clean up diag, multiple gpio pin test worked

DCC.cpp

@@ -28,7 +28,6 @@
 #include "IODevice.h"
 
 #include "MotorDriver.h"
-extern MotorDriverContainer mDC;
 
 // This module is responsible for converting API calls into
 // messages to be sent to the waveform generator.
@@ -54,22 +53,28 @@ byte DCC::joinRelay=UNUSED_PIN;
 byte DCC::globalSpeedsteps=128;
 
 void DCC::begin() {
-  StringFormatter::send(Serial,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), mDC.getMotorShieldName(), F(GITHUB_SHA));
+  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(mDC.mainTrack(),mDC.progTrack());
-  DCCTrack::mainTrack.addDriver(mDC.mainTrack());
-  DCCTrack::progTrack.addDriver(mDC.progTrack());
+  MotorDriverContainer::mDC.diag();
+  DCCWaveform::begin(MotorDriverContainer::mDC.mainTrack(),MotorDriverContainer::mDC.progTrack());
 
-  MotorDriver *md;
-  mDC.add(2, md = new MotorDriver(16, 21, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.00, 2000, UNUSED_PIN, RMT_MAIN));
-  DCCTrack::mainTrack.addDriver(md);
+  // 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) {
@@ -578,7 +583,7 @@ byte DCC::loopStatus=0;
 
 void DCC::loop()  {
   DCCWaveform::loop(ackManagerProg!=NULL); // power overload checks
-  mDC.loop();
+  MotorDriverContainer::mDC.loop();
   ackManagerLoop();    // maintain prog track ack manager
   issueReminders();
 }

DCCRMT.cpp

@@ -23,6 +23,7 @@
 #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
 
@@ -104,6 +105,14 @@ RMTChannel::RMTChannel(byte pin, byte ch, byte plen) {
                             // 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));
 

DCCTrack.cpp

@@ -29,7 +29,7 @@ void DCCTrack::schedulePacket(dccPacket packet) {
       //DIAG(F("DCCTrack::schedulePacket RMT l=%d d=%x"),packet.length, packet.data[0]);
       driver->schedulePacket(packet);
     }
-    if (driver->type() == TIMERINTERRUPT && waveform && once) {
+    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

@@ -3,13 +3,16 @@
 #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); };
+  inline void addDriver(MotorDriver *m) {
+    mD.push_back(m);
+  };
   static DCCTrack mainTrack;
   static DCCTrack progTrack;
  private:

DCCWaveform.cpp

@@ -27,9 +27,16 @@
 #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);
 
@@ -42,19 +49,27 @@ 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);
 }
 
 #ifdef SLOW_ANALOG_READ

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 "ESP32-motordriver-2021122-23:21"
+#define GITHUB_SHA "ESP32-motordriver-2021129-00:12"

MotorDriver.cpp

@@ -44,7 +44,7 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
     rmtChannel = new RMTChannel(signalPin, 0, PREAMBLE_BITS_MAIN);
 #endif
     dualSignal=false;
-  } else if (dtype == TIMERINTERRUPT) {
+  } else if (dtype & (TIMER_MAIN | TIMER_PROG)) {
     signalPin=signal_pin;
     getFastPin(F("SIG"),signalPin,fastSignalPin);
     pinMode(signalPin, OUTPUT);
@@ -212,8 +212,9 @@ bool MotorDriver::schedulePacket(dccPacket packet) {
   if(!rmtChannel) return true; // fake success if functionality is not there
 
   outQueue.push(packet);
-  if (outQueue.size() > 10) {
-    DIAG(F("Warning: outQueue > 10"));
+  uint16_t size = outQueue.size();
+  if (size > 10) {
+    DIAG(F("Warning: outQueue %d > 10"),size);
   }
   return true;
 }
@@ -232,26 +233,43 @@ MotorDriverContainer::MotorDriverContainer(const FSH * motorShieldName,
 					   MotorDriver *m5,
 					   MotorDriver *m6,
 					   MotorDriver *m7) {
-  mD[0]=m0;
-  mD[1]=m1;
-  mD[2]=m2;
-  mD[3]=m3;
-  mD[4]=m4;
-  mD[5]=m5;
-  mD[6]=m6;
-  mD[7]=m7;
+  // 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() {
-  static byte i = 0;
-
   // loops over MotorDrivers which have loop tasks
-  if (mD[i])
-    if (mD[i]->type() == RMT_MAIN || mD[i]->type() == RMT_PROG)
-      mD[i]->loop();
-  i++;
-  if(i > 7) i=0;
+  if (mD.empty())
+    return;
+  for(const auto& d: mD)
+    if (d->type() & (RMT_MAIN | RMT_PROG))
+      d->loop();
 }
 
-MotorDriverContainer mDC(MOTOR_SHIELD_TYPE);
+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

@@ -19,8 +19,10 @@
 
 #ifndef MotorDriver_h
 #define MotorDriver_h
+#include <vector>
 #include "defines.h"
 #include "FSH.h"
+#include "DIAG.h"
 
 #if defined(ARDUINO_ARCH_ESP32)
 #include <queue>
@@ -56,13 +58,20 @@ struct FASTPIN {
 #define isHIGH(fastpin)   (*fastpin.inout & fastpin.maskHIGH)
 #define isLOW(fastpin)    (!isHIGH(fastpin))
 
-enum driverType { TIMERINTERRUPT, RMT_MAIN, RMT_PROG, DC_ENA, DC_BRAKE };
+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,
-		driverType t=TIMERINTERRUPT);
+		driverType t=TYPE_UNKNOWN);
     void setPower( bool on);
     void setSignal( bool high);
     void setBrake( bool on);
@@ -82,6 +91,7 @@ class MotorDriver {
 #if defined(ARDUINO_ARCH_ESP32)
     void loop();
     inline driverType type() { return dtype; };
+    inline void setType(driverType t) { dtype = t; };
     bool schedulePacket(dccPacket packet);
 #endif
 
@@ -127,18 +137,35 @@ public:
 		       MotorDriver *m5=NULL,
 		       MotorDriver *m6=NULL,
 		       MotorDriver *m7=NULL);
-  inline void add(byte n, MotorDriver *m) {
-    if (n>8) return;
-    mD[n] = m;
+  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 MotorDriver *mainTrack() { return mD[0]; }; //start fixed
-  inline MotorDriver *progTrack() { return mD[1]; };
+  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:
-  MotorDriver *mD[8];
+  std::vector<MotorDriver *>mD;
   FSH *shieldName;
 };
 #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);

config.example.h

@@ -45,9 +45,12 @@ The configuration file for DCC-EX Command Station
 
 // https://randomnerdtutorials.com/esp8266-pinout-reference-gpios/
 // 4 high at boot
-#define ESP8266_MOTOR_SHIELD F("ESP8266"),					\
- new MotorDriver(D3, D5, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.99, 2000, UNUSED_PIN),\
- new MotorDriver(D2, D6, UNUSED_PIN, UNUSED_PIN, A0        , 2.99, 2000, UNUSED_PIN)
+// 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