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https://github.com/DCC-EX/CommandStation-EX.git
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Merge branch 'master' into Ethernewt-
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commit
b1ac7feb01
@ -34,19 +34,20 @@
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#define ReadPin digitalRead2
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#endif
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MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin,
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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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signalPin=signal_pin;
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signalPin2=signal_pin2;
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brakePin=brake_pin;
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currentPin=current_pin;
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senseFactor=sense_factor;
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faultPin=fault_pin;
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tripMilliamps=trip_milliamps;
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rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
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powerPin=power_pin;
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signalPin=signal_pin;
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signalPin2=signal_pin2;
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brakePin=brake_pin;
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currentPin=current_pin;
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senseFactor=sense_factor;
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faultPin=fault_pin;
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tripMilliamps=trip_milliamps;
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rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
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pinMode(powerPin, OUTPUT);
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pinMode(brakePin, OUTPUT);
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pinMode(brakePin < 0 ? -brakePin : brakePin, OUTPUT);
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setBrake(false);
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pinMode(signalPin, OUTPUT);
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if (signalPin2 != UNUSED_PIN) pinMode(signalPin2, OUTPUT);
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pinMode(currentPin, INPUT);
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@ -54,10 +55,32 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte
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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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// 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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}
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WritePin(powerPin, on ? HIGH : LOW);
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}
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void MotorDriver::setBrake( bool on) {
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WritePin(brakePin, on ? HIGH : LOW);
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// setBrake applies brake if on == true. So to get
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// voltage from the motor bride one needs to do a
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// setBrake(false).
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// If the brakePin is negative that means the sense
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// of the brake pin on the motor bridge is inverted
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// (HIGH == release brake) and setBrake does
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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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WritePin(pin, state ? HIGH : LOW);
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//DIAG(F("BrakePin: %d is %d\n"), pin, ReadPin(pin));
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}
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void MotorDriver::setSignal( bool high) {
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@ -20,9 +20,13 @@
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#define MotorDriver_h
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// Virtualised Motor shield 1-track hardware Interface
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#ifndef UNUSED_PIN // sync define with the one in MotorDrivers.h
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#define UNUSED_PIN 127 // inside int8_t
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#endif
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class MotorDriver {
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public:
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MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
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MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
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virtual void setPower( bool on);
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virtual void setSignal( bool high);
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virtual void setBrake( bool on);
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@ -34,11 +38,10 @@ class MotorDriver {
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}
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private:
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byte powerPin, signalPin, signalPin2, brakePin,currentPin,faultPin;
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byte powerPin, signalPin, signalPin2, currentPin, faultPin;
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int8_t brakePin; // 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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const byte UNUSED_PIN = 255;
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};
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#endif
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@ -13,10 +13,16 @@
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// similar to those defined here, WITHOUT editing this file. You can put your
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// custom defines in config.h.
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const byte UNUSED_PIN = 255;
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#ifndef UNUSED_PIN // sync define with the one in MotorDriver.h
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#define UNUSED_PIN 127 // inside int8_t
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#endif
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// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin,
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// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin,
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// float senseFactor, unsigned int tripMilliamps, byte faultPin);
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//
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// If the brakePin is negative that means the sense
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// of the brake pin on the motor bridge is inverted
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// (HIGH == release brake)
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// Arduino standard Motor Shield
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#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
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@ -24,9 +30,19 @@ const byte UNUSED_PIN = 255;
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new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 2000, UNUSED_PIN)
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// Pololu Motor Shield
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#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
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new MotorDriver(4, 7, UNUSED_PIN, 9, A0, 18, 3000, 12), \
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new MotorDriver(2, 8, UNUSED_PIN, 10, A1, 18, 3000, UNUSED_PIN)
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#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
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new MotorDriver( 9, 7, UNUSED_PIN, -4, A0, 18, 3000, 12), \
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new MotorDriver(10, 8, UNUSED_PIN, UNUSED_PIN, A1, 18, 3000, UNUSED_PIN)
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//
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// Actually, on the Pololu MC33926 shield the enable lines are tied together on pin 4 and the
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// pins 9 and 10 work as "inverted brake" but as we turn on and off the tracks individually
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// via the power pins we above use 9 and 10 as power pins and 4 as "inverted brake" which in this
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// version of the code always will be high. That means this config is not usable for generating
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// a railcom cuotout in the future. For that one must wire the second ^D2 to pin 2 and define
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// the motor driver like this:
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// new MotorDriver(4, 7, UNUSED_PIN, -9, A0, 18, 3000, 12)
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// new MotorDriver(2, 8, UNUSED_PIN, -10, A1, 18, 3000, UNUSED_PIN)
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// See Pololu dial_mc33926_shield_schematic.pdf and truth table on page 17 of the MC33926 data sheet.
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// Firebox Mk1
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#define FIREBOX_MK1 F("FIREBOX_MK1"), \
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