107 lines
2.9 KiB
C++
107 lines
2.9 KiB
C++
/**
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* @file electronic_throttle.cpp
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* @brief Electronic Throttle Module driver L298N
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*
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* todo: make this more universal if/when we get other hardware options
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*
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* @date Dec 7, 2013
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* @author Andrey Belomutskiy, (c) 2012-2015
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*
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* This file is part of rusEfi - see http://rusefi.com
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*
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* rusEfi is free software; you can redistribute it and/or modify it under the terms of
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* the GNU General Public License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
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* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with this program.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "main.h"
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#include "electronic_throttle.h"
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#include "pin_repository.h"
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#include "idle_controller.h"
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#include "tps.h"
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#include "io_pins.h"
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#include "engine_configuration.h"
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#include "pwm_generator.h"
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#include "pwm_generator_logic.h"
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#include "pid.h"
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#if EFI_ELECTRONIC_THROTTLE_BODY || defined(__DOXYGEN__)
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#define ETB_FREQ 400
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static LoggingWithStorage logger("ETB");
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/**
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* @brief Control Thread stack
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*/
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static THD_WORKING_AREA(etbTreadStack, UTILITY_THREAD_STACK_SIZE);
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/**
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* @brief Pulse-Width Modulation state
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*/
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static SimplePwm etbPwmUp;
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static OutputPin output1;
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static SimplePwm etbPwmDown;
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static OutputPin output2;
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static Pid pid(10, 0, 0, 1, 90);
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static float prevTps;
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EXTERN_ENGINE;
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static msg_t etbThread(void *arg) {
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while (TRUE) {
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int tps = (int)getTPS();
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if (tps != prevTps) {
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prevTps = tps;
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scheduleMsg(&logger, "tps=%d", (int) tps);
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}
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// this thread is activated 10 times per second
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chThdSleepMilliseconds(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 setThrottleConsole(int level) {
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scheduleMsg(&logger, "setting throttle=%d", level);
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float dc = 0.01 + (minI(level, 98)) / 100.0;
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etbPwmUp.setSimplePwmDutyCycle(dc);
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print("st = %f\r\n", dc);
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}
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void initElectronicThrottle(void) {
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// these two lines are controlling direction
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// outputPinRegister("etb1", ELECTRONIC_THROTTLE_CONTROL_1, ETB_CONTROL_LINE_1_PORT, ETB_CONTROL_LINE_1_PIN);
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// outputPinRegister("etb2", ELECTRONIC_THROTTLE_CONTROL_2, ETB_CONTROL_LINE_2_PORT, ETB_CONTROL_LINE_2_PIN);
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// this line used for PWM
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startSimplePwmExt(&etbPwmUp, "etb1",
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boardConfiguration->etbControlPin1,
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&output1,
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ETB_FREQ,
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0.80,
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applyPinState);
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startSimplePwmExt(&etbPwmUp, "etb2",
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boardConfiguration->etbControlPin2,
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&output2,
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ETB_FREQ,
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0.80,
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applyPinState);
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addConsoleActionI("e", setThrottleConsole);
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chThdCreateStatic(etbTreadStack, sizeof(etbTreadStack), NORMALPRIO, (tfunc_t) etbThread, NULL);
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}
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#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
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