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CommandStation-EX/MotorDriver.cpp
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/*
* © 2022-2023 Paul M Antoine
* © 2021 Mike S
* © 2021 Fred Decker
* © 2020-2023 Harald Barth
* © 2020-2021 Chris Harlow
* © 2023 Colin Murdoch
* 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/>.
*/
#include <Arduino.h>
#include "MotorDriver.h"
#include "DCCWaveform.h"
#include "DCCTimer.h"
#include "DIAG.h"
#include "EXRAIL2.h"
unsigned long MotorDriver::globalOverloadStart = 0;
volatile portreg_t shadowPORTA;
volatile portreg_t shadowPORTB;
volatile portreg_t shadowPORTC;
#if defined(ARDUINO_ARCH_STM32)
volatile portreg_t shadowPORTD;
volatile portreg_t shadowPORTE;
volatile portreg_t shadowPORTF;
#endif
MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
byte current_pin, float sense_factor, unsigned int trip_milliamps, int16_t fault_pin) {
const FSH * warnString = F("** WARNING **");
invertPower=power_pin < 0;
if (invertPower) {
powerPin = 0-power_pin;
IODevice::write(powerPin,HIGH);// set to OUTPUT and off
} else {
powerPin = power_pin;
IODevice::write(powerPin,LOW);// set to OUTPUT and off
}
signalPin=signal_pin;
getFastPin(F("SIG"),signalPin,fastSignalPin);
pinMode(signalPin, OUTPUT);
fastSignalPin.shadowinout = NULL;
if (HAVE_PORTA(fastSignalPin.inout == &PORTA)) {
DIAG(F("Found PORTA pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTA;
}
if (HAVE_PORTB(fastSignalPin.inout == &PORTB)) {
DIAG(F("Found PORTB pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTB;
}
if (HAVE_PORTC(fastSignalPin.inout == &PORTC)) {
DIAG(F("Found PORTC pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTC;
}
if (HAVE_PORTD(fastSignalPin.inout == &PORTD)) {
DIAG(F("Found PORTD pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTD;
}
if (HAVE_PORTE(fastSignalPin.inout == &PORTE)) {
DIAG(F("Found PORTE pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTE;
}
if (HAVE_PORTF(fastSignalPin.inout == &PORTF)) {
DIAG(F("Found PORTF pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTF;
}
signalPin2=signal_pin2;
if (signalPin2!=UNUSED_PIN) {
dualSignal=true;
getFastPin(F("SIG2"),signalPin2,fastSignalPin2);
pinMode(signalPin2, OUTPUT);
fastSignalPin2.shadowinout = NULL;
if (HAVE_PORTA(fastSignalPin2.inout == &PORTA)) {
DIAG(F("Found PORTA pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTA;
}
if (HAVE_PORTB(fastSignalPin2.inout == &PORTB)) {
DIAG(F("Found PORTB pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTB;
}
if (HAVE_PORTC(fastSignalPin2.inout == &PORTC)) {
DIAG(F("Found PORTC pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTC;
}
if (HAVE_PORTD(fastSignalPin2.inout == &PORTD)) {
DIAG(F("Found PORTD pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTD;
}
if (HAVE_PORTE(fastSignalPin2.inout == &PORTE)) {
DIAG(F("Found PORTE pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTE;
}
if (HAVE_PORTF(fastSignalPin2.inout == &PORTF)) {
DIAG(F("Found PORTF pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTF;
}
}
else dualSignal=false;
if (brake_pin!=UNUSED_PIN){
invertBrake=brake_pin < 0;
if (invertBrake)
brake_pin = 0-brake_pin;
if (brake_pin > MAX_PIN)
DIAG(F("%S Brake pin %d > %d"), warnString, brake_pin, MAX_PIN);
brakePin=(byte)brake_pin;
getFastPin(F("BRAKE"),brakePin,fastBrakePin);
// if brake is used for railcom cutout we need to do PORTX register trick here as well
pinMode(brakePin, OUTPUT);
setBrake(true); // start with brake on in case we hace DC stuff going on
} else {
brakePin=UNUSED_PIN;
}
currentPin=current_pin;
if (currentPin!=UNUSED_PIN) {
int ret = ADCee::init(currentPin);
if (ret < -1010) { // XXX give value a name later
DIAG(F("ADCee::init error %d, disable current pin %d"), ret, currentPin);
currentPin = UNUSED_PIN;
}
}
senseOffset=0; // value can not be obtained until waveform is activated
if (fault_pin != UNUSED_PIN) {
invertFault=fault_pin < 0;
if (invertFault)
fault_pin = 0-fault_pin;
if (fault_pin > MAX_PIN)
DIAG(F("%S Fault pin %d > %d"), warnString, fault_pin, MAX_PIN);
faultPin=(byte)fault_pin;
DIAG(F("Fault pin = %d invert %d"), faultPin, invertFault);
getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
pinMode(faultPin, INPUT);
} else {
faultPin=UNUSED_PIN;
}
// This conversion performed at compile time so the remainder of the code never needs
// float calculations or libraray code.
senseFactorInternal=sense_factor * senseScale;
tripMilliamps=trip_milliamps;
#ifdef MAX_CURRENT
if (MAX_CURRENT > 0 && MAX_CURRENT < tripMilliamps)
tripMilliamps = MAX_CURRENT;
#endif
rawCurrentTripValue=mA2raw(tripMilliamps);
if (rawCurrentTripValue + senseOffset > ADCee::ADCmax()) {
// This would mean that the values obtained from the ADC never
// can reach the trip value. So independent of the current, the
// short circuit protection would never trip. So we adjust the
// trip value so that it is tiggered when the ADC reports it's
// maximum value instead.
// DIAG(F("Changing short detection value from %d to %d mA"),
// raw2mA(rawCurrentTripValue), raw2mA(ADCee::ADCmax()-senseOffset));
rawCurrentTripValue=ADCee::ADCmax()-senseOffset;
}
if (currentPin==UNUSED_PIN)
DIAG(F("%S No current or short detection"), warnString);
else {
DIAG(F("Pin %d Max %dmA (%d)"), currentPin, raw2mA(rawCurrentTripValue), rawCurrentTripValue);
// self testing diagnostic for the non-float converters... may be removed when happy
// DIAG(F("senseFactorInternal=%d raw2mA(1000)=%d mA2Raw(1000)=%d"),
// senseFactorInternal, raw2mA(1000),mA2raw(1000));
}
progTripValue = mA2raw(TRIP_CURRENT_PROG);
}
bool MotorDriver::isPWMCapable() {
return (!dualSignal) && DCCTimer::isPWMPin(signalPin);
}
void MotorDriver::setPower(POWERMODE mode) {
if (powerMode == mode) return;
//DIAG(F("Track %c POWERMODE=%d"), trackLetter, (int)mode);
lastPowerChange[(int)mode] = micros();
if (mode == POWERMODE::OVERLOAD)
globalOverloadStart = lastPowerChange[(int)mode];
bool on=(mode==POWERMODE::ON || mode ==POWERMODE::ALERT);
if (on) {
// when switching a track On, we need to check the crrentOffset with the pin OFF
if (powerMode==POWERMODE::OFF && currentPin!=UNUSED_PIN) {
senseOffset = ADCee::read(currentPin);
DIAG(F("Track %c sensOffset=%d"),trackLetter,senseOffset);
}
IODevice::write(powerPin,invertPower ? LOW : HIGH);
if (isProgTrack)
DCCWaveform::progTrack.clearResets();
}
else {
IODevice::write(powerPin,invertPower ? HIGH : LOW);
}
powerMode=mode;
}
// 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, bool interruptContext) {
if (brakePin == UNUSED_PIN) return;
if (!interruptContext) {noInterrupts();}
if (on ^ invertBrake)
setHIGH(fastBrakePin);
else
setLOW(fastBrakePin);
if (!interruptContext) {interrupts();}
}
bool MotorDriver::canMeasureCurrent() {
return currentPin!=UNUSED_PIN;
}
/*
* Return the current reading as pin reading 0 to max resolution (1024 or 4096).
* If the fault pin is activated return a negative current to show active fault pin.
* As there is no -0, cheat a little and return -1 in that case.
*
* senseOffset handles the case where a shield returns values above or below
* a central value depending on direction.
*
* Bool fromISR should be adjusted dependent how function is called
*/
int MotorDriver::getCurrentRaw(bool fromISR) {
(void)fromISR;
if (currentPin==UNUSED_PIN) return 0;
int current;
current = ADCee::read(currentPin, fromISR);
// here one can diag raw value
// if (fromISR == false) DIAG(F("%c: %d"), trackLetter, current);
current = current-senseOffset; // adjust with offset
if (current<0) current=0-current;
// current >= 0 here, we use negative current as fault pin flag
if ((faultPin != UNUSED_PIN) && powerPin) {
if (invertFault ? isHIGH(fastFaultPin) : isLOW(fastFaultPin))
return (current == 0 ? -1 : -current);
}
return current;
}
#ifdef ANALOG_READ_INTERRUPT
/*
* This should only be called in interrupt context
* Copies current value from HW to cached value in
* Motordriver.
*/
#pragma GCC push_options
#pragma GCC optimize ("-O3")
bool MotorDriver::sampleCurrentFromHW() {
byte low, high;
//if (!bit_is_set(ADCSRA, ADIF))
if (bit_is_set(ADCSRA, ADSC))
return false;
// if ((ADMUX & mask) != (currentPin - A0))
// return false;
low = ADCL; //must read low before high
high = ADCH;
bitSet(ADCSRA, ADIF);
sampleCurrent = (high << 8) | low;
sampleCurrentTimestamp = millis();
return true;
}
void MotorDriver::startCurrentFromHW() {
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
const byte mask = 7;
#else
const byte mask = 31;
#endif
ADMUX=(1<<REFS0)|((currentPin-A0) & mask); //select AVCC as reference and set MUX
bitSet(ADCSRA,ADSC); // start conversion
}
#pragma GCC pop_options
#endif //ANALOG_READ_INTERRUPT
#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
#ifdef VARIABLE_TONES
uint16_t taurustones[28] = { 165, 175, 196, 220,
247, 262, 294, 330,
349, 392, 440, 494,
523, 587, 659, 698,
494, 440, 392, 249,
330, 284, 262, 247,
220, 196, 175, 165 };
#endif
#endif
void MotorDriver::setDCSignal(byte speedcode) {
if (brakePin == UNUSED_PIN)
return;
switch(brakePin) {
#if defined(ARDUINO_AVR_UNO)
// Not worth doin something here as:
// If we are on pin 9 or 10 we are on Timer1 and we can not touch Timer1 as that is our DCC source.
// If we are on pin 5 or 6 we are on Timer 0 ad we can not touch Timer0 as that is millis() etc.
// We are most likely not on pin 3 or 11 as no known motor shield has that as brake.
#endif
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
case 9:
case 10:
// Timer2 (is differnet)
TCCR2A = (TCCR2A & B11111100) | B00000001; // set WGM1=0 and WGM0=1 phase correct PWM
TCCR2B = (TCCR2B & B11110000) | B00000110; // set WGM2=0 ; set divisor on timer 2 to 1/256 for 122.55Hz
//DIAG(F("2 A=%x B=%x"), TCCR2A, TCCR2B);
break;
case 6:
case 7:
case 8:
// Timer4
TCCR4A = (TCCR4A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for normal PWM 8-bit
TCCR4B = (TCCR4B & B11100000) | B00000100; // set WGM2=0 and WGM3=0 for normal PWM 8 bit and div 1/256 for 122.55Hz
break;
case 46:
case 45:
case 44:
// Timer5
TCCR5A = (TCCR5A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for normal PWM 8-bit
TCCR5B = (TCCR5B & B11100000) | B00000100; // set WGM2=0 and WGM3=0 for normal PWM 8 bit and div 1/256 for 122.55Hz
break;
#endif
default:
break;
}
// spedcoode is a dcc speed & direction
byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
byte tDir=speedcode & 0x80;
byte brake;
#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
{
int f = 131;
#ifdef VARIABLE_TONES
if (tSpeed > 2) {
if (tSpeed <= 58) {
f = taurustones[ (tSpeed-2)/2 ] ;
}
}
#endif
DCCTimer::DCCEXanalogWriteFrequency(brakePin, f); // set DC PWM frequency to 100Hz XXX May move to setup
}
#endif
if (tSpeed <= 1) brake = 255;
else if (tSpeed >= 127) brake = 0;
else brake = 2 * (128-tSpeed);
if (invertBrake)
brake=255-brake;
#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
DCCTimer::DCCEXanalogWrite(brakePin,brake);
#else
analogWrite(brakePin,brake);
#endif
//DIAG(F("DCSignal %d"), speedcode);
if (HAVE_PORTA(fastSignalPin.shadowinout == &PORTA)) {
noInterrupts();
HAVE_PORTA(shadowPORTA=PORTA);
setSignal(tDir);
HAVE_PORTA(PORTA=shadowPORTA);
interrupts();
} else if (HAVE_PORTB(fastSignalPin.shadowinout == &PORTB)) {
noInterrupts();
HAVE_PORTB(shadowPORTB=PORTB);
setSignal(tDir);
HAVE_PORTB(PORTB=shadowPORTB);
interrupts();
} else if (HAVE_PORTC(fastSignalPin.shadowinout == &PORTC)) {
noInterrupts();
HAVE_PORTC(shadowPORTC=PORTC);
setSignal(tDir);
HAVE_PORTC(PORTC=shadowPORTC);
interrupts();
} else if (HAVE_PORTD(fastSignalPin.shadowinout == &PORTD)) {
noInterrupts();
HAVE_PORTD(shadowPORTD=PORTD);
setSignal(tDir);
HAVE_PORTD(PORTD=shadowPORTD);
interrupts();
} else if (HAVE_PORTE(fastSignalPin.shadowinout == &PORTE)) {
noInterrupts();
HAVE_PORTE(shadowPORTE=PORTE);
setSignal(tDir);
HAVE_PORTE(PORTE=shadowPORTE);
interrupts();
} else if (HAVE_PORTF(fastSignalPin.shadowinout == &PORTF)) {
noInterrupts();
HAVE_PORTF(shadowPORTF=PORTF);
setSignal(tDir);
HAVE_PORTF(PORTF=shadowPORTF);
interrupts();
} else {
noInterrupts();
setSignal(tDir);
interrupts();
}
}
void MotorDriver::throttleInrush(bool on) {
if (brakePin == UNUSED_PIN)
return;
if ( !(trackMode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_EXT)))
return;
byte duty = on ? 208 : 0;
if (invertBrake)
duty = 255-duty;
#if defined(ARDUINO_ARCH_ESP32)
if(on) {
DCCTimer::DCCEXanalogWrite(brakePin,duty);
DCCTimer::DCCEXanalogWriteFrequency(brakePin, 62500);
} else {
ledcDetachPin(brakePin);
}
#elif defined(ARDUINO_ARCH_STM32)
if(on) {
DCCTimer::DCCEXanalogWriteFrequency(brakePin, 62500);
DCCTimer::DCCEXanalogWrite(brakePin,duty);
} else {
pinMode(brakePin, OUTPUT);
}
#else
if(on){
switch(brakePin) {
#if defined(ARDUINO_AVR_UNO)
// Not worth doin something here as:
// If we are on pin 9 or 10 we are on Timer1 and we can not touch Timer1 as that is our DCC source.
// If we are on pin 5 or 6 we are on Timer 0 ad we can not touch Timer0 as that is millis() etc.
// We are most likely not on pin 3 or 11 as no known motor shield has that as brake.
#endif
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
case 9:
case 10:
// Timer2 (is different)
TCCR2A = (TCCR2A & B11111100) | B00000011; // set WGM0=1 and WGM1=1 for fast PWM
TCCR2B = (TCCR2B & B11110000) | B00000001; // set WGM2=0 and prescaler div=1 (max)
DIAG(F("2 A=%x B=%x"), TCCR2A, TCCR2B);
break;
case 6:
case 7:
case 8:
// Timer4
TCCR4A = (TCCR4A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for fast PWM 8-bit
TCCR4B = (TCCR4B & B11100000) | B00001001; // set WGM2=1 and WGM3=0 for fast PWM 8 bit and div=1 (max)
break;
case 46:
case 45:
case 44:
// Timer5
TCCR5A = (TCCR5A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for fast PWM 8-bit
TCCR5B = (TCCR5B & B11100000) | B00001001; // set WGM2=1 and WGM3=0 for fast PWM 8 bit and div=1 (max)
break;
#endif
default:
break;
}
}
analogWrite(brakePin,duty);
#endif
}
unsigned int MotorDriver::raw2mA( int raw) {
//DIAG(F("%d = %d * %d / %d"), (int32_t)raw * senseFactorInternal / senseScale, raw, senseFactorInternal, senseScale);
return (int32_t)raw * senseFactorInternal / senseScale;
}
unsigned int MotorDriver::mA2raw( unsigned int mA) {
//DIAG(F("%d = %d * %d / %d"), (int32_t)mA * senseScale / senseFactorInternal, mA, senseScale, senseFactorInternal);
return (int32_t)mA * senseScale / senseFactorInternal;
}
void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {
// DIAG(F("MotorDriver %S Pin=%d,"),type,pin);
(void) type; // avoid compiler warning if diag not used above.
#if defined(ARDUINO_ARCH_SAMD)
PortGroup *port = digitalPinToPort(pin);
#elif defined(ARDUINO_ARCH_STM32)
GPIO_TypeDef *port = digitalPinToPort(pin);
#else
uint8_t port = digitalPinToPort(pin);
#endif
if (input)
result.inout = portInputRegister(port);
else
result.inout = portOutputRegister(port);
result.maskHIGH = digitalPinToBitMask(pin);
result.maskLOW = ~result.maskHIGH;
// DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
}
///////////////////////////////////////////////////////////////////////////////////////////
// checkPowerOverload(useProgLimit, trackno)
// bool useProgLimit: Trackmanager knows if this track is in prog mode or in main mode
// byte trackno: trackmanager knows it's number (could be skipped?)
//
// Short ciruit handling strategy:
//
// There are the following power states: ON ALERT OVERLOAD OFF
// OFF state is only changed to/from manually. Power is on
// during ON and ALERT. Power is off during OVERLOAD and OFF.
// The overload mechanism changes between the other states like
//
// ON -1-> ALERT -2-> OVERLOAD -3-> ALERT -4-> ON
// or
// ON -1-> ALERT -4-> ON
//
// Times are in class MotorDriver (MotorDriver.h).
//
// 1. ON to ALERT:
// Transition on fault pin condition or current overload
//
// 2. ALERT to OVERLOAD:
// Transition happens if different timeouts have elapsed.
// If only the fault pin is active, timeout is
// POWER_SAMPLE_IGNORE_FAULT_LOW (100ms)
// If only overcurrent is detected, timeout is
// POWER_SAMPLE_IGNORE_CURRENT (100ms)
// If fault pin and overcurrent are active, timeout is
// POWER_SAMPLE_IGNORE_FAULT_HIGH (5ms)
// Transition to OVERLOAD turns off power to the affected
// output (unless fault pins are shared)
// If the transition conditions are not fullfilled,
// transition according to 4 is tested.
//
// 3. OVERLOAD to ALERT
// Transiton happens when timeout has elapsed, timeout
// is named power_sample_overload_wait. It is started
// at POWER_SAMPLE_OVERLOAD_WAIT (40ms) at first entry
// to OVERLOAD and then increased by a factor of 2
// at further entries to the OVERLOAD condition. This
// happens until POWER_SAMPLE_RETRY_MAX (10sec) is reached.
// power_sample_overload_wait is reset by a poweroff or
// a POWER_SAMPLE_ALL_GOOD (5sec) period during ON.
// After timeout power is turned on again and state
// goes back to ALERT.
//
// 4. ALERT to ON
// Transition happens by watching the current and fault pin
// samples during POWER_SAMPLE_ALERT_GOOD (20ms) time. If
// values have been good during that time, transition is
// made back to ON. Note that even if state is back to ON,
// the power_sample_overload_wait time is first reset
// later (see above).
//
// The time keeping is handled by timestamps lastPowerChange[]
// which are set by each power change and by lastBadSample which
// keeps track if conditions during ALERT have been good enough
// to go back to ON. The time differences are calculated by
// microsSinceLastPowerChange().
//
void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
switch (powerMode) {
case POWERMODE::OFF: {
lastPowerMode = POWERMODE::OFF;
power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
break;
}
case POWERMODE::ON: {
lastPowerMode = POWERMODE::ON;
bool cF = checkFault();
bool cC = checkCurrent(useProgLimit);
if(cF || cC ) {
if (cC) {
unsigned int mA=raw2mA(lastCurrent);
DIAG(F("TRACK %c ALERT %s %dmA"), trackno + 'A',
cF ? "FAULT" : "",
mA);
} else {
DIAG(F("TRACK %c ALERT FAULT"), trackno + 'A');
}
setPower(POWERMODE::ALERT);
if ((trackMode & TRACK_MODE_AUTOINV) && (trackMode & (TRACK_MODE_MAIN|TRACK_MODE_EXT|TRACK_MODE_BOOST))){
DIAG(F("TRACK %c INVERT"), trackno + 'A');
invertOutput();
}
break;
}
// all well
if (microsSinceLastPowerChange(POWERMODE::ON) > POWER_SAMPLE_ALL_GOOD) {
power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
}
break;
}
case POWERMODE::ALERT: {
// set local flags that handle how much is output to diag (do not output duplicates)
bool notFromOverload = (lastPowerMode != POWERMODE::OVERLOAD);
bool powerModeChange = (powerMode != lastPowerMode);
unsigned long now = micros();
if (powerModeChange)
lastBadSample = now;
lastPowerMode = POWERMODE::ALERT;
// check how long we have been in this state
unsigned long mslpc = microsSinceLastPowerChange(POWERMODE::ALERT);
if(checkFault()) {
throttleInrush(true);
lastBadSample = now;
unsigned long timeout = checkCurrent(useProgLimit) ? POWER_SAMPLE_IGNORE_FAULT_HIGH : POWER_SAMPLE_IGNORE_FAULT_LOW;
if ( mslpc < timeout) {
if (powerModeChange)
DIAG(F("TRACK %c FAULT PIN (%M ignore)"), trackno + 'A', timeout);
break;
}
DIAG(F("TRACK %c FAULT PIN detected after %4M. Pause %4M)"), trackno + 'A', mslpc, power_sample_overload_wait);
throttleInrush(false);
setPower(POWERMODE::OVERLOAD);
break;
}
if (checkCurrent(useProgLimit)) {
lastBadSample = now;
if (mslpc < POWER_SAMPLE_IGNORE_CURRENT) {
if (powerModeChange) {
unsigned int mA=raw2mA(lastCurrent);
DIAG(F("TRACK %c CURRENT (%M ignore) %dmA"), trackno + 'A', POWER_SAMPLE_IGNORE_CURRENT, mA);
}
break;
}
unsigned int mA=raw2mA(lastCurrent);
unsigned int maxmA=raw2mA(tripValue);
DIAG(F("TRACK %c POWER OVERLOAD %4dmA (max %4dmA) detected after %4M. Pause %4M"),
trackno + 'A', mA, maxmA, mslpc, power_sample_overload_wait);
throttleInrush(false);
setPower(POWERMODE::OVERLOAD);
break;
}
// all well
unsigned long goodtime = micros() - lastBadSample;
if (goodtime > POWER_SAMPLE_ALERT_GOOD) {
if (true || notFromOverload) { // we did a RESTORE message XXX
unsigned int mA=raw2mA(lastCurrent);
DIAG(F("TRACK %c NORMAL (after %M/%M) %dmA"), trackno + 'A', goodtime, mslpc, mA);
}
throttleInrush(false);
setPower(POWERMODE::ON);
}
break;
}
case POWERMODE::OVERLOAD: {
lastPowerMode = POWERMODE::OVERLOAD;
unsigned long mslpc = (commonFaultPin ? (micros() - globalOverloadStart) : microsSinceLastPowerChange(POWERMODE::OVERLOAD));
if (mslpc > power_sample_overload_wait) {
// adjust next wait time
power_sample_overload_wait *= 2;
if (power_sample_overload_wait > POWER_SAMPLE_RETRY_MAX)
power_sample_overload_wait = POWER_SAMPLE_RETRY_MAX;
#ifdef EXRAIL_ACTIVE
DIAG(F("Calling EXRAIL"));
RMFT2::powerEvent(trackno, true); // Tell EXRAIL we have an overload
#endif
// power on test
DIAG(F("TRACK %c POWER RESTORE (after %4M)"), trackno + 'A', mslpc);
setPower(POWERMODE::ALERT);
}
break;
}
default:
break;
}
}
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