rusefi-1/firmware/controllers/system/dc_motor.h

101 lines
2.7 KiB
C++

/**
* @file dc_motor.h
*
* ETB user documentation at https://github.com/rusefi/rusefi/wiki/HOWTO_electronic_throttle_body
*
*
* @date Dec 22, 2018
* @author Matthew Kennedy, (c) 2018
*/
#pragma once
/**
* @brief Brushed or brushless DC motor interface
*
* Represents a DC motor (brushed or brushless) that provides simple
* torque/power/current/duty cycle control, but not accurate absolute position control.
*/
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 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;
};
struct IPwm;
class OutputPin;
/**
* @brief Represents a DC motor controller (H-bridge) with some combination of PWM and on/off control pins.
*
*/
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,
/**
* 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,
* turn the motor one direction (positive duty), and = 01 should turn the other way (negative
* duty).
*
* For example VNH2SP30 - three control wires:
* PWM on 'enable' PIN, two binary pins for direction
*
* 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,
};
private:
IPwm* m_enable = nullptr;
IPwm* m_dir1 = nullptr;
IPwm* m_dir2 = nullptr;
OutputPin* const m_disable;
float m_value = 0;
bool m_isInverted = false;
ControlType m_type = ControlType::PwmDirectionPins;
public:
/**
* @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);
void configure(IPwm& enable, IPwm& dir1, IPwm& dir2, bool isInverted);
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; }
};