mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-25 13:41:23 +01:00
136 lines
4.2 KiB
C++
136 lines
4.2 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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#include <Arduino.h>
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#include "MotorDriver.h"
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#include "DIAG.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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MotorDriver::MotorDriver(byte 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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getFastPin(F("POWER"),powerPin,fastPowerPin);
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pinMode(powerPin, OUTPUT);
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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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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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pinMode(brakePin, OUTPUT);
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setBrake(false);
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}
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else brakePin=UNUSED_PIN;
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currentPin=current_pin;
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pinMode(currentPin, INPUT);
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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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senseFactor=sense_factor;
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tripMilliamps=trip_milliamps;
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rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
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}
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void MotorDriver::setPower(bool on) {
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if (on) {
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// toggle brake before turning power on - resets overcurrent error
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// on the Pololu board if brake is wired to ^D2.
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setBrake(true);
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setBrake(false);
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setHIGH(fastPowerPin);
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}
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else setLOW(fastPowerPin);
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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) {
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if (brakePin == UNUSED_PIN) return;
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if (on ^ invertBrake) setHIGH(fastBrakePin);
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else setLOW(fastBrakePin);
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}
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void MotorDriver::setSignal( bool high) {
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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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int MotorDriver::getCurrentRaw() {
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int current = analogRead(currentPin);
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if (faultPin != UNUSED_PIN && isLOW(fastFaultPin) && isHIGH(fastPowerPin))
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return -current;
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return current;
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// IMPORTANT: This function can 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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}
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unsigned int MotorDriver::raw2mA( int raw) {
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return (unsigned int)(raw * senseFactor);
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}
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int MotorDriver::mA2raw( unsigned int mA) {
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return (int)(mA / senseFactor);
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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("\nMotorDriver %S Pin=%d,"),type,pin);
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uint8_t port = digitalPinToPort(pin);
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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\n"),port, result.inout,input,result.maskHIGH);
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}
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