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faultPin can be inverted (from its inverted sense

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This commit is contained in:
Harald Barth 2023-03-03 20:51:32 +01:00
parent 22c0bff697
commit 31ecba08d8
2 changed files with 11 additions and 3 deletions
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11
MotorDriver.cpp
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@ -38,7 +38,7 @@ volatile portreg_t shadowPORTB;
volatile portreg_t shadowPORTC; volatile portreg_t shadowPORTC;
MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, MotorDriver::MotorDriver(int16_t 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) { byte current_pin, float sense_factor, unsigned int trip_milliamps, int8_t fault_pin) {
powerPin=power_pin; powerPin=power_pin;
invertPower=power_pin < 0; invertPower=power_pin < 0;
if (invertPower) { if (invertPower) {
@ -95,6 +95,9 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
faultPin=fault_pin; faultPin=fault_pin;
if (faultPin != UNUSED_PIN) { if (faultPin != UNUSED_PIN) {
invertFault=fault_pin < 0;
faultPin=invertFault ? 0-fault_pin : fault_pin;
DIAG(F("Fault pin = %d invert %d"), faultPin, invertFault);
getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin); getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
pinMode(faultPin, INPUT); pinMode(faultPin, INPUT);
} }
@ -196,8 +199,12 @@ int MotorDriver::getCurrentRaw(bool fromISR) {
int current; int current;
current = ADCee::read(currentPin, fromISR)-senseOffset; current = ADCee::read(currentPin, fromISR)-senseOffset;
if (current<0) current=0-current; if (current<0) current=0-current;
if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && powerMode==POWERMODE::ON) if ((faultPin != UNUSED_PIN) && powerMode==POWERMODE::ON) {
if (invertFault && isLOW(fastFaultPin))
return (current == 0 ? -1 : -current); return (current == 0 ? -1 : -current);
if (!invertFault && !isLOW(fastFaultPin))
return (current == 0 ? -1 : -current);
}
return current; return current;
} }

3
MotorDriver.h
View File

@ -112,7 +112,7 @@ class MotorDriver {
public: public:
MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin); byte current_pin, float senseFactor, unsigned int tripMilliamps, int8_t fault_pin);
void setPower( POWERMODE mode); void setPower( POWERMODE mode);
POWERMODE getPower() { return powerMode;} POWERMODE getPower() { return powerMode;}
// as the port registers can be shadowed to get syncronized DCC signals // as the port registers can be shadowed to get syncronized DCC signals
@ -198,6 +198,7 @@ class MotorDriver {
bool dualSignal; // true to use signalPin2 bool dualSignal; // true to use signalPin2
bool invertBrake; // brake pin passed as negative means pin is inverted bool invertBrake; // brake pin passed as negative means pin is inverted
bool invertPower; // power pin passed as negative means pin is inverted bool invertPower; // power pin passed as negative means pin is inverted
bool invertFault; // fault pin passed as negative means pin is inverted
// Raw to milliamp conversion factors avoiding float data types. // Raw to milliamp conversion factors avoiding float data types.
// Milliamps=rawADCreading * sensefactorInternal / senseScale // Milliamps=rawADCreading * sensefactorInternal / senseScale