[DRAFT] IAC H-Bridge Microstepping (#3213)
* fix for stepperHbridgeHardware * new config fields for microstepping * add stepper dir pin mode to the dialog * refactor stepper hw dialog & add microstepping panel * microstepper modes enum * stepperDcInvertedPins needed by Hellen * add sleep() for stepper and divisor for pause() * microstepping impl. * make unit-tests more happy * small progress * fix etb-stepper dlg conflict Co-authored-by: Andrei <andreikagit@users.noreply.github.com>
This commit is contained in:
Andreika
GitHub
parent
e8710c0abd
commit
bc4a068c9c
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@ -52,6 +52,7 @@ public:
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brain_pin_e pinDir1,
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brain_pin_e pinDir2,
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brain_pin_e pinDisable,
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bool isInverted,
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ExecutorInterface* executor,
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int frequency) {
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dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
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@ -85,7 +86,7 @@ public:
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);
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#endif // EFI_UNIT_TEST
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dcMotor.configure(wrappedEnable, m_pwm1, m_pwm2);
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dcMotor.configure(wrappedEnable, m_pwm1, m_pwm2, isInverted);
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} else {
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m_pinDir1.initPin("ETB Dir 1", pinDir1);
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m_pinDir2.initPin("ETB Dir 2", pinDir2);
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@ -101,7 +102,7 @@ public:
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);
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#endif // EFI_UNIT_TEST
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dcMotor.configure(m_pwm1, wrappedDir1, wrappedDir2);
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dcMotor.configure(m_pwm1, wrappedDir1, wrappedDir2, isInverted);
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}
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}
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};
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@ -117,6 +118,7 @@ DcMotor* initDcMotor(const dc_io& io, size_t index, bool useTwoWires DECLARE_ENG
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io.directionPin1,
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io.directionPin2,
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io.disablePin,
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CONFIG(stepperDcInvertedPins),
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&ENGINE(executor),
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CONFIG(etbFreq)
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);
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@ -1118,6 +1118,13 @@ typedef enum __attribute__ ((__packed__)) {
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// todo: rename to dc_function_e? rename to hbrg_function_e?
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} etb_function_e;
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typedef enum __attribute__ ((__packed__)) {
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STEPPER_FULL = 0,
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STEPPER_HALF = 2,
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STEPPER_FOURTH = 4,
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STEPPER_EIGHTH = 8,
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} stepper_num_micro_steps_e;
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typedef enum __attribute__ ((__packed__)) {
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IPT_Low = 0,
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IPT_High = 1,
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@ -16,10 +16,11 @@ TwoPinDcMotor::TwoPinDcMotor(OutputPin& disablePin)
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disable();
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}
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void TwoPinDcMotor::configure(IPwm& enable, IPwm& dir1, IPwm& dir2) {
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void TwoPinDcMotor::configure(IPwm& enable, IPwm& dir1, IPwm& dir2, bool isInverted) {
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m_enable = &enable;
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m_dir1 = &dir1;
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m_dir2 = &dir2;
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m_isInverted = isInverted;
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}
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void TwoPinDcMotor::enable() {
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@ -86,8 +87,14 @@ bool TwoPinDcMotor::set(float duty)
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float dirDuty = m_type == ControlType::PwmDirectionPins ? duty : 1;
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m_enable->setSimplePwmDutyCycle(enableDuty);
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m_dir1->setSimplePwmDutyCycle(isPositive ? dirDuty : 0);
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m_dir2->setSimplePwmDutyCycle(isPositive ? 0 : dirDuty);
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float recipDuty = 0;
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if (m_isInverted) {
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dirDuty = 1.0f - dirDuty;
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recipDuty = 1.0f;
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}
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m_dir1->setSimplePwmDutyCycle(isPositive ? dirDuty : recipDuty);
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m_dir2->setSimplePwmDutyCycle(isPositive ? recipDuty : dirDuty);
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// This motor has no fault detection, so always return false (indicate success).
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return false;
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@ -76,6 +76,7 @@ private:
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IPwm* m_dir2 = nullptr;
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OutputPin* const m_disable;
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float m_value = 0;
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bool m_isInverted = false;
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ControlType m_type = ControlType::PwmDirectionPins;
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public:
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@ -86,7 +87,7 @@ public:
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*/
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TwoPinDcMotor(OutputPin& disable);
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void configure(IPwm& enable, IPwm& dir1, IPwm& dir2);
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void configure(IPwm& enable, IPwm& dir1, IPwm& dir2, bool isInverted);
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virtual bool set(float duty) override;
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float get() const override;
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@ -137,7 +137,7 @@ void StepperMotorBase::doIteration() {
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}
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if (targetPosition == currentPosition) {
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m_hw->pause();
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m_hw->sleep();
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m_isBusy = false;
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return;
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}
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@ -188,8 +188,13 @@ bool StepDirectionStepper::pulse() {
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return true;
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}
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void StepperHw::pause() const {
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chThdSleepMicroseconds((int)(MS2US(m_reactionTime)));
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void StepperHw::sleep(void) {
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pause();
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}
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void StepperHw::pause(int divisor) const {
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// currently we can't sleep less than 1ms (see #3214)
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chThdSleepMicroseconds(maxI(MS2US(1), (int)(MS2US(m_reactionTime)) / divisor));
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}
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void StepperHw::setReactionTime(float ms) {
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@ -15,7 +15,10 @@
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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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void pause() const;
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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(void);
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protected:
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void setReactionTime(float ms);
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@ -48,6 +51,11 @@ public:
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bool step(bool positive) override;
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void sleep(void) 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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@ -22,12 +22,26 @@ static const int8_t phaseB[] =
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-1
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};
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static const int8_t microPhases[] = {
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0, 20, 38, 56, 71, 83, 92, 98,
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100, 98, 92, 83, 71, 56, 38, 20,
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0, -20, -38, -56, -71, -83, -92, -98,
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-100, -98, -92, -83, -71, -56, -38, -20
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};
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static const int maxNumSteps = 8;
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static constexpr int tableSizeMask = efi::size(microPhases) - 1;
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static constexpr float phaseDutyCycleDivisor = 1.0f / (100.0f * 100.0f); // both the phase degrees and duty cycle settings are in %
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void DualHBridgeStepper::initialize(DcMotor* motorPhaseA, DcMotor* motorPhaseB, float reactionTime)
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{
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setReactionTime(reactionTime);
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m_motorPhaseA = motorPhaseA;
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m_motorPhaseB = motorPhaseB;
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efiAssertVoid(CUSTOM_ERR_ASSERT, CONFIG(stepperNumMicroSteps) <= maxNumSteps, "stepperNumMicroSteps");
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}
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bool DualHBridgeStepper::step(bool positive) {
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@ -36,6 +50,24 @@ bool DualHBridgeStepper::step(bool positive) {
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return false;
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}
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if (CONFIG(stepperNumMicroSteps) > 1) {
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float dutyMult = CONFIG(stepperMaxDutyCycle) * phaseDutyCycleDivisor;
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int numStepIncr = maxNumSteps / CONFIG(stepperNumMicroSteps);
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if (!positive)
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numStepIncr = -numStepIncr;
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for (int i = CONFIG(stepperNumMicroSteps); i > 0; i--) {
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m_phase = (m_phase + numStepIncr) & tableSizeMask;
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update(dutyMult);
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// sleep 1/Nth of the pause time
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pause(CONFIG(stepperNumMicroSteps));
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}
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return true;
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}
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// For the full-stepping mode, we use a traditional "two phase on" drive model
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// because "wave drive" (one phase on) method has less torque.
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// For explanation, pls see: https://github.com/rusefi/rusefi/pull/3213#discussion_r700746453
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// step phase, wrapping
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if (positive) {
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m_phase = (m_phase + 1) & 0x03;
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@ -43,12 +75,36 @@ bool DualHBridgeStepper::step(bool positive) {
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m_phase = (m_phase - 1) & 0x03;
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}
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// Set phases according to the table
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m_motorPhaseA->set(phaseA[m_phase]);
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m_motorPhaseB->set(phaseB[m_phase]);
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update(1.0f);
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pause();
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return true;
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}
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bool DualHBridgeStepper::update(float dutyMult) {
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if (!m_motorPhaseA || !m_motorPhaseB) {
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return false;
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}
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if (CONFIG(stepperNumMicroSteps) > 1) {
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// phase B is 90 degrees shifted
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uint8_t m_phaseB = (m_phase + CONFIG(stepperNumMicroSteps)) & tableSizeMask;
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// Set phases according to the table
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m_motorPhaseA->set(dutyMult * microPhases[m_phase]);
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m_motorPhaseB->set(dutyMult * microPhases[m_phaseB]);
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return true;
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}
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// Set phases according to the table
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m_motorPhaseA->set(phaseA[m_phase]);
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m_motorPhaseB->set(phaseB[m_phase]);
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return true;
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}
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void DualHBridgeStepper::sleep(void) {
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float sleepingCoef = minI(CONFIG(stepperMinDutyCycle), CONFIG(stepperMaxDutyCycle)) * phaseDutyCycleDivisor;
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update(sleepingCoef);
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pause();
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}
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#endif
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@ -1356,7 +1356,7 @@ int16_t tps2Max;Full throttle#2. tpsMax value as 10 bit ADC value. Not Voltage!\
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bit enableVerboseCan2Tx;+CAN broadcast using custom rusEFI protocol\nenable can_broadcast/disable can_broadcast
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bit can2ReadEnabled;enable can_read/disable can_read
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bit can2WriteEnabled;enable can_write/disable can_write
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bit unused1126
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bit stepperDcInvertedPins;+Enable if DC-motor driver (H-bridge) inverts the signals (eg. RZ7899 on Hellen boards)
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bit unused1127
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bit unused1128
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bit unused1129
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@ -1437,7 +1437,13 @@ tle8888_mode_e tle8888mode;
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int16_t knockSamplingDuration;;"Deg", 1, 0, 0, 720, 0
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int16_t etbFreq;;"Hz", 1, 0, 0, @@ETB_HW_MAX_FREQUENCY@@, 0
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pid_s etbWastegatePid;
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uint8_t[4] unused2536;;"units", 1, 0, -20, 100, 0
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#define stepper_num_micro_steps_e_enum "Full-Step (Default)", "INVALID", "Half-Step", "INVALID", "1/4 Micro-Step", "INVALID", "INVALID", "INVALID", "1/8 Micro-Step"
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custom stepper_num_micro_steps_e 1 bits, U08, @OFFSET@, [0:3], @@stepper_num_micro_steps_e_enum@@
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stepper_num_micro_steps_e stepperNumMicroSteps;+For micro-stepping, make sure that PWM frequency (etbFreq) is high enough;
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uint8_t stepperMinDutyCycle;+Use to limit the current when the stepper motor is idle, not moving (100% = no limit);"%", 1, 0, 0, 100, 0
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uint8_t stepperMaxDutyCycle;+Use to limit the max.current through the stepper motor (100% = no limit);"%", 1, 0, 0, 100, 0
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uint8_t unused2536;;"units", 1, 0, -20, 100, 0
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angle_t[MAX_CYLINDER_COUNT iterate] timing_offset_cylinder;per-cylinder timing correction;"deg", 1, 0, -720, 720, 1
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@ -2635,7 +2635,7 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
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field = "Second Idle Solenoid Pin", secondSolenoidPin, { !useStepperIdle && isDoubleSolenoidIdle }
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field = "Idle Solenoid Frequency", idle_solenoidFrequency, !useStepperIdle
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dialog = hbridgeHardware, "H-Bridge Hardware"
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dialog = etbHbridgeHardware, "ETB H-Bridge Hardware"
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field = "PWM Frequency", etbFreq
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field = "Two-wire mode", etb_use_two_wires
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field = "No1 Direction #1", etbIo1_directionPin1
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@ -2647,25 +2647,49 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
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field = "No2 Control", etbIo2_controlPin
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field = "No2 Disable", etbIo2_disablePin
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dialog = stepperHbridgeHardware, "Stepper H-Bridge Hardware"
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field = "Inverted driver pins", stepperDcInvertedPins
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field = "No1 Direction #1", stepperDcIo1_directionPin1
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field = "No1 Direction #2", stepperDcIo1_directionPin2
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field = "No1 Disable", stepperDcIo1_disablePin
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field = "No2 Direction #1", stepperDcIo2_directionPin1
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field = "No2 Direction #2", stepperDcIo2_directionPin2
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field = "No2 Disable", stepperDcIo2_disablePin
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dialog = idleStepperHw, "Stepper Hardware"
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field = "Idle Stepper Step Pin", idle_stepperStepPin
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field = "Idle Stepper Dir Pin", idle_stepperDirectionPin
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field = "Idle Stepper Dir Pin Mode", stepperDirectionPinMode
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field = "Idle Stepper Enable Pin", stepperEnablePin
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field = "Idle Stepper Enable Pin Mode", stepperEnablePinMode
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dialog = idleStepper, "Stepper"
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dialog = idleStepperHwType, "", xAxis
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panel = idleStepperHw, East, { useStepperIdle && !useHbridgesToDriveIdleStepper }
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panel = stepperHbridgeHardware, West, { useStepperIdle && useHbridgesToDriveIdleStepper }
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dialog = idleStepperGeneral, ""
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field = "Drive stepper with dual H bridges", useHbridgesToDriveIdleStepper, useStepperIdle
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field = "Stepper reaction time", idleStepperReactionTime, useStepperIdle
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field = "Stepper total steps", idleStepperTotalSteps, useStepperIdle
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field = "Stepper parking extra steps, %", stepperParkingExtraSteps, useStepperIdle
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field = "Force parking every restart", stepperForceParkingEveryRestart, useStepperIdle
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panel = idleStepperHw, { useStepperIdle && !useHbridgesToDriveIdleStepper }
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; todo: reminder that enable condition has to match in both usages of hbridgeHardware due to TS defect?
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panel = hbridgeHardware, { etbFunctions1 != @@ETB_FUNCTION_NONE@@ || etbFunctions2 != @@ETB_FUNCTION_NONE@@ || (useStepperIdle && useHbridgesToDriveIdleStepper) }
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dialog = idleHwType, "Idle Valve Hardware", border
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panel = idleSolenoid, West
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panel = idleStepper, East
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dialog = idleStepperMicro, "Micro-Stepping"
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field = "Stepping Mode", stepperNumMicroSteps, useHbridges
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field = "Min. Duty Cycle", stepperMinDutyCycle, { useHbridges && stepperNumMicroSteps > 1 }
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field = "Max. Duty Cycle", stepperMaxDutyCycle, { useHbridges && stepperNumMicroSteps > 1 }
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dialog = idleStepperSettings, "", xAxis
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panel = idleStepperGeneral, East
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panel = idleStepperMicro, West
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dialog = idleStepper, "Stepper"
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panel = idleStepperSettings
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panel = idleStepperHwType
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dialog = idleHwType, "Idle Valve Hardware", yAxis
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panel = idleStepper
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panel = idleSolenoid
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dialog = idlehw, "", yAxis
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field = "!ECU reboot needed to apply these settings"
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@ -3413,7 +3437,7 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
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; criteria for the same panel when used in multiple places
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; todo: report bug to TS?
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; another todo: split panel into two panels so that we can enable/disable h-bridge #1 separately from h-bridge #2
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panel = hbridgeHardware, { etbFunctions1 != @@ETB_FUNCTION_NONE@@ || etbFunctions2 != @@ETB_FUNCTION_NONE@@ || (useStepperIdle && useHbridgesToDriveIdleStepper) }
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panel = etbHbridgeHardware, { etbFunctions1 != @@ETB_FUNCTION_NONE@@ || etbFunctions2 != @@ETB_FUNCTION_NONE@@ || (useStepperIdle && useHbridgesToDriveIdleStepper) }
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dialog = etbAutotune, "PID Autotune"
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field = "First step: calibrate TPS and hit 'Burn'"
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@ -67,7 +67,7 @@ TEST(DcMotor, PwmEnablePinModePositive) {
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EXPECT_CALL(dir1, setSimplePwmDutyCycle(1));
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EXPECT_CALL(dir2, setSimplePwmDutyCycle(0));
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dut.configure(enable, dir1, dir2);
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dut.configure(enable, dir1, dir2, false);
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dut.set(0.5f);
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}
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@ -85,7 +85,7 @@ TEST(DcMotor, PwmEnablePinModeNegative) {
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EXPECT_CALL(dir1, setSimplePwmDutyCycle(0));
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EXPECT_CALL(dir2, setSimplePwmDutyCycle(1));
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dut.configure(enable, dir1, dir2);
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dut.configure(enable, dir1, dir2, false);
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dut.set(-0.5f);
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}
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@ -103,7 +103,7 @@ TEST(DcMotor, PwmDirectionPinsModePositive) {
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EXPECT_CALL(dir1, setSimplePwmDutyCycle(0.5f));
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EXPECT_CALL(dir2, setSimplePwmDutyCycle(0));
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dut.configure(enable, dir1, dir2);
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dut.configure(enable, dir1, dir2, false);
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dut.set(0.5f);
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}
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@ -121,6 +121,6 @@ TEST(DcMotor, PwmDirectionPinsModeNegative) {
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EXPECT_CALL(dir1, setSimplePwmDutyCycle(0));
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EXPECT_CALL(dir2, setSimplePwmDutyCycle(0.5f));
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dut.configure(enable, dir1, dir2);
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dut.configure(enable, dir1, dir2, false);
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dut.set(-0.5f);
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}
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