auto-sync

firmware/controllers/idle_thread.cpp

@@ -31,6 +31,7 @@
 #include "pin_repository.h"
 #include "engine_configuration.h"
 #include "engine.h"
+#include "stepper.h"
 
 #if EFI_IDLE_CONTROL || defined(__DOXYGEN__)
 
@@ -43,6 +44,8 @@ EXTERN_ENGINE
 static OutputPin idlePin;
 static SimplePwm idleValvePwm;
 
+static StepperMotor iacMotor;
+
 /**
  * Idle level calculation algorithm lives in idle_controller.c
  */
@@ -64,6 +67,10 @@ static void setIdleControlEnabled(int value) {
 	showIdleInfo();
 }
 
+static void setIdleValvePosition(int position) {
+	iacMotor.targetPosition = position;
+}
+
 static void setIdleValvePwm(percent_t value) {
 	if (value < 0.01 || value > 99.9)
 		return;
@@ -131,6 +138,11 @@ static void applyIdleSolenoidPinState(PwmConfig *state, int stateIndex) {
 void startIdleThread(Logging*sharedLogger, Engine *engine) {
 	logger = sharedLogger;
 
+	if (boardConfiguration->idleStepperDirection != GPIO_UNASSIGNED) {
+		iacMotor.initialize(boardConfiguration->idleStepperStep, boardConfiguration->idleStepperDirection);
+	}
+
+
 	/**
 	 * Start PWM for IDLE_VALVE logical / idleValvePin physical
 	 */
@@ -154,6 +166,9 @@ void startIdleThread(Logging*sharedLogger, Engine *engine) {
 	addConsoleAction("idleinfo", showIdleInfo);
 	addConsoleActionI("set_idle_rpm", setIdleRpmAction);
 	addConsoleActionF("set_idle_pwm", setIdleValvePwm);
+
+	addConsoleActionI("set_idle_position", setIdleValvePosition);
+
 	addConsoleActionI("set_idle_enabled", (VoidInt) setIdleControlEnabled);
 }
 

firmware/hw_layer/hardware.cpp

@@ -15,7 +15,6 @@
 #include "console_io.h"
 
 #include "adc_inputs.h"
-#include "stepper.h"
 #include "vehicle_speed.h"
 
 #include "trigger_input.h"
@@ -52,8 +51,6 @@ EXTERN_ENGINE
 ;
 extern bool hasFirmwareErrorFlag;
 
-static StepperMotor iacMotor;
-
 static Mutex spiMtx;
 
 int maxNesting = 0;
@@ -270,8 +267,6 @@ void initHardware(Logging *l, Engine *engine) {
 	initMax31855(sharedLogger, getSpiDevice(boardConfiguration->max31855spiDevice), boardConfiguration->max31855_cs);
 #endif /* EFI_MAX_31855 */
 
-//	iacMotor.initialize(GPIOD_11, GPIOD_10);
-
 #if EFI_CAN_SUPPORT
 	initCan();
 #endif /* EFI_CAN_SUPPORT */
@@ -279,7 +274,6 @@ void initHardware(Logging *l, Engine *engine) {
 //	init_adc_mcp3208(&adcState, &SPID2);
 //	requestAdcValue(&adcState, 0);
 
-
 #if EFI_SHAFT_POSITION_INPUT || defined(__DOXYGEN__)
 	// todo: figure out better startup logic
 	initTriggerCentral(sharedLogger, engine);

firmware/hw_layer/stepper.cpp

@@ -17,23 +17,46 @@
 static msg_t stThread(StepperMotor *motor) {
 	chRegSetThreadName("stepper");
 
-	palWritePad(motor->directionPort, motor->directionPin, true);
+	palWritePad(motor->directionPort, motor->directionPin, false);
 
-	// let's part the motor in a known position to begin with
+	// let's park the motor in a known position to begin with
 	for (int i = 0; i < ST_COUNT; i++) {
 		motor->pulse();
 	}
 
-	palWritePad(motor->directionPort, motor->directionPin, false);
+	while (true) {
+		int targetPosition = motor->targetPosition;
+		int currentPosition = motor->currentPosition;
 
-	// let's part the motor in a known position to begin with
-	for (int i = 0; i < ST_COUNT / 2; i++) {
+		if (targetPosition == currentPosition) {
+			chThdSleepMilliseconds(ST_DELAY_MS);
+			continue;
+		}
+		bool_t isIncrementing = targetPosition > currentPosition;
+		palWritePad(motor->directionPort, motor->directionPin, isIncrementing);
+		if (isIncrementing) {
+			motor->currentPosition++;
+		} else {
+			motor->currentPosition--;
+		}
 		motor->pulse();
 	}
 
+	// let's part the motor in a known position to begin with
+//	for (int i = 0; i < ST_COUNT / 2; i++) {
+//		motor->pulse();
+//	}
+
 	return 0;
 }
 
+StepperMotor::StepperMotor() {
+	currentPosition = 0;
+	targetPosition = 0;
+	directionPort = NULL;
+	stepPort = NULL;
+}
+
 void StepperMotor::pulse() {
 	palWritePad(stepPort, stepPin, true);
 	chThdSleepMilliseconds(ST_DELAY_MS);
@@ -42,8 +65,6 @@ void StepperMotor::pulse() {
 }
 
 void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin) {
-	position = 0;
-
 	stepPort = getHwPort(stepPin);
 	this->stepPin = getHwPin(stepPin);
 
@@ -55,3 +76,4 @@ void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin) {
 
 	chThdCreateStatic(stThreadStack, sizeof(stThreadStack), NORMALPRIO, (tfunc_t) stThread, this);
 }
+

firmware/hw_layer/stepper.h

@@ -11,17 +11,20 @@
 
 class StepperMotor {
 public:
+	StepperMotor();
 	void initialize(brain_pin_e stepPin, brain_pin_e directionPin);
 	void pulse();
 	GPIO_TypeDef * directionPort;
 	ioportmask_t directionPin;
+
+	int currentPosition;
+	int targetPosition;
+
 private:
 
 	GPIO_TypeDef * stepPort;
 	ioportmask_t stepPin;
 
-	int position;
-
 	THD_WORKING_AREA(stThreadStack, UTILITY_THREAD_STACK_SIZE);
 
 };