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);
@@ -49,6 +52,15 @@ bool TwoPinDcMotor::set(float duty)
 {
 	m_value = duty;
 
+	// If not init, don't try to set
+	if (!m_dir1 || !m_dir2 || !m_enable) {
+		if (m_disable) {
+			m_disable->setValue(true);
+		}
+
+		return false;
+	}
+
 	bool isPositive = duty > 0;
 
 	if (!isPositive) {

firmware/controllers/system/dc_motor.h

@@ -38,7 +38,7 @@ public:
 	virtual bool isOpenDirection() const = 0;
 };
 
-class SimplePwm;
+struct IPwm;
 class OutputPin;
 
 /**
@@ -71,20 +71,22 @@ public:
 	};
 
 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;
 
 	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 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);
+
+	void configure(IPwm& enable, IPwm& dir1, IPwm& dir2);
 
 	virtual bool set(float duty) override;
 	float get() const override;

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];