From 50889671c0e9e178e87fde140eab617ee0e9168c Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 18 Aug 2021 22:33:33 -0700
Subject: [PATCH] fix ETB PWM (#2870)

* iwpm

* dc motor has configure

* consume

* format

* use fake PWM to save one SimplePwm instance

* comments

* not sure why I changed that

* init the pins otherwise

* typo

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
---
 firmware/controllers/actuators/dc_motors.cpp | 83 +++++++++++++-------
 1 file changed, 54 insertions(+), 29 deletions(-)

diff --git a/firmware/controllers/actuators/dc_motors.cpp b/firmware/controllers/actuators/dc_motors.cpp
index ca7566ed19..5ad3f2dd76 100644
--- a/firmware/controllers/actuators/dc_motors.cpp
+++ b/firmware/controllers/actuators/dc_motors.cpp
@@ -12,6 +12,17 @@
 #include "dc_motors.h"
 #include "dc_motor.h"
 
+// Simple wrapper to use an OutputPin as "PWM" that can only do 0 or 1
+struct PwmWrapper : public IPwm {
+	OutputPin& m_pin;
+
+	PwmWrapper(OutputPin& pin) : m_pin(pin) { }
+
+	void setSimplePwmDutyCycle(float dutyCycle) override {
+		m_pin.setValue(dutyCycle > 0.5f);
+	}
+};
+
 class DcHardware {
 private:
 	OutputPin m_pinEnable;
@@ -19,9 +30,12 @@ private:
 	OutputPin m_pinDir2;
 	OutputPin m_disablePin;
 
-	SimplePwm m_pwmEnable;
-	SimplePwm m_pwmDir1;
-	SimplePwm m_pwmDir2;
+	PwmWrapper wrappedEnable{m_pinEnable};
+	PwmWrapper wrappedDir1{m_pinDir1};
+	PwmWrapper wrappedDir2{m_pinDir2};
+
+	SimplePwm m_pwm1;
+	SimplePwm m_pwm2;
 
 public:
 	DcHardware() : dcMotor(m_disablePin) {}
@@ -29,9 +43,8 @@ public:
 	TwoPinDcMotor dcMotor;
 	
 	void setFrequency(int frequency) {
-		m_pwmEnable.setFrequency(frequency);
-		m_pwmDir1.setFrequency(frequency);
-		m_pwmDir2.setFrequency(frequency);
+		m_pwm1.setFrequency(frequency);
+		m_pwm2.setFrequency(frequency);
 	}
 
 	void start(bool useTwoWires, 
@@ -50,34 +63,46 @@ public:
 		// Clamp to >100hz
 		int clampedFrequency = maxI(100, frequency);
 
+		if (useTwoWires) {
+			m_pinEnable.initPin("ETB Enable", pinEnable);
+
 // no need to complicate event queue with ETB PWM in unit tests
 #if ! EFI_UNIT_TEST
-		startSimplePwmHard(&m_pwmEnable, "ETB Enable",
-			executor,
-			pinEnable,
-			&m_pinEnable,
-			clampedFrequency,
-			0
-		);
+			startSimplePwmHard(&m_pwm1, "ETB Dir 1",
+				executor,
+				pinDir1,
+				&m_pinDir1,
+				clampedFrequency,
+				0
+			);
 
-		startSimplePwmHard(&m_pwmDir1, "ETB Dir 1",
-			executor,
-			pinDir1,
-			&m_pinDir1,
-			clampedFrequency,
-			0
-		);
+			startSimplePwmHard(&m_pwm2, "ETB Dir 2",
+				executor,
+				pinDir2,
+				&m_pinDir2,
+				clampedFrequency,
+				0
+			);
+#endif // EFI_UNIT_TEST
 
-		startSimplePwmHard(&m_pwmDir2, "ETB Dir 2",
-			executor,
-			pinDir2,
-			&m_pinDir2,
-			clampedFrequency,
-			0
-		);
-#endif /* EFI_UNIT_TEST */
+			dcMotor.configure(wrappedEnable, m_pwm1, m_pwm2);
+		} else {
+			m_pinDir1.initPin("ETB Dir 1", pinDir1);
+			m_pinDir2.initPin("ETB Dir 2", pinDir2);
 
-		dcMotor.configure(m_pwmEnable, m_pwmDir1, m_pwmDir2);
+// no need to complicate event queue with ETB PWM in unit tests
+#if ! EFI_UNIT_TEST
+			startSimplePwmHard(&m_pwm1, "ETB Enable",
+				executor,
+				pinEnable,
+				&m_pinEnable,
+				clampedFrequency,
+				0
+			);
+#endif // EFI_UNIT_TEST
+
+			dcMotor.configure(m_pwm1, wrappedDir1, wrappedDir2);
+		}
 	}
 };