mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-24 13:21:23 +01:00
172 lines
5.1 KiB
C++
172 lines
5.1 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 <vector>
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#include "defines.h"
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#include "FSH.h"
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#include "DIAG.h"
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#if defined(ARDUINO_ARCH_ESP32)
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#include <queue>
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#include "DCCRMT.h"
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#endif
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// Number of preamble bits (moved here so MotorDriver and Waveform know)
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const int PREAMBLE_BITS_MAIN = 16;
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const int PREAMBLE_BITS_PROG = 22;
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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(ESP_FAMILY)
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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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typedef byte driverType;
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const driverType TYPE_UNKNOWN=0;
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const driverType TIMER_MAIN=1;
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const driverType TIMER_PROG=2;
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const driverType RMT_MAIN=4;
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const driverType RMT_PROG=16;
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const driverType DC_ENA=32;
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const driverType DC_BRAKE=64;
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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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driverType t=TYPE_UNKNOWN);
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void setPower( bool on);
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void setSignal( bool high);
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void setBrake( bool on);
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int getCurrentRaw();
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unsigned int raw2mA( int raw);
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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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#if defined(ARDUINO_ARCH_ESP32)
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void loop();
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inline driverType type() { return dtype; };
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inline void setType(driverType t) { dtype = t; };
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bool schedulePacket(dccPacket packet);
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#endif
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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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#if defined(ARDUINO_ARCH_ESP32)
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RMTChannel* rmtChannel;
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std::queue<dccPacket> outQueue;
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driverType dtype;
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#endif
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};
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class MotorDriverContainer {
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public:
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MotorDriverContainer(const FSH * motorShieldName,
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MotorDriver *m0=NULL,
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MotorDriver *m1=NULL,
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MotorDriver *m2=NULL,
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MotorDriver *m3=NULL,
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MotorDriver *m4=NULL,
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MotorDriver *m5=NULL,
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MotorDriver *m6=NULL,
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MotorDriver *m7=NULL);
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static MotorDriverContainer mDC;
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inline void add(MotorDriver *m) {
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mD.push_back(m);
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};
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// void SetCapability(byte n, byte cap, char [] name);
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inline FSH *getMotorShieldName() { return shieldName; };
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inline void diag() {
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if (mD.empty()) {
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DIAG(F("Container empty"));
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return;
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}
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for(const auto& d: mD)
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DIAG(F("Container: mDType=%d"),d->type());
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};
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inline MotorDriver *mainTrack() {
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std::vector<MotorDriver *> v = getDriverType(TIMER_MAIN);
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if(v.empty()) return NULL;
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return v.front();
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};
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inline MotorDriver *progTrack() {
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std::vector<MotorDriver *> v = getDriverType(TIMER_PROG);
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if(v.empty()) return NULL;
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return v.front();
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};
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void loop();
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std::vector<MotorDriver*> getDriverType(driverType t);
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private:
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std::vector<MotorDriver *>mD;
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FSH *shieldName;
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};
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#endif
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