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Changed to Continuous analogReads for Teensy

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This commit is contained in:
Mike S
2021-03-27 07:17:47 -04:00
parent 54773297bf
commit 136e993418
6 changed files with 44 additions and 20 deletions
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39
MotorDriver.cpp
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@@ -20,6 +20,14 @@
#include "MotorDriver.h"
#include "DCCTimer.h"
#include "DIAG.h"
#if defined(TEENSYDUINO)
#include <ADC.h>
#include <ADC_util.h>
ADC *adc = new ADC(); // adc object
#if defined(ARDUINO_TEENSY35) || defined(ARDUINO_TEENSY36) || defined(ARDUINO_TEENSY32)
ADC *adc1 = new ADC(); // adc object
#endif
#endif
#define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH
#define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW
@@ -63,6 +71,20 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
senseOffset=analogRead(currentPin); // value of sensor at zero current
}
#if defined(TEENSYDUINO)
if(currentPin != current_pin && currentPin!=UNUSED_PIN){
adc->adc0->setReference(ADC_REFERENCE::REF_3V3);
adc->adc0->startContinuous(currentPin);
} else if(currentPin!=UNUSED_PIN){
#if defined(ARDUINO_TEENSY35) || defined(ARDUINO_TEENSY36) || defined(ARDUINO_TEENSY32)
adc1->adc0->setReference(ADC_REFERENCE::REF_3V3);
adc1->adc0->startContinuous(currentPin);
#else
adc->adc1->setReference(ADC_REFERENCE::REF_3V3);
adc->adc1->startContinuous(currentPin);
#endif
}
#endif
faultPin=fault_pin;
if (faultPin != UNUSED_PIN) {
getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
@@ -137,10 +159,23 @@ bool MotorDriver::canMeasureCurrent() {
* senseOffset handles the case where a shield returns values above or below
* a central value depending on direction.
*/
int MotorDriver::getCurrentRaw() {
int MotorDriver::getCurrentRaw(bool isMain) {
if (currentPin==UNUSED_PIN) return 0;
int current = analogRead(currentPin)-senseOffset;
int current;
#if defined(TEENSYDUINO)
if(isMain) {
current = (uint16_t)adc->adc0->analogReadContinuous();
} else {
#if defined(ARDUINO_TEENSY35) || defined(ARDUINO_TEENSY36) || defined(ARDUINO_TEENSY32)
current = (uint16_t)adc1->adc0->analogReadContinuous();
#else
current = (uint16_t)adc->adc1->analogReadContinuous();
#endif
}
#else
current = analogRead(currentPin)-senseOffset;
#endif
if (current<0) current=0-current;
if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && isHIGH(fastPowerPin))