rusefi-1/firmware/hw_layer/stepper.h

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