DCdistrict prototypr

DCC.cpp

@@ -57,8 +57,15 @@ void DCC::begin(const FSH * motorShieldName, MotorDriver * mainDriver, MotorDriv
   EEStore::init();
 
   DCCWaveform::begin(mainDriver,progDriver); 
+#ifdef DCdistrict
+  DCCWaveform::mainTrack.motorDriver->setBrake(255);
+#else
+  DCCWaveform::mainTrack.motorDriver->setBrake(0);
+#endif
+  DCCWaveform::progTrack.motorDriver->setBrake(0);
 }
 
+
 void DCC::setJoinRelayPin(byte joinRelayPin) {
   joinRelay=joinRelayPin;
   if (joinRelay!=UNUSED_PIN) {
@@ -68,6 +75,21 @@ void DCC::setJoinRelayPin(byte joinRelayPin) {
 }
 
 void DCC::setThrottle( uint16_t cab, uint8_t tSpeed, bool tDirection)  {
+#ifdef DCdistrict
+  if (cab == DCdistrict) {
+    uint8_t brake;
+    if (tSpeed <= 1)
+      brake = 255;
+    else if (tSpeed >= 126)
+      brake = 0;
+    else
+      brake = 2 * (127-tSpeed);
+    DCCWaveform::mainTrack.motorDriver->setSignal(tDirection);
+    DCCWaveform::mainTrack.motorDriver->setBrake(brake);
+  }
+#else
+  #error fooar
+#endif
   byte speedCode = (tSpeed & 0x7F)  + tDirection * 128; 
   setThrottle2(cab, speedCode);
   // retain speed for loco reminders

DCCWaveform.cpp

@@ -65,7 +65,9 @@ void DCCWaveform::interruptHandler() {
   byte sigProg=progTrackSyncMain? sigMain : signalTransform[progTrack.state];
   
   // Set the signal state for both tracks
+#ifndef DCdistrict
   mainTrack.motorDriver->setSignal(sigMain);
+#endif
   progTrack.motorDriver->setSignal(sigProg);
   
   // Move on in the state engine

DCCWaveform.h

@@ -107,6 +107,7 @@ class DCCWaveform {
     inline void setMaxAckPulseDuration(unsigned int i) {
 	maxAckPulseDuration = i;
     }
+    MotorDriver*  motorDriver;
 
   private:
     
@@ -121,7 +122,7 @@ class DCCWaveform {
     void checkAck();
     
     bool isMainTrack;
-    MotorDriver*  motorDriver;
+//    MotorDriver*  motorDriver;
     // Transmission controller
     byte transmitPacket[MAX_PACKET_SIZE+1]; // +1 for checksum
     byte transmitLength;

MotorDriver.cpp

@@ -31,6 +31,7 @@ bool MotorDriver::commonFaultPin=false;
        
 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) {
+  brakePWM=false;
   powerPin=power_pin;
   getFastPin(F("POWER"),powerPin,fastPowerPin);
   pinMode(powerPin, OUTPUT);
@@ -53,7 +54,7 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
     brakePin=invertBrake ? 0-brake_pin : brake_pin;
     getFastPin(F("BRAKE"),brakePin,fastBrakePin);
     pinMode(brakePin, OUTPUT);
-    setBrake(false);
+//    setBrake(0); moved out to DCC::begin
   }
   else brakePin=UNUSED_PIN;
   
@@ -91,8 +92,8 @@ void MotorDriver::setPower(bool on) {
     // on the Pololu board if brake is wired to ^D2.
     // Yes, this is an ugly special case
     if (brakePin == 4 && invertBrake) {
-      setBrake(true);
-      setBrake(false);
+      setBrake(255);
+      setBrake(0);
     }
     setHIGH(fastPowerPin);
   }
@@ -107,10 +108,29 @@ void MotorDriver::setPower(bool on) {
 // (HIGH == release brake) and setBrake does
 // compensate for that.
 //
-void MotorDriver::setBrake(bool on) {
+void MotorDriver::setBrake(uint8_t intensity) {
   if (brakePin == UNUSED_PIN) return;
-  if (on ^ invertBrake) setHIGH(fastBrakePin);
-  else setLOW(fastBrakePin);
+  DIAG(F("Brake pin=%d val=%d"),brakePin,intensity);
+  if (invertBrake)
+    intensity = 255 - intensity;
+  if (intensity == 255) {
+    if (brakePWM) {
+      digitalWrite(brakePin, HIGH);
+      brakePWM = false;
+    } else
+      setHIGH(fastBrakePin);
+    return;
+  }
+  if (intensity == 0) {
+    if (brakePWM) {
+      digitalWrite(brakePin, LOW);
+      brakePWM = false;
+    } else
+      setLOW(fastBrakePin);
+    return;
+  }
+  brakePWM = true;
+  analogWrite(brakePin, intensity);
 }
 
 void MotorDriver::setSignal( bool high) {

MotorDriver.h

@@ -46,7 +46,7 @@ class MotorDriver {
                 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);
+    virtual void setBrake(uint8_t);
     virtual int  getCurrentRaw();
     virtual unsigned int raw2mA( int raw);
     virtual int mA2raw( unsigned int mA);
@@ -69,6 +69,7 @@ class MotorDriver {
     FASTPIN fastPowerPin,fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
     bool dualSignal;       // true to use signalPin2
     bool invertBrake;       // brake pin passed as negative means pin is inverted
+    bool brakePWM;         // brake is used for PWM
     float senseFactor;
     int senseOffset;
     unsigned int tripMilliamps;