DualHBridgeStepper Class Reference

#include <stepper.h>

Inheritance diagram for DualHBridgeStepper:

Collaboration diagram for DualHBridgeStepper:

Public Member Functions
void	initialize (DcMotor *motorPhaseA, DcMotor *motorPhaseB, float reactionTime)
bool	step (bool positive) override
void	sleep () override
Public Member Functions inherited from StepperHw
void	pause (int divisor=1) const

Protected Member Functions
bool	update (float dutyMult)
Protected Member Functions inherited from StepperHw
void	setReactionTime (float ms)

Private Attributes
DcMotor *	m_motorPhaseA = nullptr
DcMotor *	m_motorPhaseB = nullptr
uint8_t	m_phase = 0

Detailed Description

Definition at line 48 of file stepper.h.

Member Function Documentation

initialize()

void DualHBridgeStepper::initialize	(	DcMotor *	motorPhaseA,
		DcMotor *	motorPhaseB,
		float	reactionTime
	)

Definition at line 37 of file stepper_dual_hbridge.cpp.

{
    setReactionTime(reactionTime);
 
    m_motorPhaseA = motorPhaseA;
    m_motorPhaseB = motorPhaseB;
 
    efiAssertVoid(ObdCode::CUSTOM_ERR_ASSERT, engineConfiguration->stepperNumMicroSteps <= maxNumSteps, "stepperNumMicroSteps");
}

Referenced by applyIACposition().

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sleep()

void DualHBridgeStepper::sleep ( )

overridevirtual

Reimplemented from StepperHw.

Definition at line 104 of file stepper_dual_hbridge.cpp.

                               {
    float sleepingCoef = minI(engineConfiguration->stepperMinDutyCycle, engineConfiguration->stepperMaxDutyCycle) * phaseDutyCycleDivisor;
    update(sleepingCoef);
    pause();
}

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step()

bool DualHBridgeStepper::step ( bool  positive )

overridevirtual

Implements StepperHw.

Definition at line 47 of file stepper_dual_hbridge.cpp.

                                           {
    // Check that we've been initialized
    if (!m_motorPhaseA || !m_motorPhaseB) {
        return false;
    }
 
    if (engineConfiguration->stepperNumMicroSteps > 1) {
        float dutyMult = engineConfiguration->stepperMaxDutyCycle * phaseDutyCycleDivisor;
        int numStepIncr = maxNumSteps / engineConfiguration->stepperNumMicroSteps;
        if (!positive)
            numStepIncr = -numStepIncr;
        for (int i = engineConfiguration->stepperNumMicroSteps; i > 0; i--) {
            m_phase = (m_phase + numStepIncr) & tableSizeMask;
            update(dutyMult);
            // sleep 1/Nth of the pause time
            pause(engineConfiguration->stepperNumMicroSteps);
        }
        return true;
    }
 
    // For the full-stepping mode, we use a traditional "two phase on" drive model
    // because "wave drive" (one phase on) method has less torque.
    // For explanation, pls see: https://github.com/rusefi/rusefi/pull/3213#discussion_r700746453
 
    // step phase, wrapping
    if (positive) {
        m_phase = (m_phase + 1) & 0x03;
    } else {
        m_phase = (m_phase - 1) & 0x03;
    }
 
    update(1.0f);
    pause();
 
    return true;
}

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update()

bool DualHBridgeStepper::update ( float  dutyMult )

protected

Definition at line 84 of file stepper_dual_hbridge.cpp.

                                              {
    if (!m_motorPhaseA || !m_motorPhaseB) {
        return false;
    }
 
    if (engineConfiguration->stepperNumMicroSteps > 1) {
        // phase B is 90 degrees shifted
        uint8_t m_phaseB = (m_phase + engineConfiguration->stepperNumMicroSteps) & tableSizeMask;
        
        // Set phases according to the table
        m_motorPhaseA->set(dutyMult * microPhases[m_phase]);
        m_motorPhaseB->set(dutyMult * microPhases[m_phaseB]);
        return true;
    }
    // Set phases according to the table
    m_motorPhaseA->set(phaseA[m_phase]);
    m_motorPhaseB->set(phaseB[m_phase]);
    return true;
}

Referenced by sleep(), and step().

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Field Documentation

m_motorPhaseA

DcMotor* DualHBridgeStepper::m_motorPhaseA = nullptr

private

Definition at line 60 of file stepper.h.

Referenced by initialize(), step(), and update().

m_motorPhaseB

DcMotor* DualHBridgeStepper::m_motorPhaseB = nullptr

private

Definition at line 61 of file stepper.h.

Referenced by initialize(), step(), and update().

m_phase

uint8_t DualHBridgeStepper::m_phase = 0

private

Definition at line 63 of file stepper.h.

Referenced by step(), and update().

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The documentation for this class was generated from the following files:

• hw_layer/stepper.h
• hw_layer/stepper_dual_hbridge.cpp