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dc motor api (#2869) 

* iwpm

* dc motor has configure

* consume

* format

* spelling
This commit is contained in:
Matthew Kennedy 2021-06-26 18:42:40 -07:00 committed by GitHub
parent c1178a0464
commit cd055a687d
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 88 additions and 68 deletions
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4
firmware/controllers/actuators/dc_motors.cpp
View File

@ -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);
}
};

68
firmware/controllers/system/dc_motor.cpp
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@ -10,15 +10,18 @@
#include "efi_gpio.h"
#include "pwm_generator_logic.h"
TwoPinDcMotor::TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2, OutputPin* disablePin)
: m_enable(enable)
, m_dir1(dir1)
, m_dir2(dir2)
, m_disable(disablePin)
TwoPinDcMotor::TwoPinDcMotor(OutputPin& disablePin)
: 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) {
duty = -duty;
}
return false;
}
// below here 'duty' is a not negative
bool isPositive = duty > 0;
// Clamp to 100%
if (duty > 1.0f) {
duty = 1.0f;
}
// Disable for very small duty
else if (duty < 0.01f)
{
duty = 0.0f;
}
if (!isPositive) {
duty = -duty;
}
// If we're in two pin mode, force 100%, else use this pin to PWM
float enableDuty = m_type == ControlType::PwmEnablePin ? duty : 1;
// below here 'duty' is a not negative
// Direction pins get 100% duty unless we're in PwmDirectionPins mode
float dirDuty = m_type == ControlType::PwmDirectionPins ? duty : 1;
// Clamp to 100%
if (duty > 1.0f) {
duty = 1.0f;
}
// Disable for very small duty
else if (duty < 0.01f)
{
duty = 0.0f;
}
m_enable->setSimplePwmDutyCycle(enableDuty);
m_dir1->setSimplePwmDutyCycle(isPositive ? dirDuty : 0);
m_dir2->setSimplePwmDutyCycle(isPositive ? 0 : dirDuty);
// If we're in two pin mode, force 100%, else use this pin to PWM
float enableDuty = m_type == ControlType::PwmEnablePin ? duty : 1;
// This motor has no fault detection, so always return false (indicate success).
return false;
// Direction pins get 100% duty unless we're in PwmDirectionPins mode
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;
}

76
firmware/controllers/system/dc_motor.h
View File

@ -19,26 +19,26 @@
class DcMotor
{
public:
/**
* @brief Sets the motor duty cycle.
* @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.
*/
virtual bool set(float duty) = 0;
/**
* @brief Sets the motor duty cycle.
* @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.
*/
virtual bool set(float duty) = 0;
/**
* @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.
*/
virtual float get() const = 0;
/**
* @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.
*/
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
{
/**
* For example TLE7209 - two control wires:
* PWM on both wires - one to open, another to close
*/
PwmDirectionPins,
enum class ControlType
{
/**
* For example TLE7209 - two control wires:
* PWM on both wires - one to open, another to close
*/
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;
SimplePwm* const m_dir1;
SimplePwm* const m_dir2;
IPwm* m_enable;
IPwm* m_dir1;
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 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.
*/
TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2, OutputPin* disable);
/**
* @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 dir2 Enable 2 or direction 2 pin. Gets set high to rotate backward.
*/
TwoPinDcMotor(OutputPin& disable);
virtual bool set(float duty) override;
float get() const override;
bool isOpenDirection() const override;
void configure(IPwm& enable, IPwm& dir1, IPwm& dir2);
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; }
};

8
firmware/controllers/system/timer/pwm_generator_logic.h
View File

@ -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];