Merge branch 'master' of https://github.com/rusefi/rusefi

firmware/controllers/actuators/idle_thread.cpp

@@ -42,8 +42,10 @@
 
 #if ! EFI_UNIT_TEST
 #include "stepper.h"
+#include "dc_motors.h"
 #include "pin_repository.h"
 static StepDirectionStepper iacStepperHw;
+static DualHBridgeStepper iacHbridgeHw;
 static StepperMotor iacMotor;
 #endif /* EFI_UNIT_TEST */
 
@@ -558,16 +560,35 @@ void stopIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	if (CONFIG(useStepperIdle)) {
-		iacStepperHw.initialize(
-			CONFIG(idle).stepperStepPin,
-			CONFIG(idle).stepperDirectionPin,
-			CONFIG(stepperDirectionPinMode),
-			CONFIG(idleStepperReactionTime),
-			CONFIG(stepperEnablePin),
-			CONFIG(stepperEnablePinMode)
-		);
+		StepperHw* hw;
 
-		iacMotor.initialize(&iacStepperHw, CONFIG(idleStepperTotalSteps), logger);
+		if (CONFIG(useHbridges)) {
+			auto motorA = initDcMotor(0 PASS_ENGINE_PARAMETER_SUFFIX);
+			auto motorB = initDcMotor(1 PASS_ENGINE_PARAMETER_SUFFIX);
+
+			if (motorA && motorB) {
+				iacHbridgeHw.initialize(
+					motorA,
+					motorB,
+					CONFIG(idleStepperReactionTime)
+				);
+			}
+
+			hw = &iacHbridgeHw;
+		} else {
+			iacStepperHw.initialize(
+				CONFIG(idle).stepperStepPin,
+				CONFIG(idle).stepperDirectionPin,
+				CONFIG(stepperDirectionPinMode),
+				CONFIG(idleStepperReactionTime),
+				CONFIG(stepperEnablePin),
+				CONFIG(stepperEnablePinMode)
+			);
+
+			hw = &iacStepperHw;
+		}
+
+		iacMotor.initialize(hw, CONFIG(idleStepperTotalSteps), logger);
 
 		// This greatly improves PID accuracy for steppers with a small number of steps
 		idlePositionSensitivityThreshold = 1.0f / engineConfiguration->idleStepperTotalSteps;

firmware/hw_layer/hw_layer.mk

@@ -32,6 +32,7 @@ HW_LAYER_EMS_CPP = $(HW_LAYER_EGT_CPP) \
 	$(PROJECT_DIR)/hw_layer/hip9011_logic.cpp \
 	$(PROJECT_DIR)/hw_layer/vehicle_speed.cpp \
 	$(PROJECT_DIR)/hw_layer/stepper.cpp \
+	$(PROJECT_DIR)/hw_layer/stepper_dual_hbridge.cpp \
 	$(PROJECT_DIR)/hw_layer/servo.cpp \
 	$(PROJECT_DIR)/hw_layer/io_pins.cpp \
 	$(PROJECT_DIR)/hw_layer/rtc_helper.cpp \

firmware/hw_layer/stepper.h

@@ -40,6 +40,21 @@ private:
 	pin_output_mode_e directionPinMode, stepPinMode, enablePinMode;
 };
 
+class DcMotor;
+
+class DualHBridgeStepper final : public StepperHw {
+public:
+    void initialize(DcMotor* motorPhaseA, DcMotor* motorPhaseB, float reactionTime);
+
+    void step(bool positive) override;
+
+private:
+    DcMotor* m_motorPhaseA;
+    DcMotor* m_motorPhaseB;
+
+    uint8_t m_phase = 0;
+};
+
 class StepperMotor final : private ThreadController<UTILITY_THREAD_STACK_SIZE> {
 public:
 	StepperMotor();

firmware/hw_layer/stepper_dual_hbridge.cpp

@@ -0,0 +1,53 @@
+
+#include "efifeatures.h"
+
+#if !EFI_UNIT_TEST
+
+#include "stepper.h"
+#include "dc_motor.h"
+
+static const int8_t phaseA[] = 
+{
+    1,
+    1,
+    -1,
+    -1
+};
+
+static const int8_t phaseB[] = 
+{
+    -1,
+    1,
+    1,
+    -1
+};
+
+void DualHBridgeStepper::initialize(DcMotor* motorPhaseA, DcMotor* motorPhaseB, float reactionTime)
+{
+    setReactionTime(reactionTime);
+
+    m_motorPhaseA = motorPhaseA;
+    m_motorPhaseB = motorPhaseB;
+}
+
+void DualHBridgeStepper::step(bool positive) {
+	// Check that we've been initialized
+	if (!m_motorPhaseA || !m_motorPhaseB) {
+		return;
+	}
+
+    // step phase, wrapping
+    if (positive) {
+        m_phase = (m_phase + 1) & 0x03;
+    } else {
+        m_phase = (m_phase - 1) & 0x03;
+    }
+
+    // Set phases according to the table
+    m_motorPhaseA->set(phaseA[m_phase]);
+    m_motorPhaseB->set(phaseB[m_phase]);
+
+    pause();
+}
+
+#endif