Add support for HBRIDGE Turnouts, allowing control of Kato turnouts that require reverse of polarity and short power application, easily configurable through 2-pin controlled Motor H-Bridge.

DCCEXParser.cpp

@@ -162,6 +162,7 @@ const int16_t HASH_KEYWORD_T='T';
 const int16_t HASH_KEYWORD_X='X';
 const int16_t HASH_KEYWORD_LCN = 15137;
 const int16_t HASH_KEYWORD_HAL = 10853;
+const int16_t HASH_KEYWORD_HBRIDGE=-20585;
 const int16_t HASH_KEYWORD_SHOW = -21309;
 const int16_t HASH_KEYWORD_ANIN = -10424;
 const int16_t HASH_KEYWORD_ANOUT = -26399;
@@ -916,7 +917,10 @@ bool DCCEXParser::parseT(Print *stream, int16_t params, int16_t p[])
       } else 
       if (params == 3 && p[1] == HASH_KEYWORD_VPIN) { // <T id VPIN n>
         if (!VpinTurnout::create(p[0], p[2])) return false;
-      } else 
+      } else
+      if (params == 5 && p[1] == HASH_KEYWORD_HBRIDGE) { // <T id HBRIDGE pin1 pin2 delay>
+        if (!HBridgeTurnout::create(p[0], p[2], p[3], p[4])) return false;
+      } else
       if (params >= 3 && p[1] == HASH_KEYWORD_DCC) {
         // <T id DCC addr subadd>   0<=addr<=511, 0<=subadd<=3 (like <a> command).<T>
         if (params==4 && p[2]>=0 && p[2]<512 && p[3]>=0 && p[3]<4) { // <T id DCC n m>

EXRAIL2.cpp

@@ -238,7 +238,16 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
       setTurnoutHiddenState(VpinTurnout::create(id,pin));
       break;
     }
-
+
+    case OPCODE_HBRIDGETURNOUT: {
+      VPIN id=operand;
+      VPIN pin1=getOperand(progCounter, 1);
+      VPIN pin2=getOperand(progCounter, 2);
+      uint16_t delay=getOperand(progCounter, 3);
+      setTurnoutHiddenState(HBridgeTurnout::create(id,pin1, pin2, delay));
+      break;
+    }
+
     case OPCODE_AUTOSTART:
       // automatically create a task from here at startup.
       // Removed if (progCounter>0) check 4.2.31 because 

EXRAIL2.h

@@ -51,7 +51,8 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_POM,
              OPCODE_START,OPCODE_SETLOCO,OPCODE_SENDLOCO,OPCODE_FORGET,
              OPCODE_PAUSE, OPCODE_RESUME,OPCODE_POWEROFF,OPCODE_POWERON,
-             OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT, OPCODE_PINTURNOUT,
+             OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT,
+             OPCODE_PINTURNOUT, OPCODE_HBRIDGETURNOUT,
              OPCODE_PRINT,OPCODE_DCCACTIVATE,
              OPCODE_ONACTIVATE,OPCODE_ONDEACTIVATE,
              OPCODE_ROSTER,OPCODE_KILLALL,

EXRAIL2MacroReset.h

@@ -62,6 +62,7 @@
 #undef FWD 
 #undef GREEN
 #undef HAL
+#undef HBRIDGE_TURNOUT
 #undef IF 
 #undef IFAMBER
 #undef IFCLOSED
@@ -187,6 +188,7 @@
 #define FWD(speed) 
 #define GREEN(signal_id)
 #define HAL(haltype,params...)
+#define HBRIDGE_TURNOUT(id,pin1,pin2,dly,description...)
 #define IF(sensor_id) 
 #define IFAMBER(signal_id)
 #define IFCLOSED(turnout_id) 

EXRAILMacros.h

@@ -174,6 +174,8 @@ void  RMFT2::printMessage(uint16_t id) {
 #define TURNOUT(id,addr,subaddr,description...) O_DESC(id,description)
 #undef TURNOUTL
 #define TURNOUTL(id,addr,description...) O_DESC(id,description)
+#undef HBRIDGE_TURNOUT
+#define HBRIDGE_TURNOUT(id,pin1,pin2,delay_ms,description...) O_DESC(id,description)
 #undef PIN_TURNOUT
 #define PIN_TURNOUT(id,pin,description...) O_DESC(id,description)
 #undef SERVO_TURNOUT
@@ -293,6 +295,7 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define FWD(speed) OPCODE_FWD,V(speed),
 #define GREEN(signal_id) OPCODE_GREEN,V(signal_id),
 #define HAL(haltype,params...)
+#define HBRIDGE_TURNOUT(id,pin1,pin2,delay,description...) OPCODE_HBRIDGETURNOUT,V(id),OPCODE_PAD,V(pin1),OPCODE_PAD,V(pin2),OPCODE_PAD,V(delay),
 #define IF(sensor_id) OPCODE_IF,V(sensor_id),
 #define IFAMBER(signal_id) OPCODE_IFAMBER,V(signal_id),
 #define IFCLOSED(turnout_id) OPCODE_IFCLOSED,V(turnout_id),

IO_ScheduledPin.h

@@ -0,0 +1,115 @@
+/*
+ *  © 2023, Sergei Kotlyachkov. All rights reserved.
+ *
+ *  This file is part of DCC++EX API
+ *
+ *  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/>.
+ */
+
+
+#ifndef IO_SCHEDULED_PIN_H
+#define IO_SCHEDULED_PIN_H
+
+#include "IODevice.h"
+#include <Arduino.h>
+#include "defines.h"
+
+/**
+ * Bounces back single Arduino Pin to specified state after set period of time.
+ *
+ * It will establish itself as owner of the pin over ArduinoPins class that typically responds to it and
+ * activates itself during loop() phase. It restores scheduled state and does not try again until
+ * another write()
+ *
+ * Example usage:
+ * Create: ScheduledPin::create(5, LOW, 20000);
+ *
+ * Then, when neeeded, just call:
+ * IODevice::write(5, HIGH); // this will call fastWriteDigital(5, HIGH)
+ *
+ * In 20 milliseconds, it will also call fastWriteDigital(5, LOW)
+ *
+ * In edge case where write() is called twice before responding in the loop,
+ * the schedule will restart and double the bounce back time.
+ */
+class ScheduledPin : public IODevice {
+private:
+  int _scheduledValue;
+  uint32_t _durationMicros;
+
+public:
+  //  Static function to handle create calls.
+  static void create(VPIN pin, int scheduledValue, uint32_t durationMicros) {
+    new ScheduledPin(pin, scheduledValue, durationMicros);
+  }
+
+protected:
+  // Constructor.
+  ScheduledPin(VPIN pin, int scheduledValue, uint32_t durationMicros) : IODevice(pin, 1)  {
+    _scheduledValue = scheduledValue;
+    _durationMicros = durationMicros;
+    // Typically returned device will be ArduinoPins
+    IODevice* controlledDevice = IODevice::findDevice(pin);
+    if (controlledDevice != NULL) {
+      addDevice(this, controlledDevice);
+    }
+    else {
+      DIAG(F("ScheduledPin Controlled device not found for VPIN:%d"), pin);
+      _deviceState = DEVSTATE_FAILED;
+    }
+  }
+
+  // Device-specific initialisation
+  void _begin() override {
+    #ifdef DIAG_IO
+    _display();
+    #endif
+    pinMode(_firstVpin, OUTPUT);
+    ArduinoPins::fastWriteDigital(_firstVpin, _scheduledValue);
+  }
+
+  void _write(VPIN vpin, int value) override {
+    if (_deviceState == DEVSTATE_FAILED) return;
+    if (vpin != _firstVpin) {
+      #ifdef DIAG_IO
+      DIAG(F("ScheduledPin Error VPIN:%u not equal to %u"), vpin, _firstVpin);
+      #endif
+      return;
+    }
+    #ifdef DIAG_IO
+    DIAG(F("ScheduledPin Write VPIN:%u Value:%d Micros:%l"), vpin, value, micros());
+    #endif
+    unsigned long currentMicros = micros();
+    delayUntil(currentMicros + _durationMicros);
+    ArduinoPins::fastWriteDigital(_firstVpin, value);
+  }
+
+
+  void _loop(unsigned long currentMicros) {
+    if (_deviceState == DEVSTATE_FAILED) return;
+    #ifdef DIAG_IO
+    DIAG(F("ScheduledPin Bounce VPIN:%u Value:%d Micros:%l"), _firstVpin, _scheduledValue, micros());
+    #endif
+    ArduinoPins::fastWriteDigital(_firstVpin, _scheduledValue);
+    delayUntil(currentMicros + 0x7fffffff); // Largest time in the future!  Effectively disable _loop calls.
+  }
+
+  // Display information about the device, and perhaps its current condition (e.g. active, disabled etc).
+  void _display() {
+    DIAG(F("ScheduledPin Configured:%u Value:%d Duration:%l"), (int)_firstVpin,
+      _scheduledValue, _durationMicros);
+  }
+};
+
+#endif // IO_SCHEDULED_PIN_H

Turnouts.cpp

@@ -36,6 +36,10 @@
 #include "LCN.h"
 #ifdef EESTOREDEBUG
 #include "DIAG.h"
+#endif
+
+#ifndef IO_NO_HAL
+#include "IO_ScheduledPin.h"
 #endif
 
   /* 
@@ -187,6 +191,10 @@
         // VPIN turnout
         tt = VpinTurnout::load(&turnoutData);
         break;
+      case TURNOUT_HBRIDGE:
+        // HBRIDGE turnout
+        tt = HBridgeTurnout::load(&turnoutData);
+        break;
       default:
         // If we find anything else, then we don't know what it is or how long it is, 
         // so we can't go any further through the EEPROM!
@@ -477,6 +485,102 @@
 #endif
   }
 
+/*************************************************************************************
+ * HBridgeTurnout - Turnout controlled through a pair of HAL pins.
+ * Typically connected to Motor H-Bridge. Delay is used to quickly turn on/off power.
+ *************************************************************************************/
+
+  // Constructor
+  HBridgeTurnout::HBridgeTurnout(uint16_t id, VPIN pin1, VPIN pin2, uint16_t millisDelay, bool closed) :
+    Turnout(id, TURNOUT_HBRIDGE, closed)
+  {
+    _hbridgeTurnoutData.pin1 = pin1;
+    _hbridgeTurnoutData.pin2 = pin2;
+    _hbridgeTurnoutData.millisDelay = millisDelay;
+#ifndef IO_NO_HAL
+    // HARD LIMIT to maximum 0.5 second to avoid burning the coil
+    // Also note 1000x multiplier because ScheduledPin works with microSeconds.
+    ScheduledPin::create(pin1, LOW, 1000*min(millisDelay, 500));
+    ScheduledPin::create(pin2, LOW, 1000*min(millisDelay, 500));
+#else
+    DIAG(F("H-Brdige Turnout %d will be disabled because HAL is off"), id);
+#endif
+  }
+
+  // Create function
+  /* static */ Turnout *HBridgeTurnout::create(uint16_t id, VPIN pin1, VPIN pin2, uint16_t millisDelay, bool closed) {
+    Turnout *tt = get(id);
+    if (tt) {
+      // Object already exists, check if it is usable
+      if (tt->isType(TURNOUT_HBRIDGE)) {
+        // Yes, so set parameters
+        HBridgeTurnout *hbt = (HBridgeTurnout *)tt;
+        hbt->_hbridgeTurnoutData.pin1 = pin1;
+        hbt->_hbridgeTurnoutData.pin2 = pin2;
+        hbt->_hbridgeTurnoutData.millisDelay = millisDelay;
+        // Don't touch the _closed parameter, retain the original value.
+        return tt;
+      } else {
+        // Incompatible object, delete and recreate
+        remove(id);
+      }
+    }
+    tt = (Turnout *)new HBridgeTurnout(id, pin1, pin2, millisDelay, closed);
+    return tt;
+  }
+
+  // Load a VPIN turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  /* static */ Turnout *HBridgeTurnout::load(struct TurnoutData *turnoutData) {
+#ifndef DISABLE_EEPROM
+    HBridgeTurnoutData hbridgeTurnoutData;
+    // Read class-specific data from EEPROM
+    EEPROM.get(EEStore::pointer(), hbridgeTurnoutData);
+    EEStore::advance(sizeof(hbridgeTurnoutData));
+
+    // Create new object
+    HBridgeTurnout *tt = new HBridgeTurnout(turnoutData->id, hbridgeTurnoutData.pin1,
+      hbridgeTurnoutData.pin2, hbridgeTurnoutData.millisDelay, turnoutData->closed);
+
+    return tt;
+#else
+    (void)turnoutData;
+    return NULL;
+#endif
+  }
+
+  // Report 1 for thrown, 0 for closed.
+  void HBridgeTurnout::print(Print *stream) {
+    StringFormatter::send(stream, F("<H %d HBRIDGE %d %d %d>\n"), _turnoutData.id, _hbridgeTurnoutData.pin1, _hbridgeTurnoutData.pin2,
+      !_turnoutData.closed);
+  }
+
+  void HBridgeTurnout::turnUpDown(VPIN pin) {
+    // HBridge turnouts require very small, prescribed time to keep pin1 or pin2 in HIGH state.
+    // Otherwise internal coil of the turnout will burn.
+    // If HAL is disabled (and therefore SchedulePin class), we can not turn this on,
+    // otherwise coil will burn and device will be lost.
+#ifndef IO_NO_HAL
+    IODevice::write(pin, HIGH);
+#endif
+  }
+
+  bool HBridgeTurnout::setClosedInternal(bool close) {
+    turnUpDown(close ? _hbridgeTurnoutData.pin2 : _hbridgeTurnoutData.pin1);
+    _turnoutData.closed = close;
+    return true;
+  }
+
+  void HBridgeTurnout::save() {
+#ifndef DISABLE_EEPROM
+    // Write turnout definition and current position to EEPROM
+    // First write common servo data, then
+    // write the servo-specific data
+    EEPROM.put(EEStore::pointer(), _turnoutData);
+    EEStore::advance(sizeof(_turnoutData));
+    EEPROM.put(EEStore::pointer(), _hbridgeTurnoutData);
+    EEStore::advance(sizeof(_hbridgeTurnoutData));
+#endif
+  }
 
 /*************************************************************************************
  * LCNTurnout - Turnout controlled by Loconet

Turnouts.h

@@ -37,6 +37,7 @@ enum {
   TURNOUT_SERVO = 2,
   TURNOUT_VPIN = 3,
   TURNOUT_LCN = 4,
+  TURNOUT_HBRIDGE = 5,
 };
 
 /*************************************************************************************
@@ -284,6 +285,41 @@ class VpinTurnout : public Turnout {
 
 };
 
+/*************************************************************************************
+ * HBridgeTurnout - Turnout controlled through a pair of HAL pins.
+ *
+ * Hard limited to maximum 0.5 second to avoid burning the coil
+ * Typical millisDelay should be within between 50 and 100
+ *************************************************************************************/
+class HBridgeTurnout : public Turnout {
+private:
+  // HBridgeTurnoutData contains data specific to this subclass that is
+  // written to EEPROM when the turnout is saved.
+  struct HBridgeTurnoutData {
+    VPIN pin1;
+    VPIN pin2;
+    uint16_t millisDelay;
+  } _hbridgeTurnoutData; // 6 bytes
+
+  // Constructor
+ HBridgeTurnout(uint16_t id, VPIN pin1, VPIN pin2, uint16_t millisDelay, bool closed);
+
+public:
+  // Create function
+  static Turnout *create(uint16_t id, VPIN pin1, VPIN pin2, uint16_t millisDelay, bool closed=true);
+
+  // Load a HBRIDGE turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  static Turnout *load(struct TurnoutData *turnoutData);
+  void print(Print *stream) override;
+
+protected:
+  bool setClosedInternal(bool close) override;
+  void save() override;
+
+private:
+  void turnUpDown(VPIN pin);
+
+};
 
 /*************************************************************************************
  * LCNTurnout - Turnout controlled by Loconet

WifiInterface.cpp

@@ -36,6 +36,11 @@ const unsigned long LOOP_TIMEOUT = 2000;
 bool WifiInterface::connected = false;
 Stream * WifiInterface::wifiStream;
 
+#ifndef WIFI_AT_CHECK_TIMEOUT
+// Some ESP32 AT firmware versions take time to initialize and do not respond to AT commands right away.
+#define WIFI_AT_CHECK_TIMEOUT 2000
+#endif
+
 #ifndef WIFI_CONNECT_TIMEOUT
 // Tested how long it takes to FAIL an unknown SSID on firmware 1.7.4.
 // The ES should fail a connect in 15 seconds, we don't want to fail BEFORE that
@@ -192,7 +197,7 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
   }
 
   StringFormatter::send(wifiStream, F("AT\r\n"));   // Is something here that understands AT?
-  if(!checkForOK(200, true))
+  if(!checkForOK(WIFI_AT_CHECK_TIMEOUT, true))
     return WIFI_NOAT;                               // No AT compatible WiFi module here
 
   StringFormatter::send(wifiStream, F("ATE1\r\n")); // Turn on the echo, se we can see what's happening