mirror of https://github.com/rusefi/rusefi.git
115 lines
2.3 KiB
C++
115 lines
2.3 KiB
C++
/**
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* @file stepper.h
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*
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* @date Dec 24, 2014
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#pragma once
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#include "global.h"
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#include "efi_gpio.h"
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#include "backup_ram.h"
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#include "thread_controller.h"
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class StepperHw {
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public:
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virtual bool step(bool positive) = 0;
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// pause between steps
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void pause(int divisor = 1) const;
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// pause and enter the idle mode (less current consumption)
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virtual void sleep();
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protected:
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void setReactionTime(float ms);
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private:
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float m_reactionTime = 5.0f;
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};
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class StepDirectionStepper final : public StepperHw {
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public:
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void initialize(brain_pin_e stepPin, brain_pin_e directionPin, pin_output_mode_e directionPinMode, float reactionTime, brain_pin_e enablePin, pin_output_mode_e enablePinMode);
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bool step(bool positive) override;
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private:
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bool pulse();
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void setDirection(bool isIncrementing);
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bool m_currentDirection = false;
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OutputPin directionPin, stepPin, enablePin;
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pin_output_mode_e directionPinMode, stepPinMode, enablePinMode;
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};
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class DcMotor;
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class DualHBridgeStepper final : public StepperHw {
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public:
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void initialize(DcMotor* motorPhaseA, DcMotor* motorPhaseB, float reactionTime);
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bool step(bool positive) override;
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void sleep() override;
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protected:
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bool update(float dutyMult);
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private:
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DcMotor* m_motorPhaseA = nullptr;
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DcMotor* m_motorPhaseB = nullptr;
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uint8_t m_phase = 0;
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};
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class StepperMotorBase {
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public:
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virtual void initialize(StepperHw* hardware, int totalSteps);
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void doIteration();
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void setTargetPosition(float targetPositionSteps);
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float getTargetPosition() const;
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bool isBusy() const;
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int m_currentPosition = 0;
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int m_totalSteps = 0;
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protected:
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void setInitialPosition(void);
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void saveStepperPos(int pos);
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int loadStepperPos();
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void changeCurrentPosition(bool positive);
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void postCurrentPosition(void);
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StepperHw* m_hw = nullptr;
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float m_targetPosition = 0;
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bool initialPositionSet = false;
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bool m_isBusy = false;
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};
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#if !EFI_UNIT_TEST
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class StepperMotor final : public StepperMotorBase, private ThreadController<UTILITY_THREAD_STACK_SIZE> {
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public:
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StepperMotor() : ThreadController("stepper", PRIO_STEPPER) {}
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void initialize(StepperHw* hardware, int totalSteps);
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void ThreadTask() override {
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// Require hardware to be set
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if (!m_hw) {
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return;
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}
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while (true) {
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doIteration();
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}
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}
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};
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#endif
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