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make compile for other arch but AVR

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This commit is contained in:
Harald Barth
2022-10-02 22:53:35 +02:00
parent 24e5e648b8
commit 5e616a9eb2
7 changed files with 41 additions and 39 deletions
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42
MotorDriver.cpp
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@@ -213,30 +213,34 @@ bool MotorDriver::canMeasureCurrent() {
*
* senseOffset handles the case where a shield returns values above or below
* a central value depending on direction.
*
* Bool fromISR should be adjusted dependent how function is called
*/
int MotorDriver::getCurrentRaw() {
int MotorDriver::getCurrentRaw(bool fromISR) {
(void)fromISR;
if (currentPin==UNUSED_PIN) return 0;
int current;
// This function should NOT be called in an interruot so we
// dont need to fart about saving and restoring CPU specific
// interrupt registers.
#ifdef ARDUINO_ARCH_ESP32
current = local_adc1_get_raw(pinToADC1Channel(currentPin))-senseOffset;
#else
// noInterrupts();
//current = analogRead(currentPin)-senseOffset;
#ifdef ANALOG_READ_INTERRUPT
current = sampleCurrent-senseOffset;
//DIAG(F("%d %d"), current, sampleCurrentTimestamp);
if ((millis() - sampleCurrentTimestamp) > 3)
DIAG(F("Current sample old %d"), millis() - sampleCurrentTimestamp);
//interrupts();
#endif
#else
if (!fromISR) noInterrupts();
current = analogRead(currentPin)-senseOffset;
if (!fromISR) interrupts();
#endif //ANALOG_READ_INTERRUPT
#endif //ARDUINO_ARCH_ESP32
if (current<0) current=0-current;
if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && powerMode==POWERMODE::ON)
return (current == 0 ? -1 : -current);
return current;
}
#ifdef ANALOG_READ_INTERRUPT
/*
* This should only be called in interrupt context
* Copies current value from HW to cached value in
@@ -245,11 +249,6 @@ int MotorDriver::getCurrentRaw() {
#pragma GCC push_options
#pragma GCC optimize ("-O3")
bool MotorDriver::sampleCurrentFromHW() {
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
const byte mask = 7;
#else
const byte mask = 31;
#endif
byte low, high;
//if (!bit_is_set(ADCSRA, ADIF))
if (bit_is_set(ADCSRA, ADSC))
@@ -273,6 +272,7 @@ void MotorDriver::startCurrentFromHW() {
bitSet(ADCSRA,ADSC); // start conversion
}
#pragma GCC pop_options
#endif //ANALOG_READ_INTERRUPT
void MotorDriver::setDCSignal(byte speedcode) {
if (brakePin == UNUSED_PIN)
@@ -327,20 +327,6 @@ void MotorDriver::setDCSignal(byte speedcode) {
}
}
int MotorDriver::getCurrentRawInInterrupt() {
// IMPORTANT: This function must be called in Interrupt() time within the 56uS timer
// The default analogRead takes ~100uS which is catastrphic
// so DCCTimer has set the sample time to be much faster.
if (currentPin==UNUSED_PIN) return 0;
#ifdef ARDUINO_ARCH_ESP32 //On ESP we do all in loop() instead of in interrupt
return getCurrentRaw();
#else
//return analogRead(currentPin)-senseOffset;
return getCurrentRaw();
#endif
}
unsigned int MotorDriver::raw2mA( int raw) {
return (int32_t)raw * senseFactorInternal / senseScale;
}