void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin, pin_output_mode_e directionPinMode,
float reactionTime, int totalSteps, brain_pin_e enablePin, Logging *sharedLogger) {
this->reactionTime = maxF(1, reactionTime);
this->totalSteps = maxI(3, totalSteps);
logger = sharedLogger;
if (stepPin == GPIO_UNASSIGNED || directionPin == GPIO_UNASSIGNED) {
return;
}
stepPort = getHwPort("step", stepPin);
this->stepPin = getHwPin("step", stepPin);
this->directionPinMode = directionPinMode;
this->directionPin.initPin("stepper dir", directionPin, &this->directionPinMode);
enablePort = getHwPort("enable", enablePin);
this->enablePin = getHwPin("enable", enablePin);
efiSetPadMode("stepper step", stepPin, PAL_MODE_OUTPUT_PUSHPULL);
efiSetPadMode("stepper enable", enablePin, PAL_MODE_OUTPUT_PUSHPULL);
palWritePad(this->enablePort, enablePin, true); // disable stepper
// All pins must be 0 for correct hardware startup (e.g. stepper auto-disabling circuit etc.).
palWritePad(this->stepPort, this->stepPin, false);
this->directionPin.setValue(false);
this->currentDirection = false;
chThdCreateStatic(stThreadStack, sizeof(stThreadStack), NORMALPRIO, (tfunc_t) stThread, this);
}
void start(bool useTwoWires,
brain_pin_e pinEnable,
brain_pin_e pinDir1,
brain_pin_e pinDir2) {
dcMotor.SetType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
m_pinEnable.initPin("ETB Enable", pinEnable);
m_pinDir1.initPin("ETB Dir 1", pinDir1);
m_pinDir2.initPin("ETB Dir 2", pinDir2);
// Clamp to >100hz
int freq = maxI(100, engineConfiguration->etbFreq);
startSimplePwm(&m_pwmEnable, "ETB Enable",
&engine->executor,
&m_pinEnable,
freq,
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir1, "ETB Dir 1",
&engine->executor,
&m_pinDir1,
freq,
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir2, "ETB Dir 2",
&engine->executor,
&m_pinDir2,
freq,
0,
(pwm_gen_callback*)applyPinState);
}
/**
* @brief sets new idle valve duty cycle: checks the bounds and reports new value
*/
static int setNewValue(IdleValveState *idle, int currentRpm, int now, char * msg, int newValue) {
newValue = maxI(newValue, MIN_IDLE);
newValue = minI(newValue, MAX_IDLE);
if (idle->value != newValue) {
idleDebug(msg, currentRpm);
idle->timeOfLastIdleChange = now;
}
idle->value = newValue;
return newValue;
}
/*
* we need safe iteration here because 'callback' might change change 'current->next'
* while re-inserting it into the queue from within the callback
*/
LL_FOREACH_SAFE(executionList, current, tmp)
{
efiAssert(CUSTOM_ERR_ASSERT, current->callback != NULL, "callback==null2", 0);
uint32_t before = GET_TIMESTAMP();
current->isScheduled = false;
uint32_t howFarOff = now - current->momentX;
maxSchedulingPrecisionLoss = maxI(maxSchedulingPrecisionLoss, howFarOff);
#if EFI_UNIT_TEST || defined(__DOXYGEN__)
printf("QUEUE: execute current=%d param=%d\r\n", (long)current, (long)current->param);
#endif
current->callback(current->param);
// even with overflow it's safe to subtract here
lastEventCallbackDuration = GET_TIMESTAMP() - before;
if (lastEventCallbackDuration > maxEventCallbackDuration)
maxEventCallbackDuration = lastEventCallbackDuration;
if (lastEventCallbackDuration > 2000) {
longScheduling = current;
// what is this line about? lastEventCallbackDuration++;
}
}