mirror of https://github.com/rusefi/bldc.git
80 lines
2.1 KiB
C
80 lines
2.1 KiB
C
/*
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Copyright 2016 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "timeout.h"
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#include "mc_interface.h"
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// Private variables
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static volatile systime_t timeout_msec;
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static volatile systime_t last_update_time;
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static volatile float timeout_brake_current;
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static volatile bool has_timeout;
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// Threads
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static THD_WORKING_AREA(timeout_thread_wa, 512);
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static THD_FUNCTION(timeout_thread, arg);
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void timeout_init(void) {
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timeout_msec = 1000;
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last_update_time = 0;
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timeout_brake_current = 0.0;
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has_timeout = false;
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chThdCreateStatic(timeout_thread_wa, sizeof(timeout_thread_wa), NORMALPRIO, timeout_thread, NULL);
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}
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void timeout_configure(systime_t timeout, float brake_current) {
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timeout_msec = timeout;
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timeout_brake_current = brake_current;
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}
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void timeout_reset(void) {
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last_update_time = chVTGetSystemTime();
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}
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bool timeout_has_timeout(void) {
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return has_timeout;
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}
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systime_t timeout_get_timeout_msec(void) {
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return timeout_msec;
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}
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float timeout_get_brake_current(void) {
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return timeout_brake_current;
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}
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static THD_FUNCTION(timeout_thread, arg) {
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(void)arg;
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chRegSetThreadName("Timeout");
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for(;;) {
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if (timeout_msec != 0 && chVTTimeElapsedSinceX(last_update_time) > MS2ST(timeout_msec)) {
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mc_interface_unlock();
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mc_interface_set_brake_current(timeout_brake_current);
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has_timeout = true;
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} else {
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has_timeout = false;
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}
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chThdSleepMilliseconds(10);
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}
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}
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