TEST(util, crc) {
ASSERT_EQ(4, efiRound(4.4, 1));
ASSERT_FLOAT_EQ(1.2, efiRound(1.2345, 0.1));
print("*************************************** testCrc\r\n");
const char * A = "A";
ASSERT_EQ( 168, calc_crc((const crc_t *) A, 1)) << "crc8";
uint32_t c = crc32(A, 1);
printf("crc32(A)=%x\r\n", c);
assertEqualsM("crc32 1", 0xd3d99e8b, c);
const char * line = "AbcDEFGF";
c = crc32(line, 8);
printf("crc32(line)=%x\r\n", c);
assertEqualsM("crc32 line", 0x4775a7b1, c);
c = crc32(line, 1);
c = crc32inc(line + 1, c, 8 - 1);
assertEqualsM("crc32 line inc", 0x4775a7b1, c);
}
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;
}
