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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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68
TrackManager.cpp
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@@ -19,6 +19,7 @@
*/
#include "TrackManager.h"
#include "FSH.h"
#include "DCCWaveform.h"
#include "MotorDriver.h"
#include "DIAG.h"
// Virtualised Motor shield multi-track hardware Interface
@@ -35,6 +36,8 @@ const int16_t HASH_KEYWORD_DC = 9192; // TODO
MotorDriver * TrackManager::track[MAX_TRACKS];
int16_t TrackManager::trackMode[MAX_TRACKS];
POWERMODE TrackManager::mainPowerGuess=POWERMODE::OFF;
void TrackManager::Setup(const FSH * shieldname,
MotorDriver * track0, MotorDriver * track1, MotorDriver * track2,
@@ -50,15 +53,19 @@ void TrackManager::Setup(const FSH * shieldname,
track[6]=track6;
track[7]=track7;
trackMode[0]=TRACK_MODE_MAIN;
trackMode[1]=TRACK_MODE_PROG;
trackMode[2]=TRACK_MODE_OFF;
trackMode[3]=TRACK_MODE_OFF;
trackMode[4]=TRACK_MODE_OFF;
trackMode[5]=TRACK_MODE_OFF;
trackMode[6]=TRACK_MODE_OFF;
trackMode[7]=TRACK_MODE_OFF;
setTrackMode(0,TRACK_MODE_MAIN);
setTrackMode(1,TRACK_MODE_PROG);
setTrackMode(2,TRACK_MODE_OFF);
setTrackMode(3,TRACK_MODE_OFF);
setTrackMode(4,TRACK_MODE_OFF);
setTrackMode(5,TRACK_MODE_OFF);
setTrackMode(6,TRACK_MODE_OFF);
setTrackMode(7,TRACK_MODE_OFF);
// TODO Fault pin config for odd motor boards (example pololu)
// MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
// && (mainDriver->getFaultPin() != UNUSED_PIN));
DIAG(F("Signal pin config: %S accuracy waveform"),
MotorDriver::usePWM ? F("high") : F("normal") );
}
void TrackManager::setDCCSignal( bool on) {
@@ -80,11 +87,16 @@ void TrackManager::setDCSignal(int16_t cab, byte speedbyte) {
bool TrackManager::setTrackMode(byte trackToSet, int16_t modeOrAddr) {
if (trackToSet>=8 || track[trackToSet]==NULL) return false;
if (modeOrAddr==TRACK_MODE_PROG) {
// only allow 1 track to be prog
for (byte t=0;t<8;t++)
if (trackMode[t]==TRACK_MODE_PROG) trackMode[t]=TRACK_MODE_OFF;
}
trackMode[trackToSet]=modeOrAddr;
// re-evaluate HighAccuracy mode
bool canDo=true;
for (byte t=0;t<8;t++)
if (trackMode[t]==TRACK_MODE_MAIN ||trackMode[t]==TRACK_MODE_PROG )
if (trackMode[t]==TRACK_MODE_MAIN ||trackMode[t]==TRACK_MODE_PROG)
canDo &= track[t]->isPWMCapable();
MotorDriver::usePWM=canDo;
return true;
@@ -92,7 +104,6 @@ bool TrackManager::setTrackMode(byte trackToSet, int16_t modeOrAddr) {
bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
{
int16_t mode;
if (params==0) { // <J> List track assignments
for (byte t=0;t<8;t++) {
@@ -134,4 +145,39 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
return false;
}
byte TrackManager::nextCycleTrack=MAX_TRACKS;
void TrackManager::loop(bool dontLimitProg) {
nextCycleTrack++;
if (nextCycleTrack>=MAX_TRACKS) nextCycleTrack=0;
if (track[nextCycleTrack]==NULL) return;
MotorDriver * motorDriver=track[nextCycleTrack];
bool useProgLimit=dontLimitProg? false: trackMode[nextCycleTrack]==TRACK_MODE_PROG;
motorDriver->checkPowerOverload(useProgLimit, nextCycleTrack);
}
MotorDriver * TrackManager::getProgDriver() {
for (byte t=0;t<8;t++)
if (trackMode[t]==TRACK_MODE_PROG) return track[t];
return NULL;
}
void TrackManager::setPower2(bool setProg,POWERMODE mode) {
if (setProg) {
LOOPMODE(TRACK_MODE_PROG,setPower(mode))
}
else {
mainPowerGuess=mode;
for (byte t=0;t<8;t++)
if (track[t]
&& trackMode[t]!=TRACK_MODE_OFF
&& trackMode[t]!=TRACK_MODE_PROG
) track[t]->setPower(mode);
}
}
POWERMODE TrackManager::getProgPower() {
for (byte t=0;t<8;t++)
if (trackMode[t]==TRACK_MODE_PROG)
return track[t]->getPower();
return POWERMODE::OFF;
}