mirror of https://github.com/rusefi/rusefi-1.git
129 lines
2.8 KiB
C++
129 lines
2.8 KiB
C++
/**
|
|
* @file dc_motors.cpp
|
|
*
|
|
* @date March 3, 2020
|
|
* @author Matthew Kennedy (c) 2020
|
|
*/
|
|
|
|
#include "engine.h"
|
|
#include "io_pins.h"
|
|
#include "engine_configuration.h"
|
|
#include "engine_controller.h"
|
|
#include "periodic_task.h"
|
|
|
|
#include "dc_motors.h"
|
|
#include "dc_motor.h"
|
|
|
|
#include "efi_gpio.h"
|
|
#include "pwm_generator.h"
|
|
|
|
EXTERN_ENGINE;
|
|
|
|
class EtbHardware {
|
|
private:
|
|
OutputPin m_pinEnable;
|
|
OutputPin m_pinDir1;
|
|
OutputPin m_pinDir2;
|
|
OutputPin m_disablePin;
|
|
|
|
SimplePwm m_pwmEnable;
|
|
SimplePwm m_pwmDir1;
|
|
SimplePwm m_pwmDir2;
|
|
|
|
SimplePwm etbPwmUp;
|
|
|
|
public:
|
|
EtbHardware() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2, &m_disablePin) {}
|
|
|
|
TwoPinDcMotor dcMotor;
|
|
|
|
void setFrequency(int frequency) {
|
|
m_pwmEnable.setFrequency(frequency);
|
|
m_pwmDir1.setFrequency(frequency);
|
|
m_pwmDir2.setFrequency(frequency);
|
|
}
|
|
|
|
void start(bool useTwoWires,
|
|
brain_pin_e pinEnable,
|
|
// since we have pointer magic here we cannot simply have value parameter
|
|
brain_pin_e pinDir1,
|
|
brain_pin_e pinDir2,
|
|
brain_pin_e pinDisable,
|
|
ExecutorInterface* executor,
|
|
int frequency) {
|
|
dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
|
|
|
|
// Configure the disable pin first - ensure things are in a safe state
|
|
m_disablePin.initPin("ETB Disable", pinDisable);
|
|
|
|
m_pinEnable.initPin("ETB Enable", pinEnable);
|
|
m_pinDir1.initPin("ETB Dir 1", pinDir1);
|
|
m_pinDir2.initPin("ETB Dir 2", pinDir2);
|
|
|
|
// Clamp to >100hz
|
|
int clampedFrequency = maxI(100, frequency);
|
|
|
|
// no need to complicate event queue with ETB PWM in unit tests
|
|
#if ! EFI_UNIT_TEST
|
|
startSimplePwm(&m_pwmEnable, "ETB Enable",
|
|
executor,
|
|
&m_pinEnable,
|
|
clampedFrequency,
|
|
0
|
|
);
|
|
|
|
startSimplePwm(&m_pwmDir1, "ETB Dir 1",
|
|
executor,
|
|
&m_pinDir1,
|
|
clampedFrequency,
|
|
0
|
|
);
|
|
|
|
startSimplePwm(&m_pwmDir2, "ETB Dir 2",
|
|
executor,
|
|
&m_pinDir2,
|
|
clampedFrequency,
|
|
0
|
|
);
|
|
#endif /* EFI_UNIT_TEST */
|
|
}
|
|
};
|
|
|
|
static EtbHardware etbHardware[ETB_COUNT];
|
|
|
|
DcMotor* initDcMotor(size_t index DECLARE_ENGINE_PARAMETER_SUFFIX)
|
|
{
|
|
const auto& io = engineConfiguration->etbIo[index];
|
|
auto& hw = etbHardware[index];
|
|
|
|
hw.start(
|
|
CONFIG(etb_use_two_wires),
|
|
io.controlPin1,
|
|
io.directionPin1,
|
|
io.directionPin2,
|
|
io.disablePin,
|
|
&ENGINE(executor),
|
|
CONFIG(etbFreq)
|
|
);
|
|
|
|
return &hw.dcMotor;
|
|
}
|
|
|
|
void setDcMotorFrequency(size_t index, int hz) {
|
|
etbHardware[index].setFrequency(hz);
|
|
}
|
|
|
|
void setDcMotorDuty(size_t index, float duty) {
|
|
etbHardware[index].dcMotor.set(duty);
|
|
}
|
|
|
|
#if EFI_PROD_CODE
|
|
void showDcMotorInfo(Logging* logger) {
|
|
for (int i = 0 ; i < engine->etbActualCount; i++) {
|
|
EtbHardware *etb = &etbHardware[i];
|
|
|
|
scheduleMsg(logger, "ETB %d", i);
|
|
scheduleMsg(logger, "Motor: dir=%d DC=%f", etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
|
|
}
|
|
}
|
|
#endif |