mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-11-23 16:16:13 +01:00
134 lines
4.1 KiB
C++
134 lines
4.1 KiB
C++
/*
|
|
* © 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 <https://www.gnu.org/licenses/>.
|
|
*/
|
|
#include <Arduino.h>
|
|
#include "MotorDriver.h"
|
|
#include "DIAG.h"
|
|
|
|
#define setHIGH(fastpin) *fastpin.out |= fastpin.maskHIGH
|
|
#define setLOW(fastpin) *fastpin.out &= fastpin.maskLOW
|
|
#define isHIGH(fastpin) (*fastpin.out & fastpin.maskHIGH)
|
|
#define isLOW(fastpin) (!isHIGH(fastpin))
|
|
|
|
|
|
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) {
|
|
powerPin=power_pin;
|
|
getFastPin(F("POWER"),powerPin,fastPowerPin);
|
|
pinMode(powerPin, OUTPUT);
|
|
|
|
signalPin=signal_pin;
|
|
getFastPin(F("SIG"),signalPin,fastSignalPin);
|
|
pinMode(signalPin, OUTPUT);
|
|
|
|
signalPin2=signal_pin2;
|
|
if (signalPin2!=UNUSED_PIN) {
|
|
dualSignal=true;
|
|
getFastPin(F("SIG2"),signalPin2,fastSignalPin2);
|
|
pinMode(signalPin2, OUTPUT);
|
|
}
|
|
else dualSignal=false;
|
|
|
|
brakePin=brake_pin;
|
|
if (brake_pin!=UNUSED_PIN){
|
|
invertBrake=brake_pin < 0;
|
|
brakePin=invertBrake ? 0-brake_pin : brake_pin;
|
|
getFastPin(F("BRAKE"),brakePin,fastBrakePin);
|
|
pinMode(brakePin, OUTPUT);
|
|
setBrake(false);
|
|
}
|
|
else brakePin=UNUSED_PIN;
|
|
|
|
currentPin=current_pin;
|
|
pinMode(currentPin, INPUT);
|
|
|
|
faultPin=fault_pin;
|
|
if (faultPin != UNUSED_PIN) {
|
|
getFastPin(F("FAULT"),faultPin,fastFaultPin);
|
|
pinMode(faultPin, INPUT);
|
|
}
|
|
|
|
senseFactor=sense_factor;
|
|
tripMilliamps=trip_milliamps;
|
|
rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
|
|
simulatedOverload=(int)(32000/senseFactor);
|
|
}
|
|
|
|
void MotorDriver::setPower(bool on) {
|
|
if (on) {
|
|
// toggle brake before turning power on - resets overcurrent error
|
|
// on the Pololu board if brake is wired to ^D2.
|
|
setBrake(true);
|
|
setBrake(false);
|
|
setHIGH(fastPowerPin);
|
|
}
|
|
else setLOW(fastPowerPin);
|
|
}
|
|
|
|
// setBrake applies brake if on == true. So to get
|
|
// voltage from the motor bride one needs to do a
|
|
// setBrake(false).
|
|
// If the brakePin is negative that means the sense
|
|
// of the brake pin on the motor bridge is inverted
|
|
// (HIGH == release brake) and setBrake does
|
|
// compensate for that.
|
|
//
|
|
void MotorDriver::setBrake(bool on) {
|
|
if (brakePin == UNUSED_PIN) return;
|
|
if (on ^ invertBrake) setHIGH(fastBrakePin);
|
|
else setLOW(fastBrakePin);
|
|
}
|
|
|
|
void MotorDriver::setSignal( bool high) {
|
|
if (high) {
|
|
setHIGH(fastSignalPin);
|
|
if (dualSignal) setLOW(fastSignalPin2);
|
|
}
|
|
else {
|
|
setLOW(fastSignalPin);
|
|
if (dualSignal) setHIGH(fastSignalPin2);
|
|
}
|
|
}
|
|
|
|
|
|
int MotorDriver::getCurrentRaw() {
|
|
if (faultPin != UNUSED_PIN && isLOW(fastFaultPin) && isHIGH(fastPowerPin))
|
|
return simulatedOverload;
|
|
|
|
// IMPORTANT: This function can be called in Interrupt() time within the 56uS timer
|
|
// The default analogRead takes ~100uS which is catastrphic
|
|
// so DCCTimer has set the sample time to be much faster.
|
|
return analogRead(currentPin);
|
|
}
|
|
|
|
unsigned int MotorDriver::raw2mA( int raw) {
|
|
return (unsigned int)(raw * senseFactor);
|
|
}
|
|
int MotorDriver::mA2raw( unsigned int mA) {
|
|
return (int)(mA / senseFactor);
|
|
}
|
|
|
|
void MotorDriver::getFastPin(const FSH* type,int pin, FASTPIN & result) {
|
|
DIAG(F("\nMotorDriver %S Pin=%d,"),type,pin);
|
|
uint8_t port = digitalPinToPort(pin);
|
|
result.out = portOutputRegister(port);
|
|
result.maskHIGH = digitalPinToBitMask(pin);
|
|
result.maskLOW = ~result.maskHIGH;
|
|
DIAG(F(" port=0x%x, out=0x%x, mask=0x%x\n"),port, result.out,result.maskHIGH);
|
|
}
|