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https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-24 13:21:23 +01:00
UNTESTED fast power,brake,fault pins
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@ -22,10 +22,14 @@
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#define setHIGH(fastpin) *fastpin.out |= fastpin.maskHIGH
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#define setLOW(fastpin) *fastpin.out &= fastpin.maskLOW
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#define isHIGH(fastpin) (*fastpin.out & fastpin.maskHIGH)
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#define isLOW(fastpin) (!isHIGH(fastpin))
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MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
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byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
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powerPin=power_pin;
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getFastPin(F("POWER"),powerPin,fastPowerPin);
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pinMode(powerPin, OUTPUT);
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signalPin=signal_pin;
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@ -41,16 +45,23 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
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else dualSignal=false;
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brakePin=brake_pin;
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if (brakePin!=UNUSED_PIN){
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pinMode(brakePin < 0 ? -brakePin : brakePin, OUTPUT);
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if (brake_pin!=UNUSED_PIN){
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invertBrake=brake_pin < 0;
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brakePin=invertBrake ? 0-brake_pin : brake_pin;
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getFastPin(F("BRAKE"),brakePin,fastBrakePin);
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pinMode(brakePin, OUTPUT);
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setBrake(false);
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}
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else brakePin=UNUSED_PIN;
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currentPin=current_pin;
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pinMode(currentPin, INPUT);
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faultPin=fault_pin;
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if (faultPin != UNUSED_PIN) pinMode(faultPin, INPUT);
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if (faultPin != UNUSED_PIN) {
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getFastPin(F("FAULT"),faultPin,fastFaultPin);
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pinMode(faultPin, INPUT);
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}
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senseFactor=sense_factor;
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tripMilliamps=trip_milliamps;
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@ -59,13 +70,14 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
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}
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void MotorDriver::setPower(bool on) {
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if (brakePin == -4 && on) {
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if (on) {
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// toggle brake before turning power on - resets overcurrent error
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// on the Pololu board if brake is wired to ^D2.
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setBrake(true);
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setBrake(false);
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setHIGH(fastPowerPin);
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}
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digitalWrite(powerPin, on ? HIGH : LOW);
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else setLOW(fastPowerPin);
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}
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// setBrake applies brake if on == true. So to get
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@ -77,13 +89,9 @@ void MotorDriver::setPower(bool on) {
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// compensate for that.
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//
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void MotorDriver::setBrake(bool on) {
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bool state = on;
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byte pin = brakePin;
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if (brakePin < 0) {
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pin=-pin;
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state=!state;
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}
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digitalWrite(pin, state ? HIGH : LOW);
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if (brakePin == UNUSED_PIN) return;
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if (on ^ invertBrake) setHIGH(fastBrakePin);
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else setLOW(fastBrakePin);
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}
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void MotorDriver::setSignal( bool high) {
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@ -99,7 +107,7 @@ void MotorDriver::setSignal( bool high) {
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int MotorDriver::getCurrentRaw() {
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if (faultPin != UNUSED_PIN && digitalRead(faultPin) == LOW && digitalRead(powerPin) == HIGH)
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if (faultPin != UNUSED_PIN && isLOW(fastFaultPin) && isHIGH(fastPowerPin))
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return simulatedOverload;
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// IMPORTANT: This function can be called in Interrupt() time within the 56uS timer
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@ -47,10 +47,10 @@ class MotorDriver {
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private:
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void getFastPin(const FSH* type,int pin, FASTPIN & result);
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byte powerPin, signalPin, signalPin2, currentPin, faultPin;
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FASTPIN fastSignalPin, fastSignalPin2;
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byte powerPin, signalPin, signalPin2, currentPin, faultPin, brakePin;
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FASTPIN fastPowerPin,fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
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bool dualSignal; // true to use signalPin2
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int8_t brakePin; // negative means pin is inverted
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bool invertBrake; // brake pin passed as negative means pin is inverted
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float senseFactor;
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unsigned int tripMilliamps;
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int rawCurrentTripValue;
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