static ALWAYS_INLINE void handleFuelInjectionEvent(int eventIndex, bool limitedFuel, InjectionEvent *event,
int rpm DECLARE_ENGINE_PARAMETER_S) {
if (limitedFuel)
return; // todo: move this check up
/**
* todo: this is a bit tricky with batched injection. is it? Does the same
* wetting coefficient works the same way for any injection mode, or is something
* x2 or /2?
*/
floatms_t injectionDuration = ENGINE(wallFuel).adjust(event->injectorIndex, ENGINE(fuelMs) PASS_ENGINE_PARAMETER);
ENGINE(actualLastInjection) = injectionDuration;
if (cisnan(injectionDuration)) {
warning(OBD_PCM_Processor_Fault, "NaN injection pulse");
return;
}
if (injectionDuration < 0) {
warning(OBD_PCM_Processor_Fault, "Negative injection pulse %f", injectionDuration);
return;
}
if (engine->isCylinderCleanupMode)
return;
floatus_t injectionStartDelayUs = ENGINE(rpmCalculator.oneDegreeUs) * event->injectionStart.angleOffset;
OutputSignal *signal = &ENGINE(engineConfiguration2)->fuelActuators[eventIndex];
if (event->isSimultanious) {
if (injectionDuration < 0) {
firmwareError("duration cannot be negative: %d", injectionDuration);
return;
}
if (cisnan(injectionDuration)) {
firmwareError("NaN in scheduleOutput", injectionDuration);
return;
}
/**
* this is pretty much copy-paste of 'scheduleOutput'
* 'scheduleOutput' is currently only used for injection, so maybe it should be
* changed into 'scheduleInjection' and unified? todo: think about it.
*/
efiAssertVoid(signal!=NULL, "signal is NULL");
int index = getRevolutionCounter() % 2;
scheduling_s * sUp = &signal->signalTimerUp[index];
scheduling_s * sDown = &signal->signalTimerDown[index];
scheduleTask("out up", sUp, (int) injectionStartDelayUs, (schfunc_t) &startSimultaniousInjection, engine);
scheduleTask("out down", sDown, (int) injectionStartDelayUs + MS2US(injectionDuration),
(schfunc_t) &endSimultaniousInjection, engine);
} else {
#if EFI_UNIT_TEST || defined(__DOXYGEN__)
printf("scheduling injection angle=%f/delay=%f injectionDuration=%f\r\n", event->injectionStart.angleOffset, injectionStartDelayUs, injectionDuration);
#endif
scheduleOutput(signal, getTimeNowUs(), injectionStartDelayUs, MS2US(injectionDuration), event->output);
}
}
static void testCallback(void *arg) {
/**
* 0.1ms from now please squirt for 1.6ms
*/
float delayMs = 0.1;
float durationMs = 1.6;
efitimeus_t nowUs = getTimeNowUs();
scheduleOutput(&outSignals[0], nowUs, delayMs, durationMs);
scheduleOutput(&outSignals[1], nowUs, delayMs, durationMs);
scheduleOutput(&outSignals[2], nowUs, delayMs, durationMs);
scheduleOutput(&outSignals[3], nowUs, delayMs, durationMs);
scheduleOutput(&outSignals[4], nowUs, delayMs, durationMs);
scheduleOutput(&outSignals[5], nowUs, delayMs, durationMs);
scheduleOutput(&outSignals[6], nowUs, delayMs, durationMs);
scheduleOutput(&outSignals[7], nowUs, delayMs, durationMs);
/**
* this would re-schedule another callback in 2ms from now
*/
scheduleTask("test", &ioTest, MS2US(2), testCallback, NULL);
}
void scheduleComponent (void (*F) (void *schedulee, void *context, void *scheduler), void *C1, void *C, void *C2, uint8_t p, Time *t, uint16_t id) {
if(t != NULL) {
TimedTask *TT = getEmptyTimedTask();
TT->T->context = C;
TT->T->function = F;
TT->T->identifier = id;
TT->T->priority = 0xFF - p;
TT->T->schedulee = C1;
TT->T->scheduler = C2;
TT->t.sec = t->sec;
TT->t.msec = t->msec;
Log(LOG_SCHEDINTF, "[scheduleComponent] Scheduling Component as TimedTask with t %lu.%u\n", TT->t.sec, TT->t.msec);
scheduleTimedTask(TT);
}
else {
Task *T = getEmptyTask();
Log(LOG_SCHEDINTF, "[scheduleComponent] Scheduling Component as Task\n");
T->context = C;
T->function = F;
T->identifier = id;
T->priority = 0xFF - p;
T->schedulee = C1;
T->scheduler = C2;
scheduleTask(T);
}
}
void VideoThread::setEQ(int b, int c, int s)
{
class EQTask : public QRunnable {
public:
EQTask(VideoFrameConverter *c)
: brightness(0)
, contrast(0)
, saturation(0)
, conv(c)
{
//qDebug("EQTask tid=%p", QThread::currentThread());
}
void run() {
conv->setEq(brightness, contrast, saturation);
}
int brightness, contrast, saturation;
private:
VideoFrameConverter *conv;
};
DPTR_D(VideoThread);
EQTask *task = new EQTask(&d.conv);
task->brightness = b;
task->contrast = c;
task->saturation = s;
if (isRunning()) {
scheduleTask(task);
} else {
task->run();
delete task;
}
}
void Renderer::taskLoop(int threadIndex)
{
while(task[threadIndex].type != Task::SUSPEND)
{
scheduleTask(threadIndex);
executeTask(threadIndex);
}
}
/**
*
* @param delay the number of ticks before the output signal
* immediate output if delay is zero
* @param dwell the number of ticks of output duration
*
*/
void scheduleOutput(OutputSignal *signal, float delayMs, float durationMs) {
if (durationMs < 0) {
firmwareError("duration cannot be negative: %d", durationMs);
return;
}
if (cisnan(durationMs)) {
firmwareError("NaN in scheduleOutput", durationMs);
return;
}
int index = getRevolutionCounter() % 2;
scheduling_s * sUp = &signal->signalTimerUp[index];
scheduling_s * sDown = &signal->signalTimerDown[index];
scheduleTask("out up", sUp, (int)MS2US(delayMs), (schfunc_t) &turnPinHigh, (void *) signal->io_pin);
scheduleTask("out down", sDown, (int)MS2US(delayMs + durationMs), (schfunc_t) &turnPinLow, (void*) signal->io_pin);
}
void Schedule::scheduleEndFishSlotTask(void callback()) {
// Require called during fish slot
// i.e. assert startTimeOfFishSlot > nowTime > startTimeOfFishSlot + SlotDuration
// else fish slot end is in the past.
LongTime time = startTimeOfFishSlot + SlotDuration;
assert(time >= longClock.nowTime());
assert(time <= startTimeOfNextPeriod());
scheduleTask(callback, clampedTimeDifferenceFromNow(time));
}
void Schedule::scheduleStartFishSlotTask(void callback()) {
/*
* Chosen randomly from sleeping slots.
* Remember it, to schedule end.
*/
startTimeOfFishSlot = startTimeOfPeriod + randInt(FirstSleepingSlotOrdinal-1, CountSlots-1) * SlotDuration;
assert(startTimeOfFishSlot >= longClock.nowTime());
assert(startTimeOfFishSlot <= startTimeOfNextPeriod());
scheduleTask(callback, clampedTimeDifferenceFromNow(startTimeOfFishSlot));
}
void Schedule::scheduleStartMergeSlotTask(void callback(), DeltaTime offset) {
/*
* !!!Not like others, is not aligned with slots.
* Is scheduled within some usual sleepSlot of this period, but need not at start of slot.
* offset is from CliqueMerger.
*/
LongTime time = startTimeOfPeriod + offset;
assert(time >= longClock.nowTime());
assert(time <= startTimeOfNextPeriod());
scheduleTask(callback, clampedTimeDifferenceFromNow(time));
}
bool HostInputHandler::handleInput ( std::string& usrInput ) {
Task task = getHostTaskFrom ( usrInput );
if ( task ) {
scheduleTask( task );
}else{
if ( false == plugin_handleInput ( usrInput ) ) {
// report error -- invalid input
return false;
}
}
return true;
}
LL_FOREACH_SAFE(iHead, current, tmp)
{
if (current->sparkPosition.eventIndex == eventIndex) {
// time to fire a spark which was scheduled previously
LL_DELETE(iHead, current);
scheduling_s * sDown = ¤t->signalTimerDown;
float timeTillIgnitionUs = ENGINE(rpmCalculator.oneDegreeUs) * current->sparkPosition.angleOffset;
scheduleTask("spark 2down", sDown, (int) timeTillIgnitionUs, (schfunc_t) &turnPinLow, current->output);
}
}
/**
* Schedules a callback 'angle' degree of crankshaft from now.
* The callback would be executed once after the duration of time which
* it takes the crankshaft to rotate to the specified angle.
*/
void scheduleByAngle(int rpm, scheduling_s *timer, angle_t angle, schfunc_t callback, void *param) {
if (!isValidRpm(rpm)) {
/**
* this might happen in case of a single trigger event after a pause - this is normal, so no
* warning here
*/
return;
}
float delayUs = getOneDegreeTimeUs(rpm) * angle;
if (cisnan(delayUs)) {
firmwareError("NaN delay?");
return;
}
scheduleTask("by angle", timer, (int) delayUs, callback, param);
}
void VideoThread::addCaptureTask()
{
if (!isRunning())
return;
class CaptureTask : public QRunnable {
public:
CaptureTask(VideoThread *vt) : vthread(vt) {}
void run() {
VideoCapture *vc = vthread->videoCapture();
if (!vc)
return;
VideoFrame frame(vthread->displayedFrame());
//vthread->applyFilters(frame);
vc->setVideoFrame(frame);
vc->start();
}
private:
VideoThread *vthread;
};
scheduleTask(new CaptureTask(this));
}
void initPwmTester(void) {
initLogging(&logger, "pwm test");
addConsoleActionI("pwmtest", startPwmTest);
startPwmTest(1000);
/**
* injector channels #4-#8 are used for individual squirt test
*/
// todo: yet, it's some horrible code duplication
outSignals[0].output = &enginePins.injectors[4];
outSignals[1].output = &enginePins.injectors[5];
outSignals[2].output = &enginePins.injectors[6];
outSignals[3].output = &enginePins.injectors[7];
outSignals[4].output = &enginePins.injectors[8];
outSignals[5].output = &enginePins.injectors[9];
outSignals[6].output = &enginePins.injectors[10];
outSignals[7].output = &enginePins.injectors[11];
/**
* this would schedule a callback in 2ms from now
*/
scheduleTask("test", &ioTest, MS2US(2), testCallback, NULL);
}
void Schedule::scheduleEndSyncSlotTask(void callback()) {
scheduleTask(callback, clampedTimeDifference(timeOfThisSyncSlotEnd(), longClock.nowTime())); }
// Sync is first slot of next period
void Schedule::scheduleStartSyncSlotTask(void callback()) {
scheduleTask(callback, clampedTimeDifferenceFromNow(startTimeOfNextPeriod()));}
void scheduleByTime(const char *prefix, scheduling_s *scheduling, efitimeus_t time, schfunc_t callback, void *param) {
scheduleTask(prefix, scheduling, time - getTimeNowUs(), callback, param);
}
void IDBTransactionBackendLevelDB::scheduleVersionChangeOperation(int64_t transactionId, int64_t requestedVersion, PassRefPtr<IDBCallbacks> callbacks, PassRefPtr<IDBDatabaseCallbacks> databaseCallbacks, const IDBDatabaseMetadata& metadata)
{
scheduleTask(IDBDatabaseBackendLevelDB::VersionChangeOperation::create(this, transactionId, requestedVersion, callbacks, databaseCallbacks), IDBDatabaseBackendLevelDB::VersionChangeAbortOperation::create(this, String::number(metadata.version), metadata.version));
}
void IDBTransactionBackendLevelDB::scheduleClearOperation(int64_t objectStoreId, PassRefPtr<IDBCallbacks> callbacks)
{
scheduleTask(ClearOperation::create(this, m_backingStore.get(), database()->id(), objectStoreId, callbacks));
}
void IDBTransactionBackendLevelDB::scheduleDeleteRangeOperation(int64_t objectStoreId, PassRefPtr<IDBKeyRange> keyRange, PassRefPtr<IDBCallbacks> callbacks)
{
scheduleTask(DeleteRangeOperation::create(this, m_backingStore.get(), database()->id(), objectStoreId, keyRange, callbacks));
}
void IDBTransactionBackendLevelDB::scheduleOpenCursorOperation(int64_t objectStoreId, int64_t indexId, PassRefPtr<IDBKeyRange> keyRange, IndexedDB::CursorDirection direction, IndexedDB::CursorType cursorType, IDBDatabaseBackendInterface::TaskType taskType, PassRefPtr<IDBCallbacks> callbacks)
{
scheduleTask(OpenCursorOperation::create(this, m_backingStore.get(), database()->id(), objectStoreId, indexId, keyRange, direction, cursorType, taskType, callbacks));
}
void IDBTransactionBackendLevelDB::schedulePutOperation(const IDBObjectStoreMetadata& objectStoreMetadata, PassRefPtr<SharedBuffer> value, PassRefPtr<IDBKey> key, IDBDatabaseBackendInterface::PutMode putMode, PassRefPtr<IDBCallbacks> callbacks, const Vector<int64_t>& indexIds, const Vector<IDBDatabaseBackendInterface::IndexKeys>& indexKeys)
{
scheduleTask(PutOperation::create(this, m_backingStore.get(), database()->id(), objectStoreMetadata, value, key, putMode, callbacks, indexIds, indexKeys));
}
void IDBTransactionBackendLevelDB::scheduleGetOperation(const IDBDatabaseMetadata& metadata, int64_t objectStoreId, int64_t indexId, PassRefPtr<IDBKeyRange> keyRange, IndexedDB::CursorType cursorType, PassRefPtr<IDBCallbacks> callbacks)
{
scheduleTask(GetOperation::create(this, m_backingStore.get(), metadata, objectStoreId, indexId, keyRange, cursorType, callbacks));
}
void IDBTransactionBackendLevelDB::scheduleDeleteIndexOperation(int64_t objectStoreId, const IDBIndexMetadata& indexMetadata)
{
scheduleTask(DeleteIndexOperation::create(this, m_backingStore.get(), objectStoreId, indexMetadata), DeleteIndexAbortOperation::create(this, objectStoreId, indexMetadata));
}
void Schedule::scheduleEndWorkSlotTask(void callback()) {
scheduleTask(callback, clampedTimeDifferenceFromNow(timeOfThisWorkSlotEnd())); }
static ALWAYS_INLINE void handleSparkEvent(uint32_t eventIndex, IgnitionEvent *iEvent,
int rpm DECLARE_ENGINE_PARAMETER_S) {
float dwellMs = engine->engineState.sparkDwell;
if (cisnan(dwellMs) || dwellMs < 0) {
firmwareError("invalid dwell: %f at %d", dwellMs, rpm);
return;
}
floatus_t chargeDelayUs = engine->rpmCalculator.oneDegreeUs * iEvent->dwellPosition.angleOffset;
int isIgnitionError = chargeDelayUs < 0;
ignitionErrorDetection.add(isIgnitionError);
if (isIgnitionError) {
#if EFI_PROD_CODE
scheduleMsg(logger, "Negative spark delay=%f", chargeDelayUs);
#endif
chargeDelayUs = 0;
return;
}
if (cisnan(dwellMs)) {
firmwareError("NaN in scheduleOutput", dwellMs);
return;
}
/**
* We are alternating two event lists in order to avoid a potential issue around revolution boundary
* when an event is scheduled within the next revolution.
*/
scheduling_s * sUp = &iEvent->signalTimerUp;
scheduling_s * sDown = &iEvent->signalTimerDown;
/**
* The start of charge is always within the current trigger event range, so just plain time-based scheduling
*/
scheduleTask("spark up", sUp, chargeDelayUs, (schfunc_t) &turnPinHigh, iEvent->output);
/**
* Spark event is often happening during a later trigger event timeframe
* TODO: improve precision
*/
findTriggerPosition(&iEvent->sparkPosition, iEvent->advance PASS_ENGINE_PARAMETER);
if (iEvent->sparkPosition.eventIndex == eventIndex) {
/**
* Spark should be fired before the next trigger event - time-based delay is best precision possible
*/
float timeTillIgnitionUs = engine->rpmCalculator.oneDegreeUs * iEvent->sparkPosition.angleOffset;
scheduleTask("spark 1down", sDown, (int) timeTillIgnitionUs, (schfunc_t) &turnPinLow, iEvent->output);
} else {
/**
* Spark should be scheduled in relation to some future trigger event, this way we get better firing precision
*/
bool isPending = assertNotInList<IgnitionEvent>(iHead, iEvent);
if (isPending)
return;
LL_APPEND(iHead, iEvent);
}
}
void scheduleByAngle(scheduling_s *timer, float angle, schfunc_t callback, void *param) {
int delay = (int)(getOneDegreeTime(getRpm()) * angle);
scheduleTask(timer, delay, callback, param);
}
void IDBTransactionBackendLevelDB::scheduleSetIndexesReadyOperation(size_t indexCount)
{
scheduleTask(IDBDatabaseBackendInterface::PreemptiveTask, SetIndexesReadyOperation::create(this, indexCount));
}
void IDBTransactionBackendLevelDB::scheduleDeleteObjectStoreOperation(const IDBObjectStoreMetadata& objectStoreMetadata)
{
scheduleTask(DeleteObjectStoreOperation::create(this, m_backingStore.get(), objectStoreMetadata), DeleteObjectStoreAbortOperation::create(this, objectStoreMetadata));
}