mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-23 21:01:25 +01:00
92 lines
2.9 KiB
C++
92 lines
2.9 KiB
C++
/*
|
|
* © 2021 Mike S
|
|
* © 2021 Fred Decker
|
|
* © 2020 Chris Harlow
|
|
* All rights reserved.
|
|
*
|
|
* This file is part of Asbelos DCC API
|
|
*
|
|
* 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 MotorDriver_h
|
|
#define MotorDriver_h
|
|
#include "FSH.h"
|
|
|
|
// Virtualised Motor shield 1-track hardware Interface
|
|
|
|
#ifndef UNUSED_PIN // sync define with the one in MotorDrivers.h
|
|
#define UNUSED_PIN 127 // inside int8_t
|
|
#endif
|
|
|
|
#if defined(__IMXRT1062__)
|
|
struct FASTPIN {
|
|
volatile uint32_t *inout;
|
|
uint32_t maskHIGH;
|
|
uint32_t maskLOW;
|
|
};
|
|
#else
|
|
struct FASTPIN {
|
|
volatile uint8_t *inout;
|
|
uint8_t maskHIGH;
|
|
uint8_t maskLOW;
|
|
};
|
|
#endif
|
|
|
|
class MotorDriver {
|
|
public:
|
|
MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
|
|
byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
|
|
virtual void setPower( bool on);
|
|
virtual void setSignal( bool high);
|
|
virtual void setBrake( bool on);
|
|
virtual int getCurrentRaw();
|
|
virtual unsigned int raw2mA( int raw);
|
|
virtual int mA2raw( unsigned int mA);
|
|
inline int getRawCurrentTripValue() {
|
|
return rawCurrentTripValue;
|
|
}
|
|
bool isPWMCapable();
|
|
bool canMeasureCurrent();
|
|
static bool usePWM;
|
|
static bool commonFaultPin; // This is a stupid motor shield which has only a common fault pin for both outputs
|
|
inline byte getFaultPin() {
|
|
return faultPin;
|
|
}
|
|
private:
|
|
void getFastPin(const FSH* type,int pin, bool input, FASTPIN & result);
|
|
void getFastPin(const FSH* type,int pin, FASTPIN & result) {
|
|
getFastPin(type, pin, 0, result);
|
|
}
|
|
byte powerPin, signalPin, signalPin2, currentPin, faultPin, brakePin;
|
|
FASTPIN fastPowerPin,fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
|
|
bool dualSignal; // true to use signalPin2
|
|
bool invertBrake; // brake pin passed as negative means pin is inverted
|
|
float senseFactor;
|
|
int senseOffset;
|
|
unsigned int tripMilliamps;
|
|
int rawCurrentTripValue;
|
|
#if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41)
|
|
static bool disableInterrupts() {
|
|
uint32_t primask;
|
|
__asm__ volatile("mrs %0, primask\n" : "=r" (primask)::);
|
|
__disable_irq();
|
|
return (primask == 0) ? true : false;
|
|
}
|
|
static void enableInterrupts(bool doit) {
|
|
if (doit) __enable_irq();
|
|
}
|
|
#endif
|
|
};
|
|
#endif
|