stepper.h

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/**
 * @file    stepper.h
 *
 * @date Dec 24, 2014
 * @author Andrey Belomutskiy, (c) 2012-2020
 */
 
#pragma once
 
#include "global.h"
#include "efi_gpio.h"
#include "backup_ram.h"
#include "thread_controller.h"
 
class StepperHw {
public:
    virtual bool step(bool positive) = 0;
    // pause between steps
    void pause(int divisor = 1) const;
    // pause and enter the idle mode (less current consumption)
    virtual void sleep();
 
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);
 
    bool step(bool positive) override;
 
private:
    bool pulse();
    void setDirection(bool isIncrementing);
 
    bool m_currentDirection = false;
 
    OutputPin directionPin, stepPin, enablePin;
    pin_output_mode_e directionPinMode, stepPinMode, enablePinMode;
};
 
class DcMotor;
 
class DualHBridgeStepper final : public StepperHw {
public:
    void initialize(DcMotor* motorPhaseA, DcMotor* motorPhaseB, float reactionTime);
 
    bool step(bool positive) override;
 
    void sleep() override;
 
protected:
    bool update(float dutyMult);
 
private:
    DcMotor* m_motorPhaseA = nullptr;
    DcMotor* m_motorPhaseB = nullptr;
 
    uint8_t m_phase = 0;
};
 
class StepperMotorBase {
public:
    virtual void initialize(StepperHw* hardware, int totalSteps);
    void doIteration();
 
    void setTargetPosition(float targetPositionSteps);
    float getTargetPosition() const;
 
    bool isBusy() const;
 
    int m_currentPosition = 0;
    int m_totalSteps = 0;
 
protected:
    void setInitialPosition(void);
 
    void saveStepperPos(int pos);
    int loadStepperPos();
 
    void changeCurrentPosition(bool positive);
    void postCurrentPosition(void);
 
    StepperHw* m_hw = nullptr;
 
    float m_targetPosition = 0;
    bool initialPositionSet = false;
    bool m_isBusy = false;
};
 
#if !EFI_UNIT_TEST
 
class StepperMotor final : public StepperMotorBase, private ThreadController<UTILITY_THREAD_STACK_SIZE> {
public:
    StepperMotor() : ThreadController("stepper", PRIO_STEPPER) {}
 
    void initialize(StepperHw* hardware, int totalSteps);
 
    void ThreadTask() override {
        // Require hardware to be set
        if (!m_hw) {
            return;
        }
 
        while (true) {
            doIteration();
        }
    }
};
#endif