// Production Stepper Drive DCC Decoder Dec_Stepper_6Ftn.ino // Version 6.01 Geoff Bunza 2014,2015,2016,2017,2018 // Now works with both short and long DCC Addesses // NO LONGER REQUIRES modified software servo Lib // Software restructuring mods added from Alex Shepherd and Franz-Peter // With sincere thanks /* * Stepper Motor Drive (4 Pins Bi dirrectional) uses the 2 Motor controls MOT1 and MOT2 * F0 LED Pin 5 * This is a “mobile/function” decoder that controls a single four wire stepper motor * (5/12 Volt) via throttle speed setting and a multiplier which can be set in CV121. * Stepper speed is pre-set in the sketch but can be changed. The library also supports * setting acceleration/deceleration for the stepper. The other functions are configurable * but are preset for LED on/off control. No servo motor control is available. * Steppers whose coils need less than 500 ma can be accommodated. Each coil of the * stepper attaches to MOT1 and MOT2. You may have to reverse the connections of one * or the other until you get the connections right. The number of steps moved is set * by the speed setting multiplied by the contents of CV 121. * Every Off to On activation of F2 will move the stepper the specified number of steps, * in the direction set by the DCC speed direction. */ // ******** UNLESS YOU WANT ALL CV'S RESET UPON EVERY POWER UP // ******** AFTER THE INITIAL DECODER LOAD REMOVE THE "//" IN THE FOOLOWING LINE!! //#define DECODER_LOADED // ******** EMOVE THE "//" IN THE FOOLOWING LINE TO SEND DEBUGGING // ******** INFO TO THE SERIAL MONITOR //#define DEBUG #include #include AccelStepper stepper(AccelStepper::FULL4WIRE, 3, 4, 9, 10); int servo_slow_counter = 0; //servo loop counter to slowdown servo transit long Motor1Speed = 0; uint8_t Motor1ForwardDir = 1; uint8_t Motor1MaxSpeed = 127; long Motor2Speed = 0; uint8_t Motor2ForwardDir = 1; uint8_t Motor2MaxSpeed = 127; int kickstarton = 1400; //kick start cycle on time int kickstarttime = 5; //kick start duration on time int fwdon = 0; int fwdtime = 1; int bwdon = 0; int bwdtime = 1; int bwdshift = 0; int cyclewidth = 2047; int m2h = 3; //R H Bridge //Motor1 int m2l = 4; //B H Bridge //Motor1 int m0h = 9; //R H Bridge //Motor2 int m0l = 10; //B H Bridge //Motor2 int speedup = 112; //Right track time differntial int deltime = 1500; int tim_delay = 100; int numfpins = 17; int num_active_fpins = 13; byte fpins [] = {3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19}; const int FunctionPin0 = 5; const int FunctionPin1 = 6; const int FunctionPin2 = 7; const int FunctionPin3 = 8; const int FunctionPin4 = 11; const int FunctionPin5 = 12; const int FunctionPin6 = 13; const int FunctionPin7 = 14; //A0 const int FunctionPin8 = 15; //A1 const int FunctionPin9 = 16; //A2 const int FunctionPin10 = 17; //A3 const int FunctionPin11 = 18; //A4 const int FunctionPin12 = 19; //A5 byte Function2_value = 0; int Function13_value = 0; int Function14_value = 0; NmraDcc Dcc ; DCC_MSG Packet ; uint8_t CV_DECODER_MASTER_RESET = 120; uint8_t Motor_Multiplier = 121; int t; // temp struct QUEUE { int inuse; int current_position; int increment; int stop_value; int start_value; }; QUEUE *ftn_queue = new QUEUE[16]; struct CVPair { uint16_t CV; uint8_t Value; }; #define This_Decoder_Address 24 CVPair FactoryDefaultCVs [] = { {CV_MULTIFUNCTION_PRIMARY_ADDRESS, This_Decoder_Address&0x7F }, // These two CVs define the Long DCC Address {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, ((This_Decoder_Address>>8)&0x7F)+192 }, {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, This_Decoder_Address&0xFF }, // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS // {CV_29_CONFIG, 0}, // Short Address 14 Speed Steps {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps // {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION}, // Long Address 28/128 Speed Steps {CV_DECODER_MASTER_RESET, 0}, // CV 120 {Motor_Multiplier, 10}, // CV 121 {30, 0}, //F0 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {31, 1}, //F0 Rate Blink=Eate,PWM=Rate,Servo=Rate {32, 0}, //F0 Start Position F0=0 {33, 8}, //F0 End Position F0=1 {34, 1}, //F0 Current Position {35, 0}, //F1 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {36, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {37, 0}, // Start Position Fx=0 {38, 8}, // End Position Fx=1 {39, 1}, // Current Position {40, 0}, //F2 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {41, 10}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {42, 28}, // Start Position Fx=0 {43, 140}, // End Position Fx=1 {44, 0}, // Current Position {45, 0}, //F3 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {46, 10}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {47, 28}, // Start Position Fx=0 {48, 140}, // End Position Fx=1 {49, 0}, // Current Position {50, 0}, //F4 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {51, 10}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {52, 28}, // Start Position Fx=0 {53, 140}, // End Position Fx=1 {54, 0}, // Current Position {55, 0}, //F5 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {56, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {57, 28}, // Start Position Fx=0 {58, 140}, // End Position Fx=1 {59, 28}, // Current Position {60, 0}, //F6 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {61, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {62, 1}, // Start Position Fx=0 {63, 255}, // End Position Fx=1 {64, 28}, // Current Position {65, 0}, //F7 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {66, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {67, 28}, // Start Position Fx=0 {68,140}, // End Position Fx=1 {69, 28}, // Current Position {70, 0}, //F8 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {71, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {72, 28}, // Start Position Fx=0 {73, 140}, // End Position Fx=1 {74, 28}, // Current Position {75, 0}, //F9 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {76, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {77, 28}, // Start Position Fx=0 {78, 140}, // End Position Fx=1 {79, 28}, // Current Position {80, 0}, //F10 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {81, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {82, 1}, // Start Position Fx=0 {83, 5}, // End Position Fx=1 {84, 1}, // Current Position {85, 0}, //F11 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {86, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {87, 1}, // Start Position Fx=0 {88, 5}, // End Position Fx=1 {89, 1}, // Current Position {90, 0}, //F12 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {91, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {92, 1}, // Start Position Fx=0 {93, 10}, // End Position Fx=1 {94, 1}, // Current Position {95, 0}, //F13 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {96, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {97, 1}, // Start Position Fx=0 {98, 6}, // End Position Fx=1 {99, 1}, // Current Position {100, 0}, //F14 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {101, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {102, 1}, // Start Position Fx=0 {103, 6}, // End Position Fx=1 {104, 1}, // Current Position {105, 0}, //F15 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {106, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {107, 1}, // Start Position Fx=0 {108, 10}, // End Position Fx=1 {109, 1}, // Current Position {110, 0}, //F16 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {111, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {112, 1}, // Start Position Fx=0 {113, 10}, // End Position Fx=1 {114, 1}, // Current Position //FUTURE USE {115, 0}, //F17 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade {116, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate {117, 28}, // Start Position Fx=0 {118, 50}, // End Position Fx=1 {119, 28}, // Current Position }; uint8_t FactoryDefaultCVIndex = sizeof(FactoryDefaultCVs)/sizeof(CVPair); void notifyCVResetFactoryDefault() { // Make FactoryDefaultCVIndex non-zero and equal to num CV's to be reset // to flag to the loop() function that a reset to Factory Defaults needs to be done FactoryDefaultCVIndex = sizeof(FactoryDefaultCVs)/sizeof(CVPair); }; // NOTE: NO PROGRAMMING ACK IS SET UP TO MAXIMAIZE // OUTPUT PINS FOR FUNCTIONS void setup() //****************************************************** { #ifdef DEBUG Serial.begin(115200); #endif int i; uint8_t cv_value; // initialize the digital pins as outputs for (int i=0; i < numfpins; i++) { pinMode(fpins[i], OUTPUT); digitalWrite(fpins[i], 0); } // Setup which External Interrupt, the Pin it's associated with that we're using Dcc.pin(0, 2, 0); // Call the main DCC Init function to enable the DCC Receiver Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 ); delay(800); #if defined(DECODER_LOADED) if ( Dcc.getCV(CV_DECODER_MASTER_RESET)== CV_DECODER_MASTER_RESET ) #endif { for (int j=0; j < FactoryDefaultCVIndex; j++ ) Dcc.setCV( FactoryDefaultCVs[j].CV, FactoryDefaultCVs[j].Value); digitalWrite(fpins[14], 1); delay (1000); digitalWrite(fpins[14], 0); } for ( i=0; i < num_active_fpins; i++) { cv_value = Dcc.getCV( 30+(i*5)) ; #ifdef DEBUG Serial.print(" cv_value: "); Serial.println(cv_value, DEC) ; #endif stepper.setMaxSpeed(100.0); stepper.setAcceleration(50.0); stepper.moveTo(1); switch ( cv_value ) { case 0: // LED on/off ftn_queue[i].inuse = 0; break; case 1: // LED Blink { ftn_queue[i].inuse = 0; ftn_queue[i].current_position = 0; ftn_queue[i].start_value = 0; ftn_queue[i].increment = int (char (Dcc.getCV( 31+(i*5)))); digitalWrite(fpins[i], 0); ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5))) ; } break; case 2: //servo NOT AVAILABLE WITH THIS DECODER - STEPPER ONLY break; case 3: // DOUBLE ALTERNATING LED Blink { ftn_queue[i].inuse = 0; ftn_queue[i].current_position = 0; ftn_queue[i].start_value = 0; ftn_queue[i].increment = Dcc.getCV( 31+(i*5)); digitalWrite(fpins[i], 0); digitalWrite(fpins[i+1], 0); ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5))); } break; case 4: // Simple Pulsed Output based on saved Rate =10*Rate in Milliseconds { ftn_queue[i].inuse = 0; ftn_queue[i].current_position = 0; ftn_queue[i].increment = 10 * int (char (Dcc.getCV( 31+(i*5)))); digitalWrite(fpins[i], 0); } break; case 5: // Fade On { ftn_queue[i].inuse = 0; ftn_queue[i].start_value = 0; ftn_queue[i].increment = int (char (Dcc.getCV( 31+(i*5)))); digitalWrite(fpins[i], 0); ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5))) *10.; } break; case 6: // NEXT FEATURE to pin break; default: break; } } } void loop() //********************************************************************** { //MUST call the NmraDcc.process() method frequently // from the Arduino loop() function for correct library operation Dcc.process(); delay(2); stepper.run(); //*************************Normal Function Processing follows for (int i=0; i < num_active_fpins; i++) { if (ftn_queue[i].inuse==1) { switch (Dcc.getCV( 30+(i*5))) { case 0: break; case 1: ftn_queue[i].current_position = ftn_queue[i].current_position + ftn_queue[i].increment; if (ftn_queue[i].current_position > ftn_queue[i].stop_value) { ftn_queue[i].start_value = ~ftn_queue[i].start_value; digitalWrite(fpins[i], ftn_queue[i].start_value); ftn_queue[i].current_position = 0; ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5))); } break; case 2: break; case 3: ftn_queue[i].current_position = ftn_queue[i].current_position + ftn_queue[i].increment; if (ftn_queue[i].current_position > ftn_queue[i].stop_value) { ftn_queue[i].start_value = ~ftn_queue[i].start_value; digitalWrite(fpins[i], ftn_queue[i].start_value); digitalWrite(fpins[i]+1, ~ftn_queue[i].start_value); ftn_queue[i].current_position = 0; ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5))); } i++; break; case 4: // Simple Pulsed Output based on saved Rate =10*Rate in Milliseconds { ftn_queue[i].inuse = 0; ftn_queue[i].current_position = 0; ftn_queue[i].increment = 10 * int (char (Dcc.getCV( 31+(i*5)))); digitalWrite(fpins[i], 0); } break; case 5: // Fade On break; case 6: // NEXT FEATURE to pin break; default: break; } } } } void notifyDccSpeed( uint16_t Addr, DCC_ADDR_TYPE AddrType, uint8_t Speed, DCC_DIRECTION ForwardDir, DCC_SPEED_STEPS SpeedSteps ) { //if (Function13_value==1) { Motor1Speed = Speed * Dcc.getCV( Motor_Multiplier); //Motor1ForwardDir = ForwardDir & 1; if (ForwardDir == DCC_DIR_REV) Motor1Speed = -Motor1Speed;; //} } void notifyDccFunc( uint16_t Addr, DCC_ADDR_TYPE AddrType, FN_GROUP FuncGrp, uint8_t FuncState) { if (FuncGrp==FN_0_4 && ((FuncState & FN_BIT_02)>>1) == 1) { if (Function2_value == 0) { Function2_value=1; stepper.move(Motor1Speed); return; } } else if (FuncGrp==FN_0_4 && ((FuncState & FN_BIT_02)>>1) == 0) { Function2_value = 0; return; } switch(FuncGrp) { case FN_0_4: //Function Group 1 F0 F4 F3 F2 F1 exec_function( 0, FunctionPin0, (FuncState & FN_BIT_00)>>4 ); exec_function( 1, FunctionPin1, (FuncState & FN_BIT_01)); //exec_function( 2, FunctionPin2, (FuncState & FN_BIT_02)>>1); exec_function( 3, FunctionPin3, (FuncState & FN_BIT_03)>>2 ); exec_function( 4, FunctionPin4, (FuncState & FN_BIT_04)>>3 ); break; case FN_5_8: //Function Group 1 S FFFF == 1 F8 F7 F6 F5 & == 0 F12 F11 F10 F9 F8 exec_function( 5, FunctionPin5, (FuncState & FN_BIT_05)); exec_function( 6, FunctionPin6, (FuncState & FN_BIT_06)>>1 ); exec_function( 7, FunctionPin7, (FuncState & FN_BIT_07)>>2 ); exec_function( 8, FunctionPin8, (FuncState & FN_BIT_08)>>3 ); break; case FN_9_12: exec_function( 9, FunctionPin9, (FuncState & FN_BIT_09)); exec_function( 10, FunctionPin10, (FuncState & FN_BIT_10)>>1 ); exec_function( 11, FunctionPin11, (FuncState & FN_BIT_11)>>2 ); exec_function( 12, FunctionPin12, (FuncState & FN_BIT_12)>>3 ); break; case FN_13_20: //Function Group 2 FuncState == F20-F13 Function Control // Function13_value = (FuncState & FN_BIT_13); // Function14_value = (FuncState & FN_BIT_14)>>1; // exec_function( 15, FunctionPin15, (FuncState & FN_BIT_15)>>2 ); // exec_function( 16, FunctionPin16, (FuncState & FN_BIT_16)>>3 ); break; case FN_21_28: break; } } void exec_function (int function, int pin, int FuncState) { #ifdef DEBUG Serial.print(" function: "); Serial.println(function, DEC) ; Serial.print(" pin: "); Serial.println(pin, DEC) ; Serial.print(" FuncState: "); Serial.println(FuncState, DEC) ; Serial.print(" Dcc.getCV( 30+(function*5)): "); Serial.println(Dcc.getCV( 30+(function*5)), DEC) ; #endif if (function!=2) switch ( Dcc.getCV( 30+(function*5)) ) { // Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade case 0: // On - Off LED digitalWrite (pin, FuncState); #ifdef DEBUG Serial.print(" Dcc.getCV( 30+(function*5)): "); Serial.println(Dcc.getCV( 30+(function*5)), DEC) ; Serial.print(" pin: "); Serial.println(pin, DEC) ; Serial.print(" FuncState: "); Serial.println(FuncState, DEC) ; #endif ftn_queue[function].inuse = 0; break; case 1: // Blinking LED if ((ftn_queue[function].inuse==0) && (FuncState==1)) { ftn_queue[function].inuse = 1; ftn_queue[function].start_value = 0; digitalWrite(pin, 0); ftn_queue[function].stop_value = int(Dcc.getCV( 33+(function*5))); } else { if ((ftn_queue[function].inuse==1) && (FuncState==0)) { ftn_queue[function].inuse = 0; digitalWrite(pin, 0); } } break; case 2: // Servo break; case 3: // Blinking LED PAIR if ((ftn_queue[function].inuse==0) && (FuncState==1)) { ftn_queue[function].inuse = 1; ftn_queue[function].start_value = 0; digitalWrite(fpins[function], 0); digitalWrite(fpins[function+1], 1); ftn_queue[function].stop_value = int(Dcc.getCV( 33+(function*5))); } else { if (FuncState==0) { ftn_queue[function].inuse = 0; digitalWrite(fpins[function], 0); digitalWrite(fpins[function+1], 0); } } break; case 4: // Pulse Output based on Rate*10 Milliseconds if ((ftn_queue[function].inuse==0) && (FuncState==1)) { //First Turn On Detected digitalWrite(fpins[function], 1); delay (10*ftn_queue[function].increment); digitalWrite(fpins[function], 0); ftn_queue[function].inuse = 1; //inuse set to 1 says we already pulsed } else if (FuncState==0) ftn_queue[function].inuse = 0; break; case 5: // Fade On #define fadedelay 24 if ((ftn_queue[function].inuse==0) && (FuncState==1)) { ftn_queue[function].inuse = 1; for (t=0; t