mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-11-27 01:56:14 +01:00
106 lines
3.4 KiB
C++
106 lines
3.4 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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#ifndef MotorDriver_h
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#define MotorDriver_h
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#include "FSH.h"
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// Virtualised Motor shield 1-track hardware Interface
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#ifndef UNUSED_PIN // sync define with the one in MotorDrivers.h
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#define UNUSED_PIN 127 // inside int8_t
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#endif
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#if defined(__IMXRT1062__) || defined (ARDUINO_ARCH_ESP8266)
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typedef uint32_t PORTTYPE;
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struct FASTPIN {
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volatile uint32_t *inout;
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uint32_t maskHIGH;
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uint32_t maskLOW;
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};
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#else
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typedef uint8_t PORTTYPE;
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struct FASTPIN {
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volatile uint8_t *inout;
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uint8_t maskHIGH;
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uint8_t maskLOW;
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};
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#endif
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#define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH
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#define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW
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#define isHIGH(fastpin) (*fastpin.inout & fastpin.maskHIGH)
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#define isLOW(fastpin) (!isHIGH(fastpin))
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class MotorDriver {
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public:
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MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
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byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
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virtual void setPower( bool on);
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virtual void setSignal( bool high) {
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if (high) {
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setHIGH(fastSignalPin);
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if (dualSignal) setLOW(fastSignalPin2);
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}
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else {
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setLOW(fastSignalPin);
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if (dualSignal) setHIGH(fastSignalPin2);
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}
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};
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virtual void setBrake( bool on);
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virtual int getCurrentRaw();
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virtual unsigned int raw2mA( int raw);
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virtual int mA2raw( unsigned int mA);
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inline int getRawCurrentTripValue() {
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return rawCurrentTripValue;
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}
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bool isPWMCapable();
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bool canMeasureCurrent();
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static bool usePWM;
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static bool commonFaultPin; // This is a stupid motor shield which has only a common fault pin for both outputs
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inline byte getFaultPin() {
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return faultPin;
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}
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private:
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void getFastPin(const FSH* type,int pin, bool input, FASTPIN & result);
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void getFastPin(const FSH* type,int pin, FASTPIN & result) {
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getFastPin(type, pin, 0, result);
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}
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byte powerPin, signalPin, signalPin2, currentPin, faultPin, brakePin;
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FASTPIN fastPowerPin,fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
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bool dualSignal; // true to use signalPin2
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bool invertBrake; // brake pin passed as negative means pin is inverted
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float senseFactor;
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int senseOffset;
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unsigned int tripMilliamps;
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int rawCurrentTripValue;
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#if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41)
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static bool disableInterrupts() {
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uint32_t primask;
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__asm__ volatile("mrs %0, primask\n" : "=r" (primask)::);
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__disable_irq();
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return (primask == 0) ? true : false;
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}
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static void enableInterrupts(bool doit) {
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if (doit) __enable_irq();
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}
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#endif
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};
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#endif
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