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CommandStation-EX/TrackManager.cpp

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/*
* © 2022 Chris Harlow
* © 2022 Harald Barth
* All rights reserved.
*
* 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 "TrackManager.h"
#include "FSH.h"
#include "DCCWaveform.h"
#include "DCC.h"
#include "MotorDriver.h"
#include "DCCTimer.h"
#include "DIAG.h"
// Virtualised Motor shield multi-track hardware Interface
#define FOR_EACH_TRACK(t) for (byte t=0;t<=lastTrack;t++)
#define APPLY_BY_MODE(findmode,function) \
FOR_EACH_TRACK(t) \
if (trackMode[t]==findmode) \
track[t]->function;
const int16_t HASH_KEYWORD_PROG = -29718;
const int16_t HASH_KEYWORD_MAIN = 11339;
const int16_t HASH_KEYWORD_OFF = 22479;
const int16_t HASH_KEYWORD_DC = 2183;
const int16_t HASH_KEYWORD_DCX = 6463; // DC reversed polarity
const int16_t HASH_KEYWORD_EXT = 8201; // External DCC signal
const int16_t HASH_KEYWORD_A = 65; // parser makes single chars the ascii.
MotorDriver * TrackManager::track[MAX_TRACKS];
TRACK_MODE TrackManager::trackMode[MAX_TRACKS];
int16_t TrackManager::trackDCAddr[MAX_TRACKS];
POWERMODE TrackManager::mainPowerGuess=POWERMODE::OFF;
byte TrackManager::lastTrack=0;
bool TrackManager::progTrackSyncMain=false;
bool TrackManager::progTrackBoosted=false;
int16_t TrackManager::joinRelay=UNUSED_PIN;
#ifdef ARDUINO_ARCH_ESP32
byte TrackManager::tempProgTrack=MAX_TRACKS+1;
#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
void TrackManager::Setup(const FSH * shieldname,
MotorDriver * track0, MotorDriver * track1, MotorDriver * track2,
MotorDriver * track3, MotorDriver * track4, MotorDriver * track5,
MotorDriver * track6, MotorDriver * track7 ) {
addTrack(0,track0);
addTrack(1,track1);
addTrack(2,track2);
addTrack(3,track3);
addTrack(4,track4);
addTrack(5,track5);
addTrack(6,track6);
addTrack(7,track7);
// Default the first 2 tracks (which may be null) and perform HA waveform check.
setTrackMode(0,TRACK_MODE_MAIN);
setTrackMode(1,TRACK_MODE_PROG);
// TODO Fault pin config for odd motor boards (example pololu)
// MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
// && (mainDriver->getFaultPin() != UNUSED_PIN));
DCC::begin(shieldname);
}
void TrackManager::addTrack(byte t, MotorDriver* driver) {
trackMode[t]=TRACK_MODE_OFF;
track[t]=driver;
if (driver) {
track[t]->setPower(POWERMODE::OFF);
lastTrack=t;
}
}
// setDCCSignal(), called from interrupt context
// does assume ports are shadowed if they can be
void TrackManager::setDCCSignal( bool on) {
HAVE_PORTA(shadowPORTA=PORTA);
HAVE_PORTB(shadowPORTB=PORTB);
HAVE_PORTC(shadowPORTC=PORTC);
APPLY_BY_MODE(TRACK_MODE_MAIN,setSignal(on));
HAVE_PORTA(PORTA=shadowPORTA);
HAVE_PORTB(PORTB=shadowPORTB);
HAVE_PORTC(PORTC=shadowPORTC);
}
void TrackManager::setCutout( bool on) {
(void) on;
// TODO Cutout needs fake ports as well
// TODO APPLY_BY_MODE(TRACK_MODE_MAIN,setCutout(on));
}
// setPROGSignal(), called from interrupt context
// does assume ports are shadowed if they can be
void TrackManager::setPROGSignal( bool on) {
HAVE_PORTA(shadowPORTA=PORTA);
HAVE_PORTB(shadowPORTB=PORTB);
HAVE_PORTC(shadowPORTC=PORTC);
APPLY_BY_MODE(TRACK_MODE_PROG,setSignal(on));
HAVE_PORTA(PORTA=shadowPORTA);
HAVE_PORTB(PORTB=shadowPORTB);
HAVE_PORTC(PORTC=shadowPORTC);
}
// setDCSignal(), called from normal context
// MotorDriver::setDCSignal handles shadowed IO port changes.
// with interrupts turned off around the critical section
void TrackManager::setDCSignal(int16_t cab, byte speedbyte) {
FOR_EACH_TRACK(t) {
if (trackDCAddr[t]!=cab) continue;
if (trackMode[t]==TRACK_MODE_DC) track[t]->setDCSignal(speedbyte);
else if (trackMode[t]==TRACK_MODE_DCX) track[t]->setDCSignal(speedbyte ^ 128);
}
}
bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr) {
if (trackToSet>lastTrack || track[trackToSet]==NULL) return false;
//DIAG(F("Track=%c"),trackToSet+'A');
// DC tracks require a motorDriver that can set brake!
if ((mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX)
&& !track[trackToSet]->brakeCanPWM()) {
DIAG(F("Brake pin can't PWM: No DC"));
return false;
}
#ifdef ARDUINO_ARCH_ESP32
// remove pin from MUX matrix and turn it off
pinpair p = track[trackToSet]->getSignalPin();
//DIAG(F("Track=%c remove pin %d"),trackToSet+'A', p.pin);
gpio_reset_pin((gpio_num_t)p.pin);
pinMode(p.pin, OUTPUT); // gpio_reset_pin may reset to input
if (p.invpin != UNUSED_PIN) {
//DIAG(F("Track=%c remove ^pin %d"),trackToSet+'A', p.invpin);
gpio_reset_pin((gpio_num_t)p.invpin);
pinMode(p.invpin, OUTPUT); // gpio_reset_pin may reset to input
}
#endif
if (mode==TRACK_MODE_PROG) {
// only allow 1 track to be prog
FOR_EACH_TRACK(t)
if (trackMode[t]==TRACK_MODE_PROG && t != trackToSet) {
track[t]->setPower(POWERMODE::OFF);
trackMode[t]=TRACK_MODE_OFF;
track[t]->makeProgTrack(false); // revoke prog track special handling
}
track[trackToSet]->makeProgTrack(true); // set for prog track special handling
} else {
track[trackToSet]->makeProgTrack(false); // only the prog track knows it's type
}
trackMode[trackToSet]=mode;
trackDCAddr[trackToSet]=dcAddr;
// When a track is switched, we must clear any side effects of its previous
// state, otherwise trains run away or just dont move.
// This can be done BEFORE the PWM-Timer evaluation (methinks)
if (!(mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX)) {
// DCC tracks need to have set the PWM to zero or they will not work.
track[trackToSet]->detachDCSignal();
track[trackToSet]->setBrake(false);
}
// EXT is a special case where the signal pin is
// turned off. So unless that is set, the signal
// pin should be turned on
track[trackToSet]->enableSignal(mode != TRACK_MODE_EXT);
#ifndef ARDUINO_ARCH_ESP32
// re-evaluate HighAccuracy mode
// We can only do this is all main and prog tracks agree
bool canDo=true;
FOR_EACH_TRACK(t) {
// DC tracks must not have the DCC PWM switched on
// so we globally turn it off if one of the PWM
// capable tracks is now DC or DCX.
if (trackMode[t]==TRACK_MODE_DC || trackMode[t]==TRACK_MODE_DCX) {
if (track[t]->isPWMCapable()) {
canDo=false; // this track is capable but can not run PWM
break; // in this mode, so abort and prevent globally below
} else {
track[t]->trackPWM=false; // this track sure can not run with PWM
//DIAG(F("Track %c trackPWM 0 (not capable)"), t+'A');
}
} else if (trackMode[t]==TRACK_MODE_MAIN || trackMode[t]==TRACK_MODE_PROG) {
track[t]->trackPWM = track[t]->isPWMCapable(); // trackPWM is still a guess here
//DIAG(F("Track %c trackPWM %d"), t+'A', track[t]->trackPWM);
canDo &= track[t]->trackPWM;
}
}
if (!canDo) {
// if we discover that HA mode was globally impossible
// we must adjust the trackPWM capabilities
FOR_EACH_TRACK(t) {
track[t]->trackPWM=false;
//DIAG(F("Track %c trackPWM 0 (global override)"), t+'A');
}
DCCTimer::clearPWM(); // has to be AFTER trackPWM changes because if trackPWM==true this is undone for that track
}
#else
// For ESP32 we just reinitialize the DCC Waveform
DCCWaveform::begin();
#endif
// This block must be AFTER the PWM-Timer modifications
if (mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) {
// DC tracks need to be given speed of the throttle for that cab address
// otherwise will not match other tracks on same cab.
// This also needs to allow for inverted DCX
applyDCSpeed(trackToSet);
}
// Normal running tracks are set to the global power state
track[trackToSet]->setPower(
(mode==TRACK_MODE_MAIN || mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX || mode==TRACK_MODE_EXT) ?
mainPowerGuess : POWERMODE::OFF);
//DIAG(F("TrackMode=%d"),mode);
return true;
}
void TrackManager::applyDCSpeed(byte t) {
uint8_t speedByte=DCC::getThrottleSpeedByte(trackDCAddr[t]);
if (trackMode[t]==TRACK_MODE_DCX)
speedByte = speedByte ^ 128; // reverse direction bit
track[t]->setDCSignal(speedByte);
}
bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
{
if (params==0) { // <=> List track assignments
FOR_EACH_TRACK(t)
if (track[t]!=NULL) {
StringFormatter::send(stream,F("<= %c "),'A'+t);
switch(trackMode[t]) {
case TRACK_MODE_MAIN:
StringFormatter::send(stream,F("MAIN"));
if (track[t]->trackPWM)
StringFormatter::send(stream,F("+"));
break;
case TRACK_MODE_PROG:
StringFormatter::send(stream,F("PROG"));
if (track[t]->trackPWM)
StringFormatter::send(stream,F("+"));
break;
case TRACK_MODE_OFF:
StringFormatter::send(stream,F("OFF"));
break;
case TRACK_MODE_EXT:
StringFormatter::send(stream,F("EXT"));
break;
case TRACK_MODE_DC:
StringFormatter::send(stream,F("DC %d"),trackDCAddr[t]);
break;
case TRACK_MODE_DCX:
StringFormatter::send(stream,F("DCX %d"),trackDCAddr[t]);
break;
default:
break; // unknown, dont care
}
StringFormatter::send(stream,F(">\n"));
}
return true;
}
p[0]-=HASH_KEYWORD_A; // convert A... to 0....
if (params>1 && (p[0]<0 || p[0]>=MAX_TRACKS))
return false;
if (params==2 && p[1]==HASH_KEYWORD_MAIN) // <= id MAIN>
return setTrackMode(p[0],TRACK_MODE_MAIN);
if (params==2 && p[1]==HASH_KEYWORD_PROG) // <= id PROG>
return setTrackMode(p[0],TRACK_MODE_PROG);
if (params==2 && p[1]==HASH_KEYWORD_OFF) // <= id OFF>
return setTrackMode(p[0],TRACK_MODE_OFF);
if (params==2 && p[1]==HASH_KEYWORD_EXT) // <= id EXT>
return setTrackMode(p[0],TRACK_MODE_EXT);
if (params==3 && p[1]==HASH_KEYWORD_DC && p[2]>0) // <= id DC cab>
return setTrackMode(p[0],TRACK_MODE_DC,p[2]);
if (params==3 && p[1]==HASH_KEYWORD_DCX && p[2]>0) // <= id DCX cab>
return setTrackMode(p[0],TRACK_MODE_DCX,p[2]);
return false;
}
byte TrackManager::nextCycleTrack=MAX_TRACKS;
void TrackManager::loop() {
DCCWaveform::loop();
DCCACK::loop();
bool dontLimitProg=DCCACK::isActive() || progTrackSyncMain || progTrackBoosted;
nextCycleTrack++;
if (nextCycleTrack>lastTrack) nextCycleTrack=0;
if (track[nextCycleTrack]==NULL) return;
MotorDriver * motorDriver=track[nextCycleTrack];
bool useProgLimit=dontLimitProg? false: trackMode[nextCycleTrack]==TRACK_MODE_PROG;
motorDriver->checkPowerOverload(useProgLimit, nextCycleTrack);
}
MotorDriver * TrackManager::getProgDriver() {
FOR_EACH_TRACK(t)
if (trackMode[t]==TRACK_MODE_PROG) return track[t];
return NULL;
}
#ifdef ARDUINO_ARCH_ESP32
std::vector<MotorDriver *>TrackManager::getMainDrivers() {
std::vector<MotorDriver *> v;
FOR_EACH_TRACK(t)
if (trackMode[t]==TRACK_MODE_MAIN) v.push_back(track[t]);
return v;
}
#endif
void TrackManager::setPower2(bool setProg,POWERMODE mode) {
if (!setProg) mainPowerGuess=mode;
FOR_EACH_TRACK(t) {
MotorDriver * driver=track[t];
if (!driver) continue;
switch (trackMode[t]) {
case TRACK_MODE_MAIN:
if (setProg) break;
// toggle brake before turning power on - resets overcurrent error
// on the Pololu board if brake is wired to ^D2.
// XXX see if we can make this conditional
driver->setBrake(true);
driver->setBrake(false); // DCC runs with brake off
driver->setPower(mode);
break;
case TRACK_MODE_DC:
case TRACK_MODE_DCX:
if (setProg) break;
driver->setBrake(true); // DC starts with brake on
applyDCSpeed(t); // speed match DCC throttles
driver->setPower(mode);
break;
case TRACK_MODE_PROG:
if (!setProg) break;
driver->setBrake(true);
driver->setBrake(false);
driver->setPower(mode);
break;
case TRACK_MODE_EXT:
driver->setBrake(true);
driver->setBrake(false);
driver->setPower(mode);
break;
case TRACK_MODE_OFF:
break;
}
}
}
POWERMODE TrackManager::getProgPower() {
FOR_EACH_TRACK(t)
if (trackMode[t]==TRACK_MODE_PROG)
return track[t]->getPower();
return POWERMODE::OFF;
}
void TrackManager::setJoinRelayPin(byte joinRelayPin) {
joinRelay=joinRelayPin;
if (joinRelay!=UNUSED_PIN) {
pinMode(joinRelay,OUTPUT);
digitalWrite(joinRelay,LOW); // LOW is relay disengaged
}
}
void TrackManager::setJoin(bool joined) {
#ifdef ARDUINO_ARCH_ESP32
if (joined) {
FOR_EACH_TRACK(t) {
if (trackMode[t]==TRACK_MODE_PROG) {
tempProgTrack = t;
setTrackMode(t, TRACK_MODE_MAIN);
break;
}
}
} else {
if (tempProgTrack != MAX_TRACKS+1) {
setTrackMode(tempProgTrack, TRACK_MODE_PROG);
tempProgTrack = MAX_TRACKS+1;
}
}
#endif
progTrackSyncMain=joined;
if (joinRelay!=UNUSED_PIN) digitalWrite(joinRelay,joined?HIGH:LOW);
}
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