概要
Smile Function Decoderを使ってファンクションデコーダタイプのサーボモータデコーダを考えました。
動作
・初期DCCアドレスは3、ファンクションアドレスは４
・ベタ書きだと、フラッシュに入りきらない為、収めるために見辛いプログラムになっています。
digitalWrite→PORTB、複数回呼ばれる関数をまとめたり、機能削ったり。
今後
・周知なバグ
なぜかファンクションアドレス２番が受信できない？！
リンク
https://twitter.com/masashi_214
http://ayabu.blog.shinobi.jp/
http://dcc.client.jp/
http://www007.upp.so-net.ne.jp/nagoden/
ソースファイルはグーグルドライブで公開
https://drive.google.com/open?id=1uVG4coTg2dy28j-0UsSH-mB7xH4uWr5C
// DCC Servo Function Decoder Rev 1 for DS-DCC decode
// http://dcc.client.jp
// http://ayabu.blog.shinobi.jp
#include "NmraDcc.h"
#include <arduino.h>
//#include <SoftwareSerial.h>
//各種設定、宣言
#define DECODER_ADDRESS 3
#define DCC_ACK_PIN 0 // Atiny85 PB0(5pin) if defined enables the ACK pin functionality. Comment out to disable.
// // Atiny85 DCCin(7pin)
#define O1 0 // Atiny85 PB0(5pin) head sign light
#define O2 1 // Atiny85 PB1(6pin) analogwrite Head light
#define O3 3 // Atint85 PB3(2pin) tail light
#define O4 4 // Atiny85 PB4(3pin) analogwrite room light
#define ON 1
#define OFF 0
#define UP 1
#define DOWN 0
/*
#define MAX_PWMDUTY 255
#define MID_PWMDUTY 10
*/
#define CV_VSTART 2
#define CV_ACCRATIO 3
#define CV_DECCRATIO 4
#define CV_F0_FORWARD 33
#define CV_F0_BACK 34
#define CV_F1 35
#define CV_F2 36
#define CV_F3 37
#define CV_F4 38
#define CV_F5 39
#define CV_F6 40
#define CV_F7 41
#define CV_F8 42
#define CV_F9 43
#define CV_F10 44
#define CV_F11 45
#define CV_F12 46
#define CV_49_F0_FORWARD_LIGHT 49
#define CV_DIMMING_SPEED 50
#define CV_DIMMING_LIGHT_QUANTITY 51
#define CV_ROOM_DIMMING 52
#define CV_zeroDeg 60 // 0deg時のPWMの値
#define CV_ninetyDeg 61 // 90deg時のPWMの値
#define CV_onDeg 62 // on時の角度
#define CV_offDeg 63 // off時の角度
#define CV_initDeg 64 // 起動時の角度
#define CV_onSpeed 65 // off->onに移行する時間
#define CV_offSpeed 66 // on->offに移行する時間
#define CV_sdir 67 // 最後のdir保持用
#define CV_function 68 // サーボモータファンクッション番号
#define CV_dummy 69 // dummy
#define MAN_ID_NUMBER 166 // Manufacture ID //
#define MAN_VER_NUMBER 01 // Release Ver CV07 //
//使用クラスの宣言
NmraDcc Dcc;
DCC_MSG Packet;
//SoftwareSerial mySerial(O1, O2); // RX, TX
//Task Schedule
unsigned long gPreviousL5 = 0;
//Function State
uint8_t gState_F0 = 0;
uint8_t gState_F1 = 0;
uint8_t gState_F2 = 0;
uint8_t gState_F3 = 0;
uint8_t gState_F4 = 0;
uint8_t gState_F5 = 0;
uint8_t gState_F6 = 0;
uint8_t gState_F7 = 0;
uint8_t gState_F8 = 0;
uint8_t gState_F9 = 0;
uint8_t gState_F10 = 0;
uint8_t gState_F11 = 0;
uint8_t gState_F12 = 0;
uint8_t gState_F13 = 0;
uint8_t gState_F14 = 0;
uint8_t gState_F15 = 0;
uint8_t gState_F16 = 0;
uint8_t gState_Function = 0;
//CV related
uint8_t gCV1_SAddr = 3;
uint8_t gCVx_LAddr = 3;
uint8_t gCV29_Conf = 0;
uint8_t gCV68_servoAdder = 4; // サーボアドレス
uint8_t gCV49_fx = 20;
uint8_t zeroDeg = 0; // 0degのPWM値
uint8_t ninetyDeg = 0; // 90degのPWM値 ※ HK-5320は0-60deg DM-S0025は0-180deg
uint8_t onDeg = 0; // ON時の角度
uint8_t offDeg = 0; // OFF時の角度
uint8_t initDeg = 0; // 電源切る前の角度
uint8_t onSpeed = 0; // OFF->ONのスピード
uint8_t offSpeed = 0; // ON->OFFのスピード
uint8_t sdir = 0; // gDirの最新値保存用
float nowDeg = 0;
float delt_deg = 0; // 10ms辺りの変化量
//Internal variables and other.
#if defined(DCC_ACK_PIN)
const int DccAckPin = DCC_ACK_PIN ;
#endif
struct CVPair {
uint16_t CV;
uint8_t Value;
};
CVPair FactoryDefaultCVs [] = {
{CV_MULTIFUNCTION_PRIMARY_ADDRESS, DECODER_ADDRESS}, // CV01
{CV_ACCESSORY_DECODER_ADDRESS_MSB, 0}, // CV09 The LSB is set CV 1 in the libraries .h file, which is the regular address location, so by setting the MSB to 0 we tell the library to use the same address as the primary address. 0 DECODER_ADDRESS
{CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0}, // CV17 XX in the XXYY address
{CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0}, // CV18 YY in the XXYY address
// {CV_29_CONFIG, 128 }, // CV29 Make sure this is 0 or else it will be random based on what is in the eeprom which could caue headaches
{CV_zeroDeg ,8}, // CV60 8で約500us
{CV_ninetyDeg ,36}, // CV61 36で約2400us DM-S0025は36以上に設定すると動きがおかしくなる
{CV_onDeg ,180}, // CV62 on時の角度
{CV_offDeg ,0}, // CV63 off時の角度
{CV_initDeg ,0}, // CV64 電源切る前の角度
{CV_onSpeed, 20}, // CV65 20で2000msec
{CV_offSpeed, 20}, // CV66 20で2000msec
{CV_sdir , 0}, // CV67 0
{CV_function , 4}, // CV68 servo Address 4
{CV_dummy,0},
};
void(* resetFunc) (void) = 0; //declare reset function at address 0
uint8_t FactoryDefaultCVIndex = sizeof(FactoryDefaultCVs) / sizeof(CVPair);
void notifyDccReset(uint8_t hardReset );
//uint16_t limitSpeed(uint16_t inSpeed);
void notifyCVResetFactoryDefault()
{
//When anything is writen to CV8 reset to defaults.
resetCVToDefault();
delay(1000); //typical CV programming sends the same command multiple times - specially since we dont ACK. so ignore them by delaying
resetFunc();
};
//------------------------------------------------------------------
// Resrt
//------------------------------------------------------------------
void notifyDccReset(uint8_t hardReset )
{
#if 0
digitalWrite(O1,LOW);
digitalWrite(O2,LOW);
digitalWrite(O3,LOW);
digitalWrite(O4,LOW);
gState_F0 = 0; // ADD
gState_F1 = 0;
gState_F2 = 0;
gState_F3 = 0;
gState_F4 = 0;
gState_F5 = 0;
#endif
}
//------------------------------------------------------------------
// CVをデフォルトにリセット(Initialize cv value)
// Serial.println("CVs being reset to factory defaults");
//------------------------------------------------------------------
void resetCVToDefault()
{
for (int j = 0; j < FactoryDefaultCVIndex; j++ ) {
Dcc.setCV( FactoryDefaultCVs[j].CV, FactoryDefaultCVs[j].Value);
}
};
extern void notifyCVChange( uint16_t CV, uint8_t Value) {
//CVが変更されたときのメッセージ
//Serial.print("CV ");
//Serial.print(CV);
//Serial.print(" Changed to ");
//Serial.println(Value, DEC);
};
//------------------------------------------------------------------
// CV Ack
//------------------------------------------------------------------
void notifyCVAck(void)
{
//サーボモータを動かすとギミックを壊しかねないのでコメントアウト
//Serial.println("notifyCVAck");
#if 0
digitalWrite(O1,HIGH);
digitalWrite(O2,HIGH);
digitalWrite(O3,HIGH);
digitalWrite(O4,HIGH);
delay( 6 );
digitalWrite(O4,LOW);
digitalWrite(O3,LOW);
digitalWrite(O2,LOW);
digitalWrite(O1,LOW);
#endif
//MOTOR_Ack();
}
void MOTOR_Ack(void)
{
analogWrite(O4, 128);
delay( 6 );
analogWrite(O4, 0);
}
//------------------------------------------------------------------
// Arduino固有の関数 setup() :初期設定
//------------------------------------------------------------------
void setup()
{
// pinMode(O1, OUTPUT);
// pinMode(O2, OUTPUT);
// pinMode(O3, OUTPUT);
// pinMode(O4, OUTPUT);
DDRB = (1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0);
//DCCの応答用負荷ピン
#if defined(DCCACKPIN)
//Setup ACK Pin
pinMode(DccAckPin, OUTPUT);
digitalWrite(DccAckPin, 0);
#endif
//mySerial.begin(9600);
//mySerial.println("Hello,SFD");
#if !defined(DECODER_DONT_DEFAULT_CV_ON_POWERUP)
if ( Dcc.getCV(CV_MULTIFUNCTION_PRIMARY_ADDRESS) == 0xFF ) { //if eeprom has 0xFF then assume it needs to be programmed
//Serial.println("CV Defaulting due to blank eeprom");
notifyCVResetFactoryDefault();
} else {
//Serial.println("CV Not Defaulting");
}
#else
//Serial.println("CV Defaulting Always On Powerup");
notifyCVResetFactoryDefault();
#endif
// Setup which External Interrupt, the Pin it's associated with that we're using, disable pullup.
Dcc.pin(0, 2, 0); // Atiny85 7pin(PB2)をDCC_PULSE端子に設定
// Call the main DCC Init function to enable the DCC Receiver
Dcc.init( MAN_ID_NUMBER, 100, FLAGS_MY_ADDRESS_ONLY , 0 );
//Init CVs
gCV1_SAddr = Dcc.getCV( CV_MULTIFUNCTION_PRIMARY_ADDRESS ) ;
//Init CVs
gCV1_SAddr = Dcc.getCV( CV_MULTIFUNCTION_PRIMARY_ADDRESS ) ;
gCVx_LAddr = (Dcc.getCV( CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB ) << 8) + Dcc.getCV( CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB );
//gCV29_Conf = Dcc.getCV( CV_29_CONFIG );
gCV68_servoAdder = Dcc.getCV( CV_function );
//Init CVs
zeroDeg = Dcc.getCV( CV_zeroDeg );
ninetyDeg = Dcc.getCV( CV_ninetyDeg );
onDeg = Dcc.getCV( CV_onDeg );
offDeg = Dcc.getCV( CV_offDeg );
initDeg = Dcc.getCV( CV_initDeg );
onSpeed = Dcc.getCV( CV_onSpeed );
offSpeed = Dcc.getCV( CV_offSpeed );
sdir = Dcc.getCV( CV_sdir );
GTCCR = 1 << PWM1B | 2 << COM1B0;
TCCR1 = 11 << CS10;
//Reset task
gPreviousL5 = millis();
}
//---------------------------------------------------------------------
// Arduino main loop
//---------------------------------------------------------------------
void loop() {
// You MUST call the NmraDcc.process() method frequently from the Arduino loop() function for correct library operation
Dcc.process();
if ( (millis() - gPreviousL5) >= 10) // 100:100msec 10:10msec Function decoder は 10msecにしてみる。
{
ServoControl();
//Reset task
gPreviousL5 = millis();
}
}
//---------------------------------------------------------------------
// Servo control Task (100Hz:100ms)
//---------------------------------------------------------------------
void writeCV()
{
Dcc.setCV(CV_sdir,gState_Function); // 最終値のアクセサリ番号をCV_sdirに書き込み
}
void anaWR()
{
analogWrite(O4, map(nowDeg,0,180, zeroDeg, ninetyDeg));
}
void gState()
{
switch( gCV68_servoAdder ){
case 0:
gState_Function = gState_F0;
break;
case 1:
gState_Function = gState_F1;
break;
case 2:
gState_Function = gState_F2;
break;
case 3:
gState_Function = gState_F3;
break;
case 4:
gState_Function = gState_F4;
break;
case 5:
gState_Function = gState_F5;
break;
case 6:
gState_Function = gState_F6;
break;
case 7:
gState_Function = gState_F7;
break;
case 8:
gState_Function = gState_F8;
break;
case 9:
gState_Function = gState_F9;
break;
case 10:
gState_Function = gState_F10;
break;
case 11:
gState_Function = gState_F11;
break;
case 12:
gState_Function = gState_F12;
break;
default:
break;
}
}
void ServoControl()
{
enum{
ST_STANDABY = 0,
ST_IDLE,
ST_ON,
ST_ON_RUN,
ST_OFF,
ST_OFF_RUN,
};
static char state = ST_STANDABY; // ステート
static char updown_flg = 0; // 0:up 1:down
gState();
switch(state){
case ST_STANDABY: // 起動時一回だけの処理
if(gState_Function == sdir ){ // 前回最後のSTR/DIVが同じ？
if(gState_Function == 0){ // OFF?
nowDeg = offDeg;
PORTB |= _BV(PB0); // digitalWrite(O1, HIGH);
PORTB &= ~_BV(PB1); // digitalWrite(O2, LOW);
} else { // ON?
nowDeg = onDeg;
PORTB &= ~_BV(PB0); // digitalWrite(O1, LOW);
PORTB |= _BV(PB1); // digitalWrite(O2, HIGH);
}
state = ST_IDLE;
break;
} else {
if(sdir != 0 and gState_Function == 0){
state = ST_OFF;
} else {
state = ST_ON;
}
}
break;
case ST_IDLE: // 1
if(gState_Function == 0 ){ // Servo O4:OFF
if(nowDeg == offDeg){ // 最終値まで行っていたら抜ける
state = ST_IDLE;
return;
}
state = ST_OFF;
} else if(gState_Function != 1 ){ // Servo O4:ON
if(nowDeg == onDeg){ // 最終値まで行っていたら抜ける
state = ST_IDLE;
return;
}
state = ST_ON;
}
break;
case ST_ON: //11: // ON処理
if(onDeg - offDeg > 0){ // 上昇か、下降か確認
updown_flg = UP; // 上昇
delt_deg = (float)abs(onDeg - offDeg) / onSpeed / 10; // offDegからonDegまでの移動量を算出
} else {
for(;;);
// updown_flg = DOWN; // 下降
// delt_deg = (float)abs(onDeg - offDeg) / offSpeed / 10; // offDegからonDegまでの移動量を算出
}
nowDeg = offDeg; // 現在の角度を導入
anaWR();
state = ST_ON_RUN;
break;
case ST_ON_RUN: // 12
if(updown_flg == UP) {
nowDeg = nowDeg + delt_deg; // 上昇
if(nowDeg > onDeg){
nowDeg = onDeg;
anaWR();
writeCV();
PORTB &= ~_BV(PB0); // digitalWrite(O1, LOW);
PORTB |= _BV(PB1); // digitalWrite(O2, HIGH);
state = ST_IDLE;
} else {
anaWR();
state = ST_ON_RUN;
}
} else {
nowDeg = nowDeg - delt_deg; // 下降
if(nowDeg < onDeg){
nowDeg = onDeg;
anaWR();
writeCV();
PORTB |= _BV(PB0); // digitalWrite(O1, HIGH);
PORTB &= ~_BV(PB1); // digitalWrite(O2, LOW);
state = ST_IDLE;
} else {
anaWR();
state = ST_ON_RUN;
}
}
break;
case ST_OFF: //21: // ON->OFF処理
if(onDeg - offDeg > 0){ // 上昇か、下降か確認
updown_flg = DOWN; // 下昇
delt_deg = (float)abs(onDeg - offDeg) / offSpeed / 10; // offDegからonDegまでの移動量を算出
} else {
for(;;);
// updown_flg = UP; // 上降
// delt_deg = (float)abs(onDeg - offDeg) / onSpeed / 10; // offDegからonDegまでの移動量を算出
}
nowDeg = onDeg; // 現在の角度を導入
anaWR();
state = ST_OFF_RUN;
break;
case ST_OFF_RUN: //22
if(updown_flg == UP) {
nowDeg = nowDeg + delt_deg; // 上昇
if(nowDeg > offDeg){
nowDeg = offDeg;
anaWR();
writeCV();
PORTB &= ~_BV(PB0); // digitalWrite(O1, LOW);
PORTB |= _BV(PB1); // digitalWrite(O2, HIGH);
state = ST_IDLE;
} else {
anaWR();
state = ST_OFF_RUN;
}
} else {
nowDeg = nowDeg - delt_deg; // 下降
if(nowDeg < offDeg){
nowDeg = offDeg;
anaWR();
writeCV();
PORTB |= _BV(PB0); // digitalWrite(O1, HIGH);
PORTB &= ~_BV(PB1); // digitalWrite(O2, LOW);
state = ST_IDLE;
} else {
anaWR();
state = ST_OFF_RUN;
}
}
break;
default:
break;
}
}
//DCC速度信号の受信によるイベント
//extern void notifyDccSpeed( uint16_t Addr, uint8_t Speed, uint8_t ForwardDir, uint8_t MaxSpeed )
extern void notifyDccSpeed( uint16_t Addr, DCC_ADDR_TYPE AddrType, uint8_t Speed, DCC_DIRECTION Dir, DCC_SPEED_STEPS SpeedSteps )
{
}
//---------------------------------------------------------------------------
//ファンクション信号受信のイベント
//FN_0_4とFN_5_8は常時イベント発生（DCS50KはF8まで）
//FN_9_12以降はFUNCTIONボタンが押されたときにイベント発生
//前値と比較して変化あったら処理するような作り。
//---------------------------------------------------------------------------
//extern void notifyDccFunc( uint16_t Addr, FN_GROUP FuncGrp, uint8_t FuncState)
extern void notifyDccFunc(uint16_t Addr, DCC_ADDR_TYPE AddrType, FN_GROUP FuncGrp, uint8_t FuncState)
{
if( FuncGrp == FN_0_4)
{
if( gState_F0 != (FuncState & FN_BIT_00))
{
//Get Function 0 (FL) state
gState_F0 = (FuncState & FN_BIT_00);
}
if( gState_F1 != (FuncState & FN_BIT_01))
{
//Get Function 1 state
gState_F1 = (FuncState & FN_BIT_01);
}
if( gState_F2 != (FuncState & FN_BIT_02))
{
gState_F2 = (FuncState & FN_BIT_02);
}
if( gState_F3 != (FuncState & FN_BIT_03))
{
gState_F3 = (FuncState & FN_BIT_03);
}
if( gState_F4 != (FuncState & FN_BIT_04))
{
gState_F4 = (FuncState & FN_BIT_04);
}
}
if( FuncGrp == FN_5_8)
{
if( gState_F5 != (FuncState & FN_BIT_05))
{
//Get Function 0 (FL) state
gState_F5 = (FuncState & FN_BIT_05);
}
if( gState_F6 != (FuncState & FN_BIT_06))
{
//Get Function 1 state
gState_F6 = (FuncState & FN_BIT_06);
}
if( gState_F7 != (FuncState & FN_BIT_07))
{
gState_F7 = (FuncState & FN_BIT_07);
}
if( gState_F8 != (FuncState & FN_BIT_08))
{
gState_F8 = (FuncState & FN_BIT_08);
}
}
if( FuncGrp == FN_9_12)
{
if( gState_F9 != (FuncState & FN_BIT_09))
{
gState_F9 = (FuncState & FN_BIT_09);
}
if( gState_F10 != (FuncState & FN_BIT_10))
{
gState_F10 = (FuncState & FN_BIT_10);
}
if( gState_F11 != (FuncState & FN_BIT_11))
{
gState_F11 = (FuncState & FN_BIT_11);
}
if( gState_F12 != (FuncState & FN_BIT_12))
{
gState_F12 = (FuncState & FN_BIT_12);
}
}
/*
if( FuncGrp == FN_13_20)
{
if( gState_F13 != (FuncState & FN_BIT_13))
{
gState_F13 = (FuncState & FN_BIT_13);
}
if( gState_F14 != (FuncState & FN_BIT_14))
{
gState_F14 = (FuncState & FN_BIT_14);
}
if( gState_F15 != (FuncState & FN_BIT_15))
{
gState_F15 = (FuncState & FN_BIT_15);
}
if( gState_F16 != (FuncState & FN_BIT_16))
{
gState_F16 = (FuncState & FN_BIT_16);
}
}
*/
}