mirror of https://github.com/rusefi/rusefi-1.git
65 lines
1.3 KiB
C++
65 lines
1.3 KiB
C++
/**
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* @file stepper.h
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*
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* @date Dec 24, 2014
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#ifndef STEPPER_H_
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#define STEPPER_H_
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#include "global.h"
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#include "efi_gpio.h"
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#include "backup_ram.h"
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#include "thread_controller.h"
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class StepperHw {
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public:
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virtual void step(bool positive) = 0;
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void pause() const;
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protected:
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void setReactionTime(float ms);
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private:
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float m_reactionTime = 5.0f;
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};
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class StepDirectionStepper final : public StepperHw {
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public:
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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);
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void step(bool positive) override;
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private:
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void pulse();
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void setDirection(bool isIncrementing);
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bool m_currentDirection = false;
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OutputPin directionPin, stepPin, enablePin;
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pin_output_mode_e directionPinMode, stepPinMode, enablePinMode;
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};
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class StepperMotor final : private ThreadController<UTILITY_THREAD_STACK_SIZE> {
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public:
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StepperMotor();
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void initialize(StepperHw *hardware, int totalSteps, Logging *sharedLogger);
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void setTargetPosition(int targetPosition);
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int getTargetPosition() const;
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int m_currentPosition = 0;
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int m_totalSteps = 0;
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protected:
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void ThreadTask() override;
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private:
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StepperHw* m_hw = nullptr;
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int m_targetPosition = 0;
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};
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#endif /* STEPPER_H_ */
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