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DIO2 replacement

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Currently for writing signal pins during waveform.
This commit is contained in:
Asbelos 2021-01-31 13:43:35 +00:00
parent dc36cbee0c
commit 13757c8c57
2 changed files with 38 additions and 18 deletions
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47
MotorDriver.cpp
View File

@ -21,24 +21,21 @@
#include "AnalogReadFast.h"
#include "DIAG.h"
#if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_SAMC) || defined(ARDUINO_ARCH_MEGAAVR)
#define WritePin digitalWrite
#define ReadPin digitalRead
#else
// use the DIO2 libraray for much faster pin access
#define GPIO2_PREFER_SPEED 1
#include <DIO2.h> // use IDE menu Tools..Manage Libraries to locate and install DIO2
#define WritePin digitalWrite2
#define ReadPin digitalRead2
#endif
#define setHIGH(fastpin) *fastpin.out |= fastpin.maskHIGH
#define setLOW(fastpin) *fastpin.out &= fastpin.maskLOW
MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
powerPin=power_pin;
signalPin=signal_pin;
getFastPin(signalPin,fastSignalPin);
signalPin2=signal_pin2;
if (signalPin2!=UNUSED_PIN) {
dualSignal=true;
getFastPin(signalPin2,fastSignalPin2);
}
else dualSignal=false;
brakePin=brake_pin;
currentPin=current_pin;
senseFactor=sense_factor;
@ -62,7 +59,7 @@ void MotorDriver::setPower(bool on) {
setBrake(true);
setBrake(false);
}
WritePin(powerPin, on ? HIGH : LOW);
digitalWrite(powerPin, on ? HIGH : LOW);
}
// setBrake applies brake if on == true. So to get
@ -80,18 +77,23 @@ void MotorDriver::setBrake(bool on) {
pin=-pin;
state=!state;
}
WritePin(pin, state ? HIGH : LOW);
//DIAG(F("BrakePin: %d is %d\n"), pin, ReadPin(pin));
digitalWrite(pin, state ? HIGH : LOW);
}
void MotorDriver::setSignal( bool high) {
WritePin(signalPin, high ? HIGH : LOW);
if (signalPin2 != UNUSED_PIN) WritePin(signalPin2, high ? LOW : HIGH);
if (high) {
setHIGH(fastSignalPin);
if (dualSignal) setLOW(fastSignalPin2);
}
else {
setLOW(fastSignalPin);
if (dualSignal) setHIGH(fastSignalPin2);
}
}
int MotorDriver::getCurrentRaw() {
if (faultPin != UNUSED_PIN && ReadPin(faultPin) == LOW && ReadPin(powerPin) == HIGH)
if (faultPin != UNUSED_PIN && digitalRead(faultPin) == LOW && digitalRead(powerPin) == HIGH)
return simulatedOverload;
// IMPORTANT: This function can be called in Interrupt() time within the 56uS timer
@ -106,3 +108,12 @@ unsigned int MotorDriver::raw2mA( int raw) {
int MotorDriver::mA2raw( unsigned int mA) {
return (int)(mA / senseFactor);
}
void MotorDriver::getFastPin(int pin, FASTPIN & result) {
DIAG(F("\nMotorDriver Pin=%d,"),pin);
uint8_t port = digitalPinToPort(pin);
result.out = portOutputRegister(port);
result.maskHIGH = digitalPinToBitMask(pin);
result.maskLOW = ~result.maskHIGH;
DIAG(F(" port=0x%x, out=0x%x, mask=0x%x\n"),port, result.out,result.maskHIGH);
}

9
MotorDriver.h
View File

@ -24,6 +24,12 @@
#define UNUSED_PIN 127 // inside int8_t
#endif
struct FASTPIN {
volatile uint8_t *out;
uint8_t maskHIGH;
uint8_t maskLOW;
};
class MotorDriver {
public:
MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
@ -38,7 +44,10 @@ class MotorDriver {
}
private:
void getFastPin(int pin, FASTPIN & result);
byte powerPin, signalPin, signalPin2, currentPin, faultPin;
FASTPIN fastSignalPin, fastSignalPin2;
bool dualSignal; // true to use signalPin2
int8_t brakePin; // negative means pin is inverted
float senseFactor;
unsigned int tripMilliamps;