static msg_t ivThread(int param) {
(void) param;
chRegSetThreadName("IdleValve");
while (true) {
chThdSleepMilliseconds(boardConfiguration->idleThreadPeriod);
// this value is not used yet
if (boardConfiguration->clutchDownPin != GPIO_UNASSIGNED) {
engine->clutchDownState = palReadPad(getHwPort(boardConfiguration->clutchDownPin),
getHwPin(boardConfiguration->clutchDownPin));
}
if (boardConfiguration->clutchUpPin != GPIO_UNASSIGNED) {
engine->clutchUpState = palReadPad(getHwPort(boardConfiguration->clutchUpPin),
getHwPin(boardConfiguration->clutchUpPin));
}
finishIdleTestIfNeeded();
undoIdleBlipIfNeeded();
if (engineConfiguration->idleMode == IM_MANUAL) {
// let's re-apply CLT correction
manualIdleController(boardConfiguration->manIdlePosition);
} else {
autoIdle();
}
}
#if defined __GNUC__
return -1;
#endif
}
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 lcd_HD44780_write_data(uint8_t data) {
palSetPad(getHwPort(boardConfiguration->HD44780_rs), getHwPin(boardConfiguration->HD44780_rs));
lcd_HD44780_write(data);
lcd_HD44780_write(data << 4);
currentColumn++;
palClearPad(getHwPort(boardConfiguration->HD44780_rs), getHwPin(boardConfiguration->HD44780_rs));
}
static void initWave(const char *name, int index) {
brain_pin_e brainPin = boardConfiguration->logicAnalyzerPins[index];
ioportid_t port = getHwPort(brainPin);
ioportmask_t pin = getHwPin(brainPin);
ICUDriver *driver = getInputCaptureDriver(brainPin);
bool mode = boardConfiguration->logicAnalyzerMode[index];
waveReaderCount++;
efiAssertVoid(index < MAX_ICU_COUNT, "too many ICUs");
WaveReader *reader = &readers[index];
WaveReaderHw *hw = &reader->hw;
reader->name = name;
registerCallback(&hw->widthListeners, (IntListener) waAnaWidthCallback, (void*) reader);
registerCallback(&hw->periodListeners, (IntListener) waIcuPeriodCallback, (void*) reader);
initWaveAnalyzerDriver(hw, driver, port, pin);
print("wave%d input on %s%d\r\n", index, portname(reader->hw.port), reader->hw.pin);
setWaveReaderMode(hw, mode);
}
static msg_t ivThread(int param) {
chRegSetThreadName("IdleValve");
int currentIdleValve = -1;
while (TRUE) {
chThdSleepMilliseconds(100);
// this value is not used yet
idleSwitchState = palReadPad(getHwPort(boardConfiguration->idleSwitchPin), getHwPin(boardConfiguration->idleSwitchPin));
if (!isIdleControlActive)
continue;
int nowSec = chTimeNowSeconds();
int newValue = getIdle(&idle, getRpm(), nowSec);
if (currentIdleValve != newValue) {
currentIdleValve = newValue;
setIdleValvePwm(newValue);
}
}
#if defined __GNUC__
return -1;
#endif
}
void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin) {
if (stepPin == GPIO_UNASSIGNED || directionPin == GPIO_UNASSIGNED) {
return;
}
stepPort = getHwPort(stepPin);
this->stepPin = getHwPin(stepPin);
directionPort = getHwPort(directionPin);
this->directionPin = getHwPin(directionPin);
mySetPadMode2("st step", stepPin, PAL_MODE_OUTPUT_PUSHPULL);
mySetPadMode2("st dir", directionPin, PAL_MODE_OUTPUT_PUSHPULL);
chThdCreateStatic(stThreadStack, sizeof(stThreadStack), NORMALPRIO, (tfunc_t) stThread, this);
}
void initSpiCs(SPIConfig *spiConfig, brain_pin_e csPin) {
spiConfig->end_cb = NULL;
ioportid_t port = getHwPort(csPin);
ioportmask_t pin = getHwPin(csPin);
spiConfig->ssport = port;
spiConfig->sspad = pin;
mySetPadMode("chip select", port, pin, PAL_STM32_MODE_OUTPUT);
}
void outputPinRegisterExt2(const char *msg, OutputPin *output, brain_pin_e brainPin, pin_output_mode_e *outputMode) {
if (brainPin == GPIO_UNASSIGNED)
return;
GPIO_TypeDef *hwPort = getHwPort(brainPin);
int hwPin = getHwPin(brainPin);
outputPinRegisterExt(msg, output, hwPort, hwPin, outputMode);
}
bool efiReadPin(brain_pin_e pin) {
if (brain_pin_is_onchip(pin))
return palReadPad(getHwPort("readPin", pin), getHwPin("readPin", pin));
#if (BOARD_EXT_GPIOCHIPS > 0)
else if (brain_pin_is_ext(pin))
return (gpiochips_readPad(pin) > 0);
#endif
/* incorrect pin */
return false;
}
void lcd_HD44780_init(Logging *sharedLogger) {
logger = sharedLogger;
addConsoleAction("lcdinfo", lcdInfo);
if (engineConfiguration->displayMode > DM_HD44780_OVER_PCF8574) {
firmwareError("Unexpected displayMode %d", engineConfiguration->displayMode);
return;
}
printMsg(logger, "lcd_HD44780_init %d", engineConfiguration->displayMode);
if (engineConfiguration->displayMode == DM_HD44780) {
// initialize hardware lines
mySetPadMode2("lcd RS", boardConfiguration->HD44780_rs, PAL_MODE_OUTPUT_PUSHPULL);
mySetPadMode2("lcd E", boardConfiguration->HD44780_e, PAL_MODE_OUTPUT_PUSHPULL);
mySetPadMode2("lcd DB4", boardConfiguration->HD44780_db4, PAL_MODE_OUTPUT_PUSHPULL);
mySetPadMode2("lcd DB6", boardConfiguration->HD44780_db5, PAL_MODE_OUTPUT_PUSHPULL);
mySetPadMode2("lcd DB7", boardConfiguration->HD44780_db6, PAL_MODE_OUTPUT_PUSHPULL);
mySetPadMode2("lcd DB8", boardConfiguration->HD44780_db7, PAL_MODE_OUTPUT_PUSHPULL);
// and zero values
palWritePad(getHwPort(boardConfiguration->HD44780_rs), getHwPin(boardConfiguration->HD44780_rs), 0);
palWritePad(getHwPort(boardConfiguration->HD44780_e), getHwPin(boardConfiguration->HD44780_e), 0);
palWritePad(getHwPort(boardConfiguration->HD44780_db4), getHwPin(boardConfiguration->HD44780_db4), 0);
palWritePad(getHwPort(boardConfiguration->HD44780_db5), getHwPin(boardConfiguration->HD44780_db5), 0);
palWritePad(getHwPort(boardConfiguration->HD44780_db6), getHwPin(boardConfiguration->HD44780_db6), 0);
palWritePad(getHwPort(boardConfiguration->HD44780_db7), getHwPin(boardConfiguration->HD44780_db7), 0);
}
chThdSleepMilliseconds(20); // LCD needs some time to wake up
lcd_HD44780_write(LCD_HD44780_RESET); // reset 1x
chThdSleepMilliseconds(1);
lcd_HD44780_write(LCD_HD44780_RESET); // reset 2x
lcd_HD44780_write(LCD_HD44780_RESET); // reset 3x
lcd_HD44780_write(LCD_HD44780_4_BIT_BUS); // 4 bit, 2 line
chThdSleepMicroseconds(40);
lcd_HD44780_write(LCD_HD44780_4_BIT_BUS); // 4 bit, 2 line
lcd_HD44780_write(0x80);
chThdSleepMicroseconds(40);
lcd_HD44780_write_command(0x08); // display and cursor control
chThdSleepMicroseconds(40);
lcd_HD44780_write_command(LCD_HD44780_DISPLAY_CLEAR);
chThdSleepMilliseconds(2);
lcd_HD44780_write_command(LCD_HD44780_SHIFT_CURSOR_RIGHT);
chThdSleepMilliseconds(2);
lcd_HD44780_write_command(LCD_HD44780_DISPLAY_ON);
lcd_HD44780_set_position(0, 0);
printMsg(logger, "lcd_HD44780_init() done");
}
static msg_t ivThread(int param) {
(void) param;
chRegSetThreadName("board test blinking");
int value = 0;
while (TRUE) {
chThdSleepMilliseconds(250);
value = 1 - value;
GPIO_TypeDef *hwPort = getHwPort(currentPin);
uint32_t hwPin = getHwPin(currentPin);
palWritePad(hwPort, hwPin, value);
}
#if defined __GNUC__
return 0;
#endif
}
void initHip9011(Logging *sharedLogger) {
driver = getSpiDevice(spiDevice);
logger = sharedLogger;
addConsoleAction("hipinfo", showHipInfo);
if (!boardConfiguration->isHip9011Enabled)
return;
currentAngleWindowWidth =
engineConfiguration->knockDetectionWindowEnd - engineConfiguration->knockDetectionWindowStart;
prepareHip9011RpmLookup(currentAngleWindowWidth);
// todo: configurable
// driver = getSpiDevice(boardConfiguration->hip9011SpiDevice);
spicfg.ssport = getHwPort(boardConfiguration->hip9011CsPin);
spicfg.sspad = getHwPin(boardConfiguration->hip9011CsPin);
outputPinRegisterExt2("hip int/hold", &intHold, boardConfiguration->hip9011IntHoldPin,
&boardConfiguration->hip9011IntHoldPinMode);
outputPinRegisterExt2("hip CS", &hipCs, boardConfiguration->hip9011CsPin,
&boardConfiguration->hip9011CsPinMode);
scheduleMsg(logger, "Starting HIP9011/TPIC8101 driver");
spiStart(driver, &spicfg);
currentBandIndex = getBandIndex();
/**
* this engine cycle callback would be scheduling actual integration start and end callbacks
*/
addTriggerEventListener(&intHoldCallback, "DD int/hold", engine);
// MISO PB14
// palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(EFI_SPI2_AF) | PAL_STM32_PUDR_PULLUP);
// MOSI PB15
// palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(EFI_SPI2_AF) | PAL_STM32_OTYPE_OPENDRAIN);
addConsoleActionF("set_gain", setGain);
addConsoleActionF("set_band", setBand);
addConsoleActionI("set_hip_prescalerandsdo", setPrescalerAndSDO);
addConsoleActionF("set_knock_threshold", setKnockThresh);
addConsoleActionI("set_max_knock_sub_deg", setMaxKnockSubDeg);
chThdCreateStatic(hipTreadStack, sizeof(hipTreadStack), NORMALPRIO, (tfunc_t) hipThread, NULL);
}
static void cjStartSpi(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
globalInstance.cj125Cs.initPin("cj125 CS", CONFIGB(cj125CsPin),
&engineConfiguration->cj125CsPinMode);
// Idle CS pin - SPI CS is high when idle
globalInstance.cj125Cs.setValue(true);
cj125spicfg.cr1 += getSpiPrescaler(_150KHz, engineConfiguration->cj125SpiDevice);
cj125spicfg.ssport = getHwPort("cj125", CONFIGB(cj125CsPin));
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);
}
void initHip9011(Logging *sharedLogger) {
logger = sharedLogger;
addConsoleAction("hipinfo", showHipInfo);
if (!CONFIGB(isHip9011Enabled))
return;
instance.setAngleWindowWidth();
#if EFI_PROD_CODE
driver = getSpiDevice(engineConfiguration->hip9011SpiDevice);
if (driver == NULL) {
// error already reported
return;
}
hipSpiCfg.ssport = getHwPort("hip", CONFIGB(hip9011CsPin));
hipSpiCfg.sspad = getHwPin("hip", CONFIGB(hip9011CsPin));
#endif /* EFI_PROD_CODE */
startHip9001_pins();
scheduleMsg(logger, "Starting HIP9011/TPIC8101 driver");
spiStart(driver, &hipSpiCfg);
instance.currentBandIndex = getBandIndex();
/**
* this engine cycle callback would be scheduling actual integration start and end callbacks
*/
addTriggerEventListener(&intHoldCallback, "DD int/hold", engine);
// MISO PB14
// palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(EFI_SPI2_AF) | PAL_STM32_PUDR_PULLUP);
// MOSI PB15
// palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(EFI_SPI2_AF) | PAL_STM32_OTYPE_OPENDRAIN);
addConsoleActionF("set_gain", setHipGain);
addConsoleActionF("set_band", setHipBand);
addConsoleActionI("set_hip_prescalerandsdo", setPrescalerAndSDO);
addConsoleActionF("set_knock_threshold", setKnockThresh);
addConsoleActionI("set_max_knock_sub_deg", setMaxKnockSubDeg);
chThdCreateStatic(hipTreadStack, sizeof(hipTreadStack), NORMALPRIO, (tfunc_t)(void*) hipThread, NULL);
}
void efiSetPadUnused(brain_pin_e brainPin)
{
/* input with pull up, is it safe? */
iomode_t mode = PAL_STM32_MODE_INPUT | PAL_STM32_PUPDR_PULLUP;
if (brain_pin_is_onchip(brainPin)) {
ioportid_t port = getHwPort("unused", brainPin);
ioportmask_t pin = getHwPin("unused", brainPin);
/* input with pull up, is it safe? */
palSetPadMode(port, pin, mode);
}
#if (BOARD_EXT_GPIOCHIPS > 0)
else {
gpiochips_setPadMode(brainPin, mode);
}
#endif
brain_pin_markUnused(brainPin);
}
void OutputPin::initPin(const char *msg, brain_pin_e brainPin, pin_output_mode_e *outputMode) {
#if EFI_GPIO_HARDWARE || defined(__DOXYGEN__)
if (brainPin == GPIO_UNASSIGNED)
return;
ioportid_t port = getHwPort(msg, brainPin);
int pin = getHwPin(msg, brainPin);
/**
* This method is used for digital GPIO pins only, for peripheral pins see mySetPadMode
*/
if (port == GPIO_NULL) {
// that's for GRIO_NONE
this->port = port;
return;
}
assertOMode(*outputMode);
iomode_t mode = (*outputMode == OM_DEFAULT || *outputMode == OM_INVERTED) ?
PAL_MODE_OUTPUT_PUSHPULL : PAL_MODE_OUTPUT_OPENDRAIN;
/**
* @brief Initialize the hardware output pin while also assigning it a logical name
*/
if (this->port != NULL && (this->port != port || this->pin != pin)) {
/**
* here we check if another physical pin is already assigned to this logical output
*/
// todo: need to clear '&outputs' in io_pins.c
warning(CUSTOM_OBD_PIN_CONFLICT, "outputPin [%s] already assigned to %x%d", msg, this->port, this->pin);
engine->withError = true;
return;
}
this->currentLogicValue = INITIAL_PIN_STATE;
this->port = port;
this->pin = pin;
efiSetPadMode(msg, brainPin, mode);
setDefaultPinState(outputMode);
#endif /* EFI_GPIO_HARDWARE */
}
/**
* This method would set an error condition if pin is already used
*/
void efiSetPadMode(const char *msg, brain_pin_e brainPin, iomode_t mode)
{
bool wasUsed = brain_pin_markUsed(brainPin, msg);
if (!wasUsed) {
/*check if on-chip pin or external */
if (brain_pin_is_onchip(brainPin)) {
/* on-cip */
ioportid_t port = getHwPort(msg, brainPin);
ioportmask_t pin = getHwPin(msg, brainPin);
/* paranoid */
if (port == GPIO_NULL)
return;
palSetPadMode(port, pin, mode);
}
#if (BOARD_EXT_GPIOCHIPS > 0)
else {
gpiochips_setPadMode(brainPin, mode);
}
#endif
}
}
void startIdleThread() {
initLogging(&logger, "Idle Valve Control");
startSimplePwm(&idleValve, "Idle Valve",
boardConfiguration->idleValvePin,
0.5,
IDLE_AIR_CONTROL_VALVE_PWM_FREQUENCY,
IDLE_VALVE
);
idleInit(&idle);
scheduleMsg(&logger, "initial idle %d", idle.value);
chThdCreateStatic(ivThreadStack, sizeof(ivThreadStack), NORMALPRIO, (tfunc_t)ivThread, NULL);
// this is idle switch INPUT - sometimes there is a switch on the throttle pedal
// this switch is not used yet
mySetPadMode("idle switch", getHwPort(boardConfiguration->idleSwitchPin), getHwPin(boardConfiguration->idleSwitchPin), PAL_MODE_INPUT);
addConsoleActionI("set_idle_rpm", setIdleRpmAction);
addConsoleActionI("set_idle_pwm", setIdleValvePwm);
addConsoleActionI("set_idle_enabled", setIdleControlEnabled);
}
//-----------------------------------------------------------------------------
static void lcd_HD44780_write(uint8_t data) {
if (engineConfiguration->displayMode == DM_HD44780) {
palWritePad(getHwPort(boardConfiguration->HD44780_db7), getHwPin(boardConfiguration->HD44780_db7),
data & 0x80 ? 1 : 0);
palWritePad(getHwPort(boardConfiguration->HD44780_db6), getHwPin(boardConfiguration->HD44780_db6),
data & 0x40 ? 1 : 0);
palWritePad(getHwPort(boardConfiguration->HD44780_db5), getHwPin(boardConfiguration->HD44780_db5),
data & 0x20 ? 1 : 0);
palWritePad(getHwPort(boardConfiguration->HD44780_db4), getHwPin(boardConfiguration->HD44780_db4),
data & 0x10 ? 1 : 0);
palSetPad(getHwPort(boardConfiguration->HD44780_e), getHwPin(boardConfiguration->HD44780_e)); // En high
lcdSleep(10); // enable pulse must be >450ns
palClearPad(getHwPort(boardConfiguration->HD44780_e), getHwPin(boardConfiguration->HD44780_e)); // En low
lcdSleep(40); // commands need > 37us to settle
} else {
// LCD D4_pin -> P4
// LCD D5_pin -> P5
// LCD D6_pin -> P6
// LCD D7_pin -> P7
// LCD Pin RS -> P0
// LCD Pin RW -> P1
// LCD Pin E -> P2
// todo: finish all this stuff
// i2cAcquireBus(&I2CD1);
//
// txbuf[0] = 4;
// i2cMasterTransmit(&I2CD1, LCD_PORT_EXP_ADDR, txbuf, 1, NULL, 0);
// lcdSleep(10); // enable pulse must be >450ns
//
// txbuf[0] = 0;
// i2cMasterTransmit(&I2CD1, LCD_PORT_EXP_ADDR, txbuf, 1, NULL, 0);
//
// i2cReleaseBus(&I2CD1);
}
}
//-----------------------------------------------------------------------------
void lcd_HD44780_write_command(uint8_t data) {
palClearPad(getHwPort(boardConfiguration->HD44780_rs), getHwPin(boardConfiguration->HD44780_rs));
lcd_HD44780_write(data);
lcd_HD44780_write(data << 4);
}