ad2dbb0ce0
- Add class for controlling fans for cooling the motor drivers - Add configuration for left and right fan to config.cpp - Create fan task in main.cpp - Add getStatus function to controlledMotor class
58 lines
1.4 KiB
C++
58 lines
1.4 KiB
C++
extern "C"
|
|
{
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "esp_log.h"
|
|
}
|
|
|
|
#include "fan.hpp"
|
|
|
|
|
|
//tag for logging
|
|
static const char * TAG = "fan-control";
|
|
|
|
|
|
//-----------------------------
|
|
//-------- constructor --------
|
|
//-----------------------------
|
|
controlledFan::controlledFan(fan_config_t config_f, controlledMotor* motor_f ){
|
|
//copy config
|
|
config = config_f;
|
|
//copy pointer to motor object
|
|
motor = motor_f;
|
|
|
|
//initialize gpio pin
|
|
gpio_pad_select_gpio(config.gpio_fan);
|
|
gpio_set_direction(config.gpio_fan, GPIO_MODE_OUTPUT);
|
|
}
|
|
|
|
|
|
|
|
//--------------------------
|
|
//--------- handle ---------
|
|
//--------------------------
|
|
void controlledFan::handle(){
|
|
//get current state of the motor
|
|
motorStatus = motor->getStatus();
|
|
|
|
//TODO Add statemachine for more specific control? Exponential average?
|
|
//update timestamp if threshold exceeded
|
|
if (motorStatus.duty > config.dutyThreshold){
|
|
timestamp_lastThreshold = esp_log_timestamp();
|
|
}
|
|
|
|
//turn fan on if time since last exceeded threshold is less than msRun
|
|
if (esp_log_timestamp() - timestamp_lastThreshold < config.msRun) {
|
|
gpio_set_level(config.gpio_fan, 1);
|
|
ESP_LOGD(TAG, "fan is on (gpio: %d)", (int)config.gpio_fan);
|
|
}
|
|
//otherwise turn fan off
|
|
else {
|
|
gpio_set_level(config.gpio_fan, 0);
|
|
ESP_LOGD(TAG, "fan is off (gpio: %d)", (int)config.gpio_fan);
|
|
}
|
|
}
|
|
|
|
|
|
|