mirror of https://github.com/rusefi/rusefi.git
108 lines
2.8 KiB
C++
108 lines
2.8 KiB
C++
/**
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* @file dc_motor.h
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*
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* ETB user documentation at https://github.com/rusefi/rusefi/wiki/HOWTO_electronic_throttle_body
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*
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*
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* @date Dec 22, 2018
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* @author Matthew Kennedy, (c) 2018
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*/
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#pragma once
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/**
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* @brief Brushed or brushless DC motor interface
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*
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* Represents a DC motor (brushed or brushless) that provides simple
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* torque/power/current/duty cycle control, but not accurate absolute position control.
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*/
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class DcMotor
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{
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public:
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/**
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* @brief Sets the motor duty cycle.
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* @param duty +1.0f represents full power forward, and -1.0f represents full power backward.
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* @return True if any fault was detected driving the motor, and false if successful.
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*/
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virtual bool set(float duty) = 0;
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/**
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* @brief Get the current motor duty cycle.
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* @return The current duty cycle setting. +1.0f represents full power forward, and -1.0f represents full power backward.
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*/
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virtual float get() const = 0;
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virtual void disable(const char *msg) = 0;
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virtual void enable() = 0;
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virtual bool isOpenDirection() const = 0;
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const char* msg() const {
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return m_msg;
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}
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protected:
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const char* m_msg = nullptr;
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};
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struct IPwm;
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class OutputPin;
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/**
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* @brief Represents a DC motor controller (H-bridge) with some combination of PWM and on/off control pins.
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*
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*/
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class TwoPinDcMotor : public DcMotor
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{
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public:
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enum class ControlType
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{
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/**
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* For example TLE7209 - two control wires:
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* PWM on both wires - one to open, another to close
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*/
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PwmDirectionPins,
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/**
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* The control/enable pin is used for PWM and disable, and the two direction pins are used
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* to set the polarity of each half of the H bridge. setting {dir1,dir2} = 10 should,
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* turn the motor one direction (positive duty), and = 01 should turn the other way (negative
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* duty).
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*
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* For example VNH2SP30 - three control wires:
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* PWM on 'enable' PIN, two binary pins for direction
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*
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* TLE9201 with two wire control also uses this mode
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* PWM on one pin, open/close using one binary direction pin, second direction pin unused
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*/
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PwmEnablePin,
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};
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private:
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IPwm* m_enable = nullptr;
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IPwm* m_dir1 = nullptr;
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IPwm* m_dir2 = nullptr;
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OutputPin* const m_disable;
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float m_value = 0;
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bool m_isInverted = false;
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ControlType m_type = ControlType::PwmDirectionPins;
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public:
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/**
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* @param enable IPwm driver for enable pin, for PWM speed control.
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* @param dir1 Enable 1 or direction 1 pin. Gets set high to rotate forward.
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* @param dir2 Enable 2 or direction 2 pin. Gets set high to rotate backward.
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*/
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TwoPinDcMotor(OutputPin& disable);
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void configure(IPwm& enable, IPwm& dir1, IPwm& dir2, bool isInverted);
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virtual bool set(float duty) override;
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float get() const override;
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bool isOpenDirection() const override;
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void enable() override;
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void disable(const char *msg) override;
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void setType(ControlType type) { m_type = type; }
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};
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