static void usTimerWatchDog(void) {
if (getTimeNowNt() >= lastSetTimerTimeNt + 2 * CORE_CLOCK) {
strcpy(buff, "no_event");
itoa10(&buff[8], lastSetTimerValue);
firmwareError(OBD_PCM_Processor_Fault, buff);
return;
}
msg = isTimerPending ? "No_cb too long" : "Timer not awhile";
// 2 seconds of inactivity would not look right
efiAssertVoid(getTimeNowNt() < lastSetTimerTimeNt + 2 * CORE_CLOCK, msg);
}
static void digitalMapWidthCallback(void) {
efitick_t nowNt = getTimeNowNt();
mapFreq = 1000000.0 / NT2US(nowNt - prevWidthTimeNt);
prevWidthTimeNt = nowNt;
}
/**
* @return vehicle speed, in kilometers per hour
*/
float getVehicleSpeed(void) {
efitick_t nowNt = getTimeNowNt();
if (nowNt - lastSignalTimeNt > US2NT(US_PER_SECOND_LL))
return 0; // previous signal time is too long ago - we are stopped
return engineConfiguration->vehicleSpeedCoef * US2NT(US_PER_SECOND_LL) / vssDiff;
}
/**
* sets the alarm to the specified number of microseconds from now.
* This function should be invoked under kernel lock which would disable interrupts.
*/
void setHardwareUsTimer(int32_t timeUs) {
setHwTimerCounter++;
/**
* #259 BUG error: not positive timeUs
* Once in a while we night get an interrupt where we do not expect it
*/
if (timeUs <= 0) {
timerFreezeCounter++;
warning(CUSTOM_OBD_LOCAL_FREEZE, "local freeze cnt=%d", timerFreezeCounter);
}
if (timeUs < 2)
timeUs = 2; // for some reason '1' does not really work
efiAssertVoid(CUSTOM_ERR_6681, timeUs > 0, "not positive timeUs");
if (timeUs >= 10 * US_PER_SECOND) {
firmwareError(CUSTOM_ERR_TIMER_OVERFLOW, "setHardwareUsTimer() too long: %d", timeUs);
return;
}
if (GPTDEVICE.state == GPT_ONESHOT) {
gptStopTimerI(&GPTDEVICE);
}
if (GPTDEVICE.state != GPT_READY) {
firmwareError(CUSTOM_HW_TIMER, "HW timer state %d/%d", GPTDEVICE.state, setHwTimerCounter);
return;
}
if (hasFirmwareError())
return;
gptStartOneShotI(&GPTDEVICE, timeUs);
lastSetTimerTimeNt = getTimeNowNt();
lastSetTimerValue = timeUs;
isTimerPending = TRUE;
timerRestartCounter++;
}
/**
* sets the alarm to the specified number of microseconds from now.
* This function should be invoked under kernel lock which would disable interrupts.
*/
void setHardwareUsTimer(int32_t timeUs) {
/**
* #259 BUG error: not positive timeUs
* Once in a while we night get an interrupt where we do not expect it
*/
if (timeUs <= 0) {
timerFreezeCounter++;
warning(CUSTOM_OBD_42, "local freeze cnt=%d", timerFreezeCounter);
}
if (timeUs < 2)
timeUs = 2; // for some reason '1' does not really work
efiAssertVoid(timeUs > 0, "not positive timeUs");
efiAssertVoid(timeUs < 10 * US_PER_SECOND, "setHardwareUsTimer() too large");
if (GPTDEVICE.state == GPT_ONESHOT)
gptStopTimerI(&GPTDEVICE);
efiAssertVoid(GPTDEVICE.state == GPT_READY, "hw timer");
if (hasFirmwareError())
return;
gptStartOneShotI(&GPTDEVICE, timeUs);
lastSetTimerTimeNt = getTimeNowNt();
lastSetTimerValue = timeUs;
isTimerPending = TRUE;
timerRestartCounter++;
}
/*
* this private method is executed under lock
*/
void Executor::doExecute() {
/**
* Let's execute actions we should execute at this point.
* reentrantFlag takes care of the use case where the actions we are executing are scheduling
* further invocations
*/
reentrantFlag = true;
int shouldExecute = 1;
/**
* in real life it could be that while we executing listeners time passes and it's already time to execute
* next listeners.
* TODO: add a counter & figure out a limit of iterations?
*/
int totalExecuted = 0;
while (shouldExecute > 0) {
/**
* It's worth noting that that the actions might be adding new actions into the queue
*/
efitick_t nowNt = getTimeNowNt();
shouldExecute = queue.executeAll(nowNt);
totalExecuted += shouldExecute;
}
lastExecutionCount = totalExecuted;
if (!isLocked()) {
firmwareError(OBD_PCM_Processor_Fault, "Someone has stolen my lock");
return;
}
reentrantFlag = false;
}
bool WaveChart::isStartedTooLongAgo() {
/**
* Say at 300rpm we should get at least four events per revolution.
* That's 300/60*4=20 events per second
* engineChartSize/20 is the longest meaningful chart.
*
*/
efitime_t chartDurationNt = getTimeNowNt() - startTimeNt;
return startTimeNt != 0 && NT2US(chartDurationNt) > engineConfiguration->engineChartSize * 1000000 / 20;
}
/**
* @return true if there was a full shaft revolution within the last second
*/
bool RpmCalculator::isRunning(DECLARE_ENGINE_PARAMETER_F) {
uint64_t nowNt = getTimeNowNt();
if (engine->stopEngineRequestTimeNt != 0) {
if (nowNt - engine->stopEngineRequestTimeNt < 3 * US2NT(US_PER_SECOND_LL)) {
return false;
}
}
return nowNt - lastRpmEventTimeNt < US2NT(US_PER_SECOND_LL);
}
/**
* @return vehicle speed, in kilometers per hour
*/
float getVehicleSpeed(void) {
if (mockVehicleSpeed != DEFAULT_MOCK_SPEED)
return mockVehicleSpeed;
if (!hasVehicleSpeedSensor())
return 0;
efitick_t nowNt = getTimeNowNt();
if (nowNt - lastSignalTimeNt > US2NT(US_PER_SECOND_LL))
return 0; // previous signal time is too long ago - we are stopped
return engineConfiguration->vehicleSpeedCoef * US2NT(US_PER_SECOND_LL) / vssDiff;
}
bool Engine::isInShutdownMode() {
#if EFI_MAIN_RELAY_CONTROL || defined(__DOXYGEN__)
if (stopEngineRequestTimeNt == 0) // the shutdown procedure is not started
return false;
const efitime_t engineStopWaitTimeoutNt = 5LL * 1000000LL;
// The engine is still spinning! Give it some time to stop (but wait no more than 5 secs)
if (isSpinning && (getTimeNowNt() - stopEngineRequestTimeNt) < US2NT(engineStopWaitTimeoutNt))
return true;
// todo: add checks for stepper motor parking
#endif /* EFI_MAIN_RELAY_CONTROL */
return false;
}
static msg_t mwThread(int param) {
(void)param;
chRegSetThreadName("timer watchdog");
while (TRUE) {
chThdSleepMilliseconds(1000); // once a second is enough
if (getTimeNowNt() >= lastSetTimerTimeNt + 2 * CORE_CLOCK) {
strcpy(buff, "no_event");
itoa10(&buff[8], lastSetTimerValue);
firmwareError(buff);
return -1;
}
msg = isTimerPending ? "No_cb too long" : "Timer not awhile";
// 2 seconds of inactivity would not look right
efiAssert(getTimeNowNt() < lastSetTimerTimeNt + 2 * CORE_CLOCK, msg, -1);
}
#if defined __GNUC__
return -1;
#endif
}
/**
* This method is always invoked under a lock
*/
void Executor::scheduleTimerCallback() {
/**
* Let's grab fresh time value
*/
efitick_t nowNt = getTimeNowNt();
nextEventTimeNt = queue.getNextEventTime(nowNt);
efiAssertVoid(nextEventTimeNt > nowNt, "setTimer constraint");
if (nextEventTimeNt == EMPTY_QUEUE)
return; // no pending events in the queue
int32_t hwAlarmTime = NT2US((int32_t)nextEventTimeNt - (int32_t)nowNt);
beforeHwSetTimer = GET_TIMESTAMP();
setHardwareUsTimer(hwAlarmTime == 0 ? 1 : hwAlarmTime);
hwSetTimerTime = GET_TIMESTAMP() - beforeHwSetTimer;
}
/**
* sets the alarm to the specified number of microseconds from now.
* This function should be invoked under kernel lock which would disable interrupts.
*/
void setHardwareUsTimer(int32_t timeUs) {
if (timeUs == 1)
timeUs = 2; // for some reason '1' does not really work
efiAssertVoid(timeUs > 0, "neg timeUs");
efiAssertVoid(timeUs < 10 * US_PER_SECOND, "setHardwareUsTimer() too large");
if (GPTDEVICE.state == GPT_ONESHOT)
gptStopTimerI(&GPTDEVICE);
gptStartOneShotI(&GPTDEVICE, timeUs);
lastSetTimerTimeNt = getTimeNowNt();
lastSetTimerValue = timeUs;
isTimerPending = TRUE;
timerRestartCounter++;
}
void initMicrosecondTimer(void) {
gptStart(&GPTDEVICE, &gpt5cfg);
lastSetTimerTimeNt = getTimeNowNt();
#if EFI_EMULATE_POSITION_SENSORS
chThdCreateStatic(mwThreadStack, sizeof(mwThreadStack), NORMALPRIO, (tfunc_t) mwThread, NULL);
#endif /* EFI_ENGINE_EMULATOR */
// // test code
// chSysLock()
// ;
// setHardwareUsTimer(300);
// chSysUnlock()
// ;
}
void initMicrosecondTimer(void) {
gptStart(&GPTDEVICE, &gpt5cfg);
efiAssertVoid(CUSTOM_ERR_TIMER_STATE, GPTDEVICE.state == GPT_READY, "hw state");
lastSetTimerTimeNt = getTimeNowNt();
#if EFI_EMULATE_POSITION_SENSORS
watchdogControllerInstance.Start();
#endif /* EFI_ENGINE_EMULATOR */
// // test code
// chSysLock()
// ;
// setHardwareUsTimer(300);
// chSysUnlock()
// ;
}
void PwmConfig::handleCycleStart() {
if (safe.phaseIndex == 0) {
if (pwmCycleCallback != NULL) {
pwmCycleCallback(this);
}
efiAssertVoid(periodNt != 0, "period not initialized");
if (safe.periodNt != periodNt || safe.iteration == ITERATION_LIMIT) {
/**
* period length has changed - we need to reset internal state
*/
safe.startNt = getTimeNowNt();
safe.iteration = 0;
safe.periodNt = periodNt;
#if DEBUG_PWM
scheduleMsg(&logger, "state reset start=%d iteration=%d", state->safe.start, state->safe.iteration);
#endif
}
}
}
void Engine::watchdog() {
#if EFI_ENGINE_CONTROL
if (isRunningPwmTest)
return;
if (!isSpinning) {
if (!isRunningBenchTest() && enginePins.stopPins()) {
// todo: make this a firmwareError assuming functional tests would run
warning(CUSTOM_ERR_2ND_WATCHDOG, "Some pins were turned off by 2nd pass watchdog");
}
return;
}
efitick_t nowNt = getTimeNowNt();
// note that we are ignoring the number of tooth here - we
// check for duration between tooth as if we only have one tooth per revolution which is not the case
#define REVOLUTION_TIME_HIGH_THRESHOLD (60 * 1000000LL / RPM_LOW_THRESHOLD)
/**
* todo: better watch dog implementation should be implemented - see
* http://sourceforge.net/p/rusefi/tickets/96/
*
* note that the result of this subtraction could be negative, that would happen if
* we have a trigger event between the time we've invoked 'getTimeNow' and here
*/
efitick_t timeSinceLastTriggerEvent = nowNt - lastTriggerToothEventTimeNt;
if (timeSinceLastTriggerEvent < US2NT(REVOLUTION_TIME_HIGH_THRESHOLD)) {
return;
}
isSpinning = false;
ignitionEvents.isReady = false;
#if EFI_PROD_CODE || EFI_SIMULATOR || defined(__DOXYGEN__)
scheduleMsg(&logger, "engine has STOPPED");
scheduleMsg(&logger, "templog engine has STOPPED [%x][%x] [%x][%x] %d",
(int)(nowNt >> 32), (int)nowNt,
(int)(lastTriggerToothEventTimeNt >> 32), (int)lastTriggerToothEventTimeNt,
(int)timeSinceLastTriggerEvent
);
triggerInfo();
#endif
enginePins.stopPins();
#endif
}
/**
* @brief Shaft position callback used by RPM calculation logic.
*
* This callback should always be the first of trigger callbacks because other callbacks depend of values
* updated here.
* This callback is invoked on interrupt thread.
*/
void rpmShaftPositionCallback(trigger_event_e ckpSignalType, uint32_t index DECLARE_ENGINE_PARAMETER_S) {
RpmCalculator *rpmState = &engine->rpmCalculator;
uint64_t nowNt = getTimeNowNt();
#if EFI_PROD_CODE
efiAssertVoid(getRemainingStack(chThdSelf()) > 256, "lowstck#2z");
#endif
if (index != 0) {
#if EFI_ANALOG_CHART || defined(__DOXYGEN__)
if (boardConfiguration->analogChartMode == AC_TRIGGER)
acAddData(getCrankshaftAngleNt(nowNt PASS_ENGINE_PARAMETER), 1000 * ckpSignalType + index);
#endif
return;
}
bool hadRpmRecently = rpmState->isRunning(PASS_ENGINE_PARAMETER_F);
if (hadRpmRecently) {
uint64_t diffNt = nowNt - rpmState->lastRpmEventTimeNt;
/**
* Four stroke cycle is two crankshaft revolutions
*
* We always do '* 2' because the event signal is already adjusted to 'per engine cycle'
* and each revolution of crankshaft consists of two engine cycles revolutions
*
*/
if (diffNt == 0) {
rpmState->setRpmValue(NOISY_RPM);
} else {
int mult = engineConfiguration->engineCycle / 360;
int rpm = (int) (60 * US2NT(US_PER_SECOND_LL) * mult / diffNt);
rpmState->setRpmValue(rpm > UNREALISTIC_RPM ? NOISY_RPM : rpm);
}
}
rpmState->onNewEngineCycle();
rpmState->lastRpmEventTimeNt = nowNt;
#if EFI_ANALOG_CHART || defined(__DOXYGEN__)
if (boardConfiguration->analogChartMode == AC_TRIGGER)
acAddData(getCrankshaftAngleNt(nowNt PASS_ENGINE_PARAMETER), index);
#endif
}
void Engine::watchdog() {
#if EFI_ENGINE_CONTROL
if (isRunningPwmTest)
return;
if (!isSpinning) {
if (!isRunningBenchTest() && enginePins.stopPins()) {
// todo: make this a firmwareError assuming functional tests would run
warning(CUSTOM_ERR_2ND_WATCHDOG, "Some pins were turned off by 2nd pass watchdog");
}
return;
}
efitick_t nowNt = getTimeNowNt();
/**
* Lowest possible cranking is about 240 RPM, that's 4 revolutions per second.
* 0.25 second is 250000 uS
*
* todo: better watch dog implementation should be implemented - see
* http://sourceforge.net/p/rusefi/tickets/96/
*
* note that the result of this subtraction could be negative, that would happen if
* we have a trigger event between the time we've invoked 'getTimeNow' and here
*/
efitick_t timeSinceLastTriggerEvent = nowNt - lastTriggerEventTimeNt;
if (timeSinceLastTriggerEvent < US2NT(250000LL)) {
return;
}
isSpinning = false;
ignitionEvents.isReady = false;
#if EFI_PROD_CODE || EFI_SIMULATOR
scheduleMsg(&logger, "engine has STOPPED");
scheduleMsg(&logger, "templog engine has STOPPED [%x][%x] [%x][%x] %d",
(int)(nowNt >> 32), (int)nowNt,
(int)(lastTriggerEventTimeNt >> 32), (int)lastTriggerEventTimeNt,
(int)timeSinceLastTriggerEvent
);
triggerInfo();
#endif
enginePins.stopPins();
#endif
}
FuelConsumptionState::FuelConsumptionState() {
perSecondConsumption = perSecondAccumulator = 0;
perMinuteConsumption = perMinuteAccumulator = 0;
accumulatedSecondPrevNt = accumulatedMinutePrevNt = getTimeNowNt();
}
static void vsAnaWidthCallback(void) {
engine->engineState.vssEventCounter++;
efitick_t nowNt = getTimeNowNt();
vssDiff = nowNt - lastSignalTimeNt;
lastSignalTimeNt = nowNt;
}
void EngineState::periodicFastCallback(DECLARE_ENGINE_PARAMETER_F) {
int rpm = ENGINE(rpmCalculator.rpmValue);
efitick_t nowNt = getTimeNowNt();
if (isCrankingR(rpm)) {
crankingTime = nowNt;
} else {
timeSinceCranking = nowNt - crankingTime;
}
sparkDwell = getSparkDwell(rpm PASS_ENGINE_PARAMETER);
dwellAngle = sparkDwell / getOneDegreeTimeMs(rpm);
// todo: move this into slow callback, no reason for IAT corr to be here
iatFuelCorrection = getIatCorrection(iat PASS_ENGINE_PARAMETER);
// todo: move this into slow callback, no reason for CLT corr to be here
if (boardConfiguration->useWarmupPidAfr && clt < engineConfiguration->warmupAfrThreshold) {
if (rpm < 200) {
cltFuelCorrection = 1;
warmupAfrPid.reset();
} else {
cltFuelCorrection = warmupAfrPid.getValue(warmupTargetAfr, getAfr(PASS_ENGINE_PARAMETER_F), 1);
}
#if ! EFI_UNIT_TEST || defined(__DOXYGEN__)
if (engineConfiguration->debugMode == WARMUP_ENRICH) {
tsOutputChannels.debugFloatField1 = warmupTargetAfr;
warmupAfrPid.postState(&tsOutputChannels);
}
#endif
} else {
cltFuelCorrection = getCltFuelCorrection(clt PASS_ENGINE_PARAMETER);
}
cltTimingCorrection = getCltTimingCorrection(clt PASS_ENGINE_PARAMETER);
engineNoiseHipLevel = interpolate2d(rpm, engineConfiguration->knockNoiseRpmBins,
engineConfiguration->knockNoise, ENGINE_NOISE_CURVE_SIZE);
baroCorrection = getBaroCorrection(PASS_ENGINE_PARAMETER_F);
injectionOffset = getinjectionOffset(rpm PASS_ENGINE_PARAMETER);
float engineLoad = getEngineLoadT(PASS_ENGINE_PARAMETER_F);
timingAdvance = getAdvance(rpm, engineLoad PASS_ENGINE_PARAMETER);
if (engineConfiguration->fuelAlgorithm == LM_SPEED_DENSITY) {
float coolantC = ENGINE(engineState.clt);
float intakeC = ENGINE(engineState.iat);
float tps = getTPS(PASS_ENGINE_PARAMETER_F);
tChargeK = convertCelsiusToKelvin(getTCharge(rpm, tps, coolantC, intakeC PASS_ENGINE_PARAMETER));
float map = getMap();
/**
* *0.01 because of https://sourceforge.net/p/rusefi/tickets/153/
*/
currentVE = baroCorrection * veMap.getValue(rpm, map) * 0.01;
targetAFR = afrMap.getValue(rpm, map);
} else {
baseTableFuel = getBaseTableFuel(engineConfiguration, rpm, engineLoad);
}
}
static void vsAnaWidthCallback(void) {
vssCounter++;
efitick_t nowNt = getTimeNowNt();
vssDiff = nowNt - lastSignalTimeNt;
lastSignalTimeNt = nowNt;
}
/**
* @brief Register an event for digital sniffer
*/
void WaveChart::addEvent3(const char *name, const char * msg) {
#if EFI_TEXT_LOGGING
if (!ENGINE(isEngineChartEnabled)) {
return;
}
if (skipUntilEngineCycle != 0 && ENGINE(rpmCalculator.getRevolutionCounter()) < skipUntilEngineCycle)
return;
#if EFI_SIMULATOR
// todo: add UI control to enable this for firmware if desired
// CONFIG(alignEngineSnifferAtTDC) &&
if (!collectingData) {
return;
}
#endif
efiAssertVoid(CUSTOM_ERR_6651, name!=NULL, "WC: NULL name");
#if EFI_PROD_CODE
efiAssertVoid(CUSTOM_ERR_6652, getCurrentRemainingStack() > 32, "lowstck#2c");
#endif /* EFI_PROD_CODE */
efiAssertVoid(CUSTOM_ERR_6653, isInitialized, "chart not initialized");
#if DEBUG_WAVE
scheduleSimpleMsg(&debugLogging, "current", chart->counter);
#endif /* DEBUG_WAVE */
if (isFull()) {
return;
}
#if EFI_HISTOGRAMS && EFI_PROD_CODE
int beforeCallback = hal_lld_get_counter_value();
#endif
efitick_t nowNt = getTimeNowNt();
bool alreadyLocked = lockOutputBuffer(); // we have multiple threads writing to the same output buffer
if (counter == 0) {
startTimeNt = nowNt;
}
counter++;
/**
* We want smaller times within a chart in order to reduce packet size.
*/
/**
* todo: migrate to binary fractions in order to eliminate
* this division? I do not like division
*
* at least that's 32 bit division now
*/
uint32_t diffNt = nowNt - startTimeNt;
uint32_t time100 = NT2US(diffNt / 10);
if (remainingSize(&logging) > 35) {
/**
* printf is a heavy method, append is used here as a performance optimization
*/
appendFast(&logging, name);
appendChar(&logging, CHART_DELIMETER);
appendFast(&logging, msg);
appendChar(&logging, CHART_DELIMETER);
// time100 -= startTime100;
itoa10(timeBuffer, time100);
appendFast(&logging, timeBuffer);
appendChar(&logging, CHART_DELIMETER);
logging.linePointer[0] = 0;
}
if (!alreadyLocked) {
unlockOutputBuffer();
}
#if EFI_HISTOGRAMS && EFI_PROD_CODE
int64_t diff = hal_lld_get_counter_value() - beforeCallback;
if (diff > 0) {
hsAdd(&engineSnifferHisto, diff);
}
#endif /* EFI_HISTOGRAMS */
#endif /* EFI_TEXT_LOGGING */
}
cj125spicfg.sspad = getHwPin("cj125", CONFIGB(cj125CsPin));
driver = getSpiDevice(engineConfiguration->cj125SpiDevice);
if (driver == NULL) {
// error already reported
return;
}
scheduleMsg(logger, "cj125: Starting SPI driver");
spiStart(driver, &cj125spicfg);
}
/**
* @return true if currently in IDLE or ERROR state
*/
static bool cj125periodic(CJ125 *instance DECLARE_ENGINE_PARAMETER_SUFFIX) {
{
efitick_t nowNt = getTimeNowNt();
bool isStopped = engine->rpmCalculator.isStopped(PASS_ENGINE_PARAMETER_SIGNATURE);
cjUpdateAnalogValues();
// If the controller is disabled
if (instance->state == CJ125_IDLE || instance->state == CJ125_ERROR) {
return true;
}
if (instance->state == CJ125_CALIBRATION) {
cjCalibrate();
// Start normal operation
instance->state = CJ125_INIT;
globalInstance.cjSetMode(CJ125_MODE_NORMAL_17);
}
static bool_t isTriggerErrorNow() {
bool_t justHadError = (getTimeNowNt() - lastDecodingErrorTime) < US2NT(2 * 1000 * 3 * blinkingPeriod);
return justHadError || isTriggerDecoderError();
}
void TriggerCentral::handleShaftSignal(trigger_event_e signal DECLARE_ENGINE_PARAMETER_S) {
efiAssertVoid(engine!=NULL, "configuration");
nowNt = getTimeNowNt();
efiAssertVoid(engine->engineConfiguration!=NULL, "engineConfiguration");
efiAssertVoid(engine->engineConfiguration2!=NULL, "engineConfiguration2");
engine->onTriggerEvent(nowNt);
#if EFI_HISTOGRAMS && EFI_PROD_CODE
int beforeCallback = hal_lld_get_counter_value();
#endif
int eventIndex = (int) signal;
efiAssertVoid(eventIndex >= 0 && eventIndex < HW_EVENT_TYPES, "signal type");
hwEventCounters[eventIndex]++;
if (nowNt - previousShaftEventTimeNt > US2NT(US_PER_SECOND_LL)) {
/**
* We are here if there is a time gap between now and previous shaft event - that means the engine is not runnig.
* That means we have lost synchronization since the engine is not running :)
*/
triggerState.shaft_is_synchronized = false;
}
previousShaftEventTimeNt = nowNt;
/**
* This invocation changes the state of triggerState
*/
triggerState.decodeTriggerEvent(signal, nowNt PASS_ENGINE_PARAMETER);
if (!triggerState.shaft_is_synchronized) {
// we should not propagate event if we do not know where we are
return;
}
/**
* If we only have a crank position sensor, here we are extending crank revolutions with a 360 degree
* cycle into a four stroke, 720 degrees cycle. TODO
*/
int triggerIndexForListeners;
if (getOperationMode(engine->engineConfiguration) == FOUR_STROKE_CAM_SENSOR) {
// That's easy - trigger cycle matches engine cycle
triggerIndexForListeners = triggerState.getCurrentIndex();
} else {
bool isEven = triggerState.getTotalRevolutionCounter() & 1;
triggerIndexForListeners = triggerState.getCurrentIndex() + (isEven ? 0 : TRIGGER_SHAPE(size));
}
reportEventToWaveChart(signal, triggerIndexForListeners);
if (triggerState.current_index >= TRIGGER_SHAPE(size)) {
warning(OBD_PCM_Processor_Fault, "unexpected eventIndex=%d", triggerState.current_index);
} else {
/**
* Here we invoke all the listeners - the main engine control logic is inside these listeners
*/
for (int i = 0; i < triggerListeneres.currentListenersCount; i++) {
ShaftPositionListener listener = (ShaftPositionListener) triggerListeneres.callbacks[i];
(listener)(signal, triggerIndexForListeners PASS_ENGINE_PARAMETER);
}
}
#if EFI_HISTOGRAMS && EFI_PROD_CODE
int afterCallback = hal_lld_get_counter_value();
int diff = afterCallback - beforeCallback;
// this counter is only 32 bits so it overflows every minute, let's ignore the value in case of the overflow for simplicity
if (diff > 0) {
hsAdd(&triggerCallback, diff);
}
#endif /* EFI_HISTOGRAMS */
}
/**
* @brief Trigger decoding happens here
* This method changes the state of trigger_state_s data structure according to the trigger event
*/
void TriggerState::decodeTriggerEvent(trigger_event_e const signal, efitime_t nowNt DECLARE_ENGINE_PARAMETER_S) {
efiAssertVoid(signal <= SHAFT_3RD_UP, "unexpected signal");
trigger_wheel_e triggerWheel = eventIndex[signal];
if (!engineConfiguration->useOnlyFrontForTrigger && curSignal == prevSignal) {
orderingErrorCounter++;
}
prevSignal = curSignal;
curSignal = signal;
eventCount[triggerWheel]++;
eventCountExt[signal]++;
efitime_t currentDurationLong = getCurrentGapDuration(nowNt);
/**
* For performance reasons, we want to work with 32 bit values. If there has been more then
* 10 seconds since previous trigger event we do not really care.
*/
currentDuration =
currentDurationLong > 10 * US2NT(US_PER_SECOND_LL) ? 10 * US2NT(US_PER_SECOND_LL) : currentDurationLong;
if (isLessImportant(signal)) {
#if EFI_UNIT_TEST
if (printTriggerDebug) {
printf("%s isLessImportant %s\r\n",
getTrigger_type_e(engineConfiguration->trigger.type),
getTrigger_event_e(signal));
}
#endif
/**
* For less important events we simply increment the index.
*/
nextTriggerEvent()
;
if (TRIGGER_SHAPE(gapBothDirections)) {
toothed_previous_duration = currentDuration;
isFirstEvent = false;
toothed_previous_time = nowNt;
}
return;
}
isFirstEvent = false;
// todo: skip a number of signal from the beginning
#if EFI_PROD_CODE
// scheduleMsg(&logger, "from %f to %f %d %d", triggerConfig->syncRatioFrom, triggerConfig->syncRatioTo, currentDuration, shaftPositionState->toothed_previous_duration);
// scheduleMsg(&logger, "ratio %f", 1.0 * currentDuration/ shaftPositionState->toothed_previous_duration);
#else
if (toothed_previous_duration != 0) {
// printf("ratio %f: cur=%d pref=%d\r\n", 1.0 * currentDuration / shaftPositionState->toothed_previous_duration,
// currentDuration, shaftPositionState->toothed_previous_duration);
}
#endif
bool_t isSynchronizationPoint;
if (TRIGGER_SHAPE(isSynchronizationNeeded)) {
isSynchronizationPoint = currentDuration > toothed_previous_duration * TRIGGER_SHAPE(syncRatioFrom)
&& currentDuration < toothed_previous_duration * TRIGGER_SHAPE(syncRatioTo);
#if EFI_PROD_CODE
if (engineConfiguration->isPrintTriggerSynchDetails) {
#else
if (printTriggerDebug) {
#endif /* EFI_PROD_CODE */
float gap = 1.0 * currentDuration / toothed_previous_duration;
#if EFI_PROD_CODE
scheduleMsg(logger, "gap=%f @ %d", gap, current_index);
#else
actualSynchGap = gap;
print("current gap %f\r\n", gap);
#endif /* EFI_PROD_CODE */
}
} else {
/**
* in case of noise the counter could be above the expected number of events
*/
int d = engineConfiguration->useOnlyFrontForTrigger ? 2 : 1;
isSynchronizationPoint = !shaft_is_synchronized || (current_index >= TRIGGER_SHAPE(size) - d);
}
#if EFI_UNIT_TEST
if (printTriggerDebug) {
printf("%s isSynchronizationPoint=%d index=%d %s\r\n",
getTrigger_type_e(engineConfiguration->trigger.type),
isSynchronizationPoint, current_index,
getTrigger_event_e(signal));
}
#endif
if (isSynchronizationPoint) {
/**
* We can check if things are fine by comparing the number of events in a cycle with the expected number of event.
*/
bool isDecodingError = eventCount[0] != TRIGGER_SHAPE(expectedEventCount[0])
|| eventCount[1] != TRIGGER_SHAPE(expectedEventCount[1])
|| eventCount[2] != TRIGGER_SHAPE(expectedEventCount[2]);
triggerDecoderErrorPin.setValue(isDecodingError);
if (isDecodingError) {
lastDecodingErrorTime = getTimeNowNt();
totalTriggerErrorCounter++;
if (engineConfiguration->isPrintTriggerSynchDetails) {
#if EFI_PROD_CODE
scheduleMsg(logger, "error: synchronizationPoint @ index %d expected %d/%d/%d got %d/%d/%d", current_index,
TRIGGER_SHAPE(expectedEventCount[0]), TRIGGER_SHAPE(expectedEventCount[1]),
TRIGGER_SHAPE(expectedEventCount[2]), eventCount[0], eventCount[1], eventCount[2]);
#endif /* EFI_PROD_CODE */
}
}
errorDetection.add(isDecodingError);
if (isTriggerDecoderError()) {
warning(OBD_PCM_Processor_Fault, "trigger decoding issue. expected %d/%d/%d got %d/%d/%d",
TRIGGER_SHAPE(expectedEventCount[0]), TRIGGER_SHAPE(expectedEventCount[1]),
TRIGGER_SHAPE(expectedEventCount[2]), eventCount[0], eventCount[1], eventCount[2]);
}
shaft_is_synchronized = true;
// this call would update duty cycle values
nextTriggerEvent()
;
nextRevolution();
} else {
nextTriggerEvent()
;
}
toothed_previous_duration = currentDuration;
toothed_previous_time = nowNt;
}
float getEngineCycle(operation_mode_e operationMode) {
return operationMode == TWO_STROKE ? 360 : 720;
}
void addSkippedToothTriggerEvents(trigger_wheel_e wheel, TriggerShape *s,
int totalTeethCount, int skippedCount,
float toothWidth,
float offset, float engineCycle, float filterLeft, float filterRight) {
efiAssertVoid(totalTeethCount > 0, "total count");
efiAssertVoid(skippedCount >= 0, "skipped count");
for (int i = 0; i < totalTeethCount - skippedCount - 1; i++) {
float angleDown = engineCycle / totalTeethCount * (i + (1 - toothWidth));
float angleUp = engineCycle / totalTeethCount * (i + 1);
s->addEvent(offset + angleDown, wheel, TV_HIGH, filterLeft, filterRight);
s->addEvent(offset + angleUp, wheel, TV_LOW, filterLeft, filterRight);
}
float angleDown = engineCycle / totalTeethCount * (totalTeethCount - skippedCount - 1 + (1 - toothWidth) );
s->addEvent(offset + angleDown, wheel, TV_HIGH, filterLeft, filterRight);
s->addEvent(offset + engineCycle, wheel, TV_LOW, filterLeft, filterRight);
}
void stopEngine(void) {
engine->stopEngineRequestTimeNt = getTimeNowNt();
}
void EngineState::periodicFastCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
efitick_t nowNt = getTimeNowNt();
if (ENGINE(rpmCalculator).isCranking(PASS_ENGINE_PARAMETER_SIGNATURE)) {
crankingTime = nowNt;
timeSinceCranking = 0.0f;
} else {
timeSinceCranking = nowNt - crankingTime;
}
updateAuxValves(PASS_ENGINE_PARAMETER_SIGNATURE);
int rpm = ENGINE(rpmCalculator).getRpm(PASS_ENGINE_PARAMETER_SIGNATURE);
sparkDwell = getSparkDwell(rpm PASS_ENGINE_PARAMETER_SUFFIX);
dwellAngle = sparkDwell / getOneDegreeTimeMs(rpm);
if (hasAfrSensor(PASS_ENGINE_PARAMETER_SIGNATURE)) {
engine->sensors.currentAfr = getAfr(PASS_ENGINE_PARAMETER_SIGNATURE);
}
// todo: move this into slow callback, no reason for IAT corr to be here
iatFuelCorrection = getIatFuelCorrection(engine->sensors.iat PASS_ENGINE_PARAMETER_SUFFIX);
// todo: move this into slow callback, no reason for CLT corr to be here
if (boardConfiguration->useWarmupPidAfr && engine->sensors.clt < engineConfiguration->warmupAfrThreshold) {
if (rpm < 200) {
cltFuelCorrection = 1;
warmupAfrPid.reset();
} else {
cltFuelCorrection = warmupAfrPid.getValue(warmupTargetAfr, engine->sensors.currentAfr, 1);
}
#if ! EFI_UNIT_TEST || defined(__DOXYGEN__)
if (engineConfiguration->debugMode == DBG_WARMUP_ENRICH) {
tsOutputChannels.debugFloatField1 = warmupTargetAfr;
warmupAfrPid.postState(&tsOutputChannels);
}
#endif
} else {
cltFuelCorrection = getCltFuelCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
}
// update fuel consumption states
fuelConsumption.update(nowNt PASS_ENGINE_PARAMETER_SUFFIX);
// Fuel cut-off isn't just 0 or 1, it can be tapered
fuelCutoffCorrection = getFuelCutOffCorrection(nowNt, rpm PASS_ENGINE_PARAMETER_SUFFIX);
// post-cranking fuel enrichment.
// for compatibility reasons, apply only if the factor is greater than zero (0.01 margin used)
if (engineConfiguration->postCrankingFactor > 0.01f) {
// convert to microsecs and then to seconds
float timeSinceCrankingInSecs = NT2US(timeSinceCranking) / 1000000.0f;
// use interpolation for correction taper
postCrankingFuelCorrection = interpolateClamped(0.0f, engineConfiguration->postCrankingFactor,
engineConfiguration->postCrankingDurationSec, 1.0f, timeSinceCrankingInSecs);
} else {
postCrankingFuelCorrection = 1.0f;
}
cltTimingCorrection = getCltTimingCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
engineNoiseHipLevel = interpolate2d("knock", rpm, engineConfiguration->knockNoiseRpmBins,
engineConfiguration->knockNoise, ENGINE_NOISE_CURVE_SIZE);
baroCorrection = getBaroCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
injectionOffset = getinjectionOffset(rpm PASS_ENGINE_PARAMETER_SUFFIX);
float engineLoad = getEngineLoadT(PASS_ENGINE_PARAMETER_SIGNATURE);
timingAdvance = getAdvance(rpm, engineLoad PASS_ENGINE_PARAMETER_SUFFIX);
if (engineConfiguration->fuelAlgorithm == LM_SPEED_DENSITY) {
float coolantC = ENGINE(sensors.clt);
float intakeC = ENGINE(sensors.iat);
float tps = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
tChargeK = convertCelsiusToKelvin(getTCharge(rpm, tps, coolantC, intakeC PASS_ENGINE_PARAMETER_SUFFIX));
float map = getMap();
/**
* *0.01 because of https://sourceforge.net/p/rusefi/tickets/153/
*/
float rawVe = veMap.getValue(rpm, map);
// get VE from the separate table for Idle
if (CONFIG(useSeparateVeForIdle)) {
float idleVe = interpolate2d("idleVe", rpm, config->idleVeBins, config->idleVe, IDLE_VE_CURVE_SIZE);
// interpolate between idle table and normal (running) table using TPS threshold
rawVe = interpolateClamped(0.0f, idleVe, boardConfiguration->idlePidDeactivationTpsThreshold, rawVe, tps);
}
currentVE = baroCorrection * rawVe * 0.01;
targetAFR = afrMap.getValue(rpm, map);
} else {
baseTableFuel = getBaseTableFuel(rpm, engineLoad);
}
}
