/* * © 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 . */ #ifndef MotorDriver_h #define MotorDriver_h #include #include "defines.h" #include "FSH.h" #include "DIAG.h" #if defined(ARDUINO_ARCH_ESP32) #include #include "DCCRMT.h" #endif #ifndef UNUSED_PIN // sync define with the one in MotorDrivers.h #define UNUSED_PIN 127 // inside int8_t #endif #if defined(__IMXRT1062__) || defined(ESP_FAMILY) typedef uint32_t PORTTYPE; struct FASTPIN { volatile uint32_t *inout; uint32_t maskHIGH; uint32_t maskLOW; }; #else typedef uint8_t PORTTYPE; struct FASTPIN { volatile uint8_t *inout; uint8_t maskHIGH; uint8_t maskLOW; }; #endif #define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH #define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW #define isHIGH(fastpin) (*fastpin.inout & fastpin.maskHIGH) #define isLOW(fastpin) (!isHIGH(fastpin)) typedef byte driverType; const driverType TYPE_UNKNOWN=0; const driverType TIMER_MAIN=1; const driverType TIMER_PROG=2; const driverType RMT_MAIN=4; const driverType RMT_PROG=16; const driverType DC_ENA=32; const driverType DC_BRAKE=64; class MotorDriver { public: MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin, driverType t=TYPE_UNKNOWN); void setPower( bool on); void setSignal( bool high); void setBrake( bool on); int getCurrentRaw(); unsigned int raw2mA( int raw); int mA2raw( unsigned int mA); inline int getRawCurrentTripValue() { return rawCurrentTripValue; } bool isPWMCapable(); bool canMeasureCurrent(); static bool usePWM; static bool commonFaultPin; // This is a stupid motor shield which has only a common fault pin for both outputs inline byte getFaultPin() { return faultPin; }; inline byte getSignalPin() { return signalPin; }; #if defined(ARDUINO_ARCH_ESP32) void loop(); inline driverType type() { return dtype; }; inline void setType(driverType t) { dtype = t; }; bool schedulePacket(dccPacket packet); inline void setChannel(RMTChannel * r) { rmtChannel = r; }; #endif private: void getFastPin(const FSH* type,int pin, bool input, FASTPIN & result); void getFastPin(const FSH* type,int pin, FASTPIN & result) { getFastPin(type, pin, 0, result); } byte powerPin, signalPin, signalPin2, currentPin, faultPin, brakePin; FASTPIN fastPowerPin,fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin; bool dualSignal; // true to use signalPin2 bool invertBrake; // brake pin passed as negative means pin is inverted float senseFactor; int senseOffset; unsigned int tripMilliamps; int rawCurrentTripValue; #if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) static bool disableInterrupts() { uint32_t primask; __asm__ volatile("mrs %0, primask\n" : "=r" (primask)::); __disable_irq(); return (primask == 0) ? true : false; } static void enableInterrupts(bool doit) { if (doit) __enable_irq(); } #endif #if defined(ARDUINO_ARCH_ESP32) RMTChannel* rmtChannel; std::queue outQueue; driverType dtype; #endif }; class MotorDriverContainer { public: MotorDriverContainer(const FSH * motorShieldName, MotorDriver *m0=NULL, MotorDriver *m1=NULL, MotorDriver *m2=NULL, MotorDriver *m3=NULL, MotorDriver *m4=NULL, MotorDriver *m5=NULL, MotorDriver *m6=NULL, MotorDriver *m7=NULL); static MotorDriverContainer mDC; inline void add(MotorDriver *m) { mD.push_back(m); }; // void SetCapability(byte n, byte cap, char [] name); inline FSH *getMotorShieldName() { return shieldName; }; inline void diag() { if (mD.empty()) { DIAG(F("Container empty")); return; } for(const auto& d: mD) DIAG(F("Container: mDType=%d"),d->type()); }; inline MotorDriver *mainTrack() { std::vector v = getDriverType(TIMER_MAIN); if(v.empty()) return NULL; return v.front(); }; inline MotorDriver *progTrack() { std::vector v = getDriverType(TIMER_PROG); if(v.empty()) return NULL; return v.front(); }; void loop(); std::vector getDriverType(driverType t); private: std::vectormD; FSH *shieldName; }; #endif