208 lines
11 KiB
C
208 lines
11 KiB
C
/*
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* © 2022-2023 Paul M. Antoine
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* © 2021 Fred Decker
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* © 2020-2023 Harald Barth
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* (c) 2020 Chris Harlow. All rights reserved.
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* (c) 2021 Fred Decker. All rights reserved.
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* (c) 2020 Harald Barth. All rights reserved.
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* (c) 2020 Anthony W - Dayton. All rights reserved.
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*
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* This file is part of CommandStation-EX
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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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#ifndef MotorDrivers_h
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#define MotorDrivers_h
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#include <Arduino.h>
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// *** PLEASE NOTE *** THIS FILE IS **NOT** INTENDED TO BE EDITED WHEN CONFIGURING A SYSTEM.
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// It will be overwritten if the library is updated.
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// This file contains configurations for known/supported motor shields.
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// A configuration defined by macro here can be used in your sketch.
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// A custom hardware setup will require your sketch to create MotorDriver instances
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// similar to those defined here, WITHOUT editing this file. You can put your
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// custom defines in config.h.
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#ifndef UNUSED_PIN // sync define with the one in MotorDriver.h
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#define UNUSED_PIN 255 // inside uint8_t
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#endif
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// The MotorDriver definition is:
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//
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// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin,
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// float senseFactor, unsigned int tripMilliamps, byte faultPin);
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//
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// power_pin: Turns the board on/off. Often called ENABLE or PWM on the shield
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// signal_pin: Where the DCC signal goes in. Often called DIR on the shield
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// signal_pin2: Inverse of signal_pin. A few shields need this as well, can be replace by hardware inverter
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// brake_pin: When tuned on, brake is set - output shortened (*)
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// current_pin: Current sense voltage pin from shield to ADC
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// senseFactor: Relation between volts on current_pin and actual output current
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// tripMilliamps: Short circuit trip limit in milliampere, max 32767 (32.767A)
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// faultPin: Some shields have a pin to to report a fault condition to the uCPU. High when fault occurs
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//
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// (*) If the brake_pin 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)
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// Arduino STANDARD Motor Shield, used on different architectures:
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#if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
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// Standard Motor Shield definition for 3v3 processors (other than the ESP32)
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// Setup for SAMD21 Sparkfun DEV board MUST use Arduino Motor Shield R3 (MUST be R3
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// for 3v3 compatibility!!) senseFactor for 3.3v systems is 1.95 as calculated when using
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// 10-bit A/D samples, and for 12-bit samples it's more like 0.488, but we probably need
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// to tweak both these
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#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
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new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 0.488, 1500, UNUSED_PIN), \
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new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 0.488, 1500, UNUSED_PIN)
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#define SAMD_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
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#define STM32_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
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// EX 8874 based shield connected to a 3V3 system with 12-bit (4096) ADC
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#define EX8874_SHIELD F("EX8874"), \
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new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 1.27, 5000, A4), \
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new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.27, 5000, A5)
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#elif defined(ARDUINO_ARCH_ESP32)
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// STANDARD shield on an ESPDUINO-32 (ESP32 in Uno form factor). The shield must be eiter the
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// 3.3V compatible R3 version or it has to be modified to not supply more than 3.3V to the
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// analog inputs. Here we use analog inputs A2 and A3 as A0 and A1 are wired in a way so that
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// they are not useable at the same time as WiFi (what a bummer). The numbers below are the
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// actual GPIO numbers. In comments the numbers the pins have on an Uno.
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#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
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new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 0.70, 1500, UNUSED_PIN), \
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new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 0.70, 1500, UNUSED_PIN)
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// EX 8874 based shield connected to a 3.3V system (like ESP32) and 12bit (4096) ADC
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// numbers are GPIO numbers. comments are UNO form factor shield pin numbers
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#define EX8874_SHIELD F("EX8874"),\
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new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.27, 5000, 36 /*A4*/), \
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new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.27, 5000, 39 /*A5*/)
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#else
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// STANDARD shield on any Arduino Uno or Mega compatible with the original specification.
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#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
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new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 2.99, 1500, UNUSED_PIN), \
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new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 1500, UNUSED_PIN)
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#define BRAKE_PWM_SWAPPED_MOTOR_SHIELD F("BPS_MOTOR_SHIELD"), \
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new MotorDriver(-9 , 12, UNUSED_PIN, -3, A0, 2.99, 1500, UNUSED_PIN), \
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new MotorDriver(-8 , 13, UNUSED_PIN,-11, A1, 2.99, 1500, UNUSED_PIN)
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// EX 8874 based shield connected to a 5V system (like Arduino) and 10bit (1024) ADC
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#define EX8874_SHIELD F("EX8874"), \
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new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 5000, A4), \
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new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 5000, A5)
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#endif
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// Pololu Motor Shield
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#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
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new MotorDriver( 9, 7, UNUSED_PIN, -4, A0, 18, 3000, 12), \
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new MotorDriver(10, 8, UNUSED_PIN, UNUSED_PIN, A1, 18, 3000, 12)
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//
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// Actually, on the Pololu MC33926 shield the enable lines are tied together on pin 4 and the
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// pins 9 and 10 work as "inverted brake" but as we turn on and off the tracks individually
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// via the power pins we above use 9 and 10 as power pins and 4 as "inverted brake" which in this
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// version of the code always will be high. That means this config is not usable for generating
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// a railcom cuotout in the future. For that one must wire the second ^D2 to pin 2 and define
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// the motor driver like this:
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// new MotorDriver(4, 7, UNUSED_PIN, -9, A0, 18, 3000, 12)
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// new MotorDriver(2, 8, UNUSED_PIN, -10, A1, 18, 3000, 12)
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// See Pololu dial_mc33926_shield_schematic.pdf and truth table on page 17 of the MC33926 data sheet.
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// Pololu Dual TB9051FTG Motor Shield
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// This is the shield without modifications. Unfortunately the TB9051FTG driver chip on
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// the shield makes short delays when direction is switched. That means that the chip
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// can NOT provide a standard conformant DCC signal independent how hard we try. If your
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// Decoders tolerate that signal, use it by all mean but it is not recommended. Without
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// modifications it uses the following pins below which means no HA waveform and no
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// RailCom on an Arduino Mega 2560 but the DCC signal is broken anyway.
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#define POLOLU_TB9051FTG F("POLOLU_TB9051FTG"), \
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new MotorDriver(2, 7, UNUSED_PIN, -9, A0, 10, 2500, 6), \
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new MotorDriver(4, 8, UNUSED_PIN, -10, A1, 10, 2500, 12)
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// Firebox Mk1
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#define FIREBOX_MK1 F("FIREBOX_MK1"), \
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new MotorDriver(3, 6, 7, UNUSED_PIN, A5, 9.766, 5500, UNUSED_PIN), \
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new MotorDriver(4, 8, 9, UNUSED_PIN, A1, 5.00, 1000, UNUSED_PIN)
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// Firebox Mk1S
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#define FIREBOX_MK1S F("FIREBOX_MK1A"), \
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new MotorDriver(24, 21, 22, 25, 23, 9.766, 5500, UNUSED_PIN), \
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new MotorDriver(30, 27, 28, 31, 29, 5.00, 1000, UNUSED_PIN)
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// FunduMoto Motor Shield
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#define FUNDUMOTO_SHIELD F("FUNDUMOTO_SHIELD"), \
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new MotorDriver(10, 12, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 1500, UNUSED_PIN), \
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new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
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// IBT_2 Motor Board for Main and Arduino Motor Shield for Prog
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#define IBT_2_WITH_ARDUINO F("IBT_2_WITH_ARDUINO_SHIELD"), \
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new MotorDriver(4, 5, 6, UNUSED_PIN, A5, 41.54, 5000, UNUSED_PIN), \
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new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
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// YFROBOT Motor Shield (V3.1)
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#define YFROBOT_MOTOR_SHIELD F("YFROBOT_MOTOR_SHIELD"), \
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new MotorDriver(5, 4, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 1500, UNUSED_PIN), \
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new MotorDriver(6, 7, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
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// Makeblock ORION UNO like sized board with integrated motor driver
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// This is like an Uno with H-bridge and RJ12 contacts instead of pin rows.
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// No current sense. Barrel connector max 12V, Vmotor max 15V. 1.1A polyfuse as output protection.
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// Main is marked M1 and near RJ12 #5
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// Prog is marked M2 and near RJ12 #4
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// For details see
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// http://docs.makeblock.com/diy-platform/en/electronic-modules/main-control-boards/makeblock-orion.html
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#define ORION_UNO_INTEGRATED_SHIELD F("ORION_UNO_INTEGRATED_SHIELD"), \
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new MotorDriver(6, 7, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 1.0, 1100, UNUSED_PIN), \
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new MotorDriver(5, 4, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 1.0, 1100, UNUSED_PIN)
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// This is an example how to setup a motor shield definition for a motor shield connected
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// to an NANO EVERY board. You have to make the connectons from the shield to the board
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// as in this example or adjust the values yourself.
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#define NANOEVERY_EXAMPLE F("NANOEVERY_EXAMPLE"), \
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new MotorDriver(5, 6, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 1500, UNUSED_PIN),\
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new MotorDriver(9, 10, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
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// This is an example how to stack two standard motor shields. The upper shield
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// needs pins 3 8 9 11 12 13 A0 A1 disconnected from the lower shield and
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// jumpered instead like this: 2-3 6-8 7-9 4-13 5-11 10-12 A0-A4 A1-A5
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// Pin assigment table:
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// 2 Enable C jumpered
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// 3 Enable A direct
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// 4 Dir D jumpered
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// 5 Enable D jumpered
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// 6 Brake D jumpered
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// 7 Brake C jumpered
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// 8 Brake B direct
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// 9 Brake A direct
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// 10 Dir C jumpered
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// 11 Enable B direct
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// 12 Dir A direct
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// 13 Dir B direct
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// A0 Sense A direct
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// A1 Sense B direct
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// A4 Sense C jumpered
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// A5 Sense D jumpered
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//
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#define STACKED_MOTOR_SHIELD F("STACKED_MOTOR_SHIELD"),\
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new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 2.99, 1500, UNUSED_PIN), \
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new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 1500, UNUSED_PIN), \
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new MotorDriver( 2, 10, UNUSED_PIN, 7, A4, 2.99, 1500, UNUSED_PIN), \
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new MotorDriver( 5, 4, UNUSED_PIN, 6, A5, 2.99, 1500, UNUSED_PIN)
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//
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#endif
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