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add common fault pin handling to new overload code

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This commit is contained in:
Harald Barth 2023-06-21 10:44:57 +02:00
parent 08f41415dc
commit dd80260781
4 changed files with 50 additions and 37 deletions
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4
DCCEXParser.cpp
View File

@ -467,7 +467,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
bool prog=false;
bool join=false;
if (params > 1) break;
if (params==0 || MotorDriver::commonFaultPin) { // <1> or tracks can not be handled individually
if (params==0) { // All
main=true;
prog=true;
}
@ -500,7 +500,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
bool main=false;
bool prog=false;
if (params > 1) break;
if (params==0 || MotorDriver::commonFaultPin) { // <0> or tracks can not be handled individually
if (params==0) { // All
main=true;
prog=true;
}

49
MotorDriver.cpp
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@ -27,7 +27,7 @@
#include "DCCTimer.h"
#include "DIAG.h"
bool MotorDriver::commonFaultPin=false;
unsigned long MotorDriver::globalOverloadStart = 0;
volatile portreg_t shadowPORTA;
volatile portreg_t shadowPORTB;
@ -377,7 +377,7 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
// reset overload condition as we have just turned off power
// DIAG(F("OVERLOAD POFF OFF"));
overloadNow=false;
lastPowerChange = micros();
setLastPowerChange();
}
if (microsSinceLastPowerChange() > POWER_SAMPLE_ALL_GOOD) {
power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
@ -392,24 +392,15 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
// turn on overload condition as fault pin has gone active
// DIAG(F("OVERLOAD FPIN ON"));
overloadNow=true;
lastPowerChange = micros();
setLastPowerChangeOverload();
}
lastCurrent = -lastCurrent;
if (commonFaultPin) {
if (lastCurrent < tripValue) {
// probably other track, do a fast toggle.
setPower(POWERMODE::OVERLOAD); // Turn off, decide later how fast to turn on again
setPower(POWERMODE::ON); // maybe other track
// Write this after the fact as we want to turn on as fast as possible
// because we don't know which output actually triggered the fault pin
DIAG(F("COMMON FAULT PIN ACTIVE: POWERTOGGLE TRACK %c"), trackno + 'A');
}
} else {
{
if (lastCurrent < tripValue) {
if (power_sample_overload_wait <= (POWER_SAMPLE_OVERLOAD_WAIT * 10) && // almost virgin
microsSinceLastPowerChange() < POWER_SAMPLE_IGNORE_FAULT_LOW) {
// Ignore 50ms fault pin if no current
DIAG(F("TRACK %c FAULT PIN 50ms ignore"), trackno + 'A');
DIAG(F("TRACK %c FAULT PIN (50ms ignore)"), trackno + 'A');
break;
}
lastCurrent = tripValue; // exaggerate so condition below (*) is true
@ -417,11 +408,11 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
if (power_sample_overload_wait <= POWER_SAMPLE_OVERLOAD_WAIT && // virgin
microsSinceLastPowerChange() < POWER_SAMPLE_IGNORE_FAULT_HIGH) {
// Ignore 5ms fault pin if we see current
DIAG(F("TRACK %c FAULT PIN 5ms ignore"), trackno + 'A');
DIAG(F("TRACK %c FAULT PIN (5ms ignore)"), trackno + 'A');
break;
}
}
DIAG(F("TRACK %c FAULT PIN ACTIVE"), trackno + 'A');
DIAG(F("TRACK %c FAULT PIN"), trackno + 'A');
}
}
// // //
@ -432,7 +423,7 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
// current is below trip value, turn off overload condition
// DIAG(F("OVERLOAD PON OFF"));
overloadNow=false;
lastPowerChange = micros();
setLastPowerChange();
}
if (microsSinceLastPowerChange() > POWER_SAMPLE_ALL_GOOD) {
power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
@ -443,7 +434,7 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
// current is over trip value, turn on overload condition
// DIAG(F("OVERLOAD PON ON"));
overloadNow=true;
lastPowerChange = micros();
setLastPowerChange();
}
unsigned long uSecs = microsSinceLastPowerChange();
if (power_sample_overload_wait > POWER_SAMPLE_OVERLOAD_WAIT || // not virgin
@ -454,24 +445,20 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
// the setPower just turned off, so overload is now gone
// DIAG(F("OVERLOAD PON OFF"));
overloadNow=false;
lastPowerChange = micros();
setLastPowerChangeOverload();
}
unsigned int mA=raw2mA(lastCurrent);
unsigned int maxmA=raw2mA(tripValue);
DIAG(F("TRACK %c POWER OVERLOAD %dmA (limit %dmA) shutdown after %lus for %lus"),
DIAG(F("TRACK %c POWER OVERLOAD %4dmA (max %4dmA) detected after %4M. Pause %4M"),
trackno + 'A', mA, maxmA, uSecs, power_sample_overload_wait);
}
}
break;
case POWERMODE::OVERLOAD:
if (overloadNow) {
// state overload mode means power is off, turn off overload condition flag as well
// DIAG(F("OVERLOAD POVER OFF"));
overloadNow=false;
lastPowerChange = micros();
}
{
// Try setting it back on after the OVERLOAD_WAIT
if (microsSinceLastPowerChange() > power_sample_overload_wait) {
unsigned long mslpc = (commonFaultPin ? (micros() - globalOverloadStart) : microsSinceLastPowerChange());
if (mslpc > power_sample_overload_wait) {
// adjust next wait time
power_sample_overload_wait *= 2;
if (power_sample_overload_wait > POWER_SAMPLE_RETRY_MAX)
@ -481,10 +468,12 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
// here we change power but not the overloadNow as that was
// already changed to false when we entered POWERMODE::OVERLOAD
// so we need to set the lastPowerChange anyway.
lastPowerChange = micros();
DIAG(F("TRACK %c POWER RESTORE (was off %lus)"), trackno + 'A', power_sample_overload_wait);
overloadNow=false;
setLastPowerChange();
DIAG(F("TRACK %c POWER RESTORE (after %4M)"), trackno + 'A', mslpc);
}
break;
}
break;
default:
break;
}

20
MotorDriver.h
View File

@ -175,7 +175,10 @@ class MotorDriver {
bool isPWMCapable();
bool canMeasureCurrent();
bool trackPWM = false; // this track uses PWM timer to generate the DCC waveform
static bool commonFaultPin; // This is a stupid motor shield which has only a common fault pin for both outputs
bool commonFaultPin = false; // This is a stupid motor shield which has only a common fault pin for both outputs
inline byte setCommonFaultPin() {
return commonFaultPin = true;
}
inline byte getFaultPin() {
return faultPin;
}
@ -196,6 +199,17 @@ class MotorDriver {
lastPowerChange = now - 30000000UL; // 30 seconds ago
return diff;
};
inline void setLastPowerChange() {
lastPowerChange = micros();
};
// as setLastPowerChange but sets the global timestamp as well which
// is only used to sync power restore in case of common Fault pin.
inline void setLastPowerChangeOverload() {
if (commonFaultPin)
globalOverloadStart = lastPowerChange = micros();
else
setLastPowerChange();
};
#ifdef ANALOG_READ_INTERRUPT
bool sampleCurrentFromHW();
void startCurrentFromHW();
@ -228,7 +242,9 @@ class MotorDriver {
// current sampling
POWERMODE powerMode;
bool overloadNow = false;
unsigned long lastPowerChange; // timestamp in microseconds
unsigned long lastPowerChange; // timestamp in microseconds
// used to sync restore time when common Fault pin detected
static unsigned long globalOverloadStart; // timestamp in microseconds
int progTripValue;
int lastCurrent;
#ifdef ANALOG_READ_INTERRUPT

14
TrackManager.cpp
View File

@ -123,9 +123,17 @@ void TrackManager::Setup(const FSH * shieldname,
setTrackMode(1,TRACK_MODE_MAIN);
#endif
// TODO Fault pin config for odd motor boards (example pololu)
// MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
// && (mainDriver->getFaultPin() != UNUSED_PIN));
// Fault pin config for odd motor boards (example pololu)
FOR_EACH_TRACK(t) {
for (byte s=t+1;s<=lastTrack;s++) {
if (track[t]->getFaultPin() != UNUSED_PIN &&
track[t]->getFaultPin() == track[s]->getFaultPin()) {
track[t]->setCommonFaultPin();
track[s]->setCommonFaultPin();
DIAG(F("Common Fault pin tracks %c and %c"), t+'A', s+'A');
}
}
}
DCC::begin(shieldname);
}