mirror of
https://github.com/DCC-EX/CommandStation-EX.git
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366 lines
13 KiB
C++
366 lines
13 KiB
C++
/*
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* © 2020, Chris Harlow. All rights reserved.
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* © 2020, Harald Barth.
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*
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* This file is part of Asbelos DCC API
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*
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* This is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* It is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include <Arduino.h>
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#include "DCCWaveform.h"
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#include "DCCTimer.h"
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#include "DIAG.h"
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#include "freeMemory.h"
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DCCWaveform DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
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DCCWaveform DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
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bool DCCWaveform::progTrackSyncMain=false;
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bool DCCWaveform::progTrackBoosted=false;
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int DCCWaveform::progTripValue=0;
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volatile uint8_t DCCWaveform::numAckGaps=0;
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volatile uint8_t DCCWaveform::numAckSamples=0;
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uint8_t DCCWaveform::trailingEdgeCounter=0;
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void DCCWaveform::begin(MotorDriver * mainDriver, MotorDriver * progDriver) {
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mainTrack.motorDriver=mainDriver;
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progTrack.motorDriver=progDriver;
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progTripValue = progDriver->mA2raw(TRIP_CURRENT_PROG); // need only calculate once hence static
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mainTrack.setPowerMode(POWERMODE::OFF);
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progTrack.setPowerMode(POWERMODE::OFF);
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// Fault pin config for odd motor boards (example pololu)
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MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
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&& (mainDriver->getFaultPin() != UNUSED_PIN));
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// Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
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MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
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DIAG(F("Signal pin config: %S accuracy waveform"),
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MotorDriver::usePWM ? F("high") : F("normal") );
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DCCTimer::begin(DCCWaveform::interruptHandler);
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}
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void DCCWaveform::loop(bool ackManagerActive) {
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mainTrack.checkPowerOverload(false);
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progTrack.checkPowerOverload(ackManagerActive);
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}
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#pragma GCC push_options
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#pragma GCC optimize ("-O3")
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void DCCWaveform::interruptHandler() {
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// call the timer edge sensitive actions for progtrack and maintrack
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// member functions would be cleaner but have more overhead
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byte sigMain=signalTransform[mainTrack.state];
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byte sigProg=progTrackSyncMain? sigMain : signalTransform[progTrack.state];
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// Set the signal state for both tracks
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mainTrack.motorDriver->setSignal(sigMain);
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progTrack.motorDriver->setSignal(sigProg);
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// Move on in the state engine
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mainTrack.state=stateTransform[mainTrack.state];
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progTrack.state=stateTransform[progTrack.state];
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// WAVE_PENDING means we dont yet know what the next bit is
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if (mainTrack.state==WAVE_PENDING) mainTrack.interrupt2();
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if (progTrack.state==WAVE_PENDING) progTrack.interrupt2();
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else if (progTrack.ackPending) progTrack.checkAck();
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}
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#pragma GCC push_options
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// An instance of this class handles the DCC transmissions for one track. (main or prog)
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// Interrupts are marshalled via the statics.
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// A track has a current transmit buffer, and a pending buffer.
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// When the current buffer is exhausted, either the pending buffer (if there is one waiting) or an idle buffer.
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// This bitmask has 9 entries as each byte is trasmitted as a zero + 8 bits.
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const byte bitMask[] = {0x00, 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02, 0x01};
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DCCWaveform::DCCWaveform( byte preambleBits, bool isMain) {
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isMainTrack = isMain;
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packetPending = false;
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memcpy(transmitPacket, idlePacket, sizeof(idlePacket));
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state = WAVE_START;
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// The +1 below is to allow the preamble generator to create the stop bit
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// for the previous packet.
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requiredPreambles = preambleBits+1;
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bytes_sent = 0;
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bits_sent = 0;
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sampleDelay = 0;
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lastSampleTaken = millis();
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ackPending=false;
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}
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POWERMODE DCCWaveform::getPowerMode() {
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return powerMode;
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}
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void DCCWaveform::setPowerMode(POWERMODE mode) {
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powerMode = mode;
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bool ison = (mode == POWERMODE::ON);
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motorDriver->setPower( ison);
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sentResetsSincePacket=0;
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}
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void DCCWaveform::checkPowerOverload(bool ackManagerActive) {
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if (millis() - lastSampleTaken < sampleDelay) return;
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lastSampleTaken = millis();
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int tripValue= motorDriver->getRawCurrentTripValue();
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if (!isMainTrack && !ackManagerActive && !progTrackSyncMain && !progTrackBoosted)
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tripValue=progTripValue;
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// Trackname for diag messages later
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const FSH*trackname = isMainTrack ? F("MAIN") : F("PROG");
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switch (powerMode) {
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case POWERMODE::OFF:
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sampleDelay = POWER_SAMPLE_OFF_WAIT;
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break;
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case POWERMODE::ON:
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// Check current
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lastCurrent=motorDriver->getCurrentRaw();
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if (lastCurrent < 0) {
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// We have a fault pin condition to take care of
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lastCurrent = -lastCurrent;
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setPowerMode(POWERMODE::OVERLOAD); // Turn off, decide later how fast to turn on again
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if (MotorDriver::commonFaultPin) {
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if (lastCurrent <= tripValue) {
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setPowerMode(POWERMODE::ON); // maybe other track
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}
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// Write this after the fact as we want to turn on as fast as possible
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// because we don't know which output actually triggered the fault pin
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DIAG(F("COMMON FAULT PIN ACTIVE - TOGGLED POWER on %S"), trackname);
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} else {
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DIAG(F("%S FAULT PIN ACTIVE - OVERLOAD"), trackname);
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if (lastCurrent < tripValue) {
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lastCurrent = tripValue; // exaggerate
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}
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}
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}
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if (lastCurrent < tripValue) {
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sampleDelay = POWER_SAMPLE_ON_WAIT;
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if(power_good_counter<100)
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power_good_counter++;
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else
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if (power_sample_overload_wait>POWER_SAMPLE_OVERLOAD_WAIT) power_sample_overload_wait=POWER_SAMPLE_OVERLOAD_WAIT;
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} else {
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setPowerMode(POWERMODE::OVERLOAD);
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unsigned int mA=motorDriver->raw2mA(lastCurrent);
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unsigned int maxmA=motorDriver->raw2mA(tripValue);
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power_good_counter=0;
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sampleDelay = power_sample_overload_wait;
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DIAG(F("%S TRACK POWER OVERLOAD current=%d max=%d offtime=%d"), trackname, mA, maxmA, sampleDelay);
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if (power_sample_overload_wait >= 10000)
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power_sample_overload_wait = 10000;
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else
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power_sample_overload_wait *= 2;
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}
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break;
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case POWERMODE::OVERLOAD:
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// Try setting it back on after the OVERLOAD_WAIT
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setPowerMode(POWERMODE::ON);
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sampleDelay = POWER_SAMPLE_ON_WAIT;
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// Debug code....
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DIAG(F("%S TRACK POWER RESET delay=%d"), trackname, sampleDelay);
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break;
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default:
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sampleDelay = 999; // cant get here..meaningless statement to avoid compiler warning.
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}
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}
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// For each state of the wave nextState=stateTransform[currentState]
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const WAVE_STATE DCCWaveform::stateTransform[]={
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/* WAVE_START -> */ WAVE_PENDING,
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/* WAVE_MID_1 -> */ WAVE_START,
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/* WAVE_HIGH_0 -> */ WAVE_MID_0,
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/* WAVE_MID_0 -> */ WAVE_LOW_0,
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/* WAVE_LOW_0 -> */ WAVE_START,
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/* WAVE_PENDING (should not happen) -> */ WAVE_PENDING};
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// For each state of the wave, signal pin is HIGH or LOW
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const bool DCCWaveform::signalTransform[]={
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/* WAVE_START -> */ HIGH,
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/* WAVE_MID_1 -> */ LOW,
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/* WAVE_HIGH_0 -> */ HIGH,
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/* WAVE_MID_0 -> */ LOW,
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/* WAVE_LOW_0 -> */ LOW,
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/* WAVE_PENDING (should not happen) -> */ LOW};
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#pragma GCC push_options
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#pragma GCC optimize ("-O3")
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void DCCWaveform::interrupt2() {
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// calculate the next bit to be sent:
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// set state WAVE_MID_1 for a 1=bit
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// or WAVE_HIGH_0 for a 0 bit.
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if (remainingPreambles > 0 ) {
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state=WAVE_MID_1; // switch state to trigger LOW on next interrupt
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remainingPreambles--;
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// Update free memory diagnostic as we don't have anything else to do this time.
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// Allow for checkAck and its called functions using 22 bytes more.
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updateMinimumFreeMemory(22);
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return;
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}
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// Wave has gone HIGH but what happens next depends on the bit to be transmitted
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// beware OF 9-BIT MASK generating a zero to start each byte
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state=(transmitPacket[bytes_sent] & bitMask[bits_sent])? WAVE_MID_1 : WAVE_HIGH_0;
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bits_sent++;
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// If this is the last bit of a byte, prepare for the next byte
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if (bits_sent == 9) { // zero followed by 8 bits of a byte
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//end of Byte
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bits_sent = 0;
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bytes_sent++;
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// if this is the last byte, prepere for next packet
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if (bytes_sent >= transmitLength) {
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// end of transmission buffer... repeat or switch to next message
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bytes_sent = 0;
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remainingPreambles = requiredPreambles;
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if (transmitRepeats > 0) {
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transmitRepeats--;
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}
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else if (packetPending) {
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// Copy pending packet to transmit packet
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// a fixed length memcpy is faster than a variable length loop for these small lengths
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// for (int b = 0; b < pendingLength; b++) transmitPacket[b] = pendingPacket[b];
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memcpy( transmitPacket, pendingPacket, sizeof(pendingPacket));
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transmitLength = pendingLength;
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transmitRepeats = pendingRepeats;
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packetPending = false;
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sentResetsSincePacket=0;
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}
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else {
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// Fortunately reset and idle packets are the same length
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memcpy( transmitPacket, isMainTrack ? idlePacket : resetPacket, sizeof(idlePacket));
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transmitLength = sizeof(idlePacket);
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transmitRepeats = 0;
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if (sentResetsSincePacket<250) sentResetsSincePacket++;
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}
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}
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}
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}
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#pragma GCC pop_options
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// Wait until there is no packet pending, then make this pending
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void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repeats) {
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if (byteCount > MAX_PACKET_SIZE) return; // allow for chksum
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while (packetPending);
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byte checksum = 0;
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for (byte b = 0; b < byteCount; b++) {
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checksum ^= buffer[b];
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pendingPacket[b] = buffer[b];
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}
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// buffer is MAX_PACKET_SIZE but pendingPacket is one bigger
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pendingPacket[byteCount] = checksum;
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pendingLength = byteCount + 1;
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pendingRepeats = repeats;
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packetPending = true;
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sentResetsSincePacket=0;
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}
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// Operations applicable to PROG track ONLY.
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// (yes I know I could have subclassed the main track but...)
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void DCCWaveform::setAckBaseline() {
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if (isMainTrack) return;
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int baseline=motorDriver->getCurrentRaw();
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ackThreshold= baseline + motorDriver->mA2raw(ackLimitmA);
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if (Diag::ACK) DIAG(F("ACK baseline=%d/%dmA Threshold=%d/%dmA Duration between %dus and %dus"),
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baseline,motorDriver->raw2mA(baseline),
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ackThreshold,motorDriver->raw2mA(ackThreshold),
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minAckPulseDuration, maxAckPulseDuration);
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}
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void DCCWaveform::setAckPending() {
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if (isMainTrack) return;
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ackMaxCurrent=0;
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ackPulseStart=0;
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ackPulseDuration=0;
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ackDetected=false;
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ackCheckStart=millis();
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numAckSamples=0;
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numAckGaps=0;
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ackPending=true; // interrupt routines will now take note
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}
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byte DCCWaveform::getAck() {
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if (ackPending) return (2); // still waiting
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if (Diag::ACK) DIAG(F("%S after %dmS max=%d/%dmA pulse=%duS samples=%d gaps=%d"),ackDetected?F("ACK"):F("NO-ACK"), ackCheckDuration,
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ackMaxCurrent,motorDriver->raw2mA(ackMaxCurrent), ackPulseDuration, numAckSamples, numAckGaps);
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if (ackDetected) return (1); // Yes we had an ack
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return(0); // pending set off but not detected means no ACK.
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}
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#pragma GCC push_options
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#pragma GCC optimize ("-O3")
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void DCCWaveform::checkAck() {
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// This function operates in interrupt() time so must be fast and can't DIAG
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if (sentResetsSincePacket > 6) { //ACK timeout
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ackCheckDuration=millis()-ackCheckStart;
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ackPending = false;
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return;
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}
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int current=motorDriver->getCurrentRaw();
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numAckSamples++;
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if (current > ackMaxCurrent) ackMaxCurrent=current;
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// An ACK is a pulse lasting between minAckPulseDuration and maxAckPulseDuration uSecs (refer @haba)
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if (current>ackThreshold) {
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if (trailingEdgeCounter > 0) {
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numAckGaps++;
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trailingEdgeCounter = 0;
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}
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if (ackPulseStart==0) ackPulseStart=micros(); // leading edge of pulse detected
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return;
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}
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// not in pulse
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if (ackPulseStart==0) return; // keep waiting for leading edge
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// if we reach to this point, we have
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// detected trailing edge of pulse
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if (trailingEdgeCounter == 0) {
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ackPulseDuration=micros()-ackPulseStart;
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}
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// but we do not trust it yet and return (which will force another
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// measurement) and first the third time around with low current
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// the ack detection will be finalized.
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if (trailingEdgeCounter < 2) {
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trailingEdgeCounter++;
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return;
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}
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trailingEdgeCounter = 0;
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if (ackPulseDuration>=minAckPulseDuration && ackPulseDuration<=maxAckPulseDuration) {
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ackCheckDuration=millis()-ackCheckStart;
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ackDetected=true;
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ackPending=false;
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transmitRepeats=0; // shortcut remaining repeat packets
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return; // we have a genuine ACK result
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}
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ackPulseStart=0; // We have detected a too-short or too-long pulse so ignore and wait for next leading edge
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}
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#pragma GCC pop_options
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