dc motor api (#2869)

* iwpm

* dc motor has configure

* consume

* format

* spelling

firmware/controllers/actuators/dc_motors.cpp

@@ -31,7 +31,7 @@ private:
 	SimplePwm m_pwmDir2;
 
 public:
-	DcHardware() : dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2, &m_disablePin) {}
+	DcHardware() : dcMotor(m_disablePin) {}
 
 	TwoPinDcMotor dcMotor;
 	
@@ -83,6 +83,8 @@ public:
 			0
 		);
 #endif /* EFI_UNIT_TEST */
+
+		dcMotor.configure(m_pwmEnable, m_pwmDir1, m_pwmDir2);
 	}
 };
 

firmware/controllers/system/dc_motor.cpp

@@ -10,15 +10,18 @@
 #include "efi_gpio.h"
 #include "pwm_generator_logic.h"
 
-TwoPinDcMotor::TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2, OutputPin* disablePin)
+TwoPinDcMotor::TwoPinDcMotor(OutputPin& disablePin)
-    : m_enable(enable)
+	: m_disable(&disablePin)
-    , m_dir1(dir1)
-    , m_dir2(dir2)
-	, m_disable(disablePin)
 {
 	disable();
 }
 
+void TwoPinDcMotor::configure(IPwm& enable, IPwm& dir1, IPwm& dir2) {
+	m_enable = &enable;
+	m_dir1 = &dir1;
+	m_dir2 = &dir2;
+}
+
 void TwoPinDcMotor::enable() {
 	if (m_disable) {
 		m_disable->setValue(false);
@@ -49,34 +52,43 @@ bool TwoPinDcMotor::set(float duty)
 {
 	m_value = duty;
 
-    bool isPositive = duty > 0;
+	// If not init, don't try to set
+	if (!m_dir1 || !m_dir2 || !m_enable) {
+		if (m_disable) {
+			m_disable->setValue(true);
+		}
 
-    if (!isPositive) {
+		return false;
-        duty = -duty;
+	}
-    }
 
-    // below here 'duty' is a not negative
+	bool isPositive = duty > 0;
 
-    // Clamp to 100%
+	if (!isPositive) {
-    if (duty > 1.0f) {
+		duty = -duty;
-        duty = 1.0f;
+	}
-    }
-    // Disable for very small duty
-    else if (duty < 0.01f)
-    {
-        duty = 0.0f;
-    }
 
-    // If we're in two pin mode, force 100%, else use this pin to PWM
+	// below here 'duty' is a not negative
-    float enableDuty = m_type == ControlType::PwmEnablePin ? duty : 1;
 
-    // Direction pins get 100% duty unless we're in PwmDirectionPins mode
+	// Clamp to 100%
-    float dirDuty = m_type == ControlType::PwmDirectionPins ? duty : 1;
+	if (duty > 1.0f) {
+		duty = 1.0f;
+	}
+	// Disable for very small duty
+	else if (duty < 0.01f)
+	{
+		duty = 0.0f;
+	}
 
-    m_enable->setSimplePwmDutyCycle(enableDuty);
+	// If we're in two pin mode, force 100%, else use this pin to PWM
-    m_dir1->setSimplePwmDutyCycle(isPositive ? dirDuty : 0);
+	float enableDuty = m_type == ControlType::PwmEnablePin ? duty : 1;
-    m_dir2->setSimplePwmDutyCycle(isPositive ? 0 : dirDuty);
 
-    // This motor has no fault detection, so always return false (indicate success).
+	// Direction pins get 100% duty unless we're in PwmDirectionPins mode
-    return false;
+	float dirDuty = m_type == ControlType::PwmDirectionPins ? duty : 1;
+
+	m_enable->setSimplePwmDutyCycle(enableDuty);
+	m_dir1->setSimplePwmDutyCycle(isPositive ? dirDuty : 0);
+	m_dir2->setSimplePwmDutyCycle(isPositive ? 0 : dirDuty);
+
+	// This motor has no fault detection, so always return false (indicate success).
+	return false;
 }

firmware/controllers/system/dc_motor.h

@@ -19,26 +19,26 @@
 class DcMotor
 {
 public:
-    /**
+	/**
-     * @brief Sets the motor duty cycle.
+	 * @brief Sets the motor duty cycle.
-     * @param duty +1.0f represents full power forward, and -1.0f represents full power backward.
+	 * @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.
+	 * @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.
+	 * @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.
+	 * @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 float get() const = 0;
 
 	virtual void disable() = 0;
 	virtual void enable() = 0;
 
-    virtual bool isOpenDirection() const = 0;
+	virtual bool isOpenDirection() const = 0;
 };
 
-class SimplePwm;
+struct IPwm;
 class OutputPin;
 
 /**
@@ -48,13 +48,13 @@ class OutputPin;
 class TwoPinDcMotor : public DcMotor
 {
 public:
-    enum class ControlType
+	enum class ControlType
-    {
+	{
-    	/**
+		/**
-    	 * For example TLE7209 - two control wires:
+		 * For example TLE7209 - two control wires:
-    	 * PWM on both wires - one to open, another to close
+		 * PWM on both wires - one to open, another to close
-    	 */
+		 */
-        PwmDirectionPins,
+		PwmDirectionPins,
 		/**
 		  * The control/enable pin is used for PWM and disable, and the two direction pins are used
 		  * to set the polarity of each half of the H bridge.  setting {dir1,dir2} = 10 should,
@@ -67,31 +67,33 @@ public:
 		 * TLE9201 with two wire control also uses this mode
 		 * PWM on one pin, open/close using one binary direction pin, second direction pin unused
 		 */
-        PwmEnablePin,
+		PwmEnablePin,
-    };
+	};
 
 private:
-    SimplePwm* const m_enable;
+	IPwm* m_enable;
-    SimplePwm* const m_dir1;
+	IPwm* m_dir1;
-    SimplePwm* const m_dir2;
+	IPwm* m_dir2;
 	OutputPin* const m_disable;
-    float m_value = 0;
+	float m_value = 0;
 
-    ControlType m_type = ControlType::PwmDirectionPins;
+	ControlType m_type = ControlType::PwmDirectionPins;
 public:
-    /**
+	/**
-     * @param enable SimplePwm driver for enable pin, for PWM speed control.
+	 * @param enable IPwm driver for enable pin, for PWM speed control.
-     * @param dir1 Enable 1 or direction 1 pin.  Gets set high to rotate forward.
+	 * @param dir1 Enable 1 or direction 1 pin.  Gets set high to rotate forward.
-     * @param dir2 Enable 2 or direction 2 pin.  Gets set high to rotate backward.
+	 * @param dir2 Enable 2 or direction 2 pin.  Gets set high to rotate backward.
-     */
+	 */
-    TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2, OutputPin* disable);
+	TwoPinDcMotor(OutputPin& disable);
 
-    virtual bool set(float duty) override;
+	void configure(IPwm& enable, IPwm& dir1, IPwm& dir2);
-    float get() const override;
+
-    bool isOpenDirection() const override;
+	virtual bool set(float duty) override;
+	float get() const override;
+	bool isOpenDirection() const override;
 
 	void enable() override;
 	void disable() override;
 
-    void setType(ControlType type) { m_type = type; }
+	void setType(ControlType type) { m_type = type; }
 };

firmware/controllers/system/timer/pwm_generator_logic.h

@@ -117,11 +117,15 @@ private:
 
 struct hardware_pwm;
 
-class SimplePwm : public PwmConfig {
+struct IPwm {
+	virtual void setSimplePwmDutyCycle(float dutyCycle) = 0;
+};
+
+class SimplePwm : public PwmConfig, public IPwm {
 public:
 	SimplePwm();
 	explicit SimplePwm(const char *name);
-	virtual void setSimplePwmDutyCycle(float dutyCycle);
+	void setSimplePwmDutyCycle(float dutyCycle) override;
 	pin_state_t pinStates[2];
 	SingleChannelStateSequence sr[1];
 	float _switchTimes[2];