static void cjUpdateAnalogValues() {
#if EFI_PROD_CODE
// todo: some solution for testing
waitForSlowAdc(lastSlowAdcCounter);
#endif
globalInstance.vUr = getUr();
globalInstance.vUa = getUa();
#if EFI_PROD_CODE
// todo: some solution for testing
lastSlowAdcCounter = getSlowAdcCounter();
#endif
}
static msg_t stThread(StepperMotor *motor) {
chRegSetThreadName("stepper");
// try to get saved stepper position (-1 for no data)
motor->currentPosition = loadStepperPos();
// first wait until at least 1 slowADC sampling is complete
waitForSlowAdc();
// now check if stepper motor re-initialization is requested - if the throttle pedal is pressed at startup
bool forceStepperParking = !engine->rpmCalculator.isRunning(PASS_ENGINE_PARAMETER_SIGNATURE) && getTPS(PASS_ENGINE_PARAMETER_SIGNATURE) > STEPPER_PARKING_TPS;
if (boardConfiguration->stepperForceParkingEveryRestart)
forceStepperParking = true;
scheduleMsg(logger, "Stepper: savedStepperPos=%d forceStepperParking=%d (tps=%.2f)", motor->currentPosition, (forceStepperParking ? 1 : 0), getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
if (motor->currentPosition < 0 || forceStepperParking) {
// reset saved value
saveStepperPos(-1);
/**
* let's park the motor in a known position to begin with
*
* I believe it's safer to retract the valve for parking - at least on a bench I've seen valves
* disassembling themselves while pushing too far out.
*
* Add extra steps to compensate step skipping by some old motors.
*/
int numParkingSteps = (int)efiRound((1.0f + (float)boardConfiguration->stepperParkingExtraSteps / PERCENT_MULT) * motor->totalSteps, 1.0f);
for (int i = 0; i < numParkingSteps; i++) {
motor->pulse();
}
// set & save zero stepper position after the parking completion
motor->currentPosition = 0;
saveStepperPos(motor->currentPosition);
} else {
// The initial target position should correspond to the saved stepper position.
// Idle thread starts later and sets a new target position.
motor->setTargetPosition(motor->currentPosition);
}
while (true) {
int targetPosition = motor->getTargetPosition();
int currentPosition = motor->currentPosition;
if (targetPosition == currentPosition) {
chThdSleepMilliseconds(motor->reactionTime);
continue;
}
bool isIncrementing = targetPosition > currentPosition;
motor->setDirection(isIncrementing);
if (isIncrementing) {
motor->currentPosition++;
} else {
motor->currentPosition--;
}
motor->pulse();
// save position to backup RTC register
saveStepperPos(motor->currentPosition);
}
// let's part the motor in a known position to begin with
// for (int i = 0; i < ST_COUNT / 2; i++) {
// motor->pulse();
// }
return 0;
}
