mirror of https://github.com/rusefi/rusefi.git
80 lines
1.6 KiB
C++
80 lines
1.6 KiB
C++
/**
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* @file dc_motors.h
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*
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* @date March 3, 2020
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* @author Matthew Kennedy (c) 2020
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*/
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#pragma once
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#include "dc_motor.h"
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#include <cstddef>
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DcMotor* initDcMotor(const char *disPinMsg, const dc_io& io, size_t index, bool useTwoWires);
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DcMotor* initDcMotor(brain_pin_e coil_p, brain_pin_e coil_m, size_t index);
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// Manual control of motors for use by console commands
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void setDcMotorFrequency(size_t index, int hz);
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void setDcMotorDuty(size_t index, float duty);
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void showDcMotorInfo(int i);
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// Simple wrapper to use an OutputPin as "PWM" that can only do 0 or 1
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struct PwmWrapper : public IPwm {
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OutputPin& m_pin;
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PwmWrapper(OutputPin& pin) : m_pin(pin) { }
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void setSimplePwmDutyCycle(float dutyCycle) override {
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m_pin.setValue(dutyCycle > 0.5f);
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}
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};
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class DcHardware {
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private:
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OutputPin m_pinEnable;
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OutputPin m_pinDir1;
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OutputPin m_pinDir2;
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OutputPin m_disablePin;
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PwmWrapper wrappedEnable{m_pinEnable};
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PwmWrapper wrappedDir1{m_pinDir1};
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PwmWrapper wrappedDir2{m_pinDir2};
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SimplePwm m_pwm1;
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SimplePwm m_pwm2;
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bool isStarted = false;
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public:
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DcHardware() : dcMotor(m_disablePin) {}
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void start(bool useTwoWires,
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brain_pin_e pinEnable,
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brain_pin_e pinDir1,
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brain_pin_e pinDir2,
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const char *disPinMsg,
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brain_pin_e pinDisable,
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bool isInverted,
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ExecutorInterface* executor,
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int frequency);
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TwoPinDcMotor dcMotor;
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void setFrequency(int frequency) {
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m_pwm1.setFrequency(frequency);
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m_pwm2.setFrequency(frequency);
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}
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const char *msg() {
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return dcMotor.msg();
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}
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void stop() {
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// todo: replace 'isStarted' with 'stop'
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}
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};
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DcHardware *getPrimaryDCHardwareForLogging();
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