mirror of
https://github.com/DCC-EX/CommandStation-EX.git
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108 lines
3.5 KiB
C++
108 lines
3.5 KiB
C++
/*
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* © 2020, Chris Harlow. All rights reserved.
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*
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* This file is part of Asbelos DCC API
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*
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* This is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* It is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include <Arduino.h>
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#include "MotorDriver.h"
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#include "AnalogReadFast.h"
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#include "DIAG.h"
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#if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_SAMC) || defined(ARDUINO_ARCH_MEGAAVR)
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#define WritePin digitalWrite
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#define ReadPin digitalRead
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#else
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// use the DIO2 libraray for much faster pin access
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#define GPIO2_PREFER_SPEED 1
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#include <DIO2.h> // use IDE menu Tools..Manage Libraries to locate and install DIO2
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#define WritePin digitalWrite2
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#define ReadPin digitalRead2
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#endif
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MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
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byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
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powerPin=power_pin;
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signalPin=signal_pin;
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signalPin2=signal_pin2;
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brakePin=brake_pin;
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currentPin=current_pin;
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senseFactor=sense_factor;
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faultPin=fault_pin;
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tripMilliamps=trip_milliamps;
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rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
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pinMode(powerPin, OUTPUT);
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pinMode(brakePin < 0 ? -brakePin : brakePin, OUTPUT);
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setBrake(false);
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pinMode(signalPin, OUTPUT);
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if (signalPin2 != UNUSED_PIN) pinMode(signalPin2, OUTPUT);
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pinMode(currentPin, INPUT);
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if (faultPin != UNUSED_PIN) pinMode(faultPin, INPUT);
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}
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void MotorDriver::setPower(bool on) {
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if (brakePin == -4 && on) {
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// toggle brake before turning power on - resets overcurrent error
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// on the Pololu board if brake is wired to ^D2.
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setBrake(true);
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setBrake(false);
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}
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WritePin(powerPin, on ? HIGH : LOW);
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}
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// setBrake applies brake if on == true. So to get
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// voltage from the motor bride one needs to do a
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// setBrake(false).
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// If the brakePin is negative that means the sense
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// of the brake pin on the motor bridge is inverted
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// (HIGH == release brake) and setBrake does
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// compensate for that.
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//
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void MotorDriver::setBrake(bool on) {
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bool state = on;
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byte pin = brakePin;
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if (brakePin < 0) {
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pin=-pin;
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state=!state;
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}
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WritePin(pin, state ? HIGH : LOW);
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//DIAG(F("BrakePin: %d is %d\n"), pin, ReadPin(pin));
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}
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void MotorDriver::setSignal( bool high) {
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WritePin(signalPin, high ? HIGH : LOW);
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if (signalPin2 != UNUSED_PIN) WritePin(signalPin2, high ? LOW : HIGH);
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}
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int MotorDriver::getCurrentRaw() {
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if (faultPin != UNUSED_PIN && ReadPin(faultPin) == LOW && ReadPin(powerPin) == HIGH)
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return (int)(32000/senseFactor);
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// IMPORTANT: This function can be called in Interrupt() time within the 56uS timer
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// The default analogRead takes ~100uS which is catastrphic
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// so analogReadFast is used here. (-2uS)
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return analogReadFast(currentPin);
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}
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unsigned int MotorDriver::raw2mA( int raw) {
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return (unsigned int)(raw * senseFactor);
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}
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int MotorDriver::mA2raw( unsigned int mA) {
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return (int)(mA / senseFactor);
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}
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