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It builds....

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massive track reorganization
This commit is contained in:
Asbelos
2022-02-23 15:44:34 +00:00
parent 8db937e985
commit a7740d652d
16 changed files with 887 additions and 748 deletions
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72
MotorDriver.cpp
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@@ -82,6 +82,12 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
else
DIAG(F("MotorDriver currentPin=A%d, senseOffset=%d, rawCurrentTripValue(relative to offset)=%d"),
currentPin-A0, senseOffset,rawCurrentTripValue);
// prepare values for current detection
sampleDelay = 0;
lastSampleTaken = millis();
progTripValue = mA2raw(TRIP_CURRENT_PROG);
}
bool MotorDriver::isPWMCapable() {
@@ -89,7 +95,8 @@ bool MotorDriver::isPWMCapable() {
}
void MotorDriver::setPower(bool on) {
void MotorDriver::setPower(POWERMODE mode) {
bool on=mode==POWERMODE::ON;
if (on) {
// toggle brake before turning power on - resets overcurrent error
// on the Pololu board if brake is wired to ^D2.
@@ -98,6 +105,7 @@ void MotorDriver::setPower(bool on) {
setHIGH(fastPowerPin);
}
else setLOW(fastPowerPin);
powerMode=mode;
}
// setBrake applies brake if on == true. So to get
@@ -190,3 +198,65 @@ void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & res
result.maskLOW = ~result.maskHIGH;
// DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
}
void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
if (millis() - lastSampleTaken < sampleDelay) return;
lastSampleTaken = millis();
int tripValue= useProgLimit?progTripValue:getRawCurrentTripValue();
// Trackname for diag messages later
switch (powerMode) {
case POWERMODE::OFF:
sampleDelay = POWER_SAMPLE_OFF_WAIT;
break;
case POWERMODE::ON:
// Check current
lastCurrent=getCurrentRaw();
if (lastCurrent < 0) {
// We have a fault pin condition to take care of
lastCurrent = -lastCurrent;
setPower(POWERMODE::OVERLOAD); // Turn off, decide later how fast to turn on again
if (commonFaultPin) {
if (lastCurrent <= tripValue) {
setPower(POWERMODE::ON); // maybe other track
}
// Write this after the fact as we want to turn on as fast as possible
// because we don't know which output actually triggered the fault pin
DIAG(F("COMMON FAULT PIN ACTIVE - TOGGLED POWER on %d"), trackno);
} else {
DIAG(F("TRACK %d FAULT PIN ACTIVE - OVERLOAD"), trackno);
if (lastCurrent < tripValue) {
lastCurrent = tripValue; // exaggerate
}
}
}
if (lastCurrent < tripValue) {
sampleDelay = POWER_SAMPLE_ON_WAIT;
if(power_good_counter<100)
power_good_counter++;
else
if (power_sample_overload_wait>POWER_SAMPLE_OVERLOAD_WAIT) power_sample_overload_wait=POWER_SAMPLE_OVERLOAD_WAIT;
} else {
setPower(POWERMODE::OVERLOAD);
unsigned int mA=raw2mA(lastCurrent);
unsigned int maxmA=raw2mA(tripValue);
power_good_counter=0;
sampleDelay = power_sample_overload_wait;
DIAG(F("TRACK %d POWER OVERLOAD current=%d max=%d offtime=%d"), trackno, mA, maxmA, sampleDelay);
if (power_sample_overload_wait >= 10000)
power_sample_overload_wait = 10000;
else
power_sample_overload_wait *= 2;
}
break;
case POWERMODE::OVERLOAD:
// Try setting it back on after the OVERLOAD_WAIT
setPower(POWERMODE::ON);
sampleDelay = POWER_SAMPLE_ON_WAIT;
// Debug code....
DIAG(F("TRACK %d POWER RESET delay=%d"), trackno, sampleDelay);
break;
default:
sampleDelay = 999; // cant get here..meaningless statement to avoid compiler warning.
}
}