mirror of https://github.com/rusefi/rusefi.git
147 lines
3.3 KiB
C++
147 lines
3.3 KiB
C++
/**
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* @file dc_motors.cpp
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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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#include "pch.h"
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#include "periodic_task.h"
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#include "dc_motors.h"
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void DcHardware::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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if (isStarted) {
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// actually implement stop()
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return;
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}
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isStarted = true;
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dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
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// Configure the disable pin first - ensure things are in a safe state
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m_disablePin.initPin(disPinMsg, pinDisable);
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m_disablePin.setValue(0);
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// Clamp to >100hz
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int clampedFrequency = maxI(100, frequency);
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if (clampedFrequency > ETB_HW_MAX_FREQUENCY) {
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criticalError("Electronic throttle frequency too high, maximum %d hz", ETB_HW_MAX_FREQUENCY);
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return;
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}
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if (useTwoWires) {
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m_pinEnable.initPin("ETB Enable", pinEnable);
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// no need to complicate event queue with ETB PWM in unit tests
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#if ! EFI_UNIT_TEST
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startSimplePwmHard(&m_pwm1, "ETB Dir 1",
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executor,
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pinDir1,
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&m_pinDir1,
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clampedFrequency,
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/*dutyCycle*/0
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);
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startSimplePwmHard(&m_pwm2, "ETB Dir 2",
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executor,
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pinDir2,
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&m_pinDir2,
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clampedFrequency,
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/*dutyCycle*/0
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);
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#endif // EFI_UNIT_TEST
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dcMotor.configure(wrappedEnable, m_pwm1, m_pwm2, isInverted);
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} else {
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m_pinDir1.initPin("ETB Dir 1", pinDir1);
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m_pinDir2.initPin("ETB Dir 2", pinDir2);
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// no need to complicate event queue with ETB PWM in unit tests
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#if ! EFI_UNIT_TEST
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startSimplePwmHard(&m_pwm1, "ETB Enable",
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executor,
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pinEnable,
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&m_pinEnable,
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clampedFrequency,
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/*dutyCycle*/0
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);
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#endif // EFI_UNIT_TEST
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dcMotor.configure(m_pwm1, wrappedDir1, wrappedDir2, isInverted);
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}
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}
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static DcHardware dcHardware[ETB_COUNT + DC_PER_STEPPER];
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DcHardware *getPrimaryDCHardwareForLogging() {
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return &dcHardware[0];
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}
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DcMotor* initDcMotor(const char *disPinMsg,const dc_io& io, size_t index, bool useTwoWires) {
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auto& hw = dcHardware[index];
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hw.start(
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useTwoWires,
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io.controlPin,
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io.directionPin1,
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io.directionPin2,
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disPinMsg,
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io.disablePin,
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// todo You would not believe how you invert TLE9201 #4579
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engineConfiguration->stepperDcInvertedPins,
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&engine->executor,
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engineConfiguration->etbFreq
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);
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return &hw.dcMotor;
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}
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DcMotor* initDcMotor(brain_pin_e coil_p, brain_pin_e coil_m, size_t index) {
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auto& hw = dcHardware[index];
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hw.start(
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true, /* useTwoWires */
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Gpio::Unassigned, /* pinEnable */
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coil_p,
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coil_m,
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nullptr,
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Gpio::Unassigned, /* pinDisable */
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engineConfiguration->stepperDcInvertedPins,
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&engine->executor,
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engineConfiguration->etbFreq /* same in case of stepper? */
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);
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return &hw.dcMotor;
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}
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void setDcMotorFrequency(size_t index, int hz) {
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dcHardware[index].setFrequency(hz);
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}
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void setDcMotorDuty(size_t index, float duty) {
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dcHardware[index].dcMotor.set(duty);
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}
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void showDcMotorInfo(int i) {
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DcHardware *dc = &dcHardware[i];
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efiPrintf(" motor: dir=%d DC=%f", dc->dcMotor.isOpenDirection(), dc->dcMotor.get());
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const char *disableMsg = dc->msg();
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if (disableMsg != nullptr) {
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efiPrintf("disabled [%s]", disableMsg);
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}
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}
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