rusefi
/
rusefi
mirror of https://github.com/rusefi/rusefi.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Hellen says merge #1772 

Hellen says stepper
This commit is contained in:
rusefi 2020-09-07 14:41:04 -04:00
parent b24246791e
commit a2f26ac99b
5 changed files with 175 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

86
firmware/controllers/algo/engine.cpp
View File

@ -162,7 +162,7 @@ void Engine::periodicSlowCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
watchdog();
updateSlowSensors(PASS_ENGINE_PARAMETER_SIGNATURE);
checkShutdown();
checkShutdown(PASS_ENGINE_PARAMETER_SIGNATURE);
#if EFI_FSIO
runFsio(PASS_ENGINE_PARAMETER_SIGNATURE);
@ -468,36 +468,83 @@ void Engine::watchdog() {
#endif
}
void Engine::checkShutdown() {
void Engine::checkShutdown(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
#if EFI_MAIN_RELAY_CONTROL
int rpm = rpmCalculator.getRpm();
// if we are already in the "ignition_on" mode, then do nothing
if (ignitionOnTimeNt > 0) {
return;
}
/**
* Something is weird here: "below 5.0 volts on battery" what is it about? Is this about
* Frankenso powering everything while driver has already turned ignition off? or what is this condition about?
*/
const float vBattThreshold = 5.0f;
if (isValidRpm(rpm) && sensors.vBatt < vBattThreshold && stopEngineRequestTimeNt == 0) {
scheduleStopEngine();
// todo: add stepper motor parking
// here we are in the shutdown (the ignition is off) or initial mode (after the firmware fresh start)
const efitick_t engineStopWaitTimeoutUs = 500000LL; // 0.5 sec
// in shutdown mode, we need a small cooldown time between the ignition off and on
if (stopEngineRequestTimeNt == 0 || (getTimeNowNt() - stopEngineRequestTimeNt) > US2NT(engineStopWaitTimeoutUs)) {
// if the ignition key is turned on again,
// we cancel the shutdown mode, but only if all shutdown procedures are complete
const float vBattThresholdOn = 8.0f;
if ((sensors.vBatt > vBattThresholdOn) && !isInShutdownMode(PASS_ENGINE_PARAMETER_SIGNATURE)) {
ignitionOnTimeNt = getTimeNowNt();
stopEngineRequestTimeNt = 0;
scheduleMsg(&engineLogger, "Ingition voltage detected! Cancel the engine shutdown!");
}
}
#endif /* EFI_MAIN_RELAY_CONTROL */
}
bool Engine::isInShutdownMode() const {
bool Engine::isInShutdownMode(DECLARE_ENGINE_PARAMETER_SIGNATURE) const {
#if EFI_MAIN_RELAY_CONTROL
if (stopEngineRequestTimeNt == 0) // the shutdown procedure is not started
// if we are in "ignition_on" mode and not in shutdown mode
if (stopEngineRequestTimeNt == 0 && ignitionOnTimeNt > 0) {
const float vBattThresholdOff = 5.0f;
// start the shutdown process if the ignition voltage dropped low
if (sensors.vBatt <= vBattThresholdOff) {
scheduleStopEngine();
}
}
// we are not in the shutdown mode?
if (stopEngineRequestTimeNt == 0) {
return false;
const efitick_t engineStopWaitTimeoutNt = 5LL * 1000000LL;
// The engine is still spinning! Give it some time to stop (but wait no more than 5 secs)
if (isSpinning && (getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(engineStopWaitTimeoutNt))
}
const efitick_t turnOffWaitTimeoutUs = 1LL * 1000000LL;
// We don't want any transients to step in, so we wait at least 1 second whatever happens.
// Also it's good to give the stepper motor some time to start moving to the initial position (or parking)
if ((getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(turnOffWaitTimeoutUs))
return true;
const efitick_t engineSpinningWaitTimeoutUs = 5LL * 1000000LL;
// The engine is still spinning! Give it some time to stop (but wait no more than 5 secs)
if (isSpinning && (getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(engineSpinningWaitTimeoutUs))
return true;
// The idle motor valve is still moving! Give it some time to park (but wait no more than 10 secs)
// Usually it can move to the initial 'cranking' position or zero 'parking' position.
const efitick_t idleMotorWaitTimeoutUs = 10LL * 1000000LL;
if (isIdleMotorBusy(PASS_ENGINE_PARAMETER_SIGNATURE) && (getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(idleMotorWaitTimeoutUs))
return true;
// todo: add checks for stepper motor parking
#endif /* EFI_MAIN_RELAY_CONTROL */
return false;
}
bool Engine::isMainRelayEnabled(DECLARE_ENGINE_PARAMETER_SIGNATURE) const {
#if EFI_MAIN_RELAY_CONTROL
return enginePins.mainRelay.getLogicValue();
#else
// if no main relay control, we assume it's always turned on
return true;
#endif /* EFI_MAIN_RELAY_CONTROL */
}
float Engine::getTimeIgnitionSeconds(void) const {
// return negative if the ignition is turned off
if (ignitionOnTimeNt == 0)
return -1;
float numSeconds = (float)NT2US(getTimeNowNt() - ignitionOnTimeNt) / 1000000.0f;
return numSeconds;
}
injection_mode_e Engine::getCurrentInjectionMode(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
return rpmCalculator.isCranking() ? CONFIG(crankingInjectionMode) : CONFIG(injectionMode);
}
@ -544,9 +591,12 @@ void Engine::periodicFastCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
}
void doScheduleStopEngine(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
scheduleMsg(&engineLogger, "Starting doScheduleStopEngine");
engine->stopEngineRequestTimeNt = getTimeNowNt();
engine->ignitionOnTimeNt = 0;
// let's close injectors or else if these happen to be open right now
enginePins.stopPins();
// todo: initiate stepper motor parking
}
void action_s::execute() {

26
firmware/controllers/algo/engine.h
View File

@ -225,6 +225,11 @@ public:
efitick_t startStopStateLastPushTime = 0;
int startStopStateToggleCounter = 0;
/**
* this is needed by getTimeIgnitionSeconds() and checkShutdown()
*/
efitick_t ignitionOnTimeNt = 0;
/**
* This counter is incremented every time user adjusts ECU parameters online (either via rusEfi console or other
* tuning software)
@ -353,14 +358,29 @@ public:
/**
* Needed by EFI_MAIN_RELAY_CONTROL to shut down the engine correctly.
* This method cancels shutdown if the ignition voltage is detected.
*/
void checkShutdown();
void checkShutdown(DECLARE_ENGINE_PARAMETER_SIGNATURE);
/**
* Allows to finish some long-term shutdown procedures (stepper motor parking etc.)
Called when the ignition switch is turned off (vBatt is too low).
Returns true if some operations are in progress on background.
*/
bool isInShutdownMode() const;
bool isInShutdownMode(DECLARE_ENGINE_PARAMETER_SIGNATURE) const;
/**
* The stepper does not work if the main relay is turned off (it requires +12V).
* Needed by the stepper motor code to detect if it works.
*/
bool isMainRelayEnabled(DECLARE_ENGINE_PARAMETER_SIGNATURE) const;
/**
* Needed by EFI_MAIN_RELAY_CONTROL to handle fuel pump and shutdown timings correctly.
* This method returns the number of seconds since the ignition voltage is present.
* The return value is float for more FSIO flexibility.
*/
float getTimeIgnitionSeconds(void) const;
void knockLogic(float knockVolts DECLARE_ENGINE_PARAMETER_SUFFIX);
void printKnockState(void);

84
firmware/hw_layer/stepper.cpp
View File

@ -21,14 +21,15 @@ EXTERN_ENGINE;
static Logging *logger;
static void saveStepperPos(int pos) {
void StepperMotor::saveStepperPos(int pos) {
// use backup-power RTC registers to store the data
#if EFI_PROD_CODE
backupRamSave(BACKUP_STEPPER_POS, pos + 1);
#endif
postCurrentPosition();
}
static int loadStepperPos() {
int StepperMotor::loadStepperPos() {
#if EFI_PROD_CODE
return (int)backupRamLoad(BACKUP_STEPPER_POS) - 1;
#else
@ -36,12 +37,24 @@ static int loadStepperPos() {
#endif
}
void StepperMotor::ThreadTask() {
// Require hardware to be set
if (!m_hw) {
return;
void StepperMotor::changeCurrentPosition(bool positive) {
if (positive) {
m_currentPosition++;
} else {
m_currentPosition--;
}
postCurrentPosition();
}
void StepperMotor::postCurrentPosition(void) {
if (engineConfiguration->debugMode == DBG_IDLE_CONTROL) {
#if EFI_TUNER_STUDIO
tsOutputChannels.debugIntField5 = m_currentPosition;
#endif /* EFI_TUNER_STUDIO */
}
}
void StepperMotor::setInitialPosition(void) {
// try to get saved stepper position (-1 for no data)
m_currentPosition = loadStepperPos();
@ -49,6 +62,7 @@ void StepperMotor::ThreadTask() {
// first wait until at least 1 slowADC sampling is complete
waitForSlowAdc();
#endif
#if EFI_SHAFT_POSITION_INPUT
bool isRunning = engine->rpmCalculator.isRunning();
#else
@ -62,6 +76,7 @@ void StepperMotor::ThreadTask() {
scheduleMsg(logger, "Stepper: savedStepperPos=%d forceStepperParking=%d (tps=%.2f)", m_currentPosition, (forceStepperParking ? 1 : 0), tpsPos);
if (m_currentPosition < 0 || forceStepperParking) {
scheduleMsg(logger, "Stepper: starting parking...");
// reset saved value
saveStepperPos(-1);
@ -75,36 +90,58 @@ 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++) {
m_hw->step(false);
if (!m_hw->step(false)) {
initialPositionSet = false;
return;
}
changeCurrentPosition(false);
}
// set & save zero stepper position after the parking completion
m_currentPosition = 0;
saveStepperPos(m_currentPosition);
scheduleMsg(logger, "Stepper: parking finished!");
} else {
// The initial target position should correspond to the saved stepper position.
// Idle thread starts later and sets a new target position.
setTargetPosition(m_currentPosition);
}
initialPositionSet = true;
}
void StepperMotor::ThreadTask() {
// Require hardware to be set
if (!m_hw) {
return;
}
while (true) {
int targetPosition = getTargetPosition();
int currentPosition = m_currentPosition;
// the stepper does not work if the main relay is turned off (it requires +12V)
if (!engine->isMainRelayEnabled()) {
m_hw->pause();
continue;
}
if (!initialPositionSet) {
setInitialPosition();
continue;
}
if (targetPosition == currentPosition) {
m_hw->pause();
continue;
}
bool isIncrementing = targetPosition > currentPosition;
if (isIncrementing) {
m_currentPosition++;
} else {
m_currentPosition--;
if (m_hw->step(isIncrementing)) {
changeCurrentPosition(isIncrementing);
}
m_hw->step(isIncrementing);
// save position to backup RTC register
#if EFI_PROD_CODE
saveStepperPos(m_currentPosition);
@ -119,7 +156,14 @@ int StepperMotor::getTargetPosition() const {
}
void StepperMotor::setTargetPosition(int targetPosition) {
m_targetPosition = targetPosition;
// we accept a new target position only if the motor is powered from the main relay
if (engine->isMainRelayEnabled()) {
m_targetPosition = targetPosition;
}
}
bool StepperMotor::isBusy() const {
return m_currentPosition != m_targetPosition;
}
void StepDirectionStepper::setDirection(bool isIncrementing) {
@ -132,7 +176,11 @@ void StepDirectionStepper::setDirection(bool isIncrementing) {
directionPin.setValue(isIncrementing);
}
void StepDirectionStepper::pulse() {
bool StepDirectionStepper::pulse() {
// we move the motor only of it is powered from the main relay
if (!engine->isMainRelayEnabled())
return false;
enablePin.setValue(false); // enable stepper
stepPin.setValue(true);
@ -142,6 +190,8 @@ void StepDirectionStepper::pulse() {
pause();
enablePin.setValue(true); // disable stepper
return true;
}
void StepperHw::pause() const {
@ -152,9 +202,9 @@ void StepperHw::setReactionTime(float ms) {
m_reactionTime = maxF(1, ms);
}
void StepDirectionStepper::step(bool positive) {
bool StepDirectionStepper::step(bool positive) {
setDirection(positive);
pulse();
return pulse();
}
void StepperMotor::initialize(StepperHw *hardware, int totalSteps, Logging *sharedLogger) {

18
firmware/hw_layer/stepper.h
View File

@ -14,7 +14,7 @@
class StepperHw {
public:
virtual void step(bool positive) = 0;
virtual bool step(bool positive) = 0;
void pause() const;
protected:
@ -28,10 +28,10 @@ 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;
bool step(bool positive) override;
private:
void pulse();
bool pulse();
void setDirection(bool isIncrementing);
bool m_currentDirection = false;
@ -46,7 +46,7 @@ class DualHBridgeStepper final : public StepperHw {
public:
void initialize(DcMotor* motorPhaseA, DcMotor* motorPhaseB, float reactionTime);
void step(bool positive) override;
bool step(bool positive) override;
private:
DcMotor* m_motorPhaseA = nullptr;
@ -64,15 +64,25 @@ public:
void setTargetPosition(int targetPosition);
int getTargetPosition() const;
bool isBusy() const;
int m_currentPosition = 0;
int m_totalSteps = 0;
protected:
void ThreadTask() override;
void setInitialPosition(void);
void saveStepperPos(int pos);
int loadStepperPos();
void changeCurrentPosition(bool positive);
void postCurrentPosition(void);
private:
StepperHw* m_hw = nullptr;
int m_targetPosition = 0;
bool initialPositionSet = false;
};

5
firmware/hw_layer/stepper_dual_hbridge.cpp
View File

@ -30,10 +30,10 @@ void DualHBridgeStepper::initialize(DcMotor* motorPhaseA, DcMotor* motorPhaseB,
m_motorPhaseB = motorPhaseB;
}
void DualHBridgeStepper::step(bool positive) {
bool DualHBridgeStepper::step(bool positive) {
// Check that we've been initialized
if (!m_motorPhaseA || !m_motorPhaseB) {
return;
return false;
}
// step phase, wrapping
@ -48,6 +48,7 @@ void DualHBridgeStepper::step(bool positive) {
m_motorPhaseB->set(phaseB[m_phase]);
pause();
return true;
}
#endif