Separate stepper control logic from hardware (#1101)

* divorce stepper from hw

* oops

* ptr not ref

* ptr not ref

* whitespace

* null check

firmware/controllers/actuators/idle_thread.cpp

@@ -43,6 +43,7 @@
 #if ! EFI_UNIT_TEST
 #include "stepper.h"
 #include "pin_repository.h"
+static StepDirectionStepper iacStepperHw;
 static StepperMotor iacMotor;
 #endif /* EFI_UNIT_TEST */
 
@@ -557,13 +558,17 @@ void stopIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	if (CONFIG(useStepperIdle)) {
-		iacMotor.initialize(CONFIG(idle).stepperStepPin,
-				CONFIG(idle).stepperDirectionPin,
-				engineConfiguration->stepperDirectionPinMode,
-				engineConfiguration->idleStepperReactionTime,
-				engineConfiguration->idleStepperTotalSteps,
-				engineConfiguration->stepperEnablePin, engineConfiguration->stepperEnablePinMode,
-				logger);
+		iacStepperHw.initialize(
+			CONFIG(idle).stepperStepPin,
+			CONFIG(idle).stepperDirectionPin,
+			CONFIG(stepperDirectionPinMode),
+			CONFIG(idleStepperReactionTime),
+			CONFIG(stepperEnablePin),
+			CONFIG(stepperEnablePinMode)
+		);
+
+		iacMotor.initialize(&iacStepperHw, CONFIG(idleStepperTotalSteps), logger);
+
 		// This greatly improves PID accuracy for steppers with a small number of steps
 		idlePositionSensitivityThreshold = 1.0f / engineConfiguration->idleStepperTotalSteps;
 	} else if (!engineConfiguration->useETBforIdleControl) {

firmware/hw_layer/stepper.cpp

@@ -37,6 +37,11 @@ static int loadStepperPos() {
 }
 
 void StepperMotor::ThreadTask() {
+	// Require hardware to be set
+	if (!m_hw) {
+		return;
+	}
+
 	// try to get saved stepper position (-1 for no data)
 	m_currentPosition = loadStepperPos();
 
@@ -69,7 +74,7 @@ void StepperMotor::ThreadTask() {
 		 */
 		int numParkingSteps = (int)efiRound((1.0f + (float)CONFIG(stepperParkingExtraSteps) / PERCENT_MULT) * m_totalSteps, 1.0f);
 		for (int i = 0; i < numParkingSteps; i++) {
-			pulse();
+			m_hw->step(false);
 		}
 
 		// set & save zero stepper position after the parking completion
@@ -86,18 +91,18 @@ void StepperMotor::ThreadTask() {
 		int currentPosition = m_currentPosition;
 
 		if (targetPosition == currentPosition) {
-			chThdSleepMilliseconds(m_reactionTime);
+			m_hw->pause();
 			continue;
 		}
 		bool isIncrementing = targetPosition > currentPosition;
-		setDirection(isIncrementing);
+
 		if (isIncrementing) {
 			m_currentPosition++;
 		} else {
 			m_currentPosition--;
 		}
 
-		pulse();
+		m_hw->step(isIncrementing);
 
 		// save position to backup RTC register
 #if EFI_PROD_CODE
@@ -116,40 +121,58 @@ void StepperMotor::setTargetPosition(int targetPosition) {
 	m_targetPosition = targetPosition;
 }
 
-void StepperMotor::setDirection(bool isIncrementing) {
+void StepDirectionStepper::setDirection(bool isIncrementing) {
 	if (isIncrementing != m_currentDirection) {
 		// compensate stepper motor inertia
-		chThdSleepMilliseconds(m_reactionTime);
+		pause();
 		m_currentDirection = isIncrementing;
 	}
-		
+
 	directionPin.setValue(isIncrementing);
 }
 
-void StepperMotor::pulse() {
+void StepDirectionStepper::pulse() {
 	enablePin.setValue(false); // enable stepper
 
 	stepPin.setValue(true);
-	chThdSleepMilliseconds(m_reactionTime);
+	pause();
 
 	stepPin.setValue(false);
-	chThdSleepMilliseconds(m_reactionTime);
+	pause();
 
 	enablePin.setValue(true); // disable stepper
 }
 
-void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin, pin_output_mode_e directionPinMode,
-		float reactionTime, int totalSteps,
-		brain_pin_e enablePin, pin_output_mode_e enablePinMode, Logging *sharedLogger) {
-	m_reactionTime = maxF(1, reactionTime);
+void StepperHw::pause() const {
+	chThdSleepMilliseconds(m_reactionTime);
+}
+
+void StepperHw::setReactionTime(float ms) {
+	m_reactionTime = maxF(1, ms);
+}
+
+void StepDirectionStepper::step(bool positive) {
+	setDirection(positive);
+	pulse();
+}
+
+void StepperMotor::initialize(StepperHw *hardware, int totalSteps, Logging *sharedLogger) {
 	m_totalSteps = maxI(3, totalSteps);
-	
+
+	m_hw = hardware;
+
 	logger = sharedLogger;
 
+	Start();
+}
+
+void StepDirectionStepper::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) {
 	if (stepPin == GPIO_UNASSIGNED || directionPin == GPIO_UNASSIGNED) {
 		return;
 	}
 
+	setReactionTime(reactionTime);
+
 	this->directionPinMode = directionPinMode;
 	this->directionPin.initPin("stepper dir", directionPin, &this->directionPinMode);
 
@@ -164,8 +187,6 @@ void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin, pin
 	this->stepPin.setValue(false);
 	this->directionPin.setValue(false);
 	m_currentDirection = false;
-
-	Start();
 }
 
 #endif

firmware/hw_layer/stepper.h

@@ -12,31 +12,53 @@
 #include "backup_ram.h"
 #include "thread_controller.h"
 
+class StepperHw {
+public:
+	virtual void step(bool positive) = 0;
+	void pause() const;
+
+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);
+
+	void step(bool positive) override;
+
+private:
+	void pulse();
+	void setDirection(bool isIncrementing);
+
+	bool m_currentDirection = false;
+
+	OutputPin directionPin, stepPin, enablePin;
+	pin_output_mode_e directionPinMode, stepPinMode, enablePinMode;
+};
+
 class StepperMotor final : private ThreadController<UTILITY_THREAD_STACK_SIZE> {
 public:
 	StepperMotor();
 
-	void initialize(brain_pin_e stepPin, brain_pin_e directionPin, pin_output_mode_e directionPinMode, float reactionTime, int totalSteps,
-			brain_pin_e enablePin, pin_output_mode_e enablePinMode, Logging *sharedLogger);
+	void initialize(StepperHw *hardware, int totalSteps, Logging *sharedLogger);
 
-	void pulse();
 	void setTargetPosition(int targetPosition);
 	int getTargetPosition() const;
-	void setDirection(bool isIncrementing);
 
-	OutputPin directionPin, stepPin, enablePin;
 	int m_currentPosition = 0;
-	bool m_currentDirection = false;
-	float m_reactionTime = 0;
 	int m_totalSteps = 0;
 
 protected:
 	void ThreadTask() override;
 
 private:
-	int m_targetPosition = 0;
+	StepperHw* m_hw = nullptr;
 
-	pin_output_mode_e directionPinMode, stepPinMode, enablePinMode;
+	int m_targetPosition = 0;
 };
 
 #endif /* STEPPER_H_ */