Separate code from headers
This commit is contained in:
Emanuele Trabattoni
250
RotaxMonitor/src/tasks.cpp
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250
RotaxMonitor/src/tasks.cpp
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#include "tasks.h"
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void rtIgnitionTask(void *pvParameters)
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{
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// Invalid real time rt_task_ptr parameters, exit immediate
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if (!pvParameters)
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{
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LOG_ERROR("Null rt_task_ptr parameters");
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vTaskDelete(NULL);
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}
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// Task Parameters and Devices
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rtTaskParams *params = (rtTaskParams *)pvParameters;
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const rtTaskInterrupts rt_int = params->rt_int; // copy to avoid external override
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const rtTaskResets rt_rst = params->rt_resets; // copy to avoid external override
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QueueHandle_t rt_queue = params->rt_queue;
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TaskHandle_t* rt_handle_ptr = params->rt_handle_ptr;
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Devices *dev = params->dev;
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ADS1256 *adc = dev->adc_a;
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PCA9555 *io = dev->io;
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// Variables for ISR, static to be fixed in memory locations
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static ignitionBoxStatus ign_box_sts; // common for all ISR calls
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static isrParams isr_params_t12p{
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.flag = TRIG_FLAG_12P,
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.ign_stat = &ign_box_sts,
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.rt_handle_ptr = rt_handle_ptr};
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static isrParams isr_params_t12n{
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.flag = TRIG_FLAG_12N,
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.ign_stat = &ign_box_sts,
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.rt_handle_ptr = rt_handle_ptr};
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static isrParams isr_params_t34p{
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.flag = TRIG_FLAG_34P,
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.ign_stat = &ign_box_sts,
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.rt_handle_ptr = rt_handle_ptr};
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static isrParams isr_params_t34n{
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.flag = TRIG_FLAG_34N,
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.ign_stat = &ign_box_sts,
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.rt_handle_ptr = rt_handle_ptr};
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static isrParams isr_params_sp12{
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.flag = SPARK_FLAG_12,
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.ign_stat = &ign_box_sts,
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.rt_handle_ptr = rt_handle_ptr};
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static isrParams isr_params_sp34{
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.flag = SPARK_FLAG_34,
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.ign_stat = &ign_box_sts,
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.rt_handle_ptr = rt_handle_ptr};
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// Attach Pin Interrupts
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attachInterruptArg(rt_int.trig_pin_12p, rt_int.isr_ptr, (void *)&isr_params_t12p, RISING);
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attachInterruptArg(rt_int.trig_pin_12n, rt_int.isr_ptr, (void *)&isr_params_t12n, RISING);
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attachInterruptArg(rt_int.trig_pin_34p, rt_int.isr_ptr, (void *)&isr_params_t34p, RISING);
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attachInterruptArg(rt_int.trig_pin_34n, rt_int.isr_ptr, (void *)&isr_params_t34n, RISING);
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attachInterruptArg(rt_int.spark_pin_12, rt_int.isr_ptr, (void *)&isr_params_sp12, RISING);
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attachInterruptArg(rt_int.spark_pin_34, rt_int.isr_ptr, (void *)&isr_params_sp34, RISING);
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// Compute Reset Pin Bitmask
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const uint16_t rst_bitmask = (1 << rt_rst.rst_io_12p) |
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(1 << rt_rst.rst_io_12n) |
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(1 << rt_rst.rst_io_34p) |
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(1 << rt_rst.rst_io_34n);
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uint32_t it = 0;
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uint32_t q_fail_count = 0;
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while (params->rt_running)
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{
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// Global rt_task_ptr variables
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uint32_t pickup_flag = 0;
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uint32_t spark_flag = 0;
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#ifdef DEBUG
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Serial.print("\033[2J"); // clear screen
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Serial.print("\033[H"); // cursor home
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LOG_INFO("Iteration [", it, "]");
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#endif
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// WAIT FOR PICKUP SIGNAL
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xTaskNotifyWait(
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0x00, // non pulire all'ingresso
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ULONG_MAX, // pulisci i primi 8 bit
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&pickup_flag, // valore ricevuto
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portMAX_DELAY);
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#ifdef DEBUG
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LOG_INFO("Pickup Flags: ", printBits(pickup_flag).c_str());
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if (!names.contains(pickup_flag))
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{
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LOG_ERROR("Wrong Pickup Flag");
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continue;
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}
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else
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{
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LOG_INFO("Pickup Trigger: ", names.at(pickup_flag));
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}
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#endif
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// WAIT FOR SPARK TO HAPPEN
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auto spark_timeout = ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(spark_timeout_max));
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if (ign_box_sts.coils12.spark_ok || ign_box_sts.coils34.spark_ok) // otherwise timeout if none is set in the ISR
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spark_flag = ign_box_sts.coils12.spark_ok ? SPARK_FLAG_12 : SPARK_FLAG_34;
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xTaskNotifyStateClear(NULL);
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ulTaskNotifyValueClear(NULL, 0xFFFFFFFF);
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#ifdef DEBUG
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LOG_INFO("Spark Flags: ", printBits(spark_flag).c_str());
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if (!names.contains(spark_flag))
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LOG_ERROR("No Spark");
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else
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LOG_INFO("Spark Trigger:", names.at(spark_flag));
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#endif
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// A trigger from pickup 12 is followed by a spark event on 34 or vice versa pickup 34 triggers spark on 12
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if ((pickup_flag == TRIG_FLAG_12P || pickup_flag == TRIG_FLAG_12N) && spark_flag != SPARK_FLAG_12)
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{
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ign_box_sts.coils12.spark_status = ign_box_sts.coils34.spark_status = sparkStatus::SPARK_SYNC_FAIL;
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// Save error on circular buffer and skip to next cycle //
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LOG_ERROR("Spark Mismatch");
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continue;
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}
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coilsStatus *coils;
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switch (pickup_flag)
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{
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case TRIG_FLAG_12P:
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case TRIG_FLAG_12N:
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coils = &ign_box_sts.coils12;
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break;
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case TRIG_FLAG_34P:
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case TRIG_FLAG_34N:
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coils = &ign_box_sts.coils34;
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break;
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}
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bool new_data = false;
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switch (pickup_flag)
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{
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// CASES for NEGATIVE cycle triggering of pickup and sparks 12 & 34
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case TRIG_FLAG_12P:
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case TRIG_FLAG_34P:
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{
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// Timeout not occourred, expected POSITIVE edge spark OCCOURRED
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if (spark_timeout == pdPASS)
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{
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coils->spark_delay = coils->spark_time - coils->trig_time;
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coils->sstart_status = softStartStatus::NORMAL; // because spark on positive edge
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coils->spark_status = sparkStatus::SPARK_POS_OK; // do not wait for spark on negative edge
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#ifdef DEBUG
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LOG_INFO("Trigger Spark POSITIVE");
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LOG_INFO("Spark12 Delay Timer: ", (int)coils->spark_delay);
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#endif
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}
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// Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED
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else if (spark_timeout == pdFAIL)
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{
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coils->spark_status = sparkStatus::SPARK_NEG_WAIT;
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coils->sstart_status = softStartStatus::NORMAL;
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}
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new_data = false;
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break; // Do nothing more on positive pulse
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}
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// CASES for NEGATIVE cycle triggering of pickup and sparks 12 & 34
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case TRIG_FLAG_12N:
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case TRIG_FLAG_34N:
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{
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const bool expected_negative12 = coils->spark_status == sparkStatus::SPARK_NEG_WAIT;
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// Timeout not occourred, expected NEGATIVE edge spark OCCOURRED
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if (spark_timeout == pdPASS && expected_negative12)
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{
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coils->spark_delay = coils->spark_time - coils->trig_time;
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coils->sstart_status = softStartStatus::SOFT_START;
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coils->spark_status == sparkStatus::SPARK_NEG_OK;
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#ifdef DEBUG
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LOG_INFO("Trigger Spark NEGATIVE");
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LOG_INFO("Spark12 Delay Timer: ", (int)ign_box_sts.coils12.spark_delay);
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#endif
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}
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// Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED
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else if (spark_timeout == pdFAIL && expected_negative12)
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{
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coils->sstart_status = softStartStatus::NORMAL;
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coils->spark_status = sparkStatus::SPARK_NEG_FAIL;
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}
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// Timeout not occouured, unexpected negative edge spark
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else if (spark_timeout == pdPASS && !expected_negative12)
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{
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coils->sstart_status = softStartStatus::SOFT_START;
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coils->spark_status = sparkStatus::SPARK_NEG_UNEXPECTED;
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}
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// Wait for finish of negative pulse to save data to buffer
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new_data = true;
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break;
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}
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default:
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LOG_ERROR("Invalid Interrupt");
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break;
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}
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if (new_data)
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{
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vTaskDelay(pdMS_TO_TICKS(1)); // delay 1ms to allow peak detectors to charge for negative cycle
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// read adc channels: pickup12, out12 [ pos + neg ]
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if (adc) // read only if adc initialized
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{
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// from peak detector circuits
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ign_box_sts.coils12.peak_p_in = adcReadChannel(adc, ADC_CH_PEAK_12P_IN);
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ign_box_sts.coils12.peak_n_in = adcReadChannel(adc, ADC_CH_PEAK_12N_IN);
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ign_box_sts.coils34.peak_p_in = adcReadChannel(adc, ADC_CH_PEAK_34P_IN);
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ign_box_sts.coils34.peak_n_in = adcReadChannel(adc, ADC_CH_PEAK_34N_IN);
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ign_box_sts.coils12.peak_p_out = adcReadChannel(adc, ADC_CH_PEAK_12P_OUT);
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ign_box_sts.coils12.peak_n_out = adcReadChannel(adc, ADC_CH_PEAK_12N_OUT);
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ign_box_sts.coils34.peak_p_out = adcReadChannel(adc, ADC_CH_PEAK_34P_OUT);
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ign_box_sts.coils34.peak_n_out = adcReadChannel(adc, ADC_CH_PEAK_34N_OUT);
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}
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else // simulate adc read timig
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vTaskDelay(pdMS_TO_TICKS(6));
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// reset peak detectors + sample and hold
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// outputs on io expander
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if (io)
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{
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const uint16_t iostat = io->read();
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io->write(iostat | rst_bitmask);
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vTaskDelay(pdMS_TO_TICKS(1));
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io->write(iostat & ~rst_bitmask);
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}
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else
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vTaskDelay(pdMS_TO_TICKS(2));
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// send essage to main loop with ignition info, by copy so local static variable is ok
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if (rt_queue)
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ign_box_sts.timestamp = esp_timer_get_time(); // update data timestamp
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if (xQueueSendToBack(rt_queue, (void *)&ign_box_sts, pdMS_TO_TICKS(1)) != pdPASS)
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{
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q_fail_count++;
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LOG_ERROR("Failed to send to rt_queue");
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}
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}
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}
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LOG_WARN("Ending realTime Task");
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// Ignition A Interrupts DETACH
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detachInterrupt(rt_int.trig_pin_12p);
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detachInterrupt(rt_int.trig_pin_12n);
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detachInterrupt(rt_int.trig_pin_34p);
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detachInterrupt(rt_int.trig_pin_34n);
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detachInterrupt(rt_int.spark_pin_12);
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detachInterrupt(rt_int.spark_pin_34);
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// delete present task
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vTaskDelete(NULL);
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}
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