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make mDC a vector in the Container and bugfixes

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This commit is contained in:
Harald Barth 2021-11-28 23:36:47 +01:00
parent 342b9798f0
commit 6c940615f6
6 changed files with 98 additions and 51 deletions
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18
DCC.cpp
View File

@ -56,24 +56,26 @@ void DCC::begin() {
StringFormatter::send(Serial,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE),
MotorDriverContainer::mDC.getMotorShieldName(), F(GITHUB_SHA));
/*
NOT YES, PIN CONFLICTS
// Initialise HAL layer before reading EEprom.
IODevice::begin();
*/
//MotorDriverContainer::mDC.add(new MotorDriver(16, 21, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.00, 2000, UNUSED_PIN, RMT_MAIN));
// Load stuff from EEprom
(void)EEPROM; // tell compiler not to warn this is unused
EEStore::init();
MotorDriverContainer::mDC.diag();
DCCWaveform::begin(MotorDriverContainer::mDC.mainTrack(),MotorDriverContainer::mDC.progTrack());
DCCTrack::mainTrack.addDriver(MotorDriverContainer::mDC.mainTrack());
DCCTrack::progTrack.addDriver(MotorDriverContainer::mDC.progTrack());
MotorDriver *md;
MotorDriverContainer::mDC.add(2, md = new MotorDriver(16, 21, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 2.00, 2000, UNUSED_PIN, RMT_MAIN));
DCCTrack::mainTrack.addDriver(md);
/*
std::vector<MotorDriver*> v = MotorDriverContainer::mDC.getDriverType(RMT_MAIN);
// Add main and prog drivers to the main and prog packet sources (dcc-tracks).
std::vector<MotorDriver*> v;
v = MotorDriverContainer::mDC.getDriverType(RMT_MAIN|TIMER_MAIN);
for (const auto& d: v) DCCTrack::mainTrack.addDriver(d);
*/
v = MotorDriverContainer::mDC.getDriverType(RMT_PROG|TIMER_PROG);
for (const auto& d: v) DCCTrack::progTrack.addDriver(d);
}
void DCC::setJoinRelayPin(byte joinRelayPin) {

2
DCCTrack.cpp
View File

@ -29,7 +29,7 @@ void DCCTrack::schedulePacket(dccPacket packet) {
//DIAG(F("DCCTrack::schedulePacket RMT l=%d d=%x"),packet.length, packet.data[0]);
driver->schedulePacket(packet);
}
if (driver->type() == TIMERINTERRUPT && waveform && once) {
if (driver->type() & (TIMER_MAIN | TIMER_PROG) && waveform && once) {
//DIAG(F("DCCTrack::schedulePacket WAVE l=%d d=%x"),packet.length, packet.data[0]);
waveform->schedulePacket(packet);
once=false;

5
DCCTrack.h
View File

@ -3,13 +3,16 @@
#include <Arduino.h>
#include "DCCPacket.h"
#include "DCCWaveform.h"
#include "DIAG.h"
class DCCTrack {
public:
DCCTrack(DCCWaveform *w);
void schedulePacket(const byte buffer[], byte byteCount, byte repeats);
void schedulePacket(dccPacket packet);
inline void addDriver(MotorDriver *m) { mD.push_back(m); };
inline void addDriver(MotorDriver *m) { mD.push_back(m);
DIAG(F("Track: mDType=%d count=%d"),m->type(), mD.size());
};
static DCCTrack mainTrack;
static DCCTrack progTrack;
private:

30
DCCWaveform.cpp
View File

@ -49,18 +49,26 @@ uint8_t DCCWaveform::trailingEdgeCounter=0;
void DCCWaveform::begin(MotorDriver * mainDriver, MotorDriver * progDriver) {
mainTrack.motorDriver=mainDriver;
progTrack.motorDriver=progDriver;
progTripValue = progDriver->mA2raw(TRIP_CURRENT_PROG); // need only calculate once hence static
mainTrack.setPowerMode(POWERMODE::OFF);
progTrack.setPowerMode(POWERMODE::OFF);
// Fault pin config for odd motor boards (example pololu)
MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
&& (mainDriver->getFaultPin() != UNUSED_PIN));
// Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
DIAG(F("Signal pin config: %S accuracy waveform"),
if(mainDriver) {
mainTrack.motorDriver=mainDriver;
mainTrack.setPowerMode(POWERMODE::OFF);
}
if(progDriver) {
progTrack.motorDriver=progDriver;
progTripValue = progDriver->mA2raw(TRIP_CURRENT_PROG); // need only calculate once hence static
progTrack.setPowerMode(POWERMODE::OFF);
}
if(mainDriver && progDriver) {
// Fault pin config for odd motor boards (example pololu)
MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
&& (mainDriver->getFaultPin() != UNUSED_PIN));
// Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
}
if(mainDriver || progDriver) {
DIAG(F("Signal pin config: %S accuracy waveform"),
MotorDriver::usePWM ? F("high") : F("normal") );
}
DCCTimer::begin(DCCWaveform::interruptHandler);
}

51
MotorDriver.cpp
View File

@ -44,7 +44,7 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
rmtChannel = new RMTChannel(signalPin, 0, PREAMBLE_BITS_MAIN);
#endif
dualSignal=false;
} else if (dtype == TIMERINTERRUPT) {
} else if (dtype & (TIMER_MAIN | TIMER_PROG)) {
signalPin=signal_pin;
getFastPin(F("SIG"),signalPin,fastSignalPin);
pinMode(signalPin, OUTPUT);
@ -212,8 +212,9 @@ bool MotorDriver::schedulePacket(dccPacket packet) {
if(!rmtChannel) return true; // fake success if functionality is not there
outQueue.push(packet);
if (outQueue.size() > 10) {
DIAG(F("Warning: outQueue > 10"));
uint16_t size = outQueue.size();
if (size > 10) {
DIAG(F("Warning: outQueue %d > 10"),size);
}
return true;
}
@ -232,33 +233,41 @@ MotorDriverContainer::MotorDriverContainer(const FSH * motorShieldName,
MotorDriver *m5,
MotorDriver *m6,
MotorDriver *m7) {
mD[0]=m0;
mD[1]=m1;
mD[2]=m2;
mD[3]=m3;
mD[4]=m4;
mD[5]=m5;
mD[6]=m6;
mD[7]=m7;
// THIS AUTOMATIC DOES NOT WORK YET. TIMER_MAIN AND TIMER_PROG required in CONSTRUCTOR
// AND CAN NOT BE ADDED LATER
if (m0) {
if (m0->type() == TYPE_UNKNOWN)
m0->setType(TIMER_MAIN);
mD.push_back(m0);
}
if (m1) {
if (m1->type() == TYPE_UNKNOWN)
m1->setType(TIMER_PROG);
mD.push_back(m1);
}
if (m2) mD.push_back(m2);
if (m3) mD.push_back(m3);
if (m4) mD.push_back(m4);
if (m5) mD.push_back(m5);
if (m6) mD.push_back(m6);
if (m7) mD.push_back(m7);
shieldName = (FSH *)motorShieldName;
}
void MotorDriverContainer::loop() {
static byte i = 0;
// loops over MotorDrivers which have loop tasks
if (mD[i])
if (mD[i]->type() == RMT_MAIN || mD[i]->type() == RMT_PROG)
mD[i]->loop();
i++;
if(i > 7) i=0;
if (mD.empty())
return;
for(const auto& d: mD)
if (d->type() & (RMT_MAIN | RMT_PROG))
d->loop();
}
std::vector<MotorDriver*> MotorDriverContainer::getDriverType(driverType t) {
std::vector<MotorDriver*> v;
for(byte i=0; i<8; i++) {
if (mD[i] && mD[i]->type() == t)
v.push_back(mD[i]);
for(const auto& d: mD){
if (d->type() & t)
v.push_back(d);
}
return v;
}

41
MotorDriver.h
View File

@ -22,6 +22,7 @@
#include <vector>
#include "defines.h"
#include "FSH.h"
#include "DIAG.h"
#if defined(ARDUINO_ARCH_ESP32)
#include <queue>
@ -57,13 +58,20 @@ struct FASTPIN {
#define isHIGH(fastpin) (*fastpin.inout & fastpin.maskHIGH)
#define isLOW(fastpin) (!isHIGH(fastpin))
enum driverType { TIMERINTERRUPT, RMT_MAIN, RMT_PROG, DC_ENA, DC_BRAKE };
typedef byte driverType;
const driverType TYPE_UNKNOWN=0;
const driverType TIMER_MAIN=1;
const driverType TIMER_PROG=2;
const driverType RMT_MAIN=4;
const driverType RMT_PROG=16;
const driverType DC_ENA=32;
const driverType DC_BRAKE=64;
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,
driverType t=TIMERINTERRUPT);
driverType t=TYPE_UNKNOWN);
void setPower( bool on);
void setSignal( bool high);
void setBrake( bool on);
@ -83,6 +91,7 @@ class MotorDriver {
#if defined(ARDUINO_ARCH_ESP32)
void loop();
inline driverType type() { return dtype; };
inline void setType(driverType t) { dtype = t; };
bool schedulePacket(dccPacket packet);
#endif
@ -129,19 +138,35 @@ public:
MotorDriver *m6=NULL,
MotorDriver *m7=NULL);
static MotorDriverContainer mDC;
inline void add(byte n, MotorDriver *m) {
if (n>8) return;
mD[n] = m;
inline void add(MotorDriver *m) {
mD.push_back(m);
DIAG(F("Container: mDType=%d count=%d"),m->type(), mD.size());
};
// void SetCapability(byte n, byte cap, char [] name);
inline FSH *getMotorShieldName() { return shieldName; };
inline MotorDriver *mainTrack() { return mD[0]; }; //start fixed
inline MotorDriver *progTrack() { return mD[1]; };
inline void diag() {
if (mD.empty()) {
DIAG(F("Container empty"));
return;
}
for(const auto& d: mD)
DIAG(F("Container: mDType=%d count=%d"),d->type(), mD.size());
};
inline MotorDriver *mainTrack() {
std::vector<MotorDriver *> v = getDriverType(TIMER_MAIN);
if(v.empty()) return NULL;
return v.front();
};
inline MotorDriver *progTrack() {
std::vector<MotorDriver *> v = getDriverType(TIMER_PROG);
if(v.empty()) return NULL;
return v.front();
};
void loop();
std::vector<MotorDriver*> getDriverType(driverType t);
private:
MotorDriver *mD[8];
std::vector<MotorDriver *>mD;
FSH *shieldName;
};
#endif