// Call tick() on each active motor
inline void StepTicker::tick(){
uint8_t current_id = 0;
StepperMotor* current = this->active_motors[0];
while(current != NULL ){
current->tick();
current_id++;
current = this->active_motors[current_id];
}
}
bool Tasks::resolveTasks(Clock *clk, StepperMotor stepper) {
if (this->list[0].time == clk->getTime()) {
// already done once ? don't do it
if (this->list[0].done)
return (false);
stepper.step(683);
// decrease the food
decreaseFoodLevel(0);
// already done once, remember it
this->list[0].done = true;
return (true);
} else if (this->list[1].time == clk->getTime()) {
// already done once ? don't do it
if (this->list[1].done)
return (false);
stepper.step(682);
// decrease the food
decreaseFoodLevel(1);
// already done once, remember it
this->list[1].done = true;
return (true);
} else if (this->list[2].time == clk->getTime()) {
// already done once ? don't do it
if (this->list[2].done)
return (false);
stepper.step(683);
delay(10000);
stepper.step(2048);
// decrease the food
decreaseFoodLevel(2);
// already done once, remember it
this->list[2].done = true;
return (true);
// no task to run ? reset the tokens
} else {
this->list[0].done = false;
this->list[1].done = false;
this->list[2].done = false;
}
// we didn't find a task to launch
return (false);
}
// This thread function is a friend function of the class
void* threadedStep(void *value){
StepperMotor *stepper = static_cast<StepperMotor*>(value);
while(stepper->threadRunning){
stepper->step();
usleep(stepper->threadedStepPeriod * 1000); // convert from ms to us
if(stepper->threadedStepNumber>0) stepper->threadedStepNumber--;
if(stepper->threadedStepNumber==0) stepper->threadRunning = false;
}
return 0;
}
// Call signal_mode_finished() on each active motor that asked to be signaled. We do this instead of inside of tick() so that
// all tick()s are called before we do the move finishing
void StepTicker::signal_moves_finished(){
uint8_t current_id = 0;
StepperMotor* current = this->active_motors[0];
while(current != NULL ){
if( current->is_move_finished ){
current->signal_move_finished();
if( current->moving == false ){ current_id--; }
}
current_id++;
current = this->active_motors[current_id];
}
this->moves_finished = false;
}
static void manualIdleController(int positionPercent) {
// todo: this is not great that we have to write into configuration here
boardConfiguration->manIdlePosition = positionPercent;
if (isCranking()) {
positionPercent += engineConfiguration->crankingIdleAdjustment;
}
percent_t cltCorrectedPosition = interpolate2d(engine->engineState.clt, config->cltIdleCorrBins, config->cltIdleCorr,
CLT_CURVE_SIZE) / PERCENT_MULT * positionPercent;
// let's put the value into the right range
cltCorrectedPosition = maxF(cltCorrectedPosition, 0.01);
cltCorrectedPosition = minF(cltCorrectedPosition, 99.9);
if (engineConfiguration->debugMode == IDLE) {
tsOutputChannels.debugFloatField1 = actualIdlePosition;
}
if (absF(cltCorrectedPosition - actualIdlePosition) < 1) {
return; // value is pretty close, let's leave the poor valve alone
}
actualIdlePosition = cltCorrectedPosition;
if (boardConfiguration->useStepperIdle) {
iacMotor.setTargetPosition(cltCorrectedPosition / 100 * engineConfiguration->idleStepperTotalSteps);
} else {
setIdleValvePwm(cltCorrectedPosition);
}
}
// This thread function is a friend function of the class
void* threadedStep(void *value){
StepperMotor *stepper = static_cast<StepperMotor*>(value);
while(stepper->threadRunning){
if(stepper->gpio_LSW->getValue() == GPIO::LOW){
//switch is tripped...should go right...
stepper->setDirection(StepperMotor::DIRECTION::CLOCKWISE);
}
if(stepper->gpio_RSW->getValue() == GPIO::LOW){
stepper->setDirection(StepperMotor::DIRECTION::ANTICLOCKWISE);
}
stepper->step();
usleep(stepper->threadedStepPeriod * 1000); // convert from ms to us
if(stepper->threadedStepNumber>0) stepper->threadedStepNumber--;
if(stepper->threadedStepNumber==0) stepper->threadRunning = false;
}
return 0;
}
static void initIdleHardware() {
if (boardConfiguration->useStepperIdle) {
iacMotor.initialize(boardConfiguration->idle.stepperStepPin, boardConfiguration->idle.stepperDirectionPin,
engineConfiguration->idleStepperReactionTime, engineConfiguration->idleStepperTotalSteps,
engineConfiguration->stepperEnablePin);
} else {
/**
* Start PWM for idleValvePin
*/
startSimplePwmExt(&idleSolenoid, "Idle Valve", boardConfiguration->idle.solenoidPin, &enginePins.idleSolenoidPin,
boardConfiguration->idle.solenoidFrequency, boardConfiguration->manIdlePosition / 100,
applyIdleSolenoidPinState);
}
}
void setup() {
// every _I terminated pin constant is an input
pinMode(PIN_DIRECTION_DOWN_I, INPUT);
pinMode(PIN_DIRECTION_RIGHT_I, INPUT);
pinMode(PIN_RESET_VALUE_I, INPUT);
pinMode(PIN_SWITCH_LIGHT_I, INPUT);
// every _O terminated pin constant is an output
pinMode(PIN_STOCK_INDICATOR_O, OUTPUT);
// guess what, we start the screen
lcd.begin(SCREEN_X, SCREEN_Y);
// attach the stepper motor
stepper.attach(STEPPER_IN1, STEPPER_IN2, STEPPER_IN3, STEPPER_IN4);
// A hello screen on setup
lcd.setCursor(3, 2);
lcd.print("BONJOUR!");
delay(MILLIS_PER_SECOND * 3);
// display clock menu
events->displayMenu(0, lcd, clk, tasks);
}
