Hellen says merge #1772
Hellen says stepper
(cherry picked from commit a2f26ac99b)
This commit is contained in:
rusefi
parent
ec0d3a8eb2
commit
6a3d212370
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@ -133,7 +133,7 @@ void Engine::periodicSlowCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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watchdog();
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updateSlowSensors(PASS_ENGINE_PARAMETER_SIGNATURE);
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checkShutdown();
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checkShutdown(PASS_ENGINE_PARAMETER_SIGNATURE);
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#if EFI_FSIO
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runFsio(PASS_ENGINE_PARAMETER_SIGNATURE);
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@ -414,36 +414,83 @@ void Engine::watchdog() {
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#endif
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}
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void Engine::checkShutdown() {
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void Engine::checkShutdown(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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#if EFI_MAIN_RELAY_CONTROL
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int rpm = rpmCalculator.getRpm();
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// if we are already in the "ignition_on" mode, then do nothing
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if (ignitionOnTimeNt > 0) {
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return;
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}
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/**
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* Something is weird here: "below 5.0 volts on battery" what is it about? Is this about
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* Frankenso powering everything while driver has already turned ignition off? or what is this condition about?
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*/
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const float vBattThreshold = 5.0f;
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if (isValidRpm(rpm) && sensors.vBatt < vBattThreshold && stopEngineRequestTimeNt == 0) {
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scheduleStopEngine();
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// todo: add stepper motor parking
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// here we are in the shutdown (the ignition is off) or initial mode (after the firmware fresh start)
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const efitick_t engineStopWaitTimeoutUs = 500000LL; // 0.5 sec
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// in shutdown mode, we need a small cooldown time between the ignition off and on
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if (stopEngineRequestTimeNt == 0 || (getTimeNowNt() - stopEngineRequestTimeNt) > US2NT(engineStopWaitTimeoutUs)) {
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// if the ignition key is turned on again,
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// we cancel the shutdown mode, but only if all shutdown procedures are complete
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const float vBattThresholdOn = 8.0f;
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if ((sensors.vBatt > vBattThresholdOn) && !isInShutdownMode(PASS_ENGINE_PARAMETER_SIGNATURE)) {
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ignitionOnTimeNt = getTimeNowNt();
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stopEngineRequestTimeNt = 0;
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scheduleMsg(&engineLogger, "Ingition voltage detected! Cancel the engine shutdown!");
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}
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}
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#endif /* EFI_MAIN_RELAY_CONTROL */
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}
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bool Engine::isInShutdownMode() const {
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bool Engine::isInShutdownMode(DECLARE_ENGINE_PARAMETER_SIGNATURE) const {
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#if EFI_MAIN_RELAY_CONTROL
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if (stopEngineRequestTimeNt == 0) // the shutdown procedure is not started
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// if we are in "ignition_on" mode and not in shutdown mode
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if (stopEngineRequestTimeNt == 0 && ignitionOnTimeNt > 0) {
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const float vBattThresholdOff = 5.0f;
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// start the shutdown process if the ignition voltage dropped low
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if (sensors.vBatt <= vBattThresholdOff) {
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scheduleStopEngine();
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}
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}
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// we are not in the shutdown mode?
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if (stopEngineRequestTimeNt == 0) {
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return false;
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const efitick_t engineStopWaitTimeoutNt = 5LL * 1000000LL;
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// The engine is still spinning! Give it some time to stop (but wait no more than 5 secs)
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if (isSpinning && (getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(engineStopWaitTimeoutNt))
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}
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const efitick_t turnOffWaitTimeoutUs = 1LL * 1000000LL;
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// We don't want any transients to step in, so we wait at least 1 second whatever happens.
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// Also it's good to give the stepper motor some time to start moving to the initial position (or parking)
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if ((getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(turnOffWaitTimeoutUs))
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return true;
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const efitick_t engineSpinningWaitTimeoutUs = 5LL * 1000000LL;
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// The engine is still spinning! Give it some time to stop (but wait no more than 5 secs)
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if (isSpinning && (getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(engineSpinningWaitTimeoutUs))
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return true;
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// The idle motor valve is still moving! Give it some time to park (but wait no more than 10 secs)
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// Usually it can move to the initial 'cranking' position or zero 'parking' position.
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const efitick_t idleMotorWaitTimeoutUs = 10LL * 1000000LL;
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if (isIdleMotorBusy(PASS_ENGINE_PARAMETER_SIGNATURE) && (getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(idleMotorWaitTimeoutUs))
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return true;
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// todo: add checks for stepper motor parking
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#endif /* EFI_MAIN_RELAY_CONTROL */
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return false;
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}
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bool Engine::isMainRelayEnabled(DECLARE_ENGINE_PARAMETER_SIGNATURE) const {
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#if EFI_MAIN_RELAY_CONTROL
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return enginePins.mainRelay.getLogicValue();
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#else
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// if no main relay control, we assume it's always turned on
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return true;
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#endif /* EFI_MAIN_RELAY_CONTROL */
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}
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float Engine::getTimeIgnitionSeconds(void) const {
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// return negative if the ignition is turned off
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if (ignitionOnTimeNt == 0)
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return -1;
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float numSeconds = (float)NT2US(getTimeNowNt() - ignitionOnTimeNt) / 1000000.0f;
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return numSeconds;
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}
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injection_mode_e Engine::getCurrentInjectionMode(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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return rpmCalculator.isCranking(PASS_ENGINE_PARAMETER_SIGNATURE) ? CONFIG(crankingInjectionMode) : CONFIG(injectionMode);
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}
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@ -487,9 +534,12 @@ void Engine::periodicFastCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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}
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void doScheduleStopEngine(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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scheduleMsg(&engineLogger, "Starting doScheduleStopEngine");
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engine->stopEngineRequestTimeNt = getTimeNowNt();
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engine->ignitionOnTimeNt = 0;
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// let's close injectors or else if these happen to be open right now
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enginePins.stopPins();
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// todo: initiate stepper motor parking
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}
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void action_s::execute() {
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@ -173,6 +173,11 @@ public:
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*/
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efitick_t stopEngineRequestTimeNt = 0;
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/**
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* this is needed by getTimeIgnitionSeconds() and checkShutdown()
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*/
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efitick_t ignitionOnTimeNt = 0;
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/**
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* This counter is incremented every time user adjusts ECU parameters online (either via rusEfi console or other
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* tuning software)
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@ -295,14 +300,29 @@ public:
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/**
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* Needed by EFI_MAIN_RELAY_CONTROL to shut down the engine correctly.
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* This method cancels shutdown if the ignition voltage is detected.
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*/
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void checkShutdown();
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void checkShutdown(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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/**
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* Allows to finish some long-term shutdown procedures (stepper motor parking etc.)
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Called when the ignition switch is turned off (vBatt is too low).
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Returns true if some operations are in progress on background.
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*/
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bool isInShutdownMode() const;
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bool isInShutdownMode(DECLARE_ENGINE_PARAMETER_SIGNATURE) const;
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/**
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* The stepper does not work if the main relay is turned off (it requires +12V).
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* Needed by the stepper motor code to detect if it works.
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*/
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bool isMainRelayEnabled(DECLARE_ENGINE_PARAMETER_SIGNATURE) const;
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/**
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* Needed by EFI_MAIN_RELAY_CONTROL to handle fuel pump and shutdown timings correctly.
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* This method returns the number of seconds since the ignition voltage is present.
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* The return value is float for more FSIO flexibility.
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*/
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float getTimeIgnitionSeconds(void) const;
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monitoring_timestamps_s m;
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@ -21,14 +21,15 @@ EXTERN_ENGINE;
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static Logging *logger;
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static void saveStepperPos(int pos) {
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void StepperMotor::saveStepperPos(int pos) {
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// use backup-power RTC registers to store the data
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#if EFI_PROD_CODE
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backupRamSave(BACKUP_STEPPER_POS, pos + 1);
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#endif
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postCurrentPosition();
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}
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static int loadStepperPos() {
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int StepperMotor::loadStepperPos() {
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#if EFI_PROD_CODE
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return (int)backupRamLoad(BACKUP_STEPPER_POS) - 1;
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#else
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@ -36,12 +37,24 @@ static int loadStepperPos() {
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#endif
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}
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void StepperMotor::ThreadTask() {
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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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void StepperMotor::changeCurrentPosition(bool positive) {
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if (positive) {
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m_currentPosition++;
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} else {
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m_currentPosition--;
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}
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postCurrentPosition();
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}
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void StepperMotor::postCurrentPosition(void) {
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if (engineConfiguration->debugMode == DBG_IDLE_CONTROL) {
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#if EFI_TUNER_STUDIO
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tsOutputChannels.debugIntField5 = m_currentPosition;
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#endif /* EFI_TUNER_STUDIO */
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}
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}
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void StepperMotor::setInitialPosition(void) {
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// try to get saved stepper position (-1 for no data)
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m_currentPosition = loadStepperPos();
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@ -49,6 +62,7 @@ void StepperMotor::ThreadTask() {
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// first wait until at least 1 slowADC sampling is complete
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waitForSlowAdc();
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#endif
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#if EFI_SHAFT_POSITION_INPUT
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bool isRunning = engine->rpmCalculator.isRunning(PASS_ENGINE_PARAMETER_SIGNATURE);
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#else
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@ -61,6 +75,7 @@ void StepperMotor::ThreadTask() {
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scheduleMsg(logger, "Stepper: savedStepperPos=%d forceStepperParking=%d (tps=%.2f)", m_currentPosition, (forceStepperParking ? 1 : 0), getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
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if (m_currentPosition < 0 || forceStepperParking) {
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scheduleMsg(logger, "Stepper: starting parking...");
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// reset saved value
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saveStepperPos(-1);
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@ -74,36 +89,58 @@ void StepperMotor::ThreadTask() {
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*/
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int numParkingSteps = (int)efiRound((1.0f + (float)CONFIG(stepperParkingExtraSteps) / PERCENT_MULT) * m_totalSteps, 1.0f);
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for (int i = 0; i < numParkingSteps; i++) {
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m_hw->step(false);
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if (!m_hw->step(false)) {
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initialPositionSet = false;
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return;
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}
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changeCurrentPosition(false);
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}
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// set & save zero stepper position after the parking completion
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m_currentPosition = 0;
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saveStepperPos(m_currentPosition);
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scheduleMsg(logger, "Stepper: parking finished!");
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} else {
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// The initial target position should correspond to the saved stepper position.
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// Idle thread starts later and sets a new target position.
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setTargetPosition(m_currentPosition);
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}
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initialPositionSet = true;
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}
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void StepperMotor::ThreadTask() {
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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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int targetPosition = getTargetPosition();
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int currentPosition = m_currentPosition;
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// the stepper does not work if the main relay is turned off (it requires +12V)
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if (!engine->isMainRelayEnabled()) {
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m_hw->pause();
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continue;
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}
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if (!initialPositionSet) {
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setInitialPosition();
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continue;
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}
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if (targetPosition == currentPosition) {
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m_hw->pause();
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continue;
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}
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bool isIncrementing = targetPosition > currentPosition;
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if (isIncrementing) {
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m_currentPosition++;
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} else {
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m_currentPosition--;
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if (m_hw->step(isIncrementing)) {
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changeCurrentPosition(isIncrementing);
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}
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m_hw->step(isIncrementing);
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// save position to backup RTC register
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#if EFI_PROD_CODE
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saveStepperPos(m_currentPosition);
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@ -118,7 +155,14 @@ int StepperMotor::getTargetPosition() const {
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}
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void StepperMotor::setTargetPosition(int targetPosition) {
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m_targetPosition = targetPosition;
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// we accept a new target position only if the motor is powered from the main relay
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if (engine->isMainRelayEnabled()) {
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m_targetPosition = targetPosition;
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}
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}
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bool StepperMotor::isBusy() const {
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return m_currentPosition != m_targetPosition;
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}
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void StepDirectionStepper::setDirection(bool isIncrementing) {
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@ -131,7 +175,11 @@ void StepDirectionStepper::setDirection(bool isIncrementing) {
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directionPin.setValue(isIncrementing);
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}
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void StepDirectionStepper::pulse() {
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bool StepDirectionStepper::pulse() {
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// we move the motor only of it is powered from the main relay
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if (!engine->isMainRelayEnabled())
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return false;
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enablePin.setValue(false); // enable stepper
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stepPin.setValue(true);
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@ -141,6 +189,8 @@ void StepDirectionStepper::pulse() {
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pause();
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enablePin.setValue(true); // disable stepper
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return true;
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}
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void StepperHw::pause() const {
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@ -151,9 +201,9 @@ void StepperHw::setReactionTime(float ms) {
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m_reactionTime = maxF(1, ms);
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}
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void StepDirectionStepper::step(bool positive) {
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bool StepDirectionStepper::step(bool positive) {
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setDirection(positive);
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pulse();
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return pulse();
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}
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void StepperMotor::initialize(StepperHw *hardware, int totalSteps, Logging *sharedLogger) {
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@ -4,8 +4,8 @@
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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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#ifndef STEPPER_H_
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#define STEPPER_H_
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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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@ -14,7 +14,7 @@
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class StepperHw {
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public:
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virtual void step(bool positive) = 0;
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virtual bool step(bool positive) = 0;
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void pause() const;
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protected:
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@ -28,10 +28,10 @@ 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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void step(bool positive) override;
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bool step(bool positive) override;
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private:
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void pulse();
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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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@ -40,6 +40,21 @@ private:
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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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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 StepperMotor final : private ThreadController<UTILITY_THREAD_STACK_SIZE> {
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public:
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StepperMotor();
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@ -49,16 +64,25 @@ public:
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void setTargetPosition(int targetPosition);
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int 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 ThreadTask() override;
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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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private:
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StepperHw* m_hw = nullptr;
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int m_targetPosition = 0;
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bool initialPositionSet = false;
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};
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#endif /* STEPPER_H_ */
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