cab, int16_t functionNumber, bool on) {
        b[nB++] = (functionNumber & 0x7F) | (on ? 0x80 : 0);  // low order bits and state flag
        b[nB++] = functionNumber >>7 ;  // high order bits
     }
-    DCCWaveform::mainTrack.schedulePacket(b, nB, 4);
+    DCCTrack::mainTrack.schedulePacket(b, nB, 3);
     return;
   }
   
@@ -252,7 +266,7 @@ void DCC::setAccessory(int address, byte number, bool activate) {
   b[0] = address % 64 + 128;                                     // first byte is of the form 10AAAAAA, where AAAAAA represent 6 least signifcant bits of accessory address
   b[1] = ((((address / 64) % 8) << 4) + (number % 4 << 1) + activate % 2) ^ 0xF8; // second byte is of the form 1AAACDDD, where C should be 1, and the least significant D represent activate/deactivate
 
-  DCCWaveform::mainTrack.schedulePacket(b, 2, 4);      // Repeat the packet four times
+  DCCTrack::mainTrack.schedulePacket(b, 2, 3);      // Repeat the packet four times (3 2 1 0)
 }
 
 //
@@ -270,7 +284,7 @@ void DCC::writeCVByteMain(int cab, int cv, byte bValue)  {
   b[nB++] = cv2(cv);
   b[nB++] = bValue;
 
-  DCCWaveform::mainTrack.schedulePacket(b, nB, 4);
+  DCCTrack::mainTrack.schedulePacket(b, nB, 3);
 }
 
 //
@@ -291,7 +305,7 @@ void DCC::writeCVBitMain(int cab, int cv, byte bNum, bool bValue)  {
   b[nB++] = cv2(cv);
   b[nB++] = WRITE_BIT | (bValue ? BIT_ON : BIT_OFF) | bNum;
 
-  DCCWaveform::mainTrack.schedulePacket(b, nB, 4);
+  DCCTrack::mainTrack.schedulePacket(b, nB, 3);
 }
 
 void DCC::setProgTrackSyncMain(bool on) {
@@ -311,14 +325,14 @@ const ackOp FLASH WRITE_BIT0_PROG[] = {
      W0,WACK,
      V0, WACK,  // validate bit is 0 
      ITC1,      // if acked, callback(1)
-     FAIL  // callback (-1)
+     CALLFAIL  // callback (-1)
 };
 const ackOp FLASH WRITE_BIT1_PROG[] = {
      BASELINE,
      W1,WACK,
      V1, WACK,  // validate bit is 1 
      ITC1,      // if acked, callback(1)
-     FAIL  // callback (-1)
+     CALLFAIL  // callback (-1)
 };
 
 const ackOp FLASH VERIFY_BIT0_PROG[] = {
@@ -327,7 +341,7 @@ const ackOp FLASH VERIFY_BIT0_PROG[] = {
      ITC0,      // if acked, callback(0)
      V1, WACK,  // validate bit is 1
      ITC1,       
-     FAIL  // callback (-1)
+     CALLFAIL  // callback (-1)
 };
 const ackOp FLASH VERIFY_BIT1_PROG[] = {
      BASELINE,
@@ -335,7 +349,7 @@ const ackOp FLASH VERIFY_BIT1_PROG[] = {
      ITC1,      // if acked, callback(1)
      V0, WACK, 
      ITC0,
-     FAIL  // callback (-1)
+     CALLFAIL  // callback (-1)
 };
 
 const ackOp FLASH READ_BIT_PROG[] = {
@@ -344,7 +358,7 @@ const ackOp FLASH READ_BIT_PROG[] = {
      ITC1,      // if acked, callback(1)
      V0, WACK,  // validate bit is zero
      ITC0,      // if acked callback 0
-     FAIL       // bit not readable 
+     CALLFAIL       // bit not readable 
      };
      
 const ackOp FLASH WRITE_BYTE_PROG[] = {
@@ -352,7 +366,7 @@ const ackOp FLASH WRITE_BYTE_PROG[] = {
       WB,WACK,ITC1,    // Write and callback(1) if ACK 
       // handle decoders that dont ack a write 
       VB,WACK,ITC1,    // validate byte and callback(1) if correct 
-      FAIL        // callback (-1)
+      CALLFAIL        // callback (-1)
       };
       
 const ackOp FLASH VERIFY_BYTE_PROG[] = {
@@ -378,7 +392,7 @@ const ackOp FLASH VERIFY_BYTE_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       VB, WACK, ITCBV,  // verify merged byte and return it if acked ok - with retry report
-      FAIL };
+      CALLFAIL };
       
       
 const ackOp FLASH READ_CV_PROG[] = {
@@ -401,7 +415,7 @@ const ackOp FLASH READ_CV_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       VB, WACK, ITCB,  // verify merged byte and return it if acked ok 
-      FAIL };          // verification failed
+      CALLFAIL };          // verification failed
 
 
 const ackOp FLASH LOCO_ID_PROG[] = {
@@ -467,7 +481,7 @@ const ackOp FLASH LOCO_ID_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       VB, WACK, ITCB,  // verify merged byte and callback
-      FAIL
+      CALLFAIL
       };    
 
 const ackOp FLASH SHORT_LOCO_ID_PROG[] = {
@@ -484,7 +498,7 @@ const ackOp FLASH SHORT_LOCO_ID_PROG[] = {
       SETBYTEL,   // low byte of word 
       WB,WACK,    // some decoders don't ACK writes
       VB,WACK,ITCB,
-      FAIL
+      CALLFAIL
 };    
 
 const ackOp FLASH LONG_LOCO_ID_PROG[] = {
@@ -508,7 +522,7 @@ const ackOp FLASH LONG_LOCO_ID_PROG[] = {
       SETBYTEL,   // low byte of word 
       WB,WACK,
       VB,WACK,ITC1,   // callback(1) means Ok
-      FAIL
+      CALLFAIL
 };    
 
 void  DCC::writeCVByte(int16_t cv, byte byteValue, ACK_CALLBACK callback)  {
@@ -569,6 +583,7 @@ byte DCC::loopStatus=0;
 
 void DCC::loop()  {
   DCCWaveform::loop(ackManagerProg!=NULL); // power overload checks
+  MotorDriverContainer::mDC.loop();
   ackManagerLoop();    // maintain prog track ack manager
   issueReminders();
 }
@@ -769,7 +784,7 @@ void DCC::ackManagerLoop() {
               if (Diag::ACK) DIAG(F("W%d cv=%d bit=%d"),opcode==W1, ackManagerCv,ackManagerBitNum); 
               byte instruction = WRITE_BIT | (opcode==W1 ? BIT_ON : BIT_OFF) | ackManagerBitNum;
               byte message[] = {cv1(BIT_MANIPULATE, ackManagerCv), cv2(ackManagerCv), instruction };
-              DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
+              DCCTrack::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
               DCCWaveform::progTrack.setAckPending(); 
              callbackState=AFTER_WRITE;
          }
@@ -780,7 +795,7 @@ void DCC::ackManagerLoop() {
 	      if (checkResets( RESET_MIN)) return;
               if (Diag::ACK) DIAG(F("WB cv=%d value=%d"),ackManagerCv,ackManagerByte);
               byte message[] = {cv1(WRITE_BYTE, ackManagerCv), cv2(ackManagerCv), ackManagerByte};
-              DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
+              DCCTrack::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
               DCCWaveform::progTrack.setAckPending(); 
               callbackState=AFTER_WRITE;
             }
@@ -791,7 +806,7 @@ void DCC::ackManagerLoop() {
 	  if (checkResets( RESET_MIN)) return; 
           if (Diag::ACK) DIAG(F("VB cv=%d value=%d"),ackManagerCv,ackManagerByte);
           byte message[] = { cv1(VERIFY_BYTE, ackManagerCv), cv2(ackManagerCv), ackManagerByte};
-          DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
+          DCCTrack::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
           DCCWaveform::progTrack.setAckPending(); 
         }
         break;
@@ -803,7 +818,7 @@ void DCC::ackManagerLoop() {
           if (Diag::ACK) DIAG(F("V%d cv=%d bit=%d"),opcode==V1, ackManagerCv,ackManagerBitNum); 
           byte instruction = VERIFY_BIT | (opcode==V0?BIT_OFF:BIT_ON) | ackManagerBitNum;
           byte message[] = {cv1(BIT_MANIPULATE, ackManagerCv), cv2(ackManagerCv), instruction };
-          DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
+          DCCTrack::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
           DCCWaveform::progTrack.setAckPending(); 
         }
         break;
@@ -857,7 +872,7 @@ void DCC::ackManagerLoop() {
           }
         break;
         
-      case FAIL:  // callback(-1)
+      case CALLFAIL:  // callback(-1)
            callback(-1);
            return;
 

DCC.h

@@ -41,7 +41,7 @@ enum ackOp : byte
   ITCBV,            // If True callback(byte) - end of Verify Byte
   ITCB7,            // If True callback(byte &0x7F)
   NAKFAIL,          // if false callback(-1)
-  FAIL,             // callback(-1)
+  CALLFAIL,         // callback(-1)
   BIV,              // Set ackManagerByte to initial value for Verify retry
   STARTMERGE,       // Clear bit and byte settings ready for merge pass
   MERGE,            // Merge previous wack response with byte value and decrement bit number (use for readimng CV bytes)
@@ -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();
 
@@ -207,6 +207,10 @@ private:
 #define ARDUINO_TYPE "TEENSY40"
 #elif defined(ARDUINO_TEENSY41)
 #define ARDUINO_TYPE "TEENSY41"
+#elif defined(ARDUINO_ARCH_ESP8266)
+#define ARDUINO_TYPE "ESP8266"
+#elif defined(ARDUINO_ARCH_ESP32)
+#define ARDUINO_TYPE "ESP32"
 #else
 #error CANNOT COMPILE - DCC++ EX ONLY WORKS WITH AN ARDUINO UNO, NANO 328, OR ARDUINO MEGA 1280/2560
 #endif

DCCEX.h

@@ -30,7 +30,13 @@
 #include "DIAG.h"
 #include "DCCEXParser.h"
 #include "version.h"
+#if defined(ARDUINO_ARCH_ESP8266)
+#include "WifiESP8266.h"
+#elif defined(ARDUINO_ARCH_ESP32)
+#include "WifiESP32.h"
+#else
 #include "WifiInterface.h"
+#endif
 #if ETHERNET_ON == true
 #include "EthernetInterface.h"
 #endif
@@ -43,5 +49,10 @@
 #include "Outputs.h"
 #include "RMFT.h"
 
+// not yet in this branch
+//#if __has_include ( "myAutomation.h")
+//  #include "RMFT.h"
+//  #define RMFT_ACTIVE
+//#endif
     
 #endif

DCCEXParser.cpp

@@ -17,10 +17,12 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
+#include "DCC.h" // includes "Motordriver.h" and <Arduino.h>
+#include "defines.h"
 #include "StringFormatter.h"
 #include "DCCEXParser.h"
-#include "DCC.h"
 #include "DCCWaveform.h"
+#include "DCCTrack.h"
 #include "Turnouts.h"
 #include "Outputs.h"
 #include "Sensors.h"
@@ -31,7 +33,9 @@
 
 #include "EEStore.h"
 #include "DIAG.h"
+#ifndef ESP_FAMILY
 #include <avr/wdt.h>
+#endif
 
 ////////////////////////////////////////////////////////////////////////////////
 //
@@ -410,7 +414,7 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
             packet[i]=(byte)p[i+1];
             if (Diag::CMD) DIAG(F("packet[%d]=%d (0x%x)"), i, packet[i], packet[i]);
           }
-          (opcode=='M'?DCCWaveform::mainTrack:DCCWaveform::progTrack).schedulePacket(packet,params,3);  
+          (opcode=='M'?DCCTrack::mainTrack:DCCTrack::progTrack).schedulePacket(packet,params,3);  
         }
         return;
         
@@ -860,8 +864,12 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
 
     case HASH_KEYWORD_RESET:
         {
-          wdt_enable( WDTO_15MS); // set Arduino watchdog timer for 15ms 
-          delay(50);            // wait for the prescaller time to expire          
+#ifndef ESP_FAMILY
+          wdt_enable( WDTO_15MS); // set Arduino watchdog timer for 15ms
+          delay(50);              // wait for the prescaler time to expire
+#else
+	  /* XXX do right thing to reboot */
+#endif
           break; // and <X> if we didnt restart 
         }
         

DCCPacket.h

@@ -0,0 +1,12 @@
+#pragma once
+
+const byte MAX_PACKET_SIZE = 5;  // NMRA standard extended packets, payload size WITHOUT checksum.
+
+class dccPacket {
+ public:
+  byte data[MAX_PACKET_SIZE+1]; // space for checksum if needed
+  byte length   : 4; // future proof up to 15
+  byte repeat   : 4; // hopefully 15 enough for ever
+  //byte priority : 2; // 0 repeats; 1 mobile function ; 2 accessory ; 3 mobile speed
+};
+

DCCRMT.cpp

@@ -0,0 +1,189 @@
+/*
+ *  © 2021, Harald Barth.
+ *  
+ *  This file is part of DCC-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "config.h"
+#include "defines.h"
+#if defined(ARDUINO_ARCH_ESP32)
+#include "DIAG.h"
+#include "DCCRMT.h"
+#include "DCCWaveform.h" // for MAX_PACKET_SIZE
+#include "soc/gpio_sig_map.h"
+
+#define DATA_LEN(X) ((X)*9+1) // Each byte has one bit extra and we have one EOF marker
+
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4,2,0)
+#error wrong IDF version
+#endif
+
+void setDCCBit1(rmt_item32_t* item) {
+  item->level0    = 1;
+  item->duration0 = DCC_1_HALFPERIOD;
+  item->level1    = 0;
+  item->duration1 = DCC_1_HALFPERIOD;
+}
+
+void setDCCBit0(rmt_item32_t* item) {
+  item->level0    = 1;
+  item->duration0 = DCC_0_HALFPERIOD;
+  item->level1    = 0;
+  item->duration1 = DCC_0_HALFPERIOD;
+}
+
+// special long zero to trigger scope
+void setDCCBit0Long(rmt_item32_t* item) {
+  item->level0    = 1;
+  item->duration0 = DCC_0_HALFPERIOD + DCC_0_HALFPERIOD/10;
+  item->level1    = 0;
+  item->duration1 = DCC_0_HALFPERIOD + DCC_0_HALFPERIOD/10;
+}
+
+void setEOT(rmt_item32_t* item) {
+  item->val = 0;
+}
+
+void IRAM_ATTR interrupt(rmt_channel_t channel, void *t) {
+  RMTChannel *tt = (RMTChannel *)t;
+  tt->RMTinterrupt();
+}
+
+RMTChannel::RMTChannel(byte pin, byte ch, byte plen) {
+
+  // preamble
+  preambleLen = plen+2; // plen 1 bits, one 0 bit and one EOF marker
+  preamble = (rmt_item32_t*)malloc(preambleLen*sizeof(rmt_item32_t));
+  for (byte n=0; n<plen; n++)
+    setDCCBit1(preamble + n);      // preamble bits
+#ifdef SCOPE
+  setDCCBit0Long(preamble + plen); // start of packet 0 bit long version
+#else
+  setDCCBit0(preamble + plen);     // start of packet 0 bit normal version
+#endif
+  setEOT(preamble + plen + 1);     // EOT marker
+
+  // idle
+  idleLen = 28;
+  idle = (rmt_item32_t*)malloc(idleLen*sizeof(rmt_item32_t));
+  for (byte n=0; n<8; n++)   // 0 to 7
+    setDCCBit1(idle + n);
+  for (byte n=8; n<18; n++)  // 8, 9 to 16, 17
+    setDCCBit0(idle + n);
+  for (byte n=18; n<26; n++) // 18 to 25
+    setDCCBit1(idle + n);
+  setDCCBit1(idle + 26);     // end bit
+  setEOT(idle + 27);         // EOT marker
+
+  // data: max packet size today is 5 + checksum
+  maxDataLen = DATA_LEN(MAX_PACKET_SIZE);
+  data = (rmt_item32_t*)malloc(maxDataLen*sizeof(rmt_item32_t));
+  
+  rmt_config_t config;
+  // Configure the RMT channel for TX
+  bzero(&config, sizeof(rmt_config_t));
+  config.rmt_mode = RMT_MODE_TX;
+  config.channel = channel = (rmt_channel_t)ch;
+  config.clk_div = RMT_CLOCK_DIVIDER;
+  config.gpio_num = (gpio_num_t)pin;
+  config.mem_block_num = 2; // With longest DCC packet 11 inc checksum (future expansion)
+                            // number of bits needed is 22preamble + start +
+                            // 11*9 + extrazero + EOT = 124
+                            // 2 mem block of 64 RMT items should be enough
+
+  ESP_ERROR_CHECK(rmt_config(&config));
+  /*
+  // test: config another gpio pin
+  gpio_num_t gpioNum = (gpio_num_t)(pin-1);
+  PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpioNum], PIN_FUNC_GPIO);
+  gpio_set_direction(gpioNum, GPIO_MODE_OUTPUT);
+  gpio_matrix_out(gpioNum, RMT_SIG_OUT0_IDX, 0, 0);
+  */
+  
+  // NOTE: ESP_INTR_FLAG_IRAM is *NOT* included in this bitmask
+  ESP_ERROR_CHECK(rmt_driver_install(config.channel, 0, ESP_INTR_FLAG_LOWMED|ESP_INTR_FLAG_SHARED));
+
+  DIAG(F("Register interrupt on core %d"), xPortGetCoreID());
+
+  ESP_ERROR_CHECK(rmt_set_tx_loop_mode(channel, true));
+  rmt_register_tx_end_callback(interrupt, this);
+  rmt_set_tx_intr_en(channel, true);
+
+  DIAG(F("Starting channel %d signal generator"), config.channel);
+
+  // send one bit to kickstart the signal, remaining data will come from the
+  // packet queue. We intentionally do not wait for the RMT TX complete here.
+  //rmt_write_items(channel, preamble, preambleLen, false);
+  RMTprefill();
+  preambleNext = true;
+  dataReady = false;
+  RMTinterrupt();
+}
+
+void RMTChannel::RMTprefill() {
+  rmt_fill_tx_items(channel, preamble, preambleLen, 0);
+  rmt_fill_tx_items(channel, idle, idleLen, preambleLen-1);
+}
+
+const byte transmitMask[] = {0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02, 0x01};
+
+//bool RMTChannel::RMTfillData(const byte buffer[], byte byteCount, byte repeatCount=0) {
+bool RMTChannel::RMTfillData(dccPacket packet) {
+  // dataReady: Signals to then interrupt routine. It is set when
+  // we have data in the channel buffer which can be copied out
+  // to the HW. dataRepeat on the other hand signals back to
+  // the caller of this function if the data has been sent enough
+  // times (0 to 3 means 1 to 4 times in total).
+  if (dataReady == true || dataRepeat > 0) // we have still old work to do
+    return false;
+  if (DATA_LEN(packet.length) > maxDataLen) {  // this would overun our allocated memory for data
+    DIAG(F("Can not convert DCC bytes # %d to DCC bits %d, buffer too small"), packet.length, maxDataLen);
+    return false;                          // something very broken, can not convert packet
+  }
+
+  byte *buffer = packet.data;
+  
+  // convert bytes to RMT stream of "bits"
+  byte bitcounter = 0;
+  for(byte n=0; n<packet.length; n++) {
+    for(byte bit=0; bit<8; bit++) {
+      if (buffer[n] & transmitMask[bit])
+	setDCCBit1(data + bitcounter++);
+      else
+	setDCCBit0(data + bitcounter++);
+    }
+    setDCCBit0(data + bitcounter++); // zero at end of each byte
+  }
+  setDCCBit1(data + bitcounter-1);     // overwrite previous zero bit with one bit
+  setEOT(data + bitcounter++);         // EOT marker
+  dataLen = bitcounter;
+  dataReady = true;
+  dataRepeat = packet.repeat+1;         // repeatCount of 0 means send once
+  return true;
+}
+
+void IRAM_ATTR RMTChannel::RMTinterrupt() {
+  //no rmt_tx_start(channel,true) as we run in loop mode
+  //preamble is always loaded at beginning of buffer
+  if (dataReady) {            // if we have new data, fill while preamble is running
+    rmt_fill_tx_items(channel, data, dataLen, preambleLen-1);
+    dataReady = false;
+  }
+  if (dataRepeat > 0)         // if a repeat count was specified, work on that
+    dataRepeat--;
+  return;
+}
+#endif //ESP32

DCCRMT.h

@@ -0,0 +1,61 @@
+/*
+ *  © 2021, Harald Barth.
+ *  
+ *  This file is part of DCC-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#include <Arduino.h>
+#if defined(ARDUINO_ARCH_ESP32)
+#include "DCCPacket.h"
+#include "driver/rmt.h"
+#include "soc/rmt_reg.h"
+#include "soc/rmt_struct.h"
+
+// make calculations easy and set up for microseconds
+#define RMT_CLOCK_DIVIDER 80
+#define DCC_1_HALFPERIOD 58  //4640 // 1 / 80000000 * 4640 = 58us
+#define DCC_0_HALFPERIOD 100 //8000
+
+class RMTChannel {
+ public:
+  RMTChannel(byte pin, byte ch, byte plen);
+  void IRAM_ATTR RMTinterrupt();
+  void RMTprefill();
+  bool RMTfillData(dccPacket packet);
+  //bool RMTfillData(const byte buffer[], byte byteCount, byte repeatCount);
+  
+  static RMTChannel mainRMTChannel;
+  static RMTChannel progRMTChannel;
+  
+ private:
+    
+  rmt_channel_t channel;
+  // 3 types of data to send, preamble and then idle or data
+  // if this is prog track, idle will contain reset instead
+  rmt_item32_t *idle;
+  byte idleLen;
+  rmt_item32_t *preamble;
+  byte preambleLen;
+  rmt_item32_t *data;
+  byte dataLen;
+  byte maxDataLen;
+  // flags 
+  volatile bool preambleNext = true;  // alternate between preamble and content
+  volatile bool dataReady = false;    // do we have real data available or send idle
+  volatile byte dataRepeat = 0;
+};
+#endif //ESP32

DCCTimer.cpp

@@ -44,7 +44,7 @@
 
 #include "DCCTimer.h"
 const int DCC_SIGNAL_TIME=58;  // this is the 58uS DCC 1-bit waveform half-cycle 
-const long CLOCK_CYCLES=(F_CPU / 1000000 * DCC_SIGNAL_TIME) >>1;
+const long CLOCK_CYCLES=(F_CPU / 1000000 * DCC_SIGNAL_TIME);
 
 INTERRUPT_CALLBACK interruptHandler=0;
 
@@ -53,11 +53,11 @@ INTERRUPT_CALLBACK interruptHandler=0;
   
   void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
     interruptHandler=callback;
-    noInterrupts(); 
+    noInterrupts();
     ADC0.CTRLC = (ADC0.CTRLC & 0b00110000) | 0b01000011;  // speed up analogRead sample time   
     TCB0.CTRLB = TCB_CNTMODE_INT_gc & ~TCB_CCMPEN_bm; // timer compare mode with output disabled
     TCB0.CTRLA = TCB_CLKSEL_CLKDIV2_gc; //   8 MHz ~ 0.125 us      
-    TCB0.CCMP =  CLOCK_CYCLES -1;  // 1 tick less for timer reset
+    TCB0.CCMP =  (CLOCK_CYCLES>>1) -1;  // 1 tick less for timer reset
     TCB0.INTFLAGS = TCB_CAPT_bm; // clear interrupt request flag
     TCB0.INTCTRL = TCB_CAPT_bm;  // Enable the interrupt
     TCB0.CNT = 0;
@@ -146,6 +146,50 @@ void DCCTimer::read(uint8_t word, uint8_t *mac, uint8_t offset) {
 }
 #endif
 
+#elif defined(ARDUINO_ARCH_ESP8266)
+
+void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
+  interruptHandler=callback;
+  timer1_disable();
+
+  // There seem to be differnt ways to attach interrupt handler
+  //    ETS_FRC_TIMER1_INTR_ATTACH(NULL, NULL);
+  //    ETS_FRC_TIMER1_NMI_INTR_ATTACH(interruptHandler);
+  // Let us choose the one from the API
+  timer1_attachInterrupt(interruptHandler);
+
+  // not exactly sure of order:
+  timer1_enable(TIM_DIV1, TIM_EDGE, TIM_LOOP);
+  timer1_write(CLOCK_CYCLES);
+}
+// We do not support to use PWM to make the Waveform on ESP
+bool IRAM_ATTR DCCTimer::isPWMPin(byte pin) {
+  return false;
+}
+void IRAM_ATTR DCCTimer::setPWM(byte pin, bool high) {
+}
+
+#elif defined(ARDUINO_ARCH_ESP32)
+// https://www.visualmicro.com/page/Timer-Interrupts-Explained.aspx
+
+portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
+
+void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
+  interruptHandler = callback;
+  hw_timer_t *timer = NULL;
+  timer = timerBegin(0, 2, true); // prescaler can be 2 to 65536 so choose 2
+  timerAttachInterrupt(timer, interruptHandler, true);
+  timerAlarmWrite(timer, CLOCK_CYCLES / 6, true); // divide by prescaler*3 (Clockbase is 80Mhz and not F_CPU 240Mhz)
+  timerAlarmEnable(timer);
+}
+
+// We do not support to use PWM to make the Waveform on ESP
+bool IRAM_ATTR DCCTimer::isPWMPin(byte pin) {
+  return false;
+}
+void IRAM_ATTR DCCTimer::setPWM(byte pin, bool high) {
+}
+
 #else 
   // Arduino nano, uno, mega etc
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
@@ -159,10 +203,10 @@ void DCCTimer::read(uint8_t word, uint8_t *mac, uint8_t offset) {
 
   void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
     interruptHandler=callback;
-    noInterrupts();          
+    noInterrupts();
     ADCSRA = (ADCSRA & 0b11111000) | 0b00000100;   // speed up analogRead sample time 
     TCCR1A = 0;
-    ICR1 = CLOCK_CYCLES;
+    ICR1 = CLOCK_CYCLES>>1;
     TCNT1 = 0;   
     TCCR1B = _BV(WGM13) | _BV(CS10);     // Mode 8, clock select 1
     TIMSK1 = _BV(TOIE1); // Enable Software interrupt

DCCTimer.h

@@ -37,4 +37,14 @@ class DCCTimer {
   private:
 };
 
+#if defined(ARDUINO_ARCH_ESP32)
+extern portMUX_TYPE timerMux;
 #endif
+
+#if !(defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_ESP8266))
+#ifndef IRAM_ATTR
+#define IRAM_ATTR
+#endif
+#endif
+
+#endif //DCCTimer.h

DCCTrack.cpp

@@ -0,0 +1,38 @@
+
+#include "defines.h"
+#include "DCCTrack.h"
+#include "DIAG.h"
+
+DCCTrack::DCCTrack(DCCWaveform *w) {
+  waveform = w;
+}
+
+void DCCTrack::schedulePacket(const byte buffer[], byte byteCount, byte repeats) {
+  dccPacket packet;
+
+  // add checksum now, makes stuff easier later
+  byte checksum = 0;
+  for (byte b = 0; b < byteCount; b++) {
+    checksum ^= buffer[b];
+    packet.data[b] = buffer[b];
+  }
+  packet.data[byteCount] = checksum;
+  packet.length = byteCount + 1;
+  packet.repeat = repeats;
+  schedulePacket(packet);
+};
+
+void DCCTrack::schedulePacket(dccPacket packet) {
+  bool once=true;
+  for (const auto& driver: mD) {
+    if (driver->type() == RMT_MAIN || driver->type() == RMT_PROG) {
+      //DIAG(F("DCCTrack::schedulePacket RMT l=%d d=%x"),packet.length, packet.data[0]);
+      driver->schedulePacket(packet);
+    }
+    if (driver->type() & (TIMER_MAIN | TIMER_PROG) && waveform && once) {
+      //DIAG(F("DCCTrack::schedulePacket WAVE l=%d d=%x"),packet.length, packet.data[0]);
+      waveform->schedulePacket(packet);
+      once=false;
+    }
+  }
+}

DCCTrack.h

@@ -0,0 +1,23 @@
+
+#pragma once
+#include <Arduino.h>
+#include "DCCPacket.h"
+#include "DCCWaveform.h"
+#include "DIAG.h"
+
+class DCCTrack {
+ public:
+  DCCTrack(DCCWaveform *w);
+  void schedulePacket(const byte buffer[], byte byteCount, byte repeats);
+  void schedulePacket(dccPacket packet);
+  inline void addDriver(MotorDriver *m) {
+    mD.push_back(m);
+  };
+  static DCCTrack mainTrack;
+  static DCCTrack progTrack;
+ private:
+  DCCWaveform *waveform;
+  std::vector<MotorDriver *>mD;
+};
+
+

DCCWaveform.cpp

@@ -20,14 +20,26 @@
 
 #include <Arduino.h>
 
+#include "defines.h"
 #include "DCCWaveform.h"
+#include "DCCTrack.h"
 #include "DCCTimer.h"
 #include "DIAG.h"
 #include "freeMemory.h"
 
+// The two Waveforms which defines what happens when the
+// interrupt driven DCC signal is generated. This is tied
+// to the timer interrupts of the hardware.
 DCCWaveform  DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
 DCCWaveform  DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
 
+
+// The two different DCC _kinds_ of signals we want to be able
+// to genrate at the same time. When timer interupts are used,
+// these need the respective waveform
+DCCTrack DCCTrack::mainTrack(&DCCWaveform::mainTrack);
+DCCTrack DCCTrack::progTrack(&DCCWaveform::progTrack);
+
 bool DCCWaveform::progTrackSyncMain=false; 
 bool DCCWaveform::progTrackBoosted=false; 
 int  DCCWaveform::progTripValue=0;
@@ -36,48 +48,89 @@ volatile uint8_t DCCWaveform::numAckSamples=0;
 uint8_t DCCWaveform::trailingEdgeCounter=0;
 
 void DCCWaveform::begin(MotorDriver * mainDriver, MotorDriver * progDriver) {
-  mainTrack.motorDriver=mainDriver;
-  progTrack.motorDriver=progDriver;
-  progTripValue = progDriver->mA2raw(TRIP_CURRENT_PROG); // need only calculate once hence static
-  mainTrack.setPowerMode(POWERMODE::OFF);      
-  progTrack.setPowerMode(POWERMODE::OFF);
-  // Fault pin config for odd motor boards (example pololu)
-  MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
-				 && (mainDriver->getFaultPin() != UNUSED_PIN));
-  // Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
-  MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
-  DIAG(F("Signal pin config: %S accuracy waveform"),
+
+  if(mainDriver) {
+    mainTrack.motorDriver=mainDriver;
+    mainTrack.setPowerMode(POWERMODE::OFF);
+  }
+  if(progDriver) {
+    progTrack.motorDriver=progDriver;
+    progTripValue = progDriver->mA2raw(TRIP_CURRENT_PROG); // need only calculate once hence static
+    progTrack.setPowerMode(POWERMODE::OFF);
+  }
+  if(mainDriver && progDriver) {
+    // Fault pin config for odd motor boards (example pololu)
+    MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
+				   && (mainDriver->getFaultPin() != UNUSED_PIN));
+    // Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
+    MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
+  }
+  if(mainDriver || progDriver) {
+    DIAG(F("Signal pin config: %S accuracy waveform"),
 	 MotorDriver::usePWM ? F("high") : F("normal") );
-  DCCTimer::begin(DCCWaveform::interruptHandler);     
+  }
+  DCCTimer::begin(DCCWaveform::interruptHandler);
 }
 
-void DCCWaveform::loop(bool ackManagerActive) {
-  mainTrack.checkPowerOverload(false);
+#ifdef SLOW_ANALOG_READ
+// Flag to hold if we need to run ack checking in loop
+volatile bool ackflag = 0;
+#endif
+
+void IRAM_ATTR DCCWaveform::loop(bool ackManagerActive) {
+
+  //if (mainTrack.packetPendingRMT) {
+  //  mainTrack.rmtPin->RMTfillData(mainTrack.pendingPacket, mainTrack.pendingLength, mainTrack.pendingRepeats);
+  //  mainTrack.packetPendingRMT=false;
+    // sentResetsSincePacket = 0 // later when progtrack
+  //}
+
+#ifdef SLOW_ANALOG_READ
+  if (ackflag) {
+    progTrack.checkAck();
+    // reset flag AFTER check is done
+    portENTER_CRITICAL(&timerMux);
+    ackflag = 0;
+    portEXIT_CRITICAL(&timerMux);
+  } else {
+    progTrack.checkPowerOverload(ackManagerActive);
+  }
+#else
   progTrack.checkPowerOverload(ackManagerActive);
+#endif
+  mainTrack.checkPowerOverload(false);
 }
 
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
-void DCCWaveform::interruptHandler() {
+void IRAM_ATTR DCCWaveform::interruptHandler() {
   // call the timer edge sensitive actions for progtrack and maintrack
   // member functions would be cleaner but have more overhead
   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];    
-
-
   // WAVE_PENDING means we dont yet know what the next bit is
-  if (mainTrack.state==WAVE_PENDING) mainTrack.interrupt2();  
-  if (progTrack.state==WAVE_PENDING) progTrack.interrupt2();
-  else if (progTrack.ackPending) progTrack.checkAck();
-
+  if (mainTrack.state==WAVE_PENDING)
+    mainTrack.interrupt2();
+  if (progTrack.state==WAVE_PENDING)
+    progTrack.interrupt2();
+#ifdef SLOW_ANALOG_READ
+  else if (progTrack.ackPending && ackflag == 0) { // We need AND we are not already checking
+    portENTER_CRITICAL(&timerMux);
+    ackflag = 1;
+    portEXIT_CRITICAL(&timerMux);
+  }
+#else
+  else if (progTrack.ackPending)
+    progTrack.checkAck();
+#endif
 }
 #pragma GCC push_options
 
@@ -94,6 +147,7 @@ const byte bitMask[] = {0x00, 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02, 0x01};
 DCCWaveform::DCCWaveform( byte preambleBits, bool isMain) {
   isMainTrack = isMain;
   packetPending = false;
+  packetPendingRMT = false;
   memcpy(transmitPacket, idlePacket, sizeof(idlePacket));
   state = WAVE_START;
   // The +1 below is to allow the preamble generator to create the stop bit
@@ -113,12 +167,14 @@ 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();
@@ -202,7 +258,7 @@ const bool DCCWaveform::signalTransform[]={
         
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
-void DCCWaveform::interrupt2() {
+void IRAM_ATTR DCCWaveform::interrupt2() {
   // calculate the next bit to be sent:
   // set state WAVE_MID_1  for a 1=bit
   //        or WAVE_HIGH_0 for a 0 bit.
@@ -212,7 +268,9 @@ void DCCWaveform::interrupt2() {
     remainingPreambles--;
     // Update free memory diagnostic as we don't have anything else to do this time.
     // Allow for checkAck and its called functions using 22 bytes more.
-    updateMinimumFreeMemory(22); 
+#ifndef ESP_FAMILY
+    updateMinimumFreeMemory(22);
+#endif
     return;
   }
 
@@ -237,7 +295,8 @@ void DCCWaveform::interrupt2() {
         transmitRepeats--;
       }
       else if (packetPending) {
-        // Copy pending packet to transmit packet
+	portENTER_CRITICAL(&timerMux);
+	// Copy pending packet to transmit packet
         // a fixed length memcpy is faster than a variable length loop for these small lengths
         // for (int b = 0; b < pendingLength; b++) transmitPacket[b] = pendingPacket[b];
         memcpy( transmitPacket, pendingPacket, sizeof(pendingPacket));
@@ -246,6 +305,7 @@ void DCCWaveform::interrupt2() {
         transmitRepeats = pendingRepeats;
         packetPending = false;
         sentResetsSincePacket=0;
+	portEXIT_CRITICAL(&timerMux);
       }
       else {
         // Fortunately reset and idle packets are the same length
@@ -262,26 +322,29 @@ void DCCWaveform::interrupt2() {
 
 // Wait until there is no packet pending, then make this pending
 void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repeats) {
-  if (byteCount > MAX_PACKET_SIZE) return; // allow for chksum
+  if (byteCount > MAX_PACKET_SIZE+1) return; // has chksum
   while (packetPending);
-
-  byte checksum = 0;
+  portENTER_CRITICAL(&timerMux);
+  //byte checksum = 0;
   for (byte b = 0; b < byteCount; b++) {
-    checksum ^= buffer[b];
+    //checksum ^= buffer[b];
     pendingPacket[b] = buffer[b];
   }
   // buffer is MAX_PACKET_SIZE but pendingPacket is one bigger
-  pendingPacket[byteCount] = checksum;
-  pendingLength = byteCount + 1;
+  //pendingPacket[byteCount] = checksum;
+  pendingLength = byteCount /*+ 1*/;
   pendingRepeats = repeats;
   packetPending = true;
+  packetPendingRMT = true;
   sentResetsSincePacket=0;
+  portEXIT_CRITICAL(&timerMux);
 }
 
 // Operations applicable to PROG track ONLY.
 // (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);
@@ -304,6 +367,7 @@ 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);
@@ -313,14 +377,15 @@ byte DCCWaveform::getAck() {
 
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
-void DCCWaveform::checkAck() {
+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;
         ackPending = false;
         return; 
     }
-      
+
     int current=motorDriver->getCurrentRaw();
     numAckSamples++;
     if (current > ackMaxCurrent) ackMaxCurrent=current;

DCCWaveform.h

@@ -20,6 +20,7 @@
 #ifndef DCCWaveform_h
 #define DCCWaveform_h
 
+#include "DCCRMT.h"
 #include "MotorDriver.h"
 
 // Wait times for power management. Unit: milliseconds
@@ -27,10 +28,8 @@ const int  POWER_SAMPLE_ON_WAIT = 100;
 const int  POWER_SAMPLE_OFF_WAIT = 1000;
 const int  POWER_SAMPLE_OVERLOAD_WAIT = 20;
 
-// Number of preamble bits.
-const int   PREAMBLE_BITS_MAIN = 16;
-const int   PREAMBLE_BITS_PROG = 22;
-const byte   MAX_PACKET_SIZE = 5;  // NMRA standard extended packets, payload size WITHOUT checksum.
+//const byte   MAX_PACKET_SIZE = 5;  // NMRA standard extended packets, payload size WITHOUT checksum.
+#include "DCCPacket.h"
 
 // The WAVE_STATE enum is deliberately numbered because a change of order would be catastrophic
 // to the transform array.
@@ -80,8 +79,12 @@ class DCCWaveform {
       }
       return tripmA;        
     }
+    inline void schedulePacket(dccPacket packet) {
+      schedulePacket(packet.data, packet.length, packet.repeat);
+    };
     void schedulePacket(const byte buffer[], byte byteCount, byte repeats);
     volatile bool packetPending;
+    volatile bool packetPendingRMT;
     volatile byte sentResetsSincePacket;
     volatile bool autoPowerOff=false;
     void setAckBaseline();  //prog track only

FSH.h

@@ -41,6 +41,7 @@
 typedef char FSH; 
 #define GETFLASH(addr) (*(const unsigned char *)(addr))
 #define GETFLASHW(addr) (*(const unsigned short *)(addr))
+#define GETFLASHP(addr) (*(void * const *)(addr))
 #define FLASH
 #define strlen_P strlen
 #define strcpy_P strcpy
@@ -48,6 +49,7 @@ typedef char FSH;
 typedef __FlashStringHelper FSH;
 #define GETFLASH(addr) pgm_read_byte_near(addr)
 #define GETFLASHW(addr) pgm_read_word_near(addr)
+#define GETFLASHP(addr) pgm_read_ptr_near(addr)
 #define FLASH PROGMEM
 #endif
 #endif

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "197228c"
+#define GITHUB_SHA "ESP32-motordriver-2021129-00:12"

IO_GPIOBase.h

@@ -69,6 +69,10 @@ protected:
 
   I2CRB requestBlock;
   FSH *_deviceName;
+#if defined(ARDUINO_ARCH_ESP32)
+  // workaround: Has somehow no min function for all types
+  static inline T min(T a, int b) { return a < b ? a : b; };
+#endif
 };
 
 // Because class GPIOBase is a template, the implementation (below) must be contained within the same
@@ -246,4 +250,4 @@ int GPIOBase<T>::_read(VPIN vpin) {
   return (_portInputState & mask) ? 0 : 1;  // Invert state (5v=0, 0v=1)
 }
 
-#endif
+#endif

IO_MCP23008.h

@@ -97,4 +97,4 @@ private:
 
 };
 
-#endif
+#endif

IO_PCF8574.h

@@ -75,7 +75,7 @@ private:
     if (immediate) {
       uint8_t buffer[1];
       I2CManager.read(_I2CAddress, buffer, 1);
-      _portInputState = ((uint16_t)buffer) & 0xff;
+      _portInputState = buffer[0];
     } else {
       requestBlock.wait(); // Wait for preceding operation to complete
       // Issue new request to read GPIO register
@@ -86,7 +86,7 @@ private:
   // This function is invoked when an I/O operation on the requestBlock completes.
   void _processCompletion(uint8_t status) override {
     if (status == I2C_STATUS_OK) 
-      _portInputState = ((uint16_t)inputBuffer[0]) & 0xff;
+      _portInputState = inputBuffer[0];
     else  
       _portInputState = 0xff; 
   }
@@ -99,4 +99,4 @@ private:
   uint8_t inputBuffer[1];
 };
 
-#endif
+#endif

MotorDriver.cpp

@@ -17,35 +17,47 @@
  *  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"
-
-#define setHIGH(fastpin)  *fastpin.inout |= fastpin.maskHIGH
-#define setLOW(fastpin)   *fastpin.inout &= fastpin.maskLOW
-#define isHIGH(fastpin)   (*fastpin.inout & fastpin.maskHIGH)
-#define isLOW(fastpin)    (!isHIGH(fastpin))
+#if defined(ARDUINO_ARCH_ESP32)
+#include <driver/adc.h>
+#define pinToADC1Channel(X) (adc1_channel_t)(((X) > 35) ? (X)-36 : (X)-28)
+#endif
 
 bool MotorDriver::usePWM=false;
 bool MotorDriver::commonFaultPin=false;
        
 MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
-                         byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
+                         byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin,
+			 driverType dt) {
+  dtype = dt;
   powerPin=power_pin;
   getFastPin(F("POWER"),powerPin,fastPowerPin);
   pinMode(powerPin, OUTPUT);
-  
-  signalPin=signal_pin;
-  getFastPin(F("SIG"),signalPin,fastSignalPin);
-  pinMode(signalPin, OUTPUT);
-  
-  signalPin2=signal_pin2;
-  if (signalPin2!=UNUSED_PIN) {
-    dualSignal=true;
-    getFastPin(F("SIG2"),signalPin2,fastSignalPin2);
-    pinMode(signalPin2, OUTPUT);
+
+  if (dtype == RMT_MAIN) {
+    signalPin=signal_pin;
+#if defined(ARDUINO_ARCH_ESP32)
+    rmtChannel = new RMTChannel(signalPin, 0, PREAMBLE_BITS_MAIN);
+#endif
+    dualSignal=false;
+  } else if (dtype & (TIMER_MAIN | TIMER_PROG)) {
+    signalPin=signal_pin;
+    getFastPin(F("SIG"),signalPin,fastSignalPin);
+    pinMode(signalPin, OUTPUT);
+
+    signalPin2=signal_pin2;
+    if (signalPin2!=UNUSED_PIN) {
+      dualSignal=true;
+      getFastPin(F("SIG2"),signalPin2,fastSignalPin2);
+      pinMode(signalPin2, OUTPUT);
+    }  else {
+      dualSignal=false;
+    }
   }
-  else dualSignal=false; 
   
   brakePin=brake_pin;
   if (brake_pin!=UNUSED_PIN){
@@ -59,8 +71,15 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
   
   currentPin=current_pin;
   if (currentPin!=UNUSED_PIN) {
+#if defined(ARDUINO_ARCH_ESP32)
+    pinMode(currentPin, ANALOG);
+    adc1_config_width(ADC_WIDTH_BIT_12);
+    adc1_config_channel_atten(pinToADC1Channel(currentPin),ADC_ATTEN_DB_11);
+    senseOffset = adc1_get_raw(pinToADC1Channel(currentPin));
+#else
     pinMode(currentPin, INPUT);
     senseOffset=analogRead(currentPin); // value of sensor at zero current
+#endif
   }
 
   faultPin=fault_pin;
@@ -110,7 +129,7 @@ void MotorDriver::setBrake(bool on) {
   else setLOW(fastBrakePin);
 }
 
-void MotorDriver::setSignal( bool high) {
+void IRAM_ATTR MotorDriver::setSignal( bool high) {
    if (usePWM) {
     DCCTimer::setPWM(signalPin,high);
    }
@@ -155,6 +174,8 @@ int MotorDriver::getCurrentRaw() {
   current = analogRead(currentPin)-senseOffset;
   overflow_count = 0;
   SREG = sreg_backup;    /* restore interrupt state */
+#elif defined(ARDUINO_ARCH_ESP32)
+  current = adc1_get_raw(pinToADC1Channel(currentPin))-senseOffset;
 #else
   current = analogRead(currentPin)-senseOffset;
 #endif
@@ -176,8 +197,8 @@ int MotorDriver::mA2raw( unsigned int mA) {
 
 void  MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {
     // DIAG(F("MotorDriver %S Pin=%d,"),type,pin);
-    (void) type; // avoid compiler warning if diag not used above. 
-    uint8_t port = digitalPinToPort(pin);
+    (void) type; // avoid compiler warning if diag not used above.
+    PORTTYPE port = digitalPinToPort(pin);
     if (input)
       result.inout = portInputRegister(port);
     else
@@ -186,3 +207,69 @@ 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);
 }
+
+bool MotorDriver::schedulePacket(dccPacket packet) {
+  if(!rmtChannel) return true; // fake success if functionality is not there
+
+  outQueue.push(packet);
+  uint16_t size = outQueue.size();
+  if (size > 10) {
+    DIAG(F("Warning: outQueue %d > 10"),size);
+  }
+  return true;
+}
+
+void MotorDriver::loop() {
+  if (rmtChannel  && !outQueue.empty() && rmtChannel->RMTfillData(outQueue.front()))
+    outQueue.pop();
+}
+
+MotorDriverContainer::MotorDriverContainer(const FSH * motorShieldName,
+					   MotorDriver *m0,
+					   MotorDriver *m1,
+					   MotorDriver *m2,
+					   MotorDriver *m3,
+					   MotorDriver *m4,
+					   MotorDriver *m5,
+					   MotorDriver *m6,
+					   MotorDriver *m7) {
+  // THIS AUTOMATIC DOES NOT WORK YET. TIMER_MAIN AND TIMER_PROG required in CONSTRUCTOR
+  // AND CAN NOT BE ADDED LATER
+  if (m0) {
+    if (m0->type() == TYPE_UNKNOWN)
+      m0->setType(TIMER_MAIN);
+    mD.push_back(m0);
+  }
+  if (m1) {
+    if (m1->type() == TYPE_UNKNOWN)
+      m1->setType(TIMER_PROG);
+    mD.push_back(m1);
+  }
+  if (m2) mD.push_back(m2);
+  if (m3) mD.push_back(m3);
+  if (m4) mD.push_back(m4);
+  if (m5) mD.push_back(m5);
+  if (m6) mD.push_back(m6);
+  if (m7) mD.push_back(m7);
+  shieldName = (FSH *)motorShieldName;
+}
+
+void MotorDriverContainer::loop() {
+  // loops over MotorDrivers which have loop tasks
+  if (mD.empty())
+    return;
+  for(const auto& d: mD)
+    if (d->type() & (RMT_MAIN | RMT_PROG))
+      d->loop();
+}
+
+std::vector<MotorDriver*> MotorDriverContainer::getDriverType(driverType t) {
+  std::vector<MotorDriver*> v;
+  for(const auto& d: mD){
+    if (d->type() & t)
+      v.push_back(d);
+  }
+  return v;
+}
+
+MotorDriverContainer MotorDriverContainer::mDC(MOTOR_SHIELD_TYPE);

MotorDriver.h

@@ -16,23 +16,36 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 #ifndef MotorDriver_h
 #define MotorDriver_h
+#include <vector>
+#include "defines.h"
 #include "FSH.h"
+#include "DIAG.h"
 
-// Virtualised Motor shield 1-track hardware Interface
+#if defined(ARDUINO_ARCH_ESP32)
+#include <queue>
+#include "DCCRMT.h"
+#endif
+
+// Number of preamble bits (moved here so MotorDriver and Waveform know)
+const int   PREAMBLE_BITS_MAIN = 16;
+const int   PREAMBLE_BITS_PROG = 22;
 
 #ifndef UNUSED_PIN     // sync define with the one in MotorDrivers.h
 #define UNUSED_PIN 127 // inside int8_t
 #endif
 
-#if defined(__IMXRT1062__)
+#if defined(__IMXRT1062__) || defined(ESP_FAMILY)
+typedef uint32_t PORTTYPE;
 struct FASTPIN {
   volatile uint32_t *inout;
   uint32_t maskHIGH;  
   uint32_t maskLOW;  
 };
 #else
+typedef uint8_t PORTTYPE;
 struct FASTPIN {
   volatile uint8_t *inout;
   uint8_t maskHIGH;  
@@ -40,16 +53,31 @@ struct FASTPIN {
 };
 #endif
 
+#define setHIGH(fastpin)  *fastpin.inout |= fastpin.maskHIGH
+#define setLOW(fastpin)   *fastpin.inout &= fastpin.maskLOW
+#define isHIGH(fastpin)   (*fastpin.inout & fastpin.maskHIGH)
+#define isLOW(fastpin)    (!isHIGH(fastpin))
+
+typedef byte driverType;
+const driverType TYPE_UNKNOWN=0;
+const driverType TIMER_MAIN=1;
+const driverType TIMER_PROG=2;
+const driverType RMT_MAIN=4;
+const driverType RMT_PROG=16;
+const driverType DC_ENA=32;
+const driverType DC_BRAKE=64;
+		  
 class MotorDriver {
   public:
     MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, 
-                byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
-    virtual void setPower( bool on);
-    virtual void setSignal( bool high);
-    virtual void setBrake( bool on);
-    virtual int  getCurrentRaw();
-    virtual unsigned int raw2mA( int raw);
-    virtual int mA2raw( unsigned int mA);
+                byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin,
+		driverType t=TYPE_UNKNOWN);
+    void setPower( bool on);
+    void setSignal( bool high);
+    void setBrake( bool on);
+    int  getCurrentRaw();
+    unsigned int raw2mA( int raw);
+    int mA2raw( unsigned int mA);
     inline int getRawCurrentTripValue() {
 	    return rawCurrentTripValue;
     }
@@ -60,6 +88,13 @@ class MotorDriver {
     inline byte getFaultPin() {
 	return faultPin;
     }
+#if defined(ARDUINO_ARCH_ESP32)
+    void loop();
+    inline driverType type() { return dtype; };
+    inline void setType(driverType t) { dtype = t; };
+    bool schedulePacket(dccPacket packet);
+#endif
+
   private:
     void  getFastPin(const FSH* type,int pin, bool input, FASTPIN & result);
     void  getFastPin(const FSH* type,int pin, FASTPIN & result) {
@@ -84,5 +119,53 @@ class MotorDriver {
       if (doit) __enable_irq();
     }
 #endif
+#if defined(ARDUINO_ARCH_ESP32)
+  RMTChannel* rmtChannel;
+  std::queue<dccPacket> outQueue;
+  driverType dtype;
+#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);
+  static MotorDriverContainer mDC;
+  inline void add(MotorDriver *m) {
+    mD.push_back(m);
+  };
+  //  void SetCapability(byte n, byte cap, char [] name);
+  inline FSH *getMotorShieldName() { return shieldName; };
+  inline void diag() {
+    if (mD.empty()) {
+      DIAG(F("Container empty"));
+      return;
+    }
+    for(const auto& d: mD)
+      DIAG(F("Container: mDType=%d"),d->type());
+  };
+  inline MotorDriver *mainTrack() {
+    std::vector<MotorDriver *> v = getDriverType(TIMER_MAIN);
+    if(v.empty()) return NULL;
+    return v.front();
+  };
+  inline MotorDriver *progTrack() {
+    std::vector<MotorDriver *> v = getDriverType(TIMER_PROG);
+    if(v.empty()) return NULL;
+    return v.front();
+  };
+  void loop();
+  std::vector<MotorDriver*>  getDriverType(driverType t);
+
+private:
+  std::vector<MotorDriver *>mD;
+  FSH *shieldName;
 };
 #endif

RMFTMacros.h

@@ -226,16 +226,16 @@ const int StringMacroTracker1=__COUNTER__;
 
 // Define macros for route code creation 
 #define V(val) ((int16_t)(val))&0x00FF,((int16_t)(val)>>8)&0x00FF
-#define NOP 0,0
+#define NOOPERAND 0,0
 
 #define ALIAS(name,value) 
 #define EXRAIL const  FLASH  byte RMFT2::RouteCode[] = {
 #define AUTOMATION(id, description)  OPCODE_AUTOMATION, V(id), 
 #define ROUTE(id, description)  OPCODE_ROUTE, V(id), 
 #define SEQUENCE(id)  OPCODE_SEQUENCE, V(id), 
-#define ENDTASK OPCODE_ENDTASK,NOP,
-#define DONE OPCODE_ENDTASK,NOP,
-#define ENDEXRAIL OPCODE_ENDTASK,NOP,OPCODE_ENDEXRAIL,NOP };
+#define ENDTASK OPCODE_ENDTASK,NOOPERAND,
+#define DONE OPCODE_ENDTASK,NOOPERAND,
+#define ENDEXRAIL OPCODE_ENDTASK,NOOPERAND,OPCODE_ENDEXRAIL,NOOPERAND };
  
 #define AFTER(sensor_id) OPCODE_AT,V(sensor_id),OPCODE_AFTER,V(sensor_id),
 #define AMBER(signal_id) OPCODE_AMBER,V(signal_id),
@@ -245,7 +245,7 @@ const int StringMacroTracker1=__COUNTER__;
 #define DELAY(ms) OPCODE_DELAY,V(ms/100L),
 #define DELAYMINS(mindelay) OPCODE_DELAYMINS,V(mindelay),
 #define DELAYRANDOM(mindelay,maxdelay) OPCODE_DELAY,V(mindelay/100L),OPCODE_RANDWAIT,V((maxdelay-mindelay)/100L),
-#define ENDIF  OPCODE_ENDIF,NOP,
+#define ENDIF  OPCODE_ENDIF,NOOPERAND,
 #define ESTOP OPCODE_SPEED,V(1), 
 #define FADE(pin,value,ms) OPCODE_SERVO,V(pin),OPCODE_PAD,V(value),OPCODE_PAD,V(PCA9685::ProfileType::UseDuration|PCA9685::NoPowerOff),OPCODE_PAD,V(ms/100L),
 #define FOFF(func) OPCODE_FOFF,V(func),
@@ -258,23 +258,23 @@ const int StringMacroTracker1=__COUNTER__;
 #define IFNOT(sensor_id) OPCODE_IFNOT,V(sensor_id),
 #define IFRANDOM(percent) OPCODE_IFRANDOM,V(percent),
 #define IFRESERVE(block) OPCODE_IFRESERVE,V(block),
-#define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,NOP,
-#define JOIN OPCODE_JOIN,NOP,
+#define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,NOOPERAND,
+#define JOIN OPCODE_JOIN,NOOPERAND,
 #define LATCH(sensor_id) OPCODE_LATCH,V(sensor_id),
 #define LCD(id,msg) PRINT(msg)
 #define LCN(msg) PRINT(msg)
 #define ONCLOSE(turnout_id) OPCODE_ONCLOSE,V(turnout_id),
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
-#define PAUSE OPCODE_PAUSE,NOP,
+#define PAUSE OPCODE_PAUSE,NOOPERAND,
 #define POM(cv,value) OPCODE_POM,V(cv),OPCODE_PAD,V(value),
-#define POWEROFF OPCODE_POWEROFF,NOP,
+#define POWEROFF OPCODE_POWEROFF,NOOPERAND,
 #define PRINT(msg) OPCODE_PRINT,V(__COUNTER__ - StringMacroTracker2),
-#define READ_LOCO OPCODE_READ_LOCO1,NOP,OPCODE_READ_LOCO2,NOP,
+#define READ_LOCO OPCODE_READ_LOCO1,NOOPERAND,OPCODE_READ_LOCO2,NOOPERAND,
 #define RED(signal_id) OPCODE_RED,V(signal_id),
 #define RESERVE(blockid) OPCODE_RESERVE,V(blockid),
 #define RESET(pin) OPCODE_RESET,V(pin),
-#define RESUME OPCODE_RESUME,NOP,
-#define RETURN OPCODE_RETURN,NOP,
+#define RESUME OPCODE_RESUME,NOOPERAND,
+#define RETURN OPCODE_RETURN,NOOPERAND,
 #define REV(speed) OPCODE_REV,V(speed),
 #define SENDLOCO(cab,route) OPCODE_SENDLOCO,V(cab),OPCODE_PAD,V(route),
 #define SERIAL(msg) PRINT(msg)
@@ -293,7 +293,7 @@ const int StringMacroTracker1=__COUNTER__;
 #define PIN_TURNOUT(id,pin) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin), 
 #define THROW(id)  OPCODE_THROW,V(id),
 #define TURNOUT(id,addr,subaddr) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr),
-#define UNJOIN OPCODE_UNJOIN,NOP,
+#define UNJOIN OPCODE_UNJOIN,NOOPERAND,
 #define UNLATCH(sensor_id) OPCODE_UNLATCH,V(sensor_id),
 #define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),

RingStream.cpp

@@ -18,6 +18,7 @@
  */
 
 #include "RingStream.h"
+#include "defines.h"
 #include "DIAG.h"
 
 RingStream::RingStream( const uint16_t len)
@@ -30,27 +31,36 @@ RingStream::RingStream( const uint16_t len)
   _overflow=false;
   _mark=0;
   _count=0; 
+#if defined(ARDUINO_ARCH_ESP32)
+  _bufMux = portMUX_INITIALIZER_UNLOCKED;
+#endif
 }
 
 size_t RingStream::write(uint8_t b) {
   if (_overflow) return 0;
+  portENTER_CRITICAL(&_bufMux);
   _buffer[_pos_write] = b;
   ++_pos_write;
   if (_pos_write==_len) _pos_write=0;
   if (_pos_write==_pos_read) {
     _overflow=true; 
+    portEXIT_CRITICAL(&_bufMux);
     return 0;
   }
   _count++;
+  portEXIT_CRITICAL(&_bufMux);
   return 1;
 }
 
-int RingStream::read() {
-  if ((_pos_read==_pos_write) && !_overflow) return -1;  // empty  
+int RingStream::read(byte advance) {
+  if ((_pos_read==_pos_write) && !_overflow) return -1;  // empty
+  if (_pos_read == _mark) return -1;
+  portENTER_CRITICAL(&_bufMux);
   byte b=_buffer[_pos_read];
-  _pos_read++;
+  _pos_read += advance;
   if (_pos_read==_len) _pos_read=0;
   _overflow=false;
+  portEXIT_CRITICAL(&_bufMux);
   return b;
 }
 
@@ -68,11 +78,14 @@ int RingStream::freeSpace() {
 
 // mark start of message with client id (0...9)
 void RingStream::mark(uint8_t b) {
+    //DIAG(F("Mark1 len=%d count=%d pr=%d pw=%d m=%d"),_len, _count,_pos_read,_pos_write,_mark);
+    portENTER_CRITICAL(&_bufMux);
     _mark=_pos_write;
     write(b); // client id
     write((uint8_t)0);  // count MSB placemarker
     write((uint8_t)0);  // count LSB placemarker
     _count=0;
+    portEXIT_CRITICAL(&_bufMux);
 }
 
 // peekTargetMark is used by the parser stash routines to know which client
@@ -81,17 +94,25 @@ uint8_t RingStream::peekTargetMark() {
   return _buffer[_mark];
 }
 
+void RingStream::info() {
+  DIAG(F("Info len=%d count=%d pr=%d pw=%d m=%d"),_len, _count,_pos_read,_pos_write,_mark);
+}
+
 bool RingStream::commit() {
+  //DIAG(F("Commit1 len=%d count=%d pr=%d pw=%d m=%d"),_len, _count,_pos_read,_pos_write,_mark);
+  portENTER_CRITICAL(&_bufMux);
   if (_overflow) {
         DIAG(F("RingStream(%d) commit(%d) OVERFLOW"),_len, _count);
         // just throw it away 
         _pos_write=_mark;
         _overflow=false;
-        return false; // commit failed
+	portEXIT_CRITICAL(&_bufMux);
+	return false; // commit failed
   }
   if (_count==0) {
     // ignore empty response 
     _pos_write=_mark;
+    portEXIT_CRITICAL(&_bufMux);
     return true; // true=commit ok
   }
   // Go back to the _mark and inject the count 1 byte later
@@ -101,5 +122,8 @@ bool RingStream::commit() {
   _mark++;
   if (_mark==_len) _mark=0;
   _buffer[_mark]=lowByte(_count);
+  _mark=_len+1;
+  //DIAG(F("Commit2 len=%d count=%d pr=%d pw=%d m=%d"),_len, _count,_pos_read,_pos_write,_mark);
+  portEXIT_CRITICAL(&_bufMux);
   return true; // commit worked
 }

RingStream.h

@@ -28,14 +28,17 @@ class RingStream : public Print {
   
     virtual size_t write(uint8_t b);
     using Print::write;
-    int read();
+    inline int read() { return read(1); };
+    inline int peek() { return read(0); };
     int count();
     int freeSpace();
     void mark(uint8_t b);
     bool commit();
     uint8_t peekTargetMark();
-    
+    void info();
+
  private:
+   int read(byte advance);
    int _len;
    int _pos_write;
    int _pos_read;
@@ -43,6 +46,9 @@ class RingStream : public Print {
    int _mark;
    int _count;
    byte * _buffer;
+#if defined(ARDUINO_ARCH_ESP32)
+   portMUX_TYPE _bufMux;
+#endif
 };
 
 #endif

SSD1306Ascii.cpp

@@ -137,7 +137,7 @@ void SSD1306AsciiWire::begin(const DevType* dev, uint8_t i2cAddr) {
   m_i2cAddr = i2cAddr;
   m_col = 0;
   m_row = 0;
-  const uint8_t* table = (const uint8_t*)GETFLASHW(&dev->initcmds);
+  const uint8_t* table = (const uint8_t*)GETFLASHP(&dev->initcmds);
   uint8_t size = GETFLASH(&dev->initSize);
   m_displayWidth = GETFLASH(&dev->lcdWidth);
   m_displayHeight = GETFLASH(&dev->lcdHeight);

WifiESP32.cpp

@@ -0,0 +1,246 @@
+/*
+    © 2021, Harald Barth.
+
+    This file is part of CommandStation-EX
+
+    This is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    It is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+*/
+
+#include <vector>
+#include "defines.h"
+#if defined(ARDUINO_ARCH_ESP32)
+#include <WiFi.h>
+#include "WifiESP32.h"
+#include "DIAG.h"
+#include "RingStream.h"
+#include "CommandDistributor.h"
+/*
+#include "soc/rtc_wdt.h"
+#include "esp_task_wdt.h"
+*/
+
+#include "soc/timer_group_struct.h"
+#include "soc/timer_group_reg.h"
+void feedTheDog0(){
+  // feed dog 0
+  TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; // write enable
+  TIMERG0.wdt_feed=1;                       // feed dog
+  TIMERG0.wdt_wprotect=0;                   // write protect
+  // feed dog 1
+  //TIMERG1.wdt_wprotect=TIMG_WDT_WKEY_VALUE; // write enable
+  //TIMERG1.wdt_feed=1;                       // feed dog
+  //TIMERG1.wdt_wprotect=0;                   // write protect
+}
+
+/*
+void enableCoreWDT(byte core){
+  TaskHandle_t idle = xTaskGetIdleTaskHandleForCPU(core);
+  if(idle == NULL){
+    DIAG(F("Get idle rask on core %d failed"),core);
+  } else {
+    if(esp_task_wdt_add(idle) != ESP_OK){
+      DIAG(F("Failed to add Core %d IDLE task to WDT"),core);
+    } else {
+      DIAG(F("Added Core %d IDLE task to WDT"),core);
+    }
+  }
+}
+
+void disableCoreWDT(byte core){
+    TaskHandle_t idle = xTaskGetIdleTaskHandleForCPU(core);
+    if(idle == NULL || esp_task_wdt_delete(idle) != ESP_OK){
+      DIAG(F("Failed to remove Core %d IDLE task from WDT"),core);
+    }
+}
+*/
+
+static std::vector<WiFiClient> clients; // a list to hold all clients
+static WiFiServer *server = NULL;
+static RingStream *outboundRing = new RingStream(2048);
+static bool APmode = false;
+
+void wifiLoop(void *){
+  for(;;){
+    WifiESP::loop();
+  }
+}
+
+bool WifiESP::setup(const char *SSid,
+                    const char *password,
+                    const char *hostname,
+                    int port,
+                    const byte channel) {
+  bool havePassword = true;
+  bool haveSSID = true;
+  bool wifiUp = false;
+  uint8_t tries = 40;
+
+  // tests
+  //  enableCoreWDT(1);
+  //  disableCoreWDT(0);
+
+  const char *yourNetwork = "Your network ";
+  if (strncmp(yourNetwork, SSid, 13) == 0 || strncmp("", SSid, 13) == 0)
+    haveSSID = false;
+  if (strncmp(yourNetwork, password, 13) == 0 || strncmp("", password, 13) == 0)
+    havePassword = false;
+
+  if (haveSSID && havePassword) {
+    WiFi.mode(WIFI_STA);
+    WiFi.setAutoReconnect(true);
+    WiFi.begin(SSid, password);
+    while (WiFi.status() != WL_CONNECTED && tries) {
+      Serial.print('.');
+      tries--;
+      delay(500);
+    }
+    if (WiFi.status() == WL_CONNECTED) {
+      DIAG(F("Wifi STA IP %s"),WiFi.localIP().toString().c_str());
+      wifiUp = true;
+    } else {
+      DIAG(F("Could not connect to Wifi SSID %s"),SSid);
+    }
+  }
+  if (!haveSSID) {
+    // prepare all strings
+    String strSSID("DCC_");
+    String strPass("PASS_");
+    String strMac = WiFi.macAddress();
+    strMac.remove(0,9);
+    strMac.replace(":","");
+    strMac.replace(":","");
+    strSSID.concat(strMac);
+    strPass.concat(strMac);
+
+    WiFi.mode(WIFI_AP);
+    if (WiFi.softAP(strSSID.c_str(),
+		    havePassword ? password : strPass.c_str(),
+		    channel, false, 8)) {
+      DIAG(F("Wifi AP SSID %s PASS %s"),strSSID.c_str(),havePassword ? password : strPass.c_str());
+      DIAG(F("Wifi AP IP %s"),WiFi.softAPIP().toString().c_str());
+      wifiUp = true;
+      APmode = true;
+    } else {
+      DIAG(F("Could not set up AP with Wifi SSID %s"),strSSID.c_str());
+    }
+  }
+
+
+  if (!wifiUp) {
+    DIAG(F("Wifi setup all fail (STA and AP mode)"));
+    // no idea to go on
+    return false;
+  }
+  server = new WiFiServer(port); // start listening on tcp port
+  server->begin();
+  // server started here
+
+  //start loop task
+  if (pdPASS != xTaskCreatePinnedToCore(
+	wifiLoop, /* Task function. */
+	"wifiLoop",/* name of task.  */
+	10000,     /* Stack size of task */
+	NULL,      /* parameter of the task */
+	1,         /* priority of the task */
+	NULL,      /* Task handle to keep track of created task */
+	0)) {      /* pin task to core 0 */
+    DIAG(F("Could not create wifiLoop task"));
+    return false;
+  }
+
+  // report server started after wifiLoop creation
+  // when everything looks good
+  DIAG(F("Server up port %d"),port);
+  return true;
+}
+
+void WifiESP::loop() {
+  int clientId; //tmp loop var
+
+  // really no good way to check for LISTEN especially in AP mode?
+  if (APmode || WiFi.status() == WL_CONNECTED) {
+    if (server->hasClient()) {
+      // loop over all clients and remove inactive
+      for (clientId=0; clientId<clients.size(); clientId++){
+	// check if client is there and alive
+	if(!clients[clientId].connected()) {
+	  clients[clientId].stop();
+	  clients.erase(clients.begin()+clientId);
+	}
+      }
+      WiFiClient client;
+      while (client = server->available()) {
+	clients.push_back(client);
+	DIAG(F("New client %s"), client.remoteIP().toString().c_str());
+      }
+    }
+    // loop over all connected clients
+    for (clientId=0; clientId<clients.size(); clientId++){
+      if(clients[clientId].connected()) {
+	int len;
+	if ((len = clients[clientId].available()) > 0) {
+	  // read data from client
+	  byte cmd[len+1];
+	  for(int i=0; i<len; i++) {
+	    cmd[i]=clients[clientId].read();
+	  }
+	  cmd[len]=0;
+	  outboundRing->mark(clientId);
+	  CommandDistributor::parse(clientId,cmd,outboundRing);
+	  outboundRing->commit();
+	}
+      }
+    } // all clients
+
+    // something to write out?
+    clientId=outboundRing->peek();
+    if (clientId >= 0) {
+      if ((unsigned int)clientId > clients.size()) {
+	// something is wrong with the ringbuffer position
+	outboundRing->info();
+      } else {
+	// we have data to send in outboundRing
+	if(clients[clientId].connected()) {
+	  outboundRing->read(); // read over peek()
+	  int count=outboundRing->count();
+	  {
+	    char buffer[count+1];
+	    for(int i=0;i<count;i++) {
+	      int c = outboundRing->read();
+	      if (c >= 0)
+		buffer[i] = (char)c;
+	      else {
+		DIAG(F("Ringread fail at %d"),i);
+		break;
+	      }
+	    }
+	    buffer[count]=0;
+	    clients[clientId].write(buffer,count);
+	  }
+	}
+      }
+    }
+  } //connected
+
+  // when loop() is running on core0 we must
+  // feed the core0 wdt ourselves as yield()
+  // is not necessarily yielding to a low
+  // prio task. On core1 this is not a problem
+  // as there the wdt is disabled by the
+  // arduio IDE startup routines.
+  if (xPortGetCoreID() == 0)
+    feedTheDog0();
+  yield();
+}
+#endif //ESP32

WifiESP32.h

@@ -0,0 +1,39 @@
+/*
+ *  © 2021, Harald Barth.
+ *
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#if defined(ARDUINO_ARCH_ESP32)
+#ifndef WifiESP32_h
+#define WifiESP32_h
+
+#include "FSH.h"
+
+class WifiESP
+{
+
+public:
+  static bool setup(const char *wifiESSID,
+		    const char *wifiPassword,
+		    const char *hostname,
+		    const int port,
+		    const byte channel);
+  static void loop();
+private:
+};
+#endif //WifiESP8266_h
+#endif //ESP8266

WifiESP8266.cpp

@@ -0,0 +1,270 @@
+/*
+    © 2021, Harald Barth.
+
+    This file is part of CommandStation-EX
+
+    This is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    It is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+*/
+
+#include "defines.h"
+#if defined(ARDUINO_ARCH_ESP8266)
+#include <ESP8266WiFi.h>
+#include <ESPAsyncTCP.h>
+#include <vector>
+#include <string>
+
+#include "WifiESP8266.h"
+#include "DIAG.h"
+#include "RingStream.h"
+#include "CommandDistributor.h"
+#include <string.h>
+
+static std::vector<AsyncClient*> clients; // a list to hold all clients
+static AsyncServer *server;
+
+static RingStream *outboundRing = new RingStream(2048);
+
+static void handleError(void* arg, AsyncClient* client, int8_t error) {
+  (void)arg;
+  DIAG(F("connection error %s from client %s"), client->errorToString(error), client->remoteIP().toString().c_str());
+}
+
+static void handleData(void* arg, AsyncClient* client, void *data, size_t len) {
+  (void)arg;
+  //DIAG(F("data received from client %s"), client->remoteIP().toString().c_str());
+  uint8_t clientId;
+  for (clientId=0; clientId<clients.size(); clientId++){
+    if (clients[clientId] == client) break;
+  }
+  if (clientId < clients.size()) {
+    byte cmd[len+1];
+    memcpy(cmd,data,len);
+    cmd[len]=0;
+    outboundRing->mark(clientId);
+    CommandDistributor::parse(clientId,cmd,outboundRing);
+    outboundRing->commit();
+  }
+}
+
+//static AsyncClient *debugclient = NULL;
+
+bool sendData(AsyncClient *client, char* data, size_t count) {
+  size_t willsend = 0;
+
+  // reply to client
+  if (client->canSend()) {
+    while (count > 0) {
+      if (client->connected())
+	willsend = client->add(data, count); // add checks for space()
+      else
+	willsend = 0;
+      if (willsend < count) {
+	DIAG(F("Willsend %d of count %d"), willsend, count);
+      }
+      if (client->connected() && client->send()) {
+	count = count - willsend;
+	data = data + willsend;
+      } else {
+	DIAG(F("Could not send promised %d"), count);
+	return false;
+      }
+    }
+    // Did send all bytes we wanted
+    return true;
+  }
+  DIAG(F("Aborting: Busy or space=0"));
+  return false;
+}
+
+static void deleteClient(AsyncClient* client) {
+  uint8_t clientId;
+  for (clientId=0; clientId<clients.size(); clientId++){
+    if (clients[clientId] == client) break;
+  }
+  if (clientId < clients.size()) {
+    clients[clientId] = NULL;
+  }
+}
+static void handleDisconnect(void* arg, AsyncClient* client) {
+  (void)arg;
+  DIAG(F("Client disconnected"));
+  deleteClient(client);
+}
+
+static void handleTimeOut(void* arg, AsyncClient* client, uint32_t time) {
+  (void)arg;
+  (void)time;
+  DIAG(F("client ACK timeout ip: %s"), client->remoteIP().toString().c_str());
+  deleteClient(client);
+}
+
+
+static void handleNewClient(void* arg, AsyncClient* client) {
+  (void)arg;
+  DIAG(F("New client %s"), client->remoteIP().toString().c_str());
+
+  // add to list
+  clients.push_back(client);
+
+  // register events
+  client->onData(&handleData, NULL);
+  client->onError(&handleError, NULL);
+  client->onDisconnect(&handleDisconnect, NULL);
+  client->onTimeout(&handleTimeOut, NULL);
+
+}
+
+/*  Things one _might_ want to do:
+   Disable soft watchdog: ESP.wdtDisable()
+   Enable  soft watchdog: ESP.wdtEnable(X) ignores the value of X and enables it for fixed
+                          time at least in version 3.0.2 of the esp8266 package.
+
+Internet says:
+
+I manage to complety disable the hardware watchdog on ESP8266 in order to run the benchmark CoreMark. 
+
+void hw_wdt_disable(){
+  *((volatile uint32_t*) 0x60000900) &= ~(1); // Hardware WDT OFF
+}
+
+void hw_wdt_enable(){
+  *((volatile uint32_t*) 0x60000900) |= 1; // Hardware WDT ON
+}
+
+*/
+
+bool WifiESP::setup(const char *SSid,
+                    const char *password,
+                    const char *hostname,
+                    int port,
+                    const byte channel) {
+  bool havePassword = true;
+  bool haveSSID = true;
+  bool wifiUp = false;
+
+  // We are server and should not sleep
+  wifi_set_sleep_type(NONE_SLEEP_T);
+  // connects to access point
+
+  const char *yourNetwork = "Your network ";
+  if (strncmp(yourNetwork, SSid, 13) == 0 || strncmp("", SSid, 13) == 0)
+    haveSSID = false;
+  if (strncmp(yourNetwork, password, 13) == 0 || strncmp("", password, 13) == 0)
+    havePassword = false;
+  
+  if (haveSSID && havePassword) {
+    WiFi.mode(WIFI_STA);
+    WiFi.setAutoReconnect(true);
+    WiFi.begin(SSid, password);
+    while (WiFi.status() != WL_CONNECTED) {
+      Serial.print('.');
+      delay(500);
+    }
+    if (WiFi.status() == WL_CONNECTED) {
+      DIAG(F("Wifi STA IP %s"),WiFi.localIP().toString().c_str());
+      wifiUp = true;
+    }
+  }
+  if (!haveSSID) {
+    // prepare all strings
+    String strSSID("DCC_");
+    String strPass("PASS_");
+    String strMac = WiFi.macAddress();
+    strMac.remove(0,9);
+    strMac.replace(":","");
+    strMac.replace(":","");
+    strSSID.concat(strMac);
+    strPass.concat(strMac);
+
+    WiFi.mode(WIFI_AP);
+    if (WiFi.softAP(strSSID.c_str(),
+		    havePassword ? password : strPass.c_str(),
+		    channel, false, 8)) {
+      DIAG(F("Wifi AP SSID %s PASS %s"),strSSID.c_str(),havePassword ? password : strPass.c_str());
+      DIAG(F("Wifi AP IP %s"),WiFi.softAPIP().toString().c_str());
+      wifiUp = true;
+    }
+  }
+
+
+  if (!wifiUp) {
+    DIAG(F("Wifi all fail"));
+    // no idea to go on
+    return false;
+  }
+
+  server = new AsyncServer(port); // start listening on tcp port
+
+  server->onClient(&handleNewClient, server);
+  server->begin();
+  DIAG(F("Server up port %d"),port);
+
+  return true;
+}
+
+void WifiESP::loop() {
+  AsyncClient *client = NULL;
+  // Do something with outboundRing
+  // call sendData
+  int clientId=outboundRing->peek();
+  if (clientId >= 0) {
+    if ((unsigned int)clientId > clients.size()) {
+      // something is wrong with the ringbuffer position
+      outboundRing->info();
+      client = NULL;
+    } else {
+      client = clients[clientId];
+    }
+//    if (client != debugclient) {
+//      DIAG(F("new client pointer = %x from id %d"), client, clientId);
+//      debugclient = client;
+//    }
+  } else {
+    client = NULL;
+  }
+  if (clientId>=0 && client && client->connected() && client->canSend()) {
+    outboundRing->read();
+    int count=outboundRing->count();
+    //DIAG(F("Wifi reply client=%d, count=%d"), clientId,count);
+    {
+      char buffer[count+1];
+      for(int i=0;i<count;i++) {
+	int c = outboundRing->read();
+	if (c >= 0)
+	  buffer[i] = (char)c;
+	else {
+	  DIAG(F("Ringread fail at %d"),i);
+	  break;
+	}
+      }
+      buffer[count]=0;
+      //DIAG(F("SEND:%s COUNT:%d"),buffer,count);
+      uint8_t tries = 3;
+      while (! sendData(client, buffer, count)) {
+	DIAG(F("senData fail"));
+	yield();
+	if (tries == 0) break;
+      }
+    }
+  }
+#ifdef ESP_DEBUG
+  static unsigned long last = 0;
+  if (millis() - last > 60000) {
+    last = millis();
+    DIAG(F("+"));
+  }
+#endif
+  ESP.wdtFeed();
+}
+#endif //ESP_FAMILY

WifiESP8266.h

@@ -0,0 +1,39 @@
+/*
+ *  © 2021, Harald Barth.
+ *
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#if defined(ARDUINO_ARCH_ESP8266)
+#ifndef WifiESP8266_h
+#define WifiESP8266_h
+
+#include "FSH.h"
+
+class WifiESP
+{
+
+public:
+  static bool setup(const char *wifiESSID,
+		    const char *wifiPassword,
+		    const char *hostname,
+		    const int port,
+		    const byte channel);
+  static void loop();
+private:
+};
+#endif //WifiESP8266_h
+#endif //ESP8266

WifiInterface.cpp

@@ -17,9 +17,10 @@
     You should have received a copy of the GNU General Public License
     along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
 */
+#include "WifiInterface.h"        /* config.h included there */
+#ifndef ESP_FAMILY
 #ifndef ARDUINO_AVR_UNO_WIFI_REV2
 // This code is NOT compiled on a unoWifiRev2 processor which uses a different architecture 
-#include "WifiInterface.h"        /* config.h included there */
 #include <avr/pgmspace.h>
 #include "DIAG.h"
 #include "StringFormatter.h"
@@ -370,4 +371,5 @@ void WifiInterface::loop() {
   }
 }
 
-#endif
+#endif //ARDUINO_AVR_UNO_WIFI_REV2
+#endif //ESP_FAMILY

WifiInterface.h

@@ -19,6 +19,8 @@
  */
 #ifndef WifiInterface_h
 #define WifiInterface_h
+#include "defines.h"
+#ifndef ESP_FAMILY
 #include "FSH.h"
 #include "DCCEXParser.h"
 #include <Arduino.h>
@@ -50,4 +52,5 @@ private:
   static bool checkForOK(const unsigned int timeout, const FSH *waitfor, bool echo, bool escapeEcho = true);
   static bool connected;
 };
-#endif
+#endif //ESP_FAMILY
+#endif 

config.example.h

@@ -41,7 +41,32 @@ The configuration file for DCC-EX Command Station
 //   |
 //   +-----------------------v
 //
-#define MOTOR_SHIELD_TYPE STANDARD_MOTOR_SHIELD
+//#define MOTOR_SHIELD_TYPE STANDARD_MOTOR_SHIELD
+
+// https://randomnerdtutorials.com/esp8266-pinout-reference-gpios/
+// 4 high at boot
+// BUG: WE STILL NEED AT LEAST ONE TIMER_* motor shield defined, otherwise the packet scheduling does not work
+// BUG: WE DO NOT HAVE ANY RMT_PROG CAPABILITY yet.
+#define ESP32_MOTOR_SHIELD F("ESP32"),				\
+    NULL /*new MotorDriver(16, 17, UNUSED_PIN, UNUSED_PIN, 36, 2.00, 2000, UNUSED_PIN, TIMER_MAIN)*/,  \
+    new MotorDriver(18, 19, UNUSED_PIN, UNUSED_PIN, 39, 2.00, 2000, UNUSED_PIN, TIMER_PROG), \
+    new MotorDriver(16, 23, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.00, 2000, UNUSED_PIN, RMT_MAIN)
+
+// ESP32 ADC1 only supported GPIO pins 32 to 39, for example
+// ADC1 CH4 = GPIO32, ADC1 CH5 = GPIO33, ADC1 CH0 = GPIO36
+//
+// Adjust pin usage according to info in
+// https://randomnerdtutorials.com/esp32-adc-analog-read-arduino-ide/
+// https://randomnerdtutorials.com/esp32-pinout-reference-gpios/
+//
+// Adjust conversion factor according to your voltage divider.
+//
+#define ESP32_MOTOR_SHIELD F("ESP32"), \
+ new MotorDriver(16, 17, UNUSED_PIN, UNUSED_PIN, 32, 2.00, 2000, UNUSED_PIN),\
+ new MotorDriver(18, 19, UNUSED_PIN, UNUSED_PIN, 33, 2.00, 2000, UNUSED_PIN)
+
+#define MOTOR_SHIELD_TYPE ESP32_MOTOR_SHIELD
+
 /////////////////////////////////////////////////////////////////////////////////////
 //
 // The IP port to talk to a WIFI or Ethernet shield.
@@ -53,6 +78,8 @@ The configuration file for DCC-EX Command Station
 // NOTE: Only supported on Arduino Mega
 // Set to false if you not even want it on the Arduino Mega
 //
+// Currently ESP32 single core only works with WIFI ON because of Watchdog code
+// and if you have an ESP32 you probably want WIFI anyway.
 #define ENABLE_WIFI true
 
 /////////////////////////////////////////////////////////////////////////////////////

defines.h

@@ -1,5 +1,5 @@
 /*
-    © 2020, Harald Barth.
+    © 2020,2021 Harald Barth.
 
     This file is part of CommandStation-EX
 
@@ -31,14 +31,34 @@
   #endif
 #endif
 
+////////////////////////////////////////////////////////////////////////////////
+//
+#if defined(ARDUINO_ARCH_ESP8266)
+#define ESP_FAMILY
+//#define ESP_DEBUG
+#define SLOW_ANALOG_READ
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+//
+#if defined(ARDUINO_ARCH_ESP32)
+#define ESP_FAMILY
+#define SLOW_ANALOG_READ
+#else
+#define portENTER_CRITICAL(A) do {} while (0)
+#define portEXIT_CRITICAL(A) do {} while (0)
+#endif
+
+
 ////////////////////////////////////////////////////////////////////////////////
 //
 // WIFI_ON: All prereqs for running with WIFI are met
 // Note: WIFI_CHANNEL may not exist in early config.h files so is added here if needed.
 
-#if (defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_SAMD_ZERO)  || defined(TEENSYDUINO))
+#if (defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_SAMD_ZERO)  || defined(TEENSYDUINO) || defined(ESP_FAMILY))
  #define BIG_RAM
 #endif 
+
 #if ENABLE_WIFI && defined(BIG_RAM)
 #define WIFI_ON true
 #ifndef WIFI_CHANNEL
@@ -69,4 +89,4 @@
   #define RMFT_ACTIVE
 #endif
 
-#endif
+#endif

esp32wdt.txt

@@ -0,0 +1,67 @@
+The ESP-IDF has interrupt watchdogs and task watchdogs. Normally on
+each core there is a very low prio idle task (IDLE0, ILDE1) that feeds
+the watchdog (an internal timer) and if that timer expires a
+reboot/reset happens. This thought to enure that even the lowest prio
+tasks get run ever.
+
+Now enter the Arduino IDE generated task loop(). When there are two cores,
+loop() is run on core1. If loop runs continiously, IDLE1 is never run and
+triggers the watchdog. It is said that this can be previented by one
+of the following:
+
+1. Call delay(X) with big enough X
+2. Call yield()
+
+While the delay() method works, big enough X to run idle seem to be in
+the ms range and there are definitely applications that can not accept
+a several ms long pause in loop().
+
+The yield() method does not work because it only seems not to yield to
+a low prio task like IDLE1 in all circumstances.
+
+Then the makers of the Arduino IDE did get the brilliant idea to
+disable that IDLE1 calls the watchdog. Then loop() can spin on core1
+and other tasks (like wifi or interrupts or whatever) can run on core0
+and are watched by the IDLE0 watchdog. All swell and well. Almost.
+
+Enter: SINGLE CORE ESP32
+
+As the IDLE0 watchdog is not disabled it will fire when loop() runs on
+core0. The next idea is to feed the watchdog from loop() just
+alongside the yield. There is a function called esp_task_wdt_feed(),
+so can that be used to feed the watchdog? Yes and no. While it
+will feed the watchdog, there is as well as check in the ESP-IDF
+that the watchdog is fed from ALL tasks that should feed it. So
+if the setup is that IDLE0 should feed the watchdog, we can not
+get away by calling esp_task_wdt_feed() from loop(). BUMMER!
+
+But there seems to be a way around this. The watchdog is implemented
+by low level timers/counters and these are accessible. So we can feed
+the dog behind the back of the ESP-IDF:
+
+#include "soc/timer_group_struct.h"
+#include "soc/timer_group_reg.h"
+void feedTheDog(){
+  // feed dog 0
+  TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; // write enable
+  TIMERG0.wdt_feed=1;                       // feed dog
+  TIMERG0.wdt_wprotect=0;                   // write protect
+  // feed dog 1
+  TIMERG1.wdt_wprotect=TIMG_WDT_WKEY_VALUE; // write enable
+  TIMERG1.wdt_feed=1;                       // feed dog
+  TIMERG1.wdt_wprotect=0;                   // write protect
+}
+
+As I do not have a single core ESP32 I tested this by enabling the
+IDLE1 watchdog (which normally is disabled) and checking that I
+do get watchdog resets. Then I call feedTheDog() from loop()
+and the resets disappear. So I guess the feeding operation is
+successful. For a single core ESP32 of course only dog0 has
+to be fed.
+
+Feed dog directly behind back of the ESP-IDF routines:
+https://forum.arduino.cc/t/esp32-a-better-way-than-vtaskdelay-to-get-around-watchdog-crash/596889/13
+Disable/Endable WDT code:
+https://github.com/espressif/arduino-esp32/commit/b8f8502f
+Get/set taskid on cores:
+https://techtutorialsx.com/2017/05/09/esp32-get-task-execution-core/

freeMemory.cpp

@@ -1,5 +1,5 @@
 /*
- *  © 2020, Harald Barth
+ *  © 2020,2021 Harald Barth
  *  © 2021, Neil McKechnie
  *  
  *  This file is part of Asbelos DCC-EX
@@ -27,6 +27,8 @@ extern "C" char* sbrk(int);
 #elif defined(__AVR__)
 extern char *__brkval;
 extern char *__malloc_heap_start;
+#elif defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32)
+// supported but nothing needed here
 #else
 #error Unsupported board type
 #endif
@@ -34,7 +36,7 @@ extern char *__malloc_heap_start;
 
 static volatile int minimum_free_memory = __INT_MAX__;
 
-#if !defined(__IMXRT1062__)
+#if !defined(__IMXRT1062__) && !defined(ARDUINO_ARCH_ESP8266) && !defined(ARDUINO_ARCH_ESP32)
 static inline int freeMemory() {
   char top;
 #if defined(__arm__)
@@ -55,7 +57,18 @@ int minimumFreeMemory() {
   return retval;
 }
 
+#elif defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32)
+// ESP8266 and ESP32
+static inline int freeMemory() {
+  return ESP.getFreeHeap();
+}
+// Return low memory value.
+int minimumFreeMemory() {
+  int retval = minimum_free_memory;
+  return retval;
+}
 #else
+// All types of TEENSYs
 #if defined(ARDUINO_TEENSY40)
   static const unsigned DTCM_START = 0x20000000UL;
   static const unsigned OCRAM_START = 0x20200000UL;
@@ -108,4 +121,3 @@ void updateMinimumFreeMemory(unsigned char extraBytes) {
   if (spare < 0) spare = 0;
   if (spare < minimum_free_memory) minimum_free_memory = spare;
 }
-

version.h

@@ -3,7 +3,7 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "3.2.0 rc4"
+#define VERSION "3.2.0 ESP32"
 // 3.2.0 Major functional and non-functional changes.
 //       New HAL added for I/O (digital and analogue inputs and outputs, servos etc).
 //         Support for MCP23008, MCP23017 and PCF9584 I2C GPIO Extender modules.