mirror of https://github.com/FOME-Tech/fome-fw.git
65 lines
1.6 KiB
C++
65 lines
1.6 KiB
C++
/**
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* @file alternatorController.cpp
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* @brief alternator controller - turn alternator off if you do not really need it
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*
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* @date Apr 6, 2014
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* @author Dmitry Sidin
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* @author Andrey Belomutskiy, (c) 2012-2015
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*/
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#include "main.h"
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#include "rpm_calculator.h"
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#include "pwm_generator.h"
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#include "alternatorController.h"
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#include "pin_repository.h"
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#include "engine.h"
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#include "voltage.h"
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#include "pid.h"
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EXTERN_ENGINE
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;
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static Logging *logger;
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#define ALTERNATOR_VALVE_PWM_FREQUENCY 300
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static SimplePwm alternatorControl;
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static OutputPin alternatorPin;
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static Pid altPid(10, 0, 0, 10, 90);
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static THD_WORKING_AREA(ivThreadStack, UTILITY_THREAD_STACK_SIZE);
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static msg_t AltCtrlThread(int param) {
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chRegSetThreadName("AlternatorController");
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while (true) {
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chThdSleepMilliseconds(100);
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float result = altPid.getValue(14, getVBatt(engineConfiguration), 1);
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scheduleMsg(logger, "alt duty: %f", result);
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alternatorControl.setSimplePwmDutyCycle(result / 100);
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}
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#if defined __GNUC__
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return -1;
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#endif
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}
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static void setAltPid(float p) {
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scheduleMsg(logger, "setAltPid: %f", p);
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altPid.updateFactors(p, 0, 0);
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}
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void initAlternatorCtrl(Logging *sharedLogger) {
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logger = sharedLogger;
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if (boardConfiguration->alternatorControlPin == GPIO_UNASSIGNED)
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return;
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startSimplePwmExt(&alternatorControl, "Alternator control", boardConfiguration->alternatorControlPin,
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&alternatorPin,
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ALTERNATOR_VALVE_PWM_FREQUENCY, 0.1, applyPinState);
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chThdCreateStatic(ivThreadStack, sizeof(ivThreadStack), LOWPRIO, (tfunc_t) AltCtrlThread, NULL);
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addConsoleActionF("alt_pid", setAltPid);
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}
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