mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-11-25 00:56:13 +01:00
197 lines
10 KiB
C
197 lines
10 KiB
C
/*
|
|
* © 2022 Paul M. Antoine
|
|
* © 2021 Fred Decker
|
|
* © 2020-2022 Harald Barth
|
|
* (c) 2020 Chris Harlow. All rights reserved.
|
|
* (c) 2021 Fred Decker. All rights reserved.
|
|
* (c) 2020 Harald Barth. All rights reserved.
|
|
* (c) 2020 Anthony W - Dayton. All rights reserved.
|
|
*
|
|
* This file is part of CommandStation-EX
|
|
*
|
|
* 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/>.
|
|
*/
|
|
#ifndef MotorDrivers_h
|
|
#define MotorDrivers_h
|
|
#include <Arduino.h>
|
|
|
|
// *** PLEASE NOTE *** THIS FILE IS **NOT** INTENDED TO BE EDITED WHEN CONFIGURING A SYSTEM.
|
|
// It will be overwritten if the library is updated.
|
|
|
|
// This file contains configurations for known/supported motor shields.
|
|
// A configuration defined by macro here can be used in your sketch.
|
|
// A custom hardware setup will require your sketch to create MotorDriver instances
|
|
// similar to those defined here, WITHOUT editing this file. You can put your
|
|
// custom defines in config.h.
|
|
|
|
#ifndef UNUSED_PIN // sync define with the one in MotorDriver.h
|
|
#define UNUSED_PIN 127 // inside int8_t
|
|
#endif
|
|
|
|
// The MotorDriver definition is:
|
|
//
|
|
// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin,
|
|
// float senseFactor, unsigned int tripMilliamps, byte faultPin);
|
|
//
|
|
// power_pin: Turns the board on/off. Often called ENABLE or PWM on the shield
|
|
// signal_pin: Where the DCC signal goes in. Often called DIR on the shield
|
|
// signal_pin2: Inverse of signal_pin. A few shields need this as well, can be replace by hardware inverter
|
|
// brake_pin: When tuned on, brake is set - output shortened (*)
|
|
// current_pin: Current sense voltage pin from shield to ADC
|
|
// senseFactor: Relation between volts on current_pin and actual output current
|
|
// tripMilliamps: Short circuit trip limit in milliampere, max 32767 (32.767A)
|
|
// faultPin: Some shields have a pin to to report a fault condition to the uCPU. High when fault occurs
|
|
//
|
|
// (*) If the brake_pin is negative that means the sense
|
|
// of the brake pin on the motor bridge is inverted
|
|
// (HIGH == release brake)
|
|
|
|
// Arduino STANDARD Motor Shield, used on different architectures:
|
|
|
|
#if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
|
|
// Setup for SAMD21 Sparkfun DEV board using Arduino standard Motor Shield R3 (MUST be R3
|
|
// for 3v3 compatibility!!) senseFactor for 3.3v systems is 1.95 as calculated when using
|
|
// 10-bit A/D samples, and for 12-bit samples it's more like 0.488, but we probably need
|
|
// to tweak both these
|
|
#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
|
|
new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 0.488, 1500, UNUSED_PIN), \
|
|
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 0.488, 1500, UNUSED_PIN)
|
|
#define SAMD_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
|
|
#define STM32_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
|
|
|
|
#elif defined(ARDUINO_ARCH_ESP32)
|
|
// STANDARD shield on an ESPDUINO-32 (ESP32 in Uno form factor). The shield must be eiter the
|
|
// 3.3V compatible R3 version or it has to be modified to not supply more than 3.3V to the
|
|
// analog inputs. Here we use analog inputs A2 and A3 as A0 and A1 are wired in a way so that
|
|
// they are not useable at the same time as WiFi (what a bummer). The numbers below are the
|
|
// actual GPIO numbers. In comments the numbers the pins have on an Uno.
|
|
#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
|
|
new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 0.70, 1500, UNUSED_PIN), \
|
|
new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 0.70, 1500, UNUSED_PIN)
|
|
|
|
#define EX8874_SHIELD F("EX8874"),\
|
|
new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.17, 5000, -36 /*-A4*/), \
|
|
new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.17, 5000, -39 /*-A5*/)
|
|
|
|
#else
|
|
// STANDARD shield on any Arduino Uno or Mega compatible with the original specification.
|
|
#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
|
|
new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 2.99, 1500, UNUSED_PIN), \
|
|
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 1500, UNUSED_PIN)
|
|
#define BRAKE_PWM_SWAPPED_MOTOR_SHIELD F("BPS_MOTOR_SHIELD"), \
|
|
new MotorDriver(-9 , 12, UNUSED_PIN, -3, A0, 2.99, 1500, UNUSED_PIN), \
|
|
new MotorDriver(-8 , 13, UNUSED_PIN,-11, A1, 2.99, 1500, UNUSED_PIN)
|
|
#endif
|
|
|
|
// Pololu Motor Shield
|
|
#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
|
|
new MotorDriver( 9, 7, UNUSED_PIN, -4, A0, 18, 3000, 12), \
|
|
new MotorDriver(10, 8, UNUSED_PIN, UNUSED_PIN, A1, 18, 3000, 12)
|
|
//
|
|
// Actually, on the Pololu MC33926 shield the enable lines are tied together on pin 4 and the
|
|
// pins 9 and 10 work as "inverted brake" but as we turn on and off the tracks individually
|
|
// via the power pins we above use 9 and 10 as power pins and 4 as "inverted brake" which in this
|
|
// version of the code always will be high. That means this config is not usable for generating
|
|
// a railcom cuotout in the future. For that one must wire the second ^D2 to pin 2 and define
|
|
// the motor driver like this:
|
|
// new MotorDriver(4, 7, UNUSED_PIN, -9, A0, 18, 3000, 12)
|
|
// new MotorDriver(2, 8, UNUSED_PIN, -10, A1, 18, 3000, 12)
|
|
// See Pololu dial_mc33926_shield_schematic.pdf and truth table on page 17 of the MC33926 data sheet.
|
|
|
|
// Pololu Dual TB9051FTG Motor Shield
|
|
// This is the shield without modifications. Unfortunately the TB9051FTG driver chip on
|
|
// the shield makes short delays when direction is switched. That means that the chip
|
|
// can NOT provide a standard conformant DCC signal independent how hard we try. If your
|
|
// Decoders tolerate that signal, use it by all mean but it is not recommended. Without
|
|
// modifications it uses the following pins below which means no HA waveform and no
|
|
// RailCom on an Arduino Mega 2560 but the DCC signal is broken anyway.
|
|
#define POLOLU_TB9051FTG F("POLOLU_TB9051FTG"), \
|
|
new MotorDriver(2, 7, UNUSED_PIN, -9, A0, 10, 2500, 6), \
|
|
new MotorDriver(4, 8, UNUSED_PIN, -10, A1, 10, 2500, 12)
|
|
|
|
#define EX8874_SHIELD F("EX8874"), \
|
|
new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 4.86, 5000, -A4), \
|
|
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 4.86, 5000, -A5)
|
|
|
|
// Firebox Mk1
|
|
#define FIREBOX_MK1 F("FIREBOX_MK1"), \
|
|
new MotorDriver(3, 6, 7, UNUSED_PIN, A5, 9.766, 5500, UNUSED_PIN), \
|
|
new MotorDriver(4, 8, 9, UNUSED_PIN, A1, 5.00, 1000, UNUSED_PIN)
|
|
|
|
// Firebox Mk1S
|
|
#define FIREBOX_MK1S F("FIREBOX_MK1A"), \
|
|
new MotorDriver(24, 21, 22, 25, 23, 9.766, 5500, UNUSED_PIN), \
|
|
new MotorDriver(30, 27, 28, 31, 29, 5.00, 1000, UNUSED_PIN)
|
|
|
|
// FunduMoto Motor Shield
|
|
#define FUNDUMOTO_SHIELD F("FUNDUMOTO_SHIELD"), \
|
|
new MotorDriver(10, 12, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 1500, UNUSED_PIN), \
|
|
new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
|
|
|
|
// IBT_2 Motor Board for Main and Arduino Motor Shield for Prog
|
|
#define IBT_2_WITH_ARDUINO F("IBT_2_WITH_ARDUINO_SHIELD"), \
|
|
new MotorDriver(4, 5, 6, UNUSED_PIN, A5, 41.54, 5000, UNUSED_PIN), \
|
|
new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
|
|
// YFROBOT Motor Shield (V3.1)
|
|
#define YFROBOT_MOTOR_SHIELD F("YFROBOT_MOTOR_SHIELD"), \
|
|
new MotorDriver(5, 4, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 1500, UNUSED_PIN), \
|
|
new MotorDriver(6, 7, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
|
|
|
|
// Makeblock ORION UNO like sized board with integrated motor driver
|
|
// This is like an Uno with H-bridge and RJ12 contacts instead of pin rows.
|
|
// No current sense. Barrel connector max 12V, Vmotor max 15V. 1.1A polyfuse as output protection.
|
|
// Main is marked M1 and near RJ12 #5
|
|
// Prog is marked M2 and near RJ12 #4
|
|
// For details see
|
|
// http://docs.makeblock.com/diy-platform/en/electronic-modules/main-control-boards/makeblock-orion.html
|
|
#define ORION_UNO_INTEGRATED_SHIELD F("ORION_UNO_INTEGRATED_SHIELD"), \
|
|
new MotorDriver(6, 7, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 1.0, 1100, UNUSED_PIN), \
|
|
new MotorDriver(5, 4, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 1.0, 1100, UNUSED_PIN)
|
|
|
|
// This is an example how to setup a motor shield definition for a motor shield connected
|
|
// to an NANO EVERY board. You have to make the connectons from the shield to the board
|
|
// as in this example or adjust the values yourself.
|
|
#define NANOEVERY_EXAMPLE F("NANOEVERY_EXAMPLE"), \
|
|
new MotorDriver(5, 6, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 1500, UNUSED_PIN),\
|
|
new MotorDriver(9, 10, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 1500, UNUSED_PIN)
|
|
|
|
// This is an example how to stack two standard motor shields. The upper shield
|
|
// needs pins 3 8 9 11 12 13 A0 A1 disconnected from the lower shield and
|
|
// jumpered instead like this: 2-3 6-8 7-9 4-13 5-11 10-12 A0-A4 A1-A5
|
|
// Pin assigment table:
|
|
// 2 Enable C jumpered
|
|
// 3 Enable A direct
|
|
// 4 Dir D jumpered
|
|
// 5 Enable D jumpered
|
|
// 6 Brake D jumpered
|
|
// 7 Brake C jumpered
|
|
// 8 Brake B direct
|
|
// 9 Brake A direct
|
|
// 10 Dir C jumpered
|
|
// 11 Enable B direct
|
|
// 12 Dir A direct
|
|
// 13 Dir B direct
|
|
// A0 Sense A direct
|
|
// A1 Sense B direct
|
|
// A4 Sense C jumpered
|
|
// A5 Sense D jumpered
|
|
//
|
|
#define STACKED_MOTOR_SHIELD F("STACKED_MOTOR_SHIELD"),\
|
|
new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 2.99, 1500, UNUSED_PIN), \
|
|
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 1500, UNUSED_PIN), \
|
|
new MotorDriver( 2, 10, UNUSED_PIN, 7, A4, 2.99, 1500, UNUSED_PIN), \
|
|
new MotorDriver( 5, 4, UNUSED_PIN, 6, A5, 2.99, 1500, UNUSED_PIN)
|
|
//
|
|
#endif
|