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UNTESTED fast power,brake,fault pins

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This commit is contained in:
Asbelos 2021-02-02 11:30:35 +00:00
parent 9dd210fa14
commit 653c421400
2 changed files with 25 additions and 17 deletions
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34
MotorDriver.cpp
View File

@ -22,10 +22,14 @@
#define setHIGH(fastpin) *fastpin.out |= fastpin.maskHIGH
#define setLOW(fastpin) *fastpin.out &= fastpin.maskLOW
#define isHIGH(fastpin) (*fastpin.out & fastpin.maskHIGH)
#define isLOW(fastpin) (!isHIGH(fastpin))
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;
getFastPin(F("POWER"),powerPin,fastPowerPin);
pinMode(powerPin, OUTPUT);
signalPin=signal_pin;
@ -41,16 +45,23 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
else dualSignal=false;
brakePin=brake_pin;
if (brakePin!=UNUSED_PIN){
pinMode(brakePin < 0 ? -brakePin : brakePin, OUTPUT);
if (brake_pin!=UNUSED_PIN){
invertBrake=brake_pin < 0;
brakePin=invertBrake ? 0-brake_pin : brake_pin;
getFastPin(F("BRAKE"),brakePin,fastBrakePin);
pinMode(brakePin, OUTPUT);
setBrake(false);
}
else brakePin=UNUSED_PIN;
currentPin=current_pin;
pinMode(currentPin, INPUT);
faultPin=fault_pin;
if (faultPin != UNUSED_PIN) pinMode(faultPin, INPUT);
if (faultPin != UNUSED_PIN) {
getFastPin(F("FAULT"),faultPin,fastFaultPin);
pinMode(faultPin, INPUT);
}
senseFactor=sense_factor;
tripMilliamps=trip_milliamps;
@ -59,13 +70,14 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
}
void MotorDriver::setPower(bool on) {
if (brakePin == -4 && on) {
if (on) {
// toggle brake before turning power on - resets overcurrent error
// on the Pololu board if brake is wired to ^D2.
setBrake(true);
setBrake(false);
setHIGH(fastPowerPin);
}
digitalWrite(powerPin, on ? HIGH : LOW);
else setLOW(fastPowerPin);
}
// setBrake applies brake if on == true. So to get
@ -77,13 +89,9 @@ void MotorDriver::setPower(bool on) {
// compensate for that.
//
void MotorDriver::setBrake(bool on) {
bool state = on;
byte pin = brakePin;
if (brakePin < 0) {
pin=-pin;
state=!state;
}
digitalWrite(pin, state ? HIGH : LOW);
if (brakePin == UNUSED_PIN) return;
if (on ^ invertBrake) setHIGH(fastBrakePin);
else setLOW(fastBrakePin);
}
void MotorDriver::setSignal( bool high) {
@ -99,7 +107,7 @@ void MotorDriver::setSignal( bool high) {
int MotorDriver::getCurrentRaw() {
if (faultPin != UNUSED_PIN && digitalRead(faultPin) == LOW && digitalRead(powerPin) == HIGH)
if (faultPin != UNUSED_PIN && isLOW(fastFaultPin) && isHIGH(fastPowerPin))
return simulatedOverload;
// IMPORTANT: This function can be called in Interrupt() time within the 56uS timer

6
MotorDriver.h
View File

@ -47,10 +47,10 @@ class MotorDriver {
private:
void getFastPin(const FSH* type,int pin, FASTPIN & result);
byte powerPin, signalPin, signalPin2, currentPin, faultPin;
FASTPIN fastSignalPin, fastSignalPin2;
byte powerPin, signalPin, signalPin2, currentPin, faultPin, brakePin;
FASTPIN fastPowerPin,fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
bool dualSignal; // true to use signalPin2
int8_t brakePin; // negative means pin is inverted
bool invertBrake; // brake pin passed as negative means pin is inverted
float senseFactor;
unsigned int tripMilliamps;
int rawCurrentTripValue;