stash incomplete

MotorDriver.cpp

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+/*
+ *  © 2020, Chris Harlow. All rights reserved.
+ *  
+ *  This file is part of Asbelos DCC API
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#include <Arduino.h>
+#include "MotorDriver.h"
+#include "AnalogReadFast.h"
+#include "DIAG.h"
+
+
+#if defined(ARDUINO_ARCH_AVR)
+    #include <DIO2.h>  // use IDE menu Tools..Manage Libraries to locate and  install DIO2
+    #define WritePin digitalWrite2
+    #define ReadPin digitalRead2
+#else
+    #define WritePin digitalWrite
+    #define ReadPin digitalRead
+#endif
+    
+MotorDriver::MotorDriver(byte power_pin, int signal_pin, int signal_pin2, int brake_pin, int current_pin, float sense_factor, int fault_pin) {
+   powerPin=power_pin;
+   signalPin=signal_pin;
+   signalPin2=signal_pin2;
+   brakePin=brake_pin;
+   currentPin=current_pin;
+   senseFactor=sense_factor;
+   faultPin=fault_pin;
+   I32=(int) (32000 / sensefactor);
+   
+  pinMode(powerPin, OUTPUT);
+  pinMode(brakePin, OUTPUT);
+  pinMode(signalPin, OUTPUT);
+  if (signalPin2 != UNUSED_PIN) pinMode(signalPin2, OUTPUT);
+  pinMode(currentPin, INPUT);
+  if (faultPin != UNUSED_PIN) pinMode(faultPin, INPUT);
+}
+
+void MotorDriver::setPower(bool on) {
+  WritePin(powerPin, on ? HIGH : LOW);
+}
+void MotorDriver::setBrake( bool on) {
+  WritePin(brakePin, on ? HIGH : LOW);
+}
+
+void MotorDriver::setSignal( bool high) {
+  WritePin(signalPin, high ? HIGH : LOW);
+  if (signalPin2 != UNUSED_PIN) WritePin(signalPin2, high ? LOW : HIGH);
+}
+
+
+int MotorDriver::getCurrentRaw() {
+  if (faultPin != UNUSED_PIN && ReadPin(faultPin) == LOW && ReadPin(powerPin) == HIGH)
+      return I32:
+  
+  // IMPORTANT:  This function can be called in Interrupt() time within the 56uS timer
+  //             The default analogRead takes ~100uS which is catastrphic
+  //             so analogReadFast is used here. (-2uS) 
+  return analogReadFast(sensePin);
+}
+
+unsigned int MortorDriver::convertRawToMilliamps( int raw) {
+  return (unsigned int)(raw * senseFactor);
+}