GCC Code Coverage Report

Directory: ./
File: firmware/hw_layer/stepper.cpp
Date: 2025-10-03 00:57:22
Coverage Exec Excl Total
Lines: 54.5% 6 0 11
Functions: 50.0% 2 0 4
Branches: 100.0% 2 0 2
Decisions: 100.0% 2 - 2
Line Branch Decision Exec Source
1 /**
2 * @file stepper.cpp
3 *
4 * http://rusefi.com/wiki/index.php?title=Hardware:Stepper_motor
5 *
6 * @date Dec 24, 2014
7 * @author Andrey Belomutskiy, (c) 2012-2020
8 */
9
10 #include "pch.h"
11
12 #include "stepper.h"
13
14 5 float StepperMotorBase::getTargetPosition() const {
15 5 return m_targetPosition;
16 }
17
18 5 void StepperMotorBase::setTargetPosition(float targetPositionSteps) {
19 // When the IAC position value change is insignificant (lower than this threshold), leave the poor valve alone
20 // When we get a larger change, actually update the target stepper position
21
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 5 if (std::abs(m_targetPosition - targetPositionSteps) >= 1) {
22 3 m_targetPosition = targetPositionSteps;
23 }
24 5 }
25
26 ✗ void StepperMotorBase::initialize(StepperHw *hardware, int totalSteps) {
27 ✗ m_totalSteps = maxI(3, totalSteps);
28
29 ✗ m_hw = hardware;
30 ✗ }
31
32 // todo: EFI_STEPPER macro
33 #if EFI_PROD_CODE || EFI_SIMULATOR
34
35 void StepperMotorBase::saveStepperPos(int pos) {
36 // use backup-power RTC registers to store the data
37 #if EFI_PROD_CODE && EFI_BACKUP_SRAM
38 backupRamSave(backup_ram_e::StepperPosition, pos + 1);
39 #endif
40 postCurrentPosition();
41 }
42
43 int StepperMotorBase::loadStepperPos() {
44 #if EFI_PROD_CODE && EFI_BACKUP_SRAM
45 return (int)backupRamLoad(backup_ram_e::StepperPosition) - 1;
46 #else
47 return 0;
48 #endif
49 }
50
51 void StepperMotorBase::changeCurrentPosition(bool positive) {
52 if (positive) {
53 m_currentPosition++;
54 } else {
55 m_currentPosition--;
56 }
57 postCurrentPosition();
58 }
59
60 void StepperMotorBase::postCurrentPosition() {
61 if (engineConfiguration->debugMode == DBG_STEPPER_IDLE_CONTROL) {
62 #if EFI_TUNER_STUDIO
63 engine->outputChannels.debugIntField5 = m_currentPosition;
64 #endif /* EFI_TUNER_STUDIO */
65 }
66 }
67
68 void StepperMotorBase::setInitialPosition() {
69 // try to get saved stepper position (-1 for no data)
70 m_currentPosition = loadStepperPos();
71
72 #if HAL_USE_ADC
73 // first wait until at least 1 slowADC sampling is complete
74 waitForSlowAdc();
75 #endif
76
77 #if EFI_SHAFT_POSITION_INPUT
78 bool isRunning = engine->rpmCalculator.isRunning();
79 #else
80 bool isRunning = false;
81 #endif /* EFI_SHAFT_POSITION_INPUT */
82 // now check if stepper motor re-initialization is requested - if the throttle pedal is pressed at startup
83 auto tpsPos = Sensor::getOrZero(SensorType::DriverThrottleIntent);
84 bool forceStepperParking = !isRunning && tpsPos > STEPPER_PARKING_TPS;
85 if (engineConfiguration->stepperForceParkingEveryRestart)
86 forceStepperParking = true;
87 efiPrintf("Stepper: savedStepperPos=%d forceStepperParking=%d (tps=%.2f)", m_currentPosition, (forceStepperParking ? 1 : 0), tpsPos);
88
89 if (m_currentPosition < 0 || forceStepperParking) {
90 efiPrintf("Stepper: starting parking time=%lums", getTimeNowMs());
91 // reset saved value
92 saveStepperPos(-1);
93
94 /**
95 * let's park the motor in a known position to begin with
96 *
97 * I believe it's safer to retract the valve for parking - at least on a bench I've seen valves
98 * disassembling themselves while pushing too far out.
99 *
100 * Add extra steps to compensate step skipping by some old motors.
101 */
102 int numParkingSteps = (int)efiRound((1.0f + (float)engineConfiguration->stepperParkingExtraSteps / PERCENT_MULT) * m_totalSteps, 1.0f);
103 for (int i = 0; i < numParkingSteps; i++) {
104 if (!m_hw->step(false)) {
105 initialPositionSet = false;
106 return;
107 }
108 changeCurrentPosition(false);
109 }
110
111 // set & save zero stepper position after the parking completion
112 m_currentPosition = 0;
113 saveStepperPos(m_currentPosition);
114 // todo: is this a slow operation on the start-up path?
115 efiPrintf("Stepper: parking finished time=%lums", getTimeNowMs());
116 } else {
117 // The initial target position should correspond to the saved stepper position.
118 // Idle thread starts later and sets a new target position.
119 setTargetPosition(m_currentPosition);
120 }
121
122 initialPositionSet = true;
123 }
124
125 void StepperMotorBase::doIteration() {
126 int targetPosition = efiRound(getTargetPosition(), 1);
127 int currentPosition = m_currentPosition;
128
129 // stepper requires +12V
130 if (!isIgnVoltage()) {
131 initialPositionSet = false;
132 m_hw->pause();
133 return;
134 }
135
136 if (!initialPositionSet) {
137 setInitialPosition();
138 return;
139 }
140
141 if (targetPosition == currentPosition) {
142 m_hw->sleep();
143 m_isBusy = false;
144 return;
145 }
146
147 m_isBusy = true;
148
149 bool isIncrementing = targetPosition > currentPosition;
150
151 if (m_hw->step(isIncrementing)) {
152 changeCurrentPosition(isIncrementing);
153 }
154
155 // save position to backup RTC register
156 #if EFI_PROD_CODE
157 saveStepperPos(m_currentPosition);
158 #endif
159 }
160
161 bool StepperMotorBase::isBusy() const {
162 return m_isBusy;
163 }
164
165 void StepDirectionStepper::setDirection(bool isIncrementing) {
166 if (isIncrementing != m_currentDirection) {
167 // compensate stepper motor inertia
168 pause();
169 m_currentDirection = isIncrementing;
170 }
171
172 directionPin.setValue(isIncrementing);
173 }
174
175 bool StepDirectionStepper::pulse() {
176 // we move the motor only of it is powered from the main relay
177 if (!engine->isMainRelayEnabled())
178 return false;
179
180 enablePin.setValue(false); // enable stepper
181
182 stepPin.setValue(true);
183 pause();
184
185 stepPin.setValue(false);
186 pause();
187
188 enablePin.setValue(true); // disable stepper
189
190 return true;
191 }
192
193 void StepperHw::sleep() {
194 pause();
195 }
196
197 void StepperHw::pause(int divisor) const {
198 // currently we can't sleep less than 1ms (see #3214)
199 chThdSleepMicroseconds(maxI(MS2US(1), (int)(MS2US(m_reactionTime)) / divisor));
200 }
201
202 void StepperHw::setReactionTime(float ms) {
203 m_reactionTime = std::max(1.0f, ms);
204 }
205
206 bool StepDirectionStepper::step(bool positive) {
207 setDirection(positive);
208 return pulse();
209 }
210
211 void StepperMotor::initialize(StepperHw *hardware, int totalSteps) {
212 StepperMotorBase::initialize(hardware, totalSteps);
213
214 start();
215 }
216
217 void StepDirectionStepper::initialize(brain_pin_e p_stepPin, brain_pin_e p_directionPin, pin_output_mode_e p_directionPinMode, float reactionTime, brain_pin_e p_enablePin, pin_output_mode_e p_enablePinMode) {
218 if (!isBrainPinValid(p_stepPin) || !isBrainPinValid(p_directionPin)) {
219 return;
220 }
221
222 setReactionTime(reactionTime);
223
224 directionPinMode = p_directionPinMode;
225 directionPin.initPin("Stepper DIR", p_directionPin, directionPinMode);
226
227 stepPinMode = OM_DEFAULT; // todo: do we need configurable stepPinMode?
228 stepPin.initPin("Stepper step", p_stepPin, stepPinMode);
229
230 enablePinMode = p_enablePinMode;
231 enablePin.initPin("Stepper EN", p_enablePin, enablePinMode);
232
233 // All pins must be 0 for correct hardware startup (e.g. stepper auto-disabling circuit etc.).
234 enablePin.setValue(true); // disable stepper
235 stepPin.setValue(false);
236 directionPin.setValue(false);
237 m_currentDirection = false;
238 }
239
240 #endif
241
242 #if EFI_UNIT_TEST
243 ✗ void StepperHw::sleep() { }
244 #endif // EFI_UNIT_TEST
245