mirror of https://github.com/rusefi/rusefi-1.git
134 lines
2.9 KiB
C++
134 lines
2.9 KiB
C++
/**
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* @file dc_motors.cpp
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*
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* @date March 3, 2020
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* @author Matthew Kennedy (c) 2020
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*/
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#include "engine.h"
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#include "io_pins.h"
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#include "engine_configuration.h"
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#include "engine_controller.h"
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#include "periodic_task.h"
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#include "dc_motors.h"
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#include "dc_motor.h"
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#include "efi_gpio.h"
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#include "pwm_generator_logic.h"
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EXTERN_ENGINE;
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class EtbHardware {
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private:
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OutputPin m_pinEnable;
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OutputPin m_pinDir1;
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OutputPin m_pinDir2;
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OutputPin m_disablePin;
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SimplePwm m_pwmEnable;
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SimplePwm m_pwmDir1;
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SimplePwm m_pwmDir2;
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public:
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EtbHardware() : dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2, &m_disablePin) {}
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TwoPinDcMotor dcMotor;
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void setFrequency(int frequency) {
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m_pwmEnable.setFrequency(frequency);
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m_pwmDir1.setFrequency(frequency);
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m_pwmDir2.setFrequency(frequency);
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}
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void start(bool useTwoWires,
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brain_pin_e pinEnable,
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brain_pin_e pinDir1,
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brain_pin_e pinDir2,
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brain_pin_e pinDisable,
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ExecutorInterface* executor,
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int frequency) {
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dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
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// Configure the disable pin first - ensure things are in a safe state
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m_disablePin.initPin("ETB Disable", pinDisable);
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// Clamp to >100hz
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int clampedFrequency = maxI(100, frequency);
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// no need to complicate event queue with ETB PWM in unit tests
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#if ! EFI_UNIT_TEST
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startSimplePwmHard(&m_pwmEnable, "ETB Enable",
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executor,
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pinEnable,
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&m_pinEnable,
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clampedFrequency,
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0
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);
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startSimplePwmHard(&m_pwmDir1, "ETB Dir 1",
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executor,
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pinDir1,
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&m_pinDir1,
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clampedFrequency,
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0
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);
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startSimplePwmHard(&m_pwmDir2, "ETB Dir 2",
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executor,
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pinDir2,
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&m_pinDir2,
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clampedFrequency,
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0
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);
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#endif /* EFI_UNIT_TEST */
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}
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};
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static EtbHardware etbHardware[ETB_COUNT * 2];
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// We needed more H-bridge configs - so the IO configs are split
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// across two arrays of settings to preserve config compatibility
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const etb_io& getConfigForMotor(size_t index DECLARE_ENGINE_PARAMETER_SUFFIX) {
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size_t firstSize = efi::size(engineConfiguration->etbIo);
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if (index < firstSize) {
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return engineConfiguration->etbIo[index];
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}
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return engineConfiguration->etbIo2[index - firstSize];
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}
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DcMotor* initDcMotor(size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX) {
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const auto& io = getConfigForMotor(index PASS_ENGINE_PARAMETER_SUFFIX);
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auto& hw = etbHardware[index];
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hw.start(
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useTwoWires,
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io.controlPin1,
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io.directionPin1,
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io.directionPin2,
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io.disablePin,
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&ENGINE(executor),
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CONFIG(etbFreq)
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);
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return &hw.dcMotor;
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}
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void setDcMotorFrequency(size_t index, int hz) {
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etbHardware[index].setFrequency(hz);
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}
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void setDcMotorDuty(size_t index, float duty) {
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etbHardware[index].dcMotor.set(duty);
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}
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void showDcMotorInfo(Logging* logger, int i) {
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EtbHardware *etb = &etbHardware[i];
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scheduleMsg(logger, " motor: dir=%d DC=%f", etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
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}
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