dc_motor.h

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/**
 *  @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(const char *msg) = 0;
    virtual void enable() = 0;
 
    virtual bool isOpenDirection() const = 0;
 
    const char* msg() const {
        return m_msg;
    }
 
protected:
    const char* m_msg = nullptr;
};
 
struct IPwm;
class OutputPin;
 
/**
 * @brief Represents a DC motor controller (H-bridge) with some combination of PWM and on/off control pins.
 * 2024: what does 'TwoPin' class name mean? is that just a historic artifact?
 */
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(const char *msg) override;
 
    void setType(ControlType type) { m_type = type; }
};