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Merge branch 'master' into Ethernewt-

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This commit is contained in:
Asbelos 2020-11-06 08:54:25 +00:00
commit b1ac7feb01
3 changed files with 64 additions and 22 deletions
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49
MotorDriver.cpp
View File

@ -34,19 +34,20 @@
#define ReadPin digitalRead2
#endif
MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin,
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;
signalPin=signal_pin;
signalPin2=signal_pin2;
brakePin=brake_pin;
currentPin=current_pin;
senseFactor=sense_factor;
faultPin=fault_pin;
tripMilliamps=trip_milliamps;
rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
powerPin=power_pin;
signalPin=signal_pin;
signalPin2=signal_pin2;
brakePin=brake_pin;
currentPin=current_pin;
senseFactor=sense_factor;
faultPin=fault_pin;
tripMilliamps=trip_milliamps;
rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
pinMode(powerPin, OUTPUT);
pinMode(brakePin, OUTPUT);
pinMode(brakePin < 0 ? -brakePin : brakePin, OUTPUT);
setBrake(false);
pinMode(signalPin, OUTPUT);
if (signalPin2 != UNUSED_PIN) pinMode(signalPin2, OUTPUT);
pinMode(currentPin, INPUT);
@ -54,10 +55,32 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte
}
void MotorDriver::setPower(bool on) {
if (brakePin == -4 && on) {
// toggle brake before turning power on - resets overcurrent error
// on the Pololu board if brake is wired to ^D2.
setBrake(true);
setBrake(false);
}
WritePin(powerPin, on ? HIGH : LOW);
}
void MotorDriver::setBrake( bool on) {
WritePin(brakePin, on ? HIGH : LOW);
// setBrake applies brake if on == true. So to get
// voltage from the motor bride one needs to do a
// setBrake(false).
// If the brakePin is negative that means the sense
// of the brake pin on the motor bridge is inverted
// (HIGH == release brake) and setBrake does
// compensate for that.
//
void MotorDriver::setBrake(bool on) {
bool state = on;
byte pin = brakePin;
if (brakePin < 0) {
pin=-pin;
state=!state;
}
WritePin(pin, state ? HIGH : LOW);
//DIAG(F("BrakePin: %d is %d\n"), pin, ReadPin(pin));
}
void MotorDriver::setSignal( bool high) {

11
MotorDriver.h
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@ -20,9 +20,13 @@
#define MotorDriver_h
// Virtualised Motor shield 1-track hardware Interface
#ifndef UNUSED_PIN // sync define with the one in MotorDrivers.h
#define UNUSED_PIN 127 // inside int8_t
#endif
class MotorDriver {
public:
MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
virtual void setPower( bool on);
virtual void setSignal( bool high);
virtual void setBrake( bool on);
@ -34,11 +38,10 @@ class MotorDriver {
}
private:
byte powerPin, signalPin, signalPin2, brakePin,currentPin,faultPin;
byte powerPin, signalPin, signalPin2, currentPin, faultPin;
int8_t brakePin; // negative means pin is inverted
float senseFactor;
unsigned int tripMilliamps;
int rawCurrentTripValue;
const byte UNUSED_PIN = 255;
};
#endif

26
MotorDrivers.h
View File

@ -13,10 +13,16 @@
// similar to those defined here, WITHOUT editing this file. You can put your
// custom defines in config.h.
const byte UNUSED_PIN = 255;
#ifndef UNUSED_PIN // sync define with the one in MotorDriver.h
#define UNUSED_PIN 127 // inside int8_t
#endif
// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin,
// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin,
// float senseFactor, unsigned int tripMilliamps, byte faultPin);
//
// If the brakePin is negative that means the sense
// of the brake pin on the motor bridge is inverted
// (HIGH == release brake)
// Arduino standard Motor Shield
#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
@ -24,9 +30,19 @@ const byte UNUSED_PIN = 255;
new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 2000, UNUSED_PIN)
// Pololu Motor Shield
#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
new MotorDriver(4, 7, UNUSED_PIN, 9, A0, 18, 3000, 12), \
new MotorDriver(2, 8, UNUSED_PIN, 10, A1, 18, 3000, UNUSED_PIN)
#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
new MotorDriver( 9, 7, UNUSED_PIN, -4, A0, 18, 3000, 12), \
new MotorDriver(10, 8, UNUSED_PIN, UNUSED_PIN, A1, 18, 3000, UNUSED_PIN)
//
// Actually, on the Pololu MC33926 shield the enable lines are tied together on pin 4 and the
// pins 9 and 10 work as "inverted brake" but as we turn on and off the tracks individually
// via the power pins we above use 9 and 10 as power pins and 4 as "inverted brake" which in this
// version of the code always will be high. That means this config is not usable for generating
// a railcom cuotout in the future. For that one must wire the second ^D2 to pin 2 and define
// the motor driver like this:
// new MotorDriver(4, 7, UNUSED_PIN, -9, A0, 18, 3000, 12)
// new MotorDriver(2, 8, UNUSED_PIN, -10, A1, 18, 3000, UNUSED_PIN)
// See Pololu dial_mc33926_shield_schematic.pdf and truth table on page 17 of the MC33926 data sheet.
// Firebox Mk1
#define FIREBOX_MK1 F("FIREBOX_MK1"), \