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DC motor improvements (#1025) 

* extract interface, comments, conform names

* fwd declare
This commit is contained in:
Matthew Kennedy 2019-11-22 13:30:44 -08:00 committed by rusefi
parent d19f306d4a
commit 10a6f652d3
3 changed files with 29 additions and 20 deletions
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22
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -136,7 +136,7 @@ public:
pin_output_mode_e *pinEnableMode,
brain_pin_e pinDir1,
brain_pin_e pinDir2) {
dcMotor.SetType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
m_pinEnable.initPin("ETB Enable", pinEnable, pinEnableMode);
m_pinDir1.initPin("ETB Dir 1", pinDir1);
@ -211,7 +211,7 @@ static percent_t currentEtbDuty;
}
if (startupPositionError) {
etb->dcMotor.Set(0);
etb->dcMotor.set(0);
return;
}
@ -221,12 +221,12 @@ static percent_t currentEtbDuty;
}
if (!cisnan(directPwmValue)) {
etb->dcMotor.Set(directPwmValue);
etb->dcMotor.set(directPwmValue);
return;
}
if (boardConfiguration->pauseEtbControl) {
etb->dcMotor.Set(0);
etb->dcMotor.set(0);
return;
}
@ -243,7 +243,7 @@ static percent_t currentEtbDuty;
autoTune.output,
value);
scheduleMsg(&logger, "AT PID=%f", value);
etb->dcMotor.Set(ETB_PERCENT_TO_DUTY(value));
etb->dcMotor.set(ETB_PERCENT_TO_DUTY(value));
if (result) {
scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
@ -275,7 +275,7 @@ static percent_t currentEtbDuty;
currentEtbDuty = engine->engineState.etbFeedForward +
etbPid.getOutput(targetPosition, actualThrottlePosition);
etb->dcMotor.Set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
etb->dcMotor.set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
if (engineConfiguration->isVerboseETB) {
etbPid.showPidStatus(&logger, "ETB");
@ -348,7 +348,7 @@ void setThrottleDutyCycle(percent_t level) {
float dc = ETB_PERCENT_TO_DUTY(level);
directPwmValue = dc;
for (int i = 0 ; i < ETB_COUNT; i++) {
etbControls[i].dcMotor.Set(dc);
etbControls[i].dcMotor.set(dc);
}
scheduleMsg(&logger, "duty ETB duty=%f", dc);
}
@ -379,7 +379,7 @@ static void showEthInfo(void) {
for (int i = 0 ; i < ETB_COUNT; i++) {
EtbControl *etb = &etbControls[i];
scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.Get());
scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
}
etbPid.showPidStatus(&logger, "ETB");
@ -400,7 +400,7 @@ static void etbReset() {
scheduleMsg(&logger, "etbReset");
for (int i = 0 ; i < ETB_COUNT; i++) {
etbControls[i].dcMotor.Set(0);
etbControls[i].dcMotor.set(0);
}
etbPid.reset();
@ -648,11 +648,11 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
for (int i = 0 ; i < ETB_COUNT; i++) {
EtbControl *etb = &etbControls[i];
etb->dcMotor.Set(70);
etb->dcMotor.set(70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsWideOpen();
etb->dcMotor.Set(-70);
etb->dcMotor.set(-70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsClosed();

5
firmware/controllers/system/dc_motor.cpp
View File

@ -7,6 +7,7 @@
*/
#include "dc_motor.h"
#include "pwm_generator_logic.h"
TwoPinDcMotor::TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2)
: m_enable(enable)
@ -19,14 +20,14 @@ bool TwoPinDcMotor::isOpenDirection() const {
return m_value >= 0;
}
float TwoPinDcMotor::Get() const {
float TwoPinDcMotor::get() const {
return m_value;
}
/**
* @param duty value between -1.0 and 1.0
*/
bool TwoPinDcMotor::Set(float duty)
bool TwoPinDcMotor::set(float duty)
{
m_value = duty;

22
firmware/controllers/system/dc_motor.h
View File

@ -7,8 +7,6 @@
#pragma once
#include "pwm_generator_logic.h"
/**
* @brief Brushed or brushless DC motor interface
*
@ -23,9 +21,19 @@ public:
* @param duty +1.0f represents full power forward, and -1.0f represents full power backward.
* @return True if any fault was detected driving the motor, and false if successful.
*/
virtual bool Set(float duty) = 0;
virtual bool set(float duty) = 0;
/**
* @brief Get the current motor duty cycle.
* @return The current duty cycle setting. +1.0f represents full power forward, and -1.0f represents full power backward.
*/
virtual float get() const = 0;
virtual bool isOpenDirection() const = 0;
};
class SimplePwm;
/**
* @brief Represents a DC motor controller (H bridge) with one pin for enable (PWM),
* and two pins for direction control.
@ -70,9 +78,9 @@ public:
*/
TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2);
virtual bool Set(float duty) override;
float Get() const;
bool isOpenDirection() const;
virtual bool set(float duty) override;
float get() const override;
bool isOpenDirection() const override;
void SetType(ControlType type) { m_type = type; }
void setType(ControlType type) { m_type = type; }
};