mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-11-27 01:56:14 +01:00
232 lines
7.5 KiB
C++
232 lines
7.5 KiB
C++
/*
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* © 2022 Paul M Antoine
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* © 2021 Mike S
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* © 2021 Fred Decker
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* © 2020 Chris Harlow
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* © 2022 Harald Barth
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* 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 MotorDriver_h
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#define MotorDriver_h
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#include "FSH.h"
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#include "IODevice.h"
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#include "DCCTimer.h"
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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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#define TOKENPASTE(x, y) x ## y
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#define TOKENPASTE2(x, y) TOKENPASTE(x, y)
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#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
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#define HAVE_PORTA(X) X
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#define HAVE_PORTB(X) X
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#define HAVE_PORTC(X) X
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#endif
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#if defined(ARDUINO_AVR_UNO)
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#define HAVE_PORTB(X) X
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#endif
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#if defined(ARDUINO_ARCH_SAMD)
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#define PORTA REG_PORT_OUT0
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#define HAVE_PORTA(X) X
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#define PORTB REG_PORT_OUT1
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#define HAVE_PORTB(X) X
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#endif
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#if defined(ARDUINO_ARCH_STM32)
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#define PORTA GPIOA->ODR
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#define HAVE_PORTA(X) X
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#define PORTB GPIOB->ODR
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#define HAVE_PORTB(X) X
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#define PORTC GPIOC->ODR
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#define HAVE_PORTC(X) X
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#endif
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// if macros not defined as pass-through we define
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// them here as someting that is valid as a
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// statement and evaluates to false.
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#ifndef HAVE_PORTA
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#define HAVE_PORTA(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTB
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#define HAVE_PORTB(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTC
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#define HAVE_PORTC(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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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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class pinpair {
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public:
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pinpair(byte p1, byte p2) {
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pin = p1;
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invpin = p2;
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};
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byte pin = UNUSED_PIN;
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byte invpin = UNUSED_PIN;
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};
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#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
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typedef uint32_t portreg_t;
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#else
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typedef uint8_t portreg_t;
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#endif
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struct FASTPIN {
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volatile portreg_t *inout;
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portreg_t maskHIGH;
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portreg_t maskLOW;
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volatile portreg_t *shadowinout;
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};
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// The port registers that are shadowing
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// the real port registers. These are
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// defined in Motordriver.cpp
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extern volatile portreg_t shadowPORTA;
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extern volatile portreg_t shadowPORTB;
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extern volatile portreg_t shadowPORTC;
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enum class POWERMODE : byte { OFF, ON, OVERLOAD };
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class MotorDriver {
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public:
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MotorDriver(VPIN 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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void setPower( POWERMODE mode);
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POWERMODE getPower() { return powerMode;}
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// as the port registers can be shadowed to get syncronized DCC signals
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// we need to take care of that and we have to turn off interrupts if
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// we setSignal() or setBrake() or setPower() during that time as
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// otherwise the call from interrupt context can undo whatever we do
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// from outside interrupt
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void setBrake( bool on, bool interruptContext=false);
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__attribute__((always_inline)) inline void setSignal( bool high, bool interruptContext=false) {
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if (!interruptContext) {noInterrupts();}
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if (trackPWM) {
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DCCTimer::setPWM(signalPin,high);
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}
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else {
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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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if (!interruptContext) {interrupts();}
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};
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inline void enableSignal(bool on) {
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if (on)
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pinMode(signalPin, OUTPUT);
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else
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pinMode(signalPin, INPUT);
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};
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inline pinpair getSignalPin() { return pinpair(signalPin,signalPin2); };
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void setDCSignal(byte speedByte);
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inline void detachDCSignal() {
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#if defined(__arm__)
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pinMode(brakePin, OUTPUT);
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#elif defined(ARDUINO_ARCH_ESP32)
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ledcDetachPin(brakePin);
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#else
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setDCSignal(128);
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#endif
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};
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int getCurrentRaw();
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int getCurrentRawInInterrupt();
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unsigned int raw2mA( int raw);
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unsigned int mA2raw( unsigned int mA);
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inline bool brakeCanPWM() {
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#if defined(ARDUINO_ARCH_ESP32) || defined(__arm__)
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// TODO: on ARM we can use digitalPinHasPWM, and may wish/need to
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return true;
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#else
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#ifdef digitalPinToTimer
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return ((brakePin!=UNUSED_PIN) && (digitalPinToTimer(brakePin)));
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#else
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return (brakePin<14 && brakePin >1);
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#endif //digitalPinToTimer
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#endif //ESP32/ARM
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}
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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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bool trackPWM = false; // this track uses PWM timer to generate the DCC waveform
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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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inline void makeProgTrack(bool on) { // let this output know it's a prog track.
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isProgTrack = on;
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}
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void checkPowerOverload(bool useProgLimit, byte trackno);
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private:
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bool isProgTrack = false; // tells us if this is a prog track
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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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VPIN powerPin;
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byte signalPin, signalPin2, currentPin, faultPin, brakePin;
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FASTPIN 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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// Raw to milliamp conversion factors avoiding float data types.
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// Milliamps=rawADCreading * sensefactorInternal / senseScale
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//
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// senseScale is chosen as 256 to give enough scale for 2 decimal place
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// raw->mA conversion with an ultra fast optimised integer multiplication
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int senseFactorInternal; // set to senseFactor * senseScale
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static const int senseScale=256;
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int senseOffset;
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unsigned int tripMilliamps;
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int rawCurrentTripValue;
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// current sampling
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POWERMODE powerMode;
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unsigned long lastSampleTaken;
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unsigned int sampleDelay;
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int progTripValue;
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int lastCurrent;
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int maxmA;
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int tripmA;
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// Wait times for power management. Unit: milliseconds
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static const int POWER_SAMPLE_ON_WAIT = 100;
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static const int POWER_SAMPLE_OFF_WAIT = 1000;
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static const int POWER_SAMPLE_OVERLOAD_WAIT = 20;
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// Trip current for programming track, 250mA. Change only if you really
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// need to be non-NMRA-compliant because of decoders that are not either.
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static const int TRIP_CURRENT_PROG=250;
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unsigned long power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
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unsigned int power_good_counter = 0;
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};
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#endif
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