add rotary encoder

.gitignore

@@ -8,13 +8,14 @@ Release/*
 .vscode/
 config.h
 .vscode/*
-mySetup.h
+# mySetup.h
 mySetup.cpp
 myHal.cpp
-myAutomation.h
+# myAutomation.h
 myFilter.cpp
-myAutomation.h
-myFilter.cpp
-myLayout.h
+# myAutomation.h
+# myLayout.h
+my*.h
+!my*.example.h
 .vscode/extensions.json
 .vscode/extensions.json

DCCACK.cpp

@@ -425,7 +425,7 @@ void DCCACK::checkAck(byte sentResetsSincePacket) {
         return; 
     }
       
-    int current=progDriver->getCurrentRawInInterrupt();
+    int current=progDriver->getCurrentRaw(true); // true means "from interrupt"
     numAckSamples++;
     if (current > ackMaxCurrent) ackMaxCurrent=current;
     // An ACK is a pulse lasting between minAckPulseDuration and maxAckPulseDuration uSecs (refer @haba)

DCCRMT.cpp

@@ -21,6 +21,7 @@
 #include "defines.h"
 #include "DIAG.h"
 #include "DCCRMT.h"
+#include "DCCTimer.h"
 #include "DCCWaveform.h" // for MAX_PACKET_SIZE
 #include "soc/gpio_sig_map.h"
 
@@ -67,6 +68,8 @@ RMTChannel *channelHandle[8] = { 0 };
 void IRAM_ATTR interrupt(rmt_channel_t channel, void *t) {
   RMTChannel *tt = channelHandle[channel];
   if (tt) tt->RMTinterrupt();
+  if (channel == 0)
+    DCCTimer::updateMinimumFreeMemoryISR(0);
 }
 
 RMTChannel::RMTChannel(pinpair pins, bool isMain) {

DCCTimer.h

@@ -1,7 +1,7 @@
 /*
- *  © 2022 Paul M Antoine
+ *  © 2022 Paul M. Antoine
  *  © 2021 Mike S
- *  © 2021 Harald Barth
+ *  © 2021-2022 Harald Barth
  *  © 2021 Fred Decker
  *  All rights reserved.
  *  
@@ -93,4 +93,38 @@ private:
 
 };
 
+// Class ADCee implements caching of the ADC value for platforms which
+// have a too slow ADC read to wait for. On these platforms the ADC is
+// scanned continiously in the background from an ISR. On such
+// architectures that use the analog read during DCC waveform with
+// specially configured ADC, for example AVR, init must be called
+// PRIOR to the start of the waveform. It returns the current value so
+// that an offset can be initialized.
+class ADCee {
+public:
+  // init does add the pin to the list of scanned pins (if this
+  // platform's implementation scans pins) and returns the first
+  // read value. It is called before the regular scan is started.
+  static int init(uint8_t pin);
+  // read does read the pin value from the scanned cache or directly
+  // if this is a platform that does not scan. fromISR is a hint if
+  // it was called from ISR because for some implementations that
+  // makes a difference.
+  static int read(uint8_t pin, bool fromISR=false);
+  // returns possible max value that the ADC can return
+  static int16_t ADCmax();
+private:
+  // On platforms that scan, it is called from waveform ISR
+  // only on a regular basis.
+  static void scan();
+  // begin is called for any setup that must be done before
+  // scan can be called.
+  static void begin();
+  // bit array of used pins (max 16)
+  static uint16_t usedpins;
+  // cached analog values (malloc:ed to actual number of ADC channels)
+  static int *analogvals;
+  // friend so that we can call scan() and begin()
+  friend class DCCWaveform;
+  };
 #endif

DCCTimerAVR.cpp

@@ -1,6 +1,6 @@
 /*
  *  © 2021 Mike S
- *  © 2021 Harald Barth
+ *  © 2021-2022 Harald Barth
  *  © 2021 Fred Decker
  *  © 2021 Chris Harlow
  *  © 2021 David Cutting
@@ -26,7 +26,6 @@
 // Please refer to DCCTimer.h for general comments about how this class works
 // This is to avoid repetition and duplication.
 #ifdef ARDUINO_ARCH_AVR
-
 #include <avr/boot.h> 
 #include <avr/wdt.h>
 #include "DCCTimer.h"
@@ -44,8 +43,7 @@ INTERRUPT_CALLBACK interruptHandler=0;
 
 void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
     interruptHandler=callback;
-    noInterrupts();          
-    ADCSRA = (ADCSRA & 0b11111000) | 0b00000100;   // speed up analogRead sample time 
+    noInterrupts();
     TCCR1A = 0;
     ICR1 = CLOCK_CYCLES;
     TCNT1 = 0;   
@@ -120,4 +118,108 @@ void DCCTimer::reset() {
   delay(50);            // wait for the prescaller time to expire
 
 }
+
+#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
+#define NUM_ADC_INPUTS 7
+#else
+#define NUM_ADC_INPUTS 15
+#endif
+uint16_t ADCee::usedpins = 0;
+int * ADCee::analogvals = NULL;
+
+/*
+ * Register a new pin to be scanned
+ * Returns current reading of pin and
+ * stores that as well
+ */
+int ADCee::init(uint8_t pin) {
+  uint8_t id = pin - A0;
+  if (id > NUM_ADC_INPUTS)
+    return -1023;
+  pinMode(pin, INPUT);
+  int value = analogRead(pin);
+  if (analogvals == NULL)
+    analogvals = (int *)calloc(NUM_ADC_INPUTS+1, sizeof(int));
+  analogvals[id] = value;
+  usedpins |= (1<<id);
+  return value;
+}
+int16_t ADCee::ADCmax() {
+  return 1023;
+}
+/*
+ * Read function ADCee::read(pin) to get value instead of analogRead(pin)
+ */
+int ADCee::read(uint8_t pin, bool fromISR) {
+  (void)fromISR; // AVR does ignore this arg
+  uint8_t id = pin - A0;
+  if ((usedpins & (1<<id) ) == 0)
+    return -1023;
+  // we do not need to check (analogvals == NULL)
+  // because usedpins would still be 0 in that case
+  return analogvals[id];
+}
+/*
+ * Scan function that is called from interrupt
+ */
+#pragma GCC push_options
+#pragma GCC optimize ("-O3")
+void ADCee::scan() {
+  static byte id = 0;        // id and mask are the same thing but it is faster to 
+  static uint16_t mask = 1;  // increment and shift instead to calculate mask from id
+  static bool waiting = false;
+
+  if (waiting) {
+    // look if we have a result
+    byte low, high;
+    if (bit_is_set(ADCSRA, ADSC))
+      return; // no result, continue to wait
+    // found value
+    low = ADCL; //must read low before high
+    high = ADCH;
+    bitSet(ADCSRA, ADIF);
+    analogvals[id] = (high << 8) | low;
+    // advance at least one track
+    // for scope debug TrackManager::track[1]->setBrake(0);
+    waiting = false;
+    id++;
+    mask = mask << 1;
+    if (id == NUM_ADC_INPUTS+1) {
+      id = 0;
+      mask = 1;
+    }
+  }
+  if (!waiting) {
+    if (usedpins == 0) // otherwise we would loop forever
+      return;
+    // look for a valid track to sample or until we are around
+    while (true) {
+      if (mask  & usedpins) {
+	// start new ADC aquire on id
+	ADMUX=(1<<REFS0)|id; //select AVCC as reference and set MUX
+	bitSet(ADCSRA,ADSC); // start conversion
+	// for scope debug TrackManager::track[1]->setBrake(1);
+	waiting = true;
+	return;
+      }
+      id++;
+      mask = mask << 1;
+      if (id == NUM_ADC_INPUTS+1) {
+	id = 0;
+	mask = 1;
+      }
+    }
+  }
+}
+#pragma GCC pop_options
+
+void ADCee::begin() {
+  noInterrupts();
+  // ADCSRA = (ADCSRA & 0b11111000) | 0b00000100;   // speed up analogRead sample time
+  // Set up ADC for free running mode
+  ADMUX=(1<<REFS0); //select AVCC as reference. We set MUX later
+  ADCSRA = (1<<ADEN)|(1 << ADPS2); // ADPS2 means divisor 32 and 16Mhz/32=500kHz.
+  //bitSet(ADCSRA, ADSC); //do not start the ADC yet. Done when we have set the MUX
+  interrupts();
+}
 #endif

DCCTimerESP.cpp

@@ -78,6 +78,23 @@ int DCCTimer::freeMemory() {
 ////////////////////////////////////////////////////////////////////////
 
 #ifdef ARDUINO_ARCH_ESP32
+#include <driver/adc.h>
+#include <soc/sens_reg.h>
+#include <soc/sens_struct.h>
+#undef ADC_INPUT_MAX_VALUE
+#define ADC_INPUT_MAX_VALUE 4095 // 12 bit ADC
+#define pinToADC1Channel(X) (adc1_channel_t)(((X) > 35) ? (X)-36 : (X)-28)
+
+int IRAM_ATTR local_adc1_get_raw(int channel) {
+  uint16_t adc_value;
+  SENS.sar_meas_start1.sar1_en_pad = (1 << channel); // only one channel is selected
+  while (SENS.sar_slave_addr1.meas_status != 0);
+  SENS.sar_meas_start1.meas1_start_sar = 0;
+  SENS.sar_meas_start1.meas1_start_sar = 1;
+  while (SENS.sar_meas_start1.meas1_done_sar == 0);
+  adc_value = SENS.sar_meas_start1.meas1_data_sar;
+  return adc_value;
+}
 
 #include "DCCTimer.h"
 INTERRUPT_CALLBACK interruptHandler=0;
@@ -133,5 +150,29 @@ int DCCTimer::freeMemory() {
 void DCCTimer::reset() {
    ESP.restart();
 }
-#endif
+int ADCee::init(uint8_t pin) {
+  pinMode(pin, ANALOG);
+  adc1_config_width(ADC_WIDTH_BIT_12);
+  adc1_config_channel_atten(pinToADC1Channel(pin),ADC_ATTEN_DB_11);
+  return adc1_get_raw(pinToADC1Channel(pin));
+}
+int16_t ADCee::ADCmax() {
+  return 4095;
+}
+/*
+ * Read function ADCee::read(pin) to get value instead of analogRead(pin)
+ */
+int ADCee::read(uint8_t pin, bool fromISR) {
+  return local_adc1_get_raw(pinToADC1Channel(pin));
+}
+/*
+ * Scan function that is called from interrupt
+ */
+void ADCee::scan() {
+}
+
+void ADCee::begin() {
+}
+
+#endif //ESP32
 

DCCTimerSAMD.cpp

@@ -1,7 +1,7 @@
 /*
- *  © 2022 Paul M Antoine
+ *  © 2022 Paul M. Antoine
  *  © 2021 Mike S
- *  © 2021 Harald Barth
+ *  © 2021-2022 Harald Barth
  *  © 2021 Fred Decker
  *  © 2021 Chris Harlow
  *  © 2021 David Cutting
@@ -28,33 +28,14 @@
 // This is to avoid repetition and duplication.
 #ifdef ARDUINO_ARCH_SAMD
 
-#include "FSH.h" //PMA temp debug
-#include "DIAG.h" //PMA temp debug
 #include "DCCTimer.h"
+#include <wiring_private.h>
 
 INTERRUPT_CALLBACK interruptHandler=0;
 
 void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
   interruptHandler=callback;
   noInterrupts();
-
-  // Set up ADC to do faster reads... default for Arduino Zero platform configs is 436uS,
-  // and we need sub-100uS. This code sets it to a read speed of around 21uS, and for now
-  // enables 10-bit mode, although 12-bit is possible
-  ADC->CTRLA.bit.ENABLE = 0;              // disable ADC
-  while( ADC->STATUS.bit.SYNCBUSY == 1 ); // wait for synchronization
-
-  ADC->CTRLB.reg &= 0b1111100011111111;          // mask PRESCALER bits
-  ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64 |  // divide Clock by 64
-                    ADC_CTRLB_RESSEL_10BIT;      // Result on 10 bits default, 12 bits possible
-
-  ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 |   // take 1 sample at a time
-                     ADC_AVGCTRL_ADJRES(0x00ul); // adjusting result by 0
-  ADC->SAMPCTRL.reg = 0x00;                      // sampling Time Length = 0
-
-  ADC->CTRLA.bit.ENABLE = 1;                     // enable ADC
-  while(ADC->STATUS.bit.SYNCBUSY == 1);          // wait for synchronization
-
   // Timer setup - setup clock sources first
   REG_GCLK_GENDIV =   GCLK_GENDIV_DIV(1) |            // Divide 48MHz by 1
                       GCLK_GENDIV_ID(4);              // Apply to GCLK4
@@ -88,7 +69,9 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
 
   // Set the interrupt condition, priority and enable it in the NVIC
   TCC0->INTENSET.reg = TCC_INTENSET_OVF;      // Only interrupt on overflow
-  NVIC_SetPriority((IRQn_Type)TCC0_IRQn, 0);  // Make this highest priority
+  int USBprio = NVIC_GetPriority((IRQn_Type) USB_IRQn);  // Fetch the USB priority
+  NVIC_SetPriority((IRQn_Type)TCC0_IRQn, USBprio);  // Match the USB priority
+//  NVIC_SetPriority((IRQn_Type)TCC0_IRQn, 0);  // Make this highest priority
   NVIC_EnableIRQ((IRQn_Type)TCC0_IRQn);       // Enable the interrupt
   interrupts();
 }
@@ -173,4 +156,137 @@ void DCCTimer::reset() {
     while(true) {};
 }
 
-#endif
+#define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
+
+uint16_t ADCee::usedpins = 0;
+int * ADCee::analogvals = NULL;
+
+int ADCee::init(uint8_t pin) {
+  uint id = pin - A0;
+  int value = 0;
+
+  if (id > NUM_ADC_INPUTS)
+    return -1023;
+
+  // Dummy read using Arduino library
+  analogReadResolution(12);
+  value = analogRead(pin);
+
+  // Reconfigure ADC
+  ADC->CTRLA.bit.ENABLE = 0;                      // disable ADC
+  while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
+
+  ADC->CTRLB.reg &= 0b1111100011001111;           // mask PRESCALER and RESSEL bits
+  ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64 |   // divide Clock by 16
+                    ADC_CTRLB_RESSEL_12BIT;       // Result 12 bits, 10 bits possible
+  ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 |    // take 1 sample at a time
+                     ADC_AVGCTRL_ADJRES(0x00ul);  // adjusting result by 0
+  ADC->SAMPCTRL.reg = 0x00ul;                     // sampling Time Length = 0
+  ADC->CTRLA.bit.ENABLE = 1;                      // enable ADC
+  while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
+
+  // Permanently configure SAMD IO MUX for that pin
+  pinPeripheral(pin, PIO_ANALOG);
+  ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[pin].ulADCChannelNumber; // Selection for the positive ADC input
+
+  // Start conversion
+  ADC->SWTRIG.bit.START = 1;
+
+  // Wait for the conversion to be ready
+  while (ADC->INTFLAG.bit.RESRDY == 0);   // Waiting for conversion to complete
+
+  // Read the value
+  value = ADC->RESULT.reg;
+
+  if (analogvals == NULL)
+    analogvals = (int *)calloc(NUM_ADC_INPUTS+1, sizeof(int));
+  analogvals[id] = value;
+  usedpins |= (1<<id);
+
+  return value;
+}
+int16_t ADCee::ADCmax() {
+  return 4095;
+}
+/*
+ * Read function ADCee::read(pin) to get value instead of analogRead(pin)
+ */
+int ADCee::read(uint8_t pin, bool fromISR) {
+  uint8_t id = pin - A0;
+  if ((usedpins & (1<<id) ) == 0)
+    return -1023;
+  // we do not need to check (analogvals == NULL)
+  // because usedpins would still be 0 in that case
+  return analogvals[id];
+}
+/*
+ * Scan function that is called from interrupt
+ */
+#pragma GCC push_options
+#pragma GCC optimize ("-O3")
+void ADCee::scan() {
+  static uint id = 0;        // id and mask are the same thing but it is faster to 
+  static uint16_t mask = 1;  // increment and shift instead to calculate mask from id
+  static bool waiting = false;
+
+  if (waiting) {
+    // look if we have a result
+    if (ADC->INTFLAG.bit.RESRDY == 0)
+      return; // no result, continue to wait
+    // found value
+    analogvals[id] = ADC->RESULT.reg;
+    // advance at least one track
+    // for scope debug TrackManager::track[1]->setBrake(0);
+    waiting = false;
+    id++;
+    mask = mask << 1;
+    if (id == NUM_ADC_INPUTS+1) {
+      id = 0;
+      mask = 1;
+    }
+  }
+  if (!waiting) {
+    if (usedpins == 0) // otherwise we would loop forever
+      return;
+    // look for a valid track to sample or until we are around
+    while (true) {
+      if (mask  & usedpins) {
+    	  // start new ADC aquire on id
+        ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[id + A0].ulADCChannelNumber; // Selection for the positive ADC input
+          // Start conversion
+        ADC->SWTRIG.bit.START = 1;
+	      // for scope debug TrackManager::track[1]->setBrake(1);
+	      waiting = true;
+	      return;
+      }
+      id++;
+      mask = mask << 1;
+      if (id == NUM_ADC_INPUTS+1) {
+	      id = 0;
+	      mask = 1;
+      }
+    }
+  }
+}
+#pragma GCC pop_options
+
+void ADCee::begin() {
+  noInterrupts();
+  // Set up ADC to do faster reads... default for Arduino Zero platform configs is 436uS,
+  // and we need sub-58uS. This code sets it to a read speed of around 5-6uS, and enables
+  // 12-bit mode
+  // Reconfigure ADC
+  ADC->CTRLA.bit.ENABLE = 0;                      // disable ADC
+  while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
+
+  ADC->CTRLB.reg &= 0b1111100011001111;           // mask PRESCALER and RESSEL bits
+  ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64 |   // divide Clock by 16
+                    ADC_CTRLB_RESSEL_12BIT;       // Result 12 bits, 10 bits possible
+  ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 |    // take 1 sample at a time
+                     ADC_AVGCTRL_ADJRES(0x00ul);  // adjusting result by 0
+  ADC->SAMPCTRL.reg = 0x00ul;                     // sampling Time Length = 0
+  ADC->CTRLA.bit.ENABLE = 1;                      // enable ADC
+  while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
+  interrupts();
+}
+#endif

DCCTimerSTM32.cpp

@@ -1,5 +1,5 @@
 /*
- *  © 2022 Paul M Antoine
+ *  © 2022 Paul M. Antoine
  *  © 2021 Mike S
  *  © 2021 Harald Barth
  *  © 2021 Fred Decker
@@ -37,6 +37,11 @@
 #if defined(STM32F411RE)
 // STM32F411RE doesn't have Serial1 defined by default
 HardwareSerial Serial1(PB7, PA15);  // Rx=PB7, Tx=PA15 -- CN7 pins 17 and 21 - F411RE
+// Serial2 is defined to use USART2 by default, but is in fact used as the diag console
+// via the debugger on the Nucleo-64 STM32F411RE. It is therefore unavailable
+// for other DCC-EX uses like WiFi, DFPlayer, etc.
+// Let's define Serial6 as an additional serial port (the only other option for the F411RE)
+HardwareSerial Serial6(PA12, PA11);  // Rx=PA12, Tx=PA11 -- CN10 pins 12 and 14 - F411RE
 #elif defined(STM32F446ZE)
 // STM32F446ZE doesn't have Serial1 defined by default
 HardwareSerial Serial1(PG9, PG14);  // Rx=PG9, Tx=PG14 -- D0, D1 - F446ZE
@@ -127,4 +132,31 @@ void DCCTimer::reset() {
     while(true) {};
 }
 
+int16_t ADCee::ADCmax() {
+  return 4095;
+}
+
+int ADCee::init(uint8_t pin) {
+  return analogRead(pin);
+}
+/*
+ * Read function ADCee::read(pin) to get value instead of analogRead(pin)
+ */
+int ADCee::read(uint8_t pin, bool fromISR) {
+  int current;
+  if (!fromISR) noInterrupts();
+  current = analogRead(pin);
+  if (!fromISR) interrupts();
+  return current;
+}
+/*
+ * Scan function that is called from interrupt
+ */
+void ADCee::scan() {
+}
+
+void ADCee::begin() {
+  noInterrupts();
+  interrupts();
+}
 #endif

DCCWaveform.cpp

@@ -62,6 +62,7 @@ const bool signalTransform[]={
    /* WAVE_PENDING (should not happen) -> */ LOW};
 
 void DCCWaveform::begin() {
+  ADCee::begin();
   DCCTimer::begin(DCCWaveform::interruptHandler);     
 }
 
@@ -80,12 +81,14 @@ void DCCWaveform::interruptHandler() {
   // Set the signal state for both tracks
   TrackManager::setDCCSignal(sigMain);
   TrackManager::setPROGSignal(sigProg);
-  
+
+  // Refresh the values in the ADCee object buffering the values of the ADC HW
+  ADCee::scan();
+
   // 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();

EXRAIL2.cpp

@@ -90,6 +90,7 @@ LookList *  RMFT2::onDeactivateLookup=NULL;
 LookList *  RMFT2::onRedLookup=NULL;
 LookList *  RMFT2::onAmberLookup=NULL;
 LookList *  RMFT2::onGreenLookup=NULL;
+LookList *  RMFT2::onChangeLookup=NULL;
 
 #define GET_OPCODE GETFLASH(RMFT2::RouteCode+progCounter)
 #define GET_OPERAND(n) GETFLASHW(RMFT2::RouteCode+progCounter+1+(n*3))
@@ -153,6 +154,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
   onRedLookup=LookListLoader(OPCODE_ONRED);
   onAmberLookup=LookListLoader(OPCODE_ONAMBER);
   onGreenLookup=LookListLoader(OPCODE_ONGREEN);
+  onChangeLookup=LookListLoader(OPCODE_ONCHANGE);
 
   // Second pass startup, define any turnouts or servos, set signals red
   // add sequences onRoutines to the lookups
@@ -180,6 +182,15 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
       break;
     }
 
+    case OPCODE_ATGTE:
+    case OPCODE_ATLT:
+    case OPCODE_IFGTE:
+    case OPCODE_IFLT:
+    case OPCODE_DRIVE: {
+      IODevice::configureAnalogIn((VPIN)operand);
+      break;
+    }
+
     case OPCODE_TURNOUT: {
       VPIN id=operand;
       int addr=GET_OPERAND(1);
@@ -712,6 +723,10 @@ void RMFT2::loop2() {
   case OPCODE_IFNOT: // do next operand if sensor not set
     skipIf=readSensor(operand);
     break;
+  
+  case OPCODE_IFRE: // do next operand if rotary encoder != position
+    skipIf=IODevice::readAnalogue(operand)!=(int)(GET_OPERAND(1));
+    break;
     
   case OPCODE_IFRANDOM: // do block on random percentage
     skipIf=(int16_t)(micros()%100) >= operand;
@@ -935,6 +950,7 @@ void RMFT2::loop2() {
   case OPCODE_ONRED:
   case OPCODE_ONAMBER:
   case OPCODE_ONGREEN:
+  case OPCODE_ONCHANGE:
   
     break;
     
@@ -1054,13 +1070,17 @@ void RMFT2::turnoutEvent(int16_t turnoutId, bool closed) {
   else handleEvent(F("THROW"),onThrowLookup,turnoutId);
 }
 
-
 void RMFT2::activateEvent(int16_t addr, bool activate) {
   // Hunt for an ONACTIVATE/ONDEACTIVATE for this accessory
   if (activate)  handleEvent(F("ACTIVATE"),onActivateLookup,addr);
   else handleEvent(F("DEACTIVATE"),onDeactivateLookup,addr);
 }
- 
+
+void RMFT2::changeEvent(int16_t vpin, bool change) {
+  // Hunt for an ONCHANGE for this sensor
+  if (change)  handleEvent(F("CHANGE"),onChangeLookup,vpin);
+} 
+
 void RMFT2::handleEvent(const FSH* reason,LookList* handlers, int16_t id) {
   int pc= handlers->find(id);
   if (pc<0) return;

EXRAIL2.h

@@ -54,6 +54,7 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_ENDTASK,OPCODE_ENDEXRAIL,
              OPCODE_SET_TRACK,
              OPCODE_ONRED,OPCODE_ONAMBER,OPCODE_ONGREEN,
+             OPCODE_ONCHANGE,
 
              // OPcodes below this point are skip-nesting IF operations
              // placed here so that they may be skipped as a group
@@ -64,7 +65,8 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_IFTIMEOUT,
              OPCODE_IF,OPCODE_IFNOT,
              OPCODE_IFRANDOM,OPCODE_IFRESERVE,
-             OPCODE_IFCLOSED,OPCODE_IFTHROWN
+             OPCODE_IFCLOSED,OPCODE_IFTHROWN,
+             OPCODE_IFRE,
              };
 
 
@@ -107,6 +109,7 @@ class LookList {
     static void createNewTask(int route, uint16_t cab);
     static void turnoutEvent(int16_t id, bool closed);  
     static void activateEvent(int16_t addr, bool active);
+    static void changeEvent(int16_t id, bool change);
     static const int16_t SERVO_SIGNAL_FLAG=0x4000;
     static const int16_t ACTIVE_HIGH_SIGNAL_FLAG=0x2000;
     static const int16_t DCC_SIGNAL_FLAG=0x1000;
@@ -161,6 +164,7 @@ private:
    static LookList * onRedLookup;
    static LookList * onAmberLookup;
    static LookList * onGreenLookup;
+   static LookList * onChangeLookup;
   
     
   // Local variables - exist for each instance/task 

EXRAIL2MacroReset.h

@@ -72,6 +72,7 @@
 #undef IFRESERVE
 #undef IFTHROWN
 #undef IFTIMEOUT
+#undef IFRE
 #undef INVERT_DIRECTION 
 #undef JOIN 
 #undef KILLALL
@@ -88,6 +89,7 @@
 #undef ONGREEN
 #undef ONRED
 #undef ONTHROW 
+#undef ONCHANGE
 #undef PARSE
 #undef PAUSE
 #undef PIN_TURNOUT 
@@ -182,6 +184,7 @@
 #define IFTHROWN(turnout_id) 
 #define IFRESERVE(block)
 #define IFTIMEOUT
+#define IFRE(sensor_id,value)
 #define INVERT_DIRECTION 
 #define JOIN 
 #define KILLALL
@@ -198,6 +201,7 @@
 #define ONGREEN(signal_id) 
 #define ONRED(signal_id) 
 #define ONTHROW(turnout_id) 
+#define ONCHANGE(sensor_id)
 #define PAUSE
 #define PIN_TURNOUT(id,pin,description...) 
 #define PRINT(msg) 

EXRAILMacros.h

@@ -261,6 +261,7 @@ const  FLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define IFRESERVE(block) OPCODE_IFRESERVE,V(block),
 #define IFTHROWN(turnout_id) OPCODE_IFTHROWN,V(turnout_id),
 #define IFTIMEOUT OPCODE_IFTIMEOUT,0,0,
+#define IFRE(sensor_id,value) OPCODE_IFRE,V(sensor_id),OPCODE_PAD,V(value),
 #define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,0,0,
 #define JOIN OPCODE_JOIN,0,0,
 #define KILLALL OPCODE_KILLALL,0,0,
@@ -277,6 +278,7 @@ const  FLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ONGREEN(signal_id) OPCODE_ONGREEN,V(signal_id),
 #define ONRED(signal_id) OPCODE_ONRED,V(signal_id),
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
+#define ONCHANGE(sensor_id) OPCODE_ONCHANGE,V(sensor_id),
 #define PAUSE OPCODE_PAUSE,0,0,
 #define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin), 
 #define POM(cv,value) OPCODE_POM,V(cv),OPCODE_PAD,V(value),

FSH.h

@@ -1,5 +1,5 @@
 /*
- *  © 2022 Paul M Antoine
+ *  © 2022 Paul M. Antoine
  *  © 2021 Neil McKechnie
  *  © 2021 Harald Barth
  *  © 2021 Fred Decker
@@ -48,10 +48,10 @@ typedef char FSH;
 #define FLASH
 #define strlen_P strlen
 #define strcpy_P strcpy
-#elif defined(ARDUINO_ARCH_STM32)
+#elif defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
 typedef __FlashStringHelper FSH;
-#define GETFLASH(addr) pgm_read_byte_near(addr)
-#define GETFLASHW(addr) pgm_read_word_near(addr)
+#define GETFLASH(addr) pgm_read_byte(addr)
+#define GETFLASHW(addr) (*(const unsigned int8_t *)(addr)) | ((*(const unsigned int8_t *)(addr+1)) << 8)
 #ifdef FLASH
   #undef FLASH
 #endif

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "PORTX-HAL-20220918"
+#define GITHUB_SHA "devel-202210311845Z"

I2CManager_SAMD.h

@@ -113,7 +113,8 @@ void I2CManagerClass::I2C_init()
 #if defined(I2C_USE_INTERRUPTS)
   // Setting NVIC
   NVIC_EnableIRQ(SERCOM3_IRQn);
-  NVIC_SetPriority (SERCOM3_IRQn, 0);  /* set Priority */
+  NVIC_SetPriority (SERCOM3_IRQn, SERCOM_NVIC_PRIORITY);  // Match default SERCOM priorities
+//  NVIC_SetPriority (SERCOM3_IRQn, 0);  // Set highest priority
 
   // Enable all interrupts
   s->I2CM.INTENSET.reg = SERCOM_I2CM_INTENSET_MB | SERCOM_I2CM_INTENSET_SB | SERCOM_I2CM_INTENSET_ERROR;

IODevice.cpp

@@ -25,6 +25,7 @@
 #include "DIAG.h" 
 #include "FSH.h"
 #include "IO_MCP23017.h"
+#include "DCCTimer.h"
 
 #if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_MEGAAVR)
 #define USE_FAST_IO
@@ -195,7 +196,17 @@ int IODevice::readAnalogue(VPIN vpin) {
 #ifdef DIAG_IO
   DIAG(F("IODevice::readAnalogue(): Vpin %d not found!"), (int)vpin);
 #endif
-  return false;
+  return -1023;
+}
+int IODevice::configureAnalogIn(VPIN vpin) {
+  for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
+    if (dev->owns(vpin)) 
+      return dev->_configureAnalogIn(vpin);
+  }
+#ifdef DIAG_IO
+  DIAG(F("IODevice::configureAnalogIn(): Vpin %d not found!"), (int)vpin);
+#endif
+  return -1023;
 }
 
 // Write value to virtual pin(s).  If multiple devices are allocated the same pin
@@ -361,11 +372,10 @@ int IODevice::read(VPIN vpin) {
   return !digitalRead(vpin);  // Return inverted state (5v=0, 0v=1)
 }
 int IODevice::readAnalogue(VPIN vpin) {
-  pinMode(vpin, INPUT);
-  noInterrupts();
-  int value = analogRead(vpin);
-  interrupts();
-  return value;
+  return ADCee::read(vpin);
+}
+int IODevice::configureAnalogIn(VPIN vpin) {
+  return ADCee::init(vpin);
 }
 void IODevice::loop() {}
 void IODevice::DumpAll() {
@@ -467,7 +477,18 @@ int ArduinoPins::_read(VPIN vpin) {
 
 // Device-specific readAnalogue function (analogue input)
 int ArduinoPins::_readAnalogue(VPIN vpin) {
-  int pin = vpin;
+  if (vpin > 255) return -1023;
+  uint8_t pin = vpin;
+  int value = ADCee::read(pin);
+
+  #ifdef DIAG_IO
+  DIAG(F("Arduino Read Pin:%d Value:%d"), pin, value);
+  #endif
+  return value;
+}
+int ArduinoPins::_configureAnalogIn(VPIN vpin) {
+  if (vpin > 255) return -1023;
+  uint8_t pin = vpin;
   uint8_t mask = 1 << ((pin-_firstVpin) % 8);
   uint8_t index = (pin-_firstVpin) / 8;
   if (_pinModes[index] & mask) {
@@ -479,22 +500,9 @@ int ArduinoPins::_readAnalogue(VPIN vpin) {
     else
       pinMode(pin, INPUT);
   }
-
-  // Since AnalogRead is also called from interrupt code, disable interrupts 
-  // while we're using it.  There's only one ADC shared by all analogue inputs 
-  // on the Arduino, so we don't want interruptions.
-  //******************************************************************************
-  // NOTE: If the HAL is running on a computer without the DCC signal generator,
-  // then interrupts needn't be disabled.  Also, the DCC signal generator puts
-  // the ADC into fast mode, so if it isn't present, analogueRead calls will be much
-  // slower!!
-  //******************************************************************************
-  noInterrupts();
-  int value = analogRead(pin);
-  interrupts();
-
+  int value = ADCee::init(pin);
   #ifdef DIAG_IO
-  DIAG(F("Arduino Read Pin:%d Value:%d"), pin, value);
+  DIAG(F("configureAnalogIn Pin:%d Value:%d"), pin, value);
   #endif
   return value;
 }

IODevice.h

@@ -143,6 +143,7 @@ public:
 
   // read invokes the IODevice instance's _readAnalogue method.
   static int readAnalogue(VPIN vpin);
+  static int configureAnalogIn(VPIN vpin);
 
   // loop invokes the IODevice instance's _loop method.
   static void loop();
@@ -201,6 +202,10 @@ protected:
     (void)vpin; 
     return 0;
   };
+  virtual int _configureAnalogIn(VPIN vpin) { 
+    (void)vpin; 
+    return 0;
+  };
 
   // Method to perform updates on an ongoing basis (optionally implemented within device class)
   virtual void _loop(unsigned long currentMicros) {
@@ -356,6 +361,7 @@ private:
   // Device-specific read functions.
   int _read(VPIN vpin) override;
   int _readAnalogue(VPIN vpin) override;
+  int _configureAnalogIn(VPIN vpin) override;
   void _display() override;
 
 
@@ -403,4 +409,4 @@ private:
 #include "IO_MCP23017.h"
 #include "IO_PCF8574.h"
 
-#endif // iodevice_h
+#endif // iodevice_h

IO_DFPlayer.h

@@ -161,7 +161,7 @@ protected:
     uint8_t pin = vpin - _firstVpin;
  
     // Validate parameter.
-    volume = min(30,volume);
+    volume = min((uint8_t)30,volume);
 
     if (pin == 0) {
       // Play track 

IO_HCSR04.h

@@ -138,7 +138,7 @@ private:
   //
   void read_HCSR04device() {
     // uint16 enough to time up to 65ms
-    uint16_t startTime, waitTime, currentTime, maxTime;  
+    uint16_t startTime, waitTime = 0, currentTime, maxTime;  
 
     // If receive pin is still set on from previous call, abort the read.
     if (ArduinoPins::fastReadDigital(_echoPin))
@@ -186,4 +186,4 @@ private:
 
 };
 
-#endif //IO_HCSR04_H
+#endif //IO_HCSR04_H

MotorDriver.cpp

@@ -26,28 +26,9 @@
 #include "DCCWaveform.h"
 #include "DCCTimer.h"
 #include "DIAG.h"
-#define ADC_INPUT_MAX_VALUE 1023 // 10 bit ADC
 
 #if defined(ARDUINO_ARCH_ESP32)
 #include "ESP32-fixes.h"
-#include <driver/adc.h>
-#include <soc/sens_reg.h>
-#include <soc/sens_struct.h>
-#undef ADC_INPUT_MAX_VALUE
-#define ADC_INPUT_MAX_VALUE 4095 // 12 bit ADC
-#define pinToADC1Channel(X) (adc1_channel_t)(((X) > 35) ? (X)-36 : (X)-28)
-
-int IRAM_ATTR local_adc1_get_raw(int channel) {
-  uint16_t adc_value;
-  SENS.sar_meas_start1.sar1_en_pad = (1 << channel); // only one channel is selected
-  while (SENS.sar_slave_addr1.meas_status != 0);
-  SENS.sar_meas_start1.meas1_start_sar = 0;
-  SENS.sar_meas_start1.meas1_start_sar = 1;
-  while (SENS.sar_meas_start1.meas1_done_sar == 0);
-  adc_value = SENS.sar_meas_start1.meas1_data_sar;
-  return adc_value;
-}
-
 #endif
 
 bool MotorDriver::commonFaultPin=false;
@@ -110,15 +91,7 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
   
   currentPin=current_pin;
   if (currentPin!=UNUSED_PIN) {
-#ifdef 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
+    senseOffset = ADCee::init(currentPin);
   }
 
   faultPin=fault_pin;
@@ -133,7 +106,7 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
   tripMilliamps=trip_milliamps;
   rawCurrentTripValue=mA2raw(trip_milliamps);
 
-  if (rawCurrentTripValue + senseOffset > ADC_INPUT_MAX_VALUE) {
+  if (rawCurrentTripValue + senseOffset > ADCee::ADCmax()) {
     // This would mean that the values obtained from the ADC never
     // can reach the trip value. So independent of the current, the
     // short circuit protection would never trip. So we adjust the
@@ -141,8 +114,8 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
     // maximum value instead.
 
     //    DIAG(F("Changing short detection value from %d to %d mA"),
-    // raw2mA(rawCurrentTripValue), raw2mA(ADC_INPUT_MAX_VALUE-senseOffset));
-    rawCurrentTripValue=ADC_INPUT_MAX_VALUE-senseOffset;
+    // raw2mA(rawCurrentTripValue), raw2mA(ADCee::ADCmax()-senseOffset));
+    rawCurrentTripValue=ADCee::ADCmax()-senseOffset;
   }
 
   if (currentPin==UNUSED_PIN) 
@@ -209,24 +182,18 @@ bool MotorDriver::canMeasureCurrent() {
 /*
  * Return the current reading as pin reading 0 to 1023. If the fault
  * pin is activated return a negative current to show active fault pin.
- * As there is no -0, create a little and return -1 in that case.
+ * As there is no -0, cheat a little and return -1 in that case.
  * 
  * senseOffset handles the case where a shield returns values above or below 
  * a central value depending on direction.
+ *
+ * Bool fromISR should be adjusted dependent how function is called
  */
-int MotorDriver::getCurrentRaw() {
+int MotorDriver::getCurrentRaw(bool fromISR) {
+  (void)fromISR;
   if (currentPin==UNUSED_PIN) return 0; 
   int current;
-  // This function should NOT be called in an interruot so we 
-  // dont need to fart about saving and restoring CPU specific 
-  // interrupt registers. 
-#ifdef ARDUINO_ARCH_ESP32
-  current = local_adc1_get_raw(pinToADC1Channel(currentPin))-senseOffset;
-#else
-  noInterrupts();
-  current = analogRead(currentPin)-senseOffset;
-  interrupts();
-#endif
+  current = ADCee::read(currentPin, fromISR)-senseOffset;
   if (current<0) current=0-current;
   if ((faultPin != UNUSED_PIN)  && isLOW(fastFaultPin) && powerMode==POWERMODE::ON)
       return (current == 0 ? -1 : -current);
@@ -234,12 +201,52 @@ int MotorDriver::getCurrentRaw() {
    
 }
 
+#ifdef ANALOG_READ_INTERRUPT
+/*
+ * This should only be called in interrupt context
+ * Copies current value from HW to cached value in
+ * Motordriver.
+ */
+#pragma GCC push_options
+#pragma GCC optimize ("-O3")
+bool MotorDriver::sampleCurrentFromHW() {
+  byte low, high;
+  //if (!bit_is_set(ADCSRA, ADIF))
+  if (bit_is_set(ADCSRA, ADSC))
+    return false;
+  //  if ((ADMUX & mask) != (currentPin - A0))
+  //    return false;
+  low = ADCL; //must read low before high
+  high = ADCH;
+  bitSet(ADCSRA, ADIF);
+  sampleCurrent = (high << 8) | low;
+  sampleCurrentTimestamp = millis();
+  return true;
+}
+void MotorDriver::startCurrentFromHW() {
+#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
+  const byte mask = 7;
+#else
+  const byte mask = 31;
+#endif
+  ADMUX=(1<<REFS0)|((currentPin-A0) & mask); //select AVCC as reference and set MUX
+  bitSet(ADCSRA,ADSC); // start conversion
+}
+#pragma GCC pop_options
+#endif //ANALOG_READ_INTERRUPT
+
+#if defined(ARDUINO_ARCH_ESP32)
+uint16_t taurustones[28] = { 165, 175, 196, 220,
+			     247, 262, 294, 330,
+			     249, 392, 440, 494,
+			     523, 587, 659, 698,
+			     494, 440, 392, 249,
+			     330, 284, 262, 247,
+			     220, 196, 175, 165 };
+#endif
 void MotorDriver::setDCSignal(byte speedcode) {
   if (brakePin == UNUSED_PIN)
     return;
-#if defined(ARDUINO_ARCH_ESP32)
-  DCCEXanalogWriteFrequency(brakePin, 100); // set DC PWM frequency to 100Hz XXX May move to setup
-#endif
 #if defined(ARDUINO_AVR_UNO)
   TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
 #endif
@@ -251,6 +258,17 @@ void MotorDriver::setDCSignal(byte speedcode) {
   byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
   byte tDir=speedcode & 0x80;
   byte brake;
+#if defined(ARDUINO_ARCH_ESP32)
+  {
+    int f = 131;
+    if (tSpeed > 2) {
+      if (tSpeed <= 58) {
+	f = taurustones[ (tSpeed-2)/2 ] ;
+      }
+    }
+    DCCEXanalogWriteFrequency(brakePin, f); // set DC PWM frequency to 100Hz XXX May move to setup
+  }
+#endif
   if (tSpeed <= 1) brake = 255;
   else if (tSpeed >= 127) brake = 0;
   else  brake = 2 * (128-tSpeed);
@@ -287,23 +305,12 @@ void MotorDriver::setDCSignal(byte speedcode) {
   }
 }
 
-int MotorDriver::getCurrentRawInInterrupt() {
-  
-  // IMPORTANT:  This function must be called in Interrupt() time within the 56uS timer
-  //             The default analogRead takes ~100uS which is catastrphic
-  //             so DCCTimer has set the sample time to be much faster.  
-  if (currentPin==UNUSED_PIN) return 0; 
-#ifdef ARDUINO_ARCH_ESP32 //On ESP we do all in loop() instead of in interrupt
-  return getCurrentRaw();
-#else
-  return analogRead(currentPin)-senseOffset;
-#endif
-}  
-
 unsigned int MotorDriver::raw2mA( int raw) {
+  //DIAG(F("%d = %d * %d / %d"), (int32_t)raw * senseFactorInternal / senseScale, raw, senseFactorInternal, senseScale);
   return (int32_t)raw * senseFactorInternal / senseScale;
 }
 unsigned int MotorDriver::mA2raw( unsigned int mA) {
+  //DIAG(F("%d = %d * %d / %d"), (int32_t)mA * senseScale / senseFactorInternal, mA, senseScale, senseFactorInternal);
   return (int32_t)mA * senseScale / senseFactorInternal;
 }
 

MotorDriver.h

@@ -153,8 +153,7 @@ class MotorDriver {
       setDCSignal(128);
 #endif
     };
-    int  getCurrentRaw();
-    int getCurrentRawInInterrupt();
+    int  getCurrentRaw(bool fromISR=false);
     unsigned int raw2mA( int raw);
     unsigned int mA2raw( unsigned int mA);
     inline bool brakeCanPWM() {
@@ -183,6 +182,10 @@ class MotorDriver {
       isProgTrack = on;
     }
     void checkPowerOverload(bool useProgLimit, byte trackno);
+#ifdef ANALOG_READ_INTERRUPT
+    bool sampleCurrentFromHW();
+    void startCurrentFromHW();
+#endif
   private:
     bool isProgTrack = false; // tells us if this is a prog track
     void  getFastPin(const FSH* type,int pin, bool input, FASTPIN & result);
@@ -212,6 +215,10 @@ class MotorDriver {
     unsigned int sampleDelay;
     int progTripValue;
     int  lastCurrent;
+#ifdef ANALOG_READ_INTERRUPT
+    volatile unsigned long sampleCurrentTimestamp;
+    volatile uint16_t sampleCurrent;
+#endif
     int maxmA;
     int tripmA;
 

MotorDrivers.h

@@ -1,5 +1,5 @@
 /*
- *  © 2022 Paul M Antoine
+ *  © 2022 Paul M. Antoine
  *  © 2021 Fred Decker
  *  © 2020-2022 Harald Barth
  *  (c) 2020 Chris Harlow. All rights reserved.
@@ -59,15 +59,16 @@
 
 // Arduino STANDARD Motor Shield, used on different architectures:
 
-#if defined(ARDUINO_ARCH_SAMD)
+#if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
 // Setup for SAMD21 Sparkfun DEV board using Arduino standard Motor Shield R3 (MUST be R3
 // for 3v3 compatibility!!) senseFactor for 3.3v systems is 1.95 as calculated when using
 // 10-bit A/D samples, and for 12-bit samples it's more like 0.488, but we probably need
 // to tweak both these
 #define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"),                                                 \
-                              new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 1.95, 1500, UNUSED_PIN), \
-                              new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.95, 1500, UNUSED_PIN)
+                              new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 0.488, 1500, UNUSED_PIN), \
+                              new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 0.488, 1500, UNUSED_PIN)
 #define SAMD_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
+#define STM32_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
 
 #elif defined(ARDUINO_ARCH_ESP32)
 // STANDARD shield on an ESPDUINO-32 (ESP32 in Uno form factor). The shield must be eiter the
@@ -157,4 +158,31 @@
  new MotorDriver(5,  6, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 1500, UNUSED_PIN),\
  new MotorDriver(9, 10, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
 
+// This is an example how to stack two standard motor shields. The upper shield
+// needs pins 3 8 9 11 12 13 A0 A1 disconnected from the lower shield and
+// jumpered instead like this:  2-3 6-8 7-9 4-13 5-11 10-12 A0-A4 A1-A5
+// Pin assigment table:
+// 2 Enable C  jumpered
+// 3 Enable A  direct
+// 4 Dir D     jumpered
+// 5 Enable D  jumpered
+// 6 Brake D   jumpered
+// 7 Brake C   jumpered
+// 8 Brake B   direct
+// 9 Brake A   direct
+// 10 Dir C    jumpered
+// 11 Enable B direct
+// 12 Dir A    direct
+// 13 Dir B    direct
+// A0 Sense A  direct
+// A1 Sense B  direct
+// A4 Sense C  jumpered
+// A5 Sense D  jumpered
+//
+#define STACKED_MOTOR_SHIELD F("STACKED_MOTOR_SHIELD"),\
+  new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 2.99, 1500, UNUSED_PIN), \
+  new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 1500, UNUSED_PIN), \
+  new MotorDriver( 2, 10, UNUSED_PIN, 7, A3, 2.99, 1500, UNUSED_PIN), \
+  new MotorDriver( 5,  4, UNUSED_PIN, 6, A4, 2.99, 1500, UNUSED_PIN)
+//
 #endif

SerialManager.cpp

@@ -1,5 +1,5 @@
  /*
- *  © 2022 Paul M Antoine
+ *  © 2022 Paul M. Antoine
  *  © 2021 Chris Harlow
  *  © 2022 Harald Barth
  *  All rights reserved.
@@ -51,6 +51,18 @@ void SerialManager::init() {
   while (!USB_SERIAL && millis() < 5000); // wait max 5s for Serial to start
   new SerialManager(&USB_SERIAL);
   
+#ifdef SERIAL6_COMMANDS
+  Serial6.begin(115200);
+  new SerialManager(&Serial6);
+#endif
+#ifdef SERIAL5_COMMANDS
+  Serial5.begin(115200);
+  new SerialManager(&Serial5);
+#endif
+#ifdef SERIAL4_COMMANDS
+  Serial4.begin(115200);
+  new SerialManager(&Serial4);
+#endif
 #ifdef SERIAL3_COMMANDS
   Serial3.begin(115200);
   new SerialManager(&Serial3);

TrackManager.cpp

@@ -54,6 +54,49 @@ int16_t TrackManager::joinRelay=UNUSED_PIN;
 byte TrackManager::tempProgTrack=MAX_TRACKS+1;
 #endif
 
+#ifdef ANALOG_READ_INTERRUPT
+/*
+ * sampleCurrent() runs from Interrupt
+ */
+void TrackManager::sampleCurrent() {
+  static byte tr = 0;
+  byte trAtStart = tr;
+  static bool waiting = false;
+
+  if (waiting) {
+    if (! track[tr]->sampleCurrentFromHW()) {
+      return; // no result, continue to wait
+    }
+    // found value, advance at least one track
+    // for scope debug track[1]->setBrake(0);
+    waiting = false;
+    tr++;
+    if (tr > lastTrack) tr = 0;
+    if (lastTrack < 2 || trackMode[tr] & TRACK_MODE_PROG) {
+      return; // We could continue but for prog track we
+              // rather do it in next interrupt beacuse
+              // that gives us well defined sampling point.
+              // For other tracks we care less unless we
+              // have only few (max 2) tracks.
+    }
+  }
+  if (!waiting) {
+    // look for a valid track to sample or until we are around
+    while (true) {
+      if (trackMode[tr] & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_DCX|TRACK_MODE_EXT )) {
+	track[tr]->startCurrentFromHW();
+	// for scope debug track[1]->setBrake(1);
+	waiting = true;
+	break;
+      }
+      tr++;
+      if (tr > lastTrack) tr = 0;
+      if (tr == trAtStart) // we are through and nothing found to do
+	return;
+    }
+  }
+}
+#endif
 
 // The setup call is done this way so that the tracks can be in a list 
 // from the config... the tracks default to NULL in the declaration                 

TrackManager.h

@@ -27,8 +27,9 @@
 #include "MotorDriver.h"
 // Virtualised Motor shield multi-track hardware Interface
 
-enum TRACK_MODE : byte {TRACK_MODE_OFF, TRACK_MODE_MAIN, TRACK_MODE_PROG,
-                        TRACK_MODE_DC, TRACK_MODE_DCX, TRACK_MODE_EXT};
+// use powers of two so we can do logical and/or on the track modes in if clauses.
+enum TRACK_MODE : byte {TRACK_MODE_OFF = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
+                        TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
 
 // These constants help EXRAIL macros say SET_TRACK(2,mode) OR SET_TRACK(C,mode) etc.
 const byte TRACK_NUMBER_0=0, TRACK_NUMBER_A=0;    
@@ -75,10 +76,10 @@ class TrackManager {
     static void setJoin(bool join);
     static bool isJoined() { return progTrackSyncMain;}
     static void setJoinRelayPin(byte joinRelayPin);
+    static void sampleCurrent();
     static int16_t joinRelay;
     static bool progTrackSyncMain;  // true when prog track is a siding switched to main
      static bool progTrackBoosted;   // true when prog track is not current limited
-   
     
   private:
     static void addTrack(byte t, MotorDriver* driver);

WiThrottle.cpp

@@ -63,42 +63,53 @@
 
 WiThrottle * WiThrottle::firstThrottle=NULL;
 
-static uint8_t xstrcmp(const char *s1, const char *s2) {
-  while(*s1 != '\0' && *s2 != '\0') {
-    if (*s1 != *s2) return 1;
-    s1++;
-    s2++;
-  }
-  if (*s1 == '\0' && *s2 == '\0')
+static uint8_t xstrncmp(const char *s1, const char *s2, uint8_t n) {
+  if (n == 0)
     return 0;
-  return 1;
+  do {
+    if (*s1 != *s2++)
+      return 1;
+    if (*s1++ == 0)
+      break;
+  } while (--n != 0);
+  return 0;
 }
 
 void WiThrottle::findUniqThrottle(int id, char *u) {
   WiThrottle *wtmyid = NULL;
   WiThrottle *wtmyuniq = NULL;
-  u[16] = '\0';
+
+  // search 1, look for clientid match
   for (WiThrottle* wt=firstThrottle; wt!=NULL ; wt=wt->nextThrottle){
-    //DIAG(F("looking at %d as %s"),wt->clientid, wt->uniq);
-    if (wtmyid == NULL && wt->clientid == id)
+    if (wt->clientid == id) {
+      if (xstrncmp(u, wt->uniq, 16) == 0) // should be most common case
+	return;
       wtmyid = wt;
-    if (wtmyuniq == NULL && xstrcmp(u, wt->uniq) == 0)
-      wtmyuniq = wt;
+      break;
+    }
   }
+  // search 2, look for string match
+  for (WiThrottle* wt=firstThrottle; wt!=NULL ; wt=wt->nextThrottle){
+    if (xstrncmp(u, wt->uniq, 16) == 0) {
+      wtmyuniq = wt;
+      break;
+    }
+  }
+
+  // analyse result of the two for loops:
   if (wtmyid == NULL) {  // should not happen
     DIAG(F("Did not find my own wiThrottle handle"));
     return;
   }
-  if (wtmyid == wtmyuniq) { // all well, just return;
-    return;
-  }
+  // wtmyuniq == wtmyid has already returned in for loop 1
   if (wtmyuniq == NULL) { // register uniq in the found id
     strncpy(wtmyid->uniq, u, 16);
     wtmyid->uniq[16] = '\0';
     if (Diag::WITHROTTLE) DIAG(F("Client %d registered as %s"),wtmyid->clientid, wtmyid->uniq);
     return;
   }
-  // do the copy (all other options above)
+  // if we get here wtmyid and wtmyuniq point on objects but differnet ones
+  // so we need to do the copy (all other options covered above)
   for(int n=0; n < MAX_MY_LOCO; n++)
     wtmyid->myLocos[n] = wtmyuniq->myLocos[n];
   wtmyid->heartBeatEnable = wtmyuniq->heartBeatEnable;
@@ -287,7 +298,7 @@ void WiThrottle::parse(RingStream * stream, byte * cmdx) {
 #ifdef EXRAIL_ACTIVE
   StringFormatter::send(stream,F("RL%d"), RMFT2::rosterNameCount);
   for (int16_t r=0;r<RMFT2::rosterNameCount;r++) {
-      int16_t cabid=GETFLASHW(RMFT2::rosterIdList+r);
+      int16_t cabid=GETFLASHW(RMFT2::rosterIdList+r*2);
       StringFormatter::send(stream,F("]\\[%S}|{%d}|{%c"),
       RMFT2::getRosterName(cabid),cabid,cabid<128?'S':'L');
   }
@@ -640,8 +651,9 @@ void WiThrottle::getLocoCallback(int16_t locoid) {
   itoa(locoid,addcmd+4,10);
   stashInstance->multithrottle(stashStream, (byte *)addcmd);
   TrackManager::setMainPower(POWERMODE::ON);
+  TrackManager::setProgPower(POWERMODE::ON);
   TrackManager::setJoin(true);          // <1 JOIN> so we can drive loco away
-  //DIAG(F("LocoCallback commit success"));
+  DIAG(F("LocoCallback commit success"));
   stashStream->commit();
   CommandDistributor::broadcastPower();
 

config.example.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2022 Paul M. Antoine
  *  © 2021 Neil McKechnie
  *  © 2020-2021 Harald Barth
  *  © 2020-2021 Fred Decker
@@ -143,6 +144,9 @@ The configuration file for DCC-EX Command Station
 // and want to use the EX-RAIL automation. Otherwise you do not have enough RAM
 // to do that. Of course, then none of the EEPROM related commands work.
 //
+// EEPROM does not work on ESP32. So on ESP32, EEPROM will always be disabled,
+// at least until it works.
+//
 // #define DISABLE_EEPROM
 
 /////////////////////////////////////////////////////////////////////////////////////
@@ -188,14 +192,18 @@ The configuration file for DCC-EX Command Station
 // HANDLING MULTIPLE SERIAL THROTTLES
 // The command station always operates with the default Serial port.
 // Diagnostics are only emitted on the default serial port and not broadcast.
-// Other serial throttles may be added to the Serial1, Serial2, Serial3 ports
-// which may or may not exist on your CPU. (Mega has all 3)
+// Other serial throttles may be added to the Serial1, Serial2, Serial3, Serial4,
+// Serial5, and Serial6 ports which may or may not exist on your CPU. (Mega has 3,
+// SAMD/SAMC and STM32 have up to 6.)
 // To monitor a throttle on one or more serial ports, uncomment the defines below.
 // NOTE: do not define here the WiFi shield serial port or your wifi will not work.
 //
 //#define SERIAL1_COMMANDS
 //#define SERIAL2_COMMANDS
 //#define SERIAL3_COMMANDS
+//#define SERIAL4_COMMANDS
+//#define SERIAL5_COMMANDS
+//#define SERIAL6_COMMANDS
 //
 // BLUETOOTH SERIAL ON ESP32
 // On ESP32 you have the possibility to use the builtin BT serial to connect to

defines.h

@@ -3,7 +3,7 @@
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
  *  © 2021 Fred Decker
- *  © 2020-2021 Harald Barth
+ *  © 2020-2022 Harald Barth
  *  © 2020-2021 Chris Harlow
  *
  *  This file is part of CommandStation-EX
@@ -114,8 +114,12 @@
 #endif
 #elif defined(ARDUINO_ARCH_ESP8266)
 #define ARDUINO_TYPE "ESP8266"
+#warning "ESP8266 platform untested, you are on your own"
 #elif defined(ARDUINO_ARCH_ESP32)
 #define ARDUINO_TYPE "ESP32"
+#ifndef DISABLE_EEPROM
+#define DISABLE_EEPROM
+#endif
 #elif defined(ARDUINO_ARCH_SAMD)
 #define ARDUINO_TYPE "SAMD21"
 #undef USB_SERIAL

installer.sh

@@ -0,0 +1,101 @@
+#!/bin/bash
+
+#
+# © 2022 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/>.
+#
+#
+# Usage: mkdir DIRNAME ; cd DIRNAME ; ../installer.sh
+# or from install directory ./installer.sh
+#
+
+DCCEXGITURL="https://github.com/DCC-EX/CommandStation-EX"
+ACLIINSTALL="https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh"
+ACLI="./bin/arduino-cli"
+
+function need () {
+    type -p $1 > /dev/null && return
+    sudo apt-get install $1
+    type -p $1 > /dev/null && return
+    echo "Could not install $1, abort"
+    exit 255
+}
+
+
+need git
+if test -d .git ; then
+    : assume we are right here
+    git pull
+else
+    git clone "$DCCEXGITURL"
+    cd `basename "$DCCEXGITURL"` || exit 255
+fi
+if test -f config.h ; then
+    : all well
+else
+    # need to do this config better
+    cp -p config.example.h config.h
+fi
+need curl
+if test -x "$ACLI" ; then
+    : all well
+else
+    curl "$ACLIINSTALL" > acliinstall.sh
+    chmod +x acliinstall.sh
+    ./acliinstall.sh
+fi
+
+$ACLI core update-index || exit 255
+
+# Board discovery
+BOARDS=/tmp/boards.$$
+$ACLI board list | grep serial > $BOARDS
+if test x`< $BOARDS wc -l` = 'x1' ; then
+    LINE=`cat $BOARDS`
+else
+    # ask user
+    echo "What board to use? (give line number)"
+    cat -n $BOARDS
+    echo -n "> "
+    LINE=`awk 'BEGIN {getline A < "/dev/tty"} ; A == NR {print}' $BOARDS`
+fi
+rm $BOARDS
+PORT=`echo $LINE | cut -d" " -f1`
+echo Will use port: $PORT
+
+# FQBN discovery
+FQBN=`echo $LINE | egrep 'arduino:avr:[a-z][a-z]*' | sed 's/.*\(arduino:avr:[a-z][a-z]*\) .*/\1/1'`
+if test x$FQBN = x ; then
+    # ask user
+    cat > /tmp/fqbn.$$ <<EOF
+arduino:avr:uno
+arduino:avr:mega
+esp32:esp32:esp32
+EOF
+    echo "What board type? (give line number)"
+    cat -n /tmp/fqbn.$$
+    echo -n "> "
+    FQBN=`awk 'BEGIN {getline A < "/dev/tty"} ; A == NR {print}' /tmp/fqbn.$$`
+fi
+rm /tmp/fqbn.$$
+echo FQBN is $FQBN
+
+# Install phase
+$ACLI core install `echo $FQBN | sed 's,:[^:]*$,,1'` # remove last component to get package
+$ACLI board attach -p $PORT --fqbn $FQBN $PWD
+$ACLI compile --fqbn $FQBN $PWD
+$ACLI upload -v -t -p $PORT $PWD