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Final Fix for T4 interrupts

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This commit is contained in:
Mike S
2021-03-30 16:12:47 -04:00
parent f5cdd88854
commit c70ef3ffaa
3 changed files with 24 additions and 26 deletions
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31
MotorDriver.cpp
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@@ -21,12 +21,6 @@
#include "DCCTimer.h"
#include "DIAG.h"
#if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41)
#include <ADC.h>
#include <ADC_util.h>
ADC *adc = new ADC(); // adc object
#endif
#define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH
#define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW
#define isHIGH(fastpin) (*fastpin.inout & fastpin.maskHIGH)
@@ -69,15 +63,6 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
senseOffset=analogRead(currentPin); // value of sensor at zero current
}
#if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41)
if(currentPin != current_pin && currentPin!=UNUSED_PIN){
//adc->adc0->setReference(ADC_REFERENCE::REF_3V3);
adc->adc0->startContinuous(currentPin);
} else if(currentPin!=UNUSED_PIN){
//adc->adc1->setReference(ADC_REFERENCE::REF_3V3);
adc->adc1->startContinuous(currentPin);
}
#endif
faultPin=fault_pin;
if (faultPin != UNUSED_PIN) {
getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
@@ -154,16 +139,18 @@ bool MotorDriver::canMeasureCurrent() {
* senseOffset handles the case where a shield returns values above or below
* a central value depending on direction.
*/
int MotorDriver::getCurrentRaw(bool isMain) {
int MotorDriver::getCurrentRaw() {
if (currentPin==UNUSED_PIN) return 0;
int current;
#if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41)
if(isMain) {
current = (uint16_t)adc->adc0->analogReadContinuous();
} else {
current = (uint16_t)adc->adc1->analogReadContinuous();
}
//if(isMain) {
// current = (uint16_t)adc->adc0->analogReadContinuous();
//} else {
// current = (uint16_t)adc->adc1->analogReadContinuous();
//}
bool irq = disableInterrupts();
current = analogRead(currentPin)-senseOffset;
enableInterrupts(irq);
#elif defined(ARDUINO_TEENSY32) || defined(ARDUINO_TEENSY35)|| defined(ARDUINO_TEENSY36)
unsigned char sreg_backup;
sreg_backup = SREG; /* save interrupt enable/disable state */