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add class Adc instead of motordriver specific analog pin read

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This commit is contained in:
Harald Barth
2022-10-04 00:32:48 +02:00
parent 5e616a9eb2
commit b7295c4923
4 changed files with 116 additions and 12 deletions
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12
MotorDriver.cpp
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@@ -117,6 +117,9 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
senseOffset = adc1_get_raw(pinToADC1Channel(currentPin));
#else
pinMode(currentPin, INPUT);
Adc::reg(currentPin);
// run analogRead as Adc::read() does not have any values before
// the waveform has been started.
senseOffset=analogRead(currentPin); // value of sensor at zero current
#endif
}
@@ -209,7 +212,7 @@ bool MotorDriver::canMeasureCurrent() {
/*
* Return the current reading as pin reading 0 to 1023. If the fault
* pin is activated return a negative current to show active fault pin.
* As there is no -0, create a little and return -1 in that case.
* As there is no -0, cheat a little and return -1 in that case.
*
* senseOffset handles the case where a shield returns values above or below
* a central value depending on direction.
@@ -224,9 +227,10 @@ int MotorDriver::getCurrentRaw(bool fromISR) {
current = local_adc1_get_raw(pinToADC1Channel(currentPin))-senseOffset;
#else
#ifdef ANALOG_READ_INTERRUPT
current = sampleCurrent-senseOffset;
if ((millis() - sampleCurrentTimestamp) > 3)
DIAG(F("Current sample old %d"), millis() - sampleCurrentTimestamp);
current = Adc::read(currentPin)-senseOffset;
//current = sampleCurrent-senseOffset;
//if ((millis() - sampleCurrentTimestamp) > 3)
// DIAG(F("Current sample old %d"), millis() - sampleCurrentTimestamp);
#else
if (!fromISR) noInterrupts();
current = analogRead(currentPin)-senseOffset;