mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-11-30 03:26:13 +01:00
390 lines
13 KiB
C++
390 lines
13 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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* © 2020-2022 Harald Barth
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* © 2020-2021 Chris Harlow
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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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#include <Arduino.h>
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#include "MotorDriver.h"
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#include "DCCWaveform.h"
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#include "DCCTimer.h"
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#include "DIAG.h"
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#define ADC_INPUT_MAX_VALUE 1023 // 10 bit ADC
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#if defined(ARDUINO_ARCH_ESP32)
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#include "ESP32-fixes.h"
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#include <driver/adc.h>
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#include <soc/sens_reg.h>
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#include <soc/sens_struct.h>
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#undef ADC_INPUT_MAX_VALUE
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#define ADC_INPUT_MAX_VALUE 4095 // 12 bit ADC
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#define pinToADC1Channel(X) (adc1_channel_t)(((X) > 35) ? (X)-36 : (X)-28)
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int IRAM_ATTR local_adc1_get_raw(int channel) {
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uint16_t adc_value;
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SENS.sar_meas_start1.sar1_en_pad = (1 << channel); // only one channel is selected
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while (SENS.sar_slave_addr1.meas_status != 0);
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SENS.sar_meas_start1.meas1_start_sar = 0;
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SENS.sar_meas_start1.meas1_start_sar = 1;
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while (SENS.sar_meas_start1.meas1_done_sar == 0);
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adc_value = SENS.sar_meas_start1.meas1_data_sar;
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return adc_value;
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}
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#endif
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bool MotorDriver::commonFaultPin=false;
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volatile portreg_t shadowPORTA;
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volatile portreg_t shadowPORTB;
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volatile portreg_t shadowPORTC;
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MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
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byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
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powerPin=power_pin;
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invertPower=power_pin < 0;
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if (invertPower) {
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powerPin = 0-power_pin;
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IODevice::write(powerPin,HIGH);// set to OUTPUT and off
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} else {
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powerPin = power_pin;
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IODevice::write(powerPin,LOW);// set to OUTPUT and off
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}
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signalPin=signal_pin;
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getFastPin(F("SIG"),signalPin,fastSignalPin);
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pinMode(signalPin, OUTPUT);
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fastSignalPin.shadowinout = NULL;
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if (HAVE_PORTA(fastSignalPin.inout == &PORTA)) {
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DIAG(F("Found PORTA pin %d"),signalPin);
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fastSignalPin.shadowinout = fastSignalPin.inout;
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fastSignalPin.inout = &shadowPORTA;
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}
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if (HAVE_PORTB(fastSignalPin.inout == &PORTB)) {
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DIAG(F("Found PORTB pin %d"),signalPin);
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fastSignalPin.shadowinout = fastSignalPin.inout;
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fastSignalPin.inout = &shadowPORTB;
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}
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if (HAVE_PORTC(fastSignalPin.inout == &PORTC)) {
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DIAG(F("Found PORTC pin %d"),signalPin);
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fastSignalPin.shadowinout = fastSignalPin.inout;
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fastSignalPin.inout = &shadowPORTC;
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}
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signalPin2=signal_pin2;
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if (signalPin2!=UNUSED_PIN) {
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dualSignal=true;
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getFastPin(F("SIG2"),signalPin2,fastSignalPin2);
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pinMode(signalPin2, OUTPUT);
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}
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else dualSignal=false;
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brakePin=brake_pin;
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if (brake_pin!=UNUSED_PIN){
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invertBrake=brake_pin < 0;
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brakePin=invertBrake ? 0-brake_pin : brake_pin;
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getFastPin(F("BRAKE"),brakePin,fastBrakePin);
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// if brake is used for railcom cutout we need to do PORTX register trick here as well
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pinMode(brakePin, OUTPUT);
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setBrake(true); // start with brake on in case we hace DC stuff going on
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}
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else brakePin=UNUSED_PIN;
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currentPin=current_pin;
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if (currentPin!=UNUSED_PIN) {
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#ifdef ARDUINO_ARCH_ESP32
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pinMode(currentPin, ANALOG);
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adc1_config_width(ADC_WIDTH_BIT_12);
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adc1_config_channel_atten(pinToADC1Channel(currentPin),ADC_ATTEN_DB_11);
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senseOffset = adc1_get_raw(pinToADC1Channel(currentPin));
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#else
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pinMode(currentPin, INPUT);
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senseOffset=analogRead(currentPin); // value of sensor at zero current
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#endif
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}
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faultPin=fault_pin;
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if (faultPin != UNUSED_PIN) {
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getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
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pinMode(faultPin, INPUT);
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}
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// This conversion performed at compile time so the remainder of the code never needs
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// float calculations or libraray code.
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senseFactorInternal=sense_factor * senseScale;
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tripMilliamps=trip_milliamps;
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rawCurrentTripValue=mA2raw(trip_milliamps);
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if (rawCurrentTripValue + senseOffset > ADC_INPUT_MAX_VALUE) {
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// This would mean that the values obtained from the ADC never
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// can reach the trip value. So independent of the current, the
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// short circuit protection would never trip. So we adjust the
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// trip value so that it is tiggered when the ADC reports it's
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// maximum value instead.
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// DIAG(F("Changing short detection value from %d to %d mA"),
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// raw2mA(rawCurrentTripValue), raw2mA(ADC_INPUT_MAX_VALUE-senseOffset));
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rawCurrentTripValue=ADC_INPUT_MAX_VALUE-senseOffset;
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}
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if (currentPin==UNUSED_PIN)
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DIAG(F("** WARNING ** No current or short detection"));
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else {
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DIAG(F("CurrentPin=A%d, Offset=%d, TripValue=%d"),
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currentPin-A0, senseOffset,rawCurrentTripValue);
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// self testing diagnostic for the non-float converters... may be removed when happy
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// DIAG(F("senseFactorInternal=%d raw2mA(1000)=%d mA2Raw(1000)=%d"),
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// senseFactorInternal, raw2mA(1000),mA2raw(1000));
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}
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// prepare values for current detection
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sampleDelay = 0;
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lastSampleTaken = millis();
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progTripValue = mA2raw(TRIP_CURRENT_PROG);
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}
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bool MotorDriver::isPWMCapable() {
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return (!dualSignal) && DCCTimer::isPWMPin(signalPin);
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}
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void MotorDriver::setPower(POWERMODE mode) {
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bool on=mode==POWERMODE::ON;
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if (on) {
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noInterrupts();
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IODevice::write(powerPin,invertPower ? LOW : HIGH);
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interrupts();
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if (isProgTrack)
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DCCWaveform::progTrack.clearResets();
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}
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else {
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noInterrupts();
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IODevice::write(powerPin,invertPower ? HIGH : LOW);
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interrupts();
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}
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powerMode=mode;
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}
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// setBrake applies brake if on == true. So to get
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// voltage from the motor bride one needs to do a
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// setBrake(false).
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// If the brakePin 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) and setBrake does
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// compensate for that.
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//
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void MotorDriver::setBrake(bool on, bool interruptContext) {
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if (brakePin == UNUSED_PIN) return;
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if (!interruptContext) {noInterrupts();}
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if (on ^ invertBrake)
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setHIGH(fastBrakePin);
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else
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setLOW(fastBrakePin);
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if (!interruptContext) {interrupts();}
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}
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bool MotorDriver::canMeasureCurrent() {
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return currentPin!=UNUSED_PIN;
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}
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/*
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* Return the current reading as pin reading 0 to 1023. If the fault
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* pin is activated return a negative current to show active fault pin.
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* As there is no -0, create a little and return -1 in that case.
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*
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* senseOffset handles the case where a shield returns values above or below
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* a central value depending on direction.
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*/
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int MotorDriver::getCurrentRaw() {
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if (currentPin==UNUSED_PIN) return 0;
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int current;
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// This function should NOT be called in an interruot so we
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// dont need to fart about saving and restoring CPU specific
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// interrupt registers.
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#ifdef ARDUINO_ARCH_ESP32
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current = local_adc1_get_raw(pinToADC1Channel(currentPin))-senseOffset;
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#else
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noInterrupts();
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current = analogRead(currentPin)-senseOffset;
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interrupts();
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#endif
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if (current<0) current=0-current;
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if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && powerMode==POWERMODE::ON)
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return (current == 0 ? -1 : -current);
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return current;
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}
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void MotorDriver::setDCSignal(byte speedcode) {
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if (brakePin == UNUSED_PIN)
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return;
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#if defined(ARDUINO_ARCH_ESP32)
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DCCEXanalogWriteFrequency(brakePin, 100); // set DC PWM frequency to 100Hz XXX May move to setup
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#endif
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#if defined(ARDUINO_AVR_UNO)
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TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
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#endif
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#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
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TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
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TCCR4B = (TCCR4B & B11111000) | B00000100; // same for timer 4 but maxcount and thus divisor differs
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#endif
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// spedcoode is a dcc speed & direction
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byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
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byte tDir=speedcode & 0x80;
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byte brake;
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if (tSpeed <= 1) brake = 255;
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else if (tSpeed >= 127) brake = 0;
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else brake = 2 * (128-tSpeed);
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if (invertBrake)
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brake=255-brake;
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#if defined(ARDUINO_ARCH_ESP32)
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DCCEXanalogWrite(brakePin,brake);
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#else
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analogWrite(brakePin,brake);
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#endif
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//DIAG(F("DCSignal %d"), speedcode);
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if (HAVE_PORTA(fastSignalPin.shadowinout == &PORTA)) {
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noInterrupts();
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HAVE_PORTA(shadowPORTA=PORTA);
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setSignal(tDir);
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HAVE_PORTA(PORTA=shadowPORTA);
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interrupts();
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} else if (HAVE_PORTB(fastSignalPin.shadowinout == &PORTB)) {
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noInterrupts();
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HAVE_PORTB(shadowPORTB=PORTB);
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setSignal(tDir);
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HAVE_PORTB(PORTB=shadowPORTB);
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interrupts();
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} else if (HAVE_PORTC(fastSignalPin.shadowinout == &PORTC)) {
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noInterrupts();
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HAVE_PORTC(shadowPORTC=PORTC);
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setSignal(tDir);
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HAVE_PORTC(PORTC=shadowPORTC);
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interrupts();
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} else {
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noInterrupts();
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setSignal(tDir);
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interrupts();
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}
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}
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int MotorDriver::getCurrentRawInInterrupt() {
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// IMPORTANT: This function must be called in Interrupt() time within the 56uS timer
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// The default analogRead takes ~100uS which is catastrphic
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// so DCCTimer has set the sample time to be much faster.
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if (currentPin==UNUSED_PIN) return 0;
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#ifdef ARDUINO_ARCH_ESP32 //On ESP we do all in loop() instead of in interrupt
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return getCurrentRaw();
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#else
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return analogRead(currentPin)-senseOffset;
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#endif
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}
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unsigned int MotorDriver::raw2mA( int raw) {
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return (int32_t)raw * senseFactorInternal / senseScale;
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}
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unsigned int MotorDriver::mA2raw( unsigned int mA) {
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return (int32_t)mA * senseScale / senseFactorInternal;
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}
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void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {
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// DIAG(F("MotorDriver %S Pin=%d,"),type,pin);
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(void) type; // avoid compiler warning if diag not used above.
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#if defined(ARDUINO_ARCH_SAMD)
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PortGroup *port = digitalPinToPort(pin);
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#elif defined(ARDUINO_ARCH_STM32)
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GPIO_TypeDef *port = digitalPinToPort(pin);
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#else
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uint8_t port = digitalPinToPort(pin);
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#endif
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if (input)
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result.inout = portInputRegister(port);
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else
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result.inout = portOutputRegister(port);
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result.maskHIGH = digitalPinToBitMask(pin);
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result.maskLOW = ~result.maskHIGH;
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// DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
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}
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void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
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if (millis() - lastSampleTaken < sampleDelay) return;
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lastSampleTaken = millis();
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int tripValue= useProgLimit?progTripValue:getRawCurrentTripValue();
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// Trackname for diag messages later
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switch (powerMode) {
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case POWERMODE::OFF:
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sampleDelay = POWER_SAMPLE_OFF_WAIT;
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break;
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case POWERMODE::ON:
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// Check current
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lastCurrent=getCurrentRaw();
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if (lastCurrent < 0) {
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// We have a fault pin condition to take care of
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lastCurrent = -lastCurrent;
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setPower(POWERMODE::OVERLOAD); // Turn off, decide later how fast to turn on again
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if (commonFaultPin) {
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if (lastCurrent < tripValue) {
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setPower(POWERMODE::ON); // maybe other track
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}
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// Write this after the fact as we want to turn on as fast as possible
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// because we don't know which output actually triggered the fault pin
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DIAG(F("COMMON FAULT PIN ACTIVE: POWERTOGGLE TRACK %c"), trackno + 'A');
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} else {
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DIAG(F("TRACK %c FAULT PIN ACTIVE - OVERLOAD"), trackno + 'A');
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if (lastCurrent < tripValue) {
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lastCurrent = tripValue; // exaggerate
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}
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}
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}
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if (lastCurrent < tripValue) {
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sampleDelay = POWER_SAMPLE_ON_WAIT;
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if(power_good_counter<100)
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power_good_counter++;
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else
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if (power_sample_overload_wait>POWER_SAMPLE_OVERLOAD_WAIT) power_sample_overload_wait=POWER_SAMPLE_OVERLOAD_WAIT;
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} else {
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setPower(POWERMODE::OVERLOAD);
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unsigned int mA=raw2mA(lastCurrent);
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unsigned int maxmA=raw2mA(tripValue);
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power_good_counter=0;
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sampleDelay = power_sample_overload_wait;
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DIAG(F("TRACK %c POWER OVERLOAD %dmA (limit %dmA) shutdown for %dms"), trackno + 'A', mA, maxmA, sampleDelay);
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if (power_sample_overload_wait >= 10000)
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power_sample_overload_wait = 10000;
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else
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power_sample_overload_wait *= 2;
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}
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break;
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case POWERMODE::OVERLOAD:
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// Try setting it back on after the OVERLOAD_WAIT
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setPower(POWERMODE::ON);
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sampleDelay = POWER_SAMPLE_ON_WAIT;
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// Debug code....
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DIAG(F("TRACK %c POWER RESTORE (check %dms)"), trackno + 'A', sampleDelay);
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break;
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default:
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sampleDelay = 999; // cant get here..meaningless statement to avoid compiler warning.
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}
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}
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