Separate code from headers
This commit is contained in:
Emanuele Trabattoni
54
RotaxMonitor/src/isr.cpp
Normal file
54
RotaxMonitor/src/isr.cpp
Normal file
@@ -0,0 +1,54 @@
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#include "isr.h"
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// =====================
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// ISR (Pass return bitmask to ISR management function)
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// one function for each wake up pin conncted to a trigger
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// =====================
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void trig_isr(void *arg)
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{
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const int64_t time_us = esp_timer_get_time();
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// exit if invalid args
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if (!arg)
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return;
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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isrParams *params = (isrParams*)arg;
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ignitionBoxStatus *box = params->ign_stat;
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TaskHandle_t task_handle = *params->rt_handle_ptr;
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// exit if task not running
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if (!task_handle)
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return;
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// reset spark flags, cannot be same time as trigger flags
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box->coils12.spark_ok = false;
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box->coils34.spark_ok = false;
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switch (params->flag)
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{
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case TRIG_FLAG_12P:
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box->coils12.trig_time = time_us;
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xTaskNotifyFromISR(task_handle, params->flag, eSetValueWithOverwrite, &xHigherPriorityTaskWoken);
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break;
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case TRIG_FLAG_34P:
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box->coils34.trig_time = time_us;
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xTaskNotifyFromISR(task_handle, params->flag, eSetValueWithOverwrite, &xHigherPriorityTaskWoken);
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break;
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case SPARK_FLAG_12:
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box->coils12.spark_ok = true;
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box->coils12.spark_time = time_us;
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vTaskNotifyGiveFromISR(task_handle, &xHigherPriorityTaskWoken);
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break;
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case SPARK_FLAG_34:
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box->coils34.spark_ok = true;
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box->coils34.spark_time = time_us;
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vTaskNotifyGiveFromISR(task_handle, &xHigherPriorityTaskWoken);
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break;
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default:
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break;
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}
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if (xHigherPriorityTaskWoken)
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portYIELD_FROM_ISR();
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}
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@@ -5,7 +5,6 @@
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// Arduino Libraries
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// Arduino Libraries
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#include <Arduino.h>
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#include <Arduino.h>
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#include <map>
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#include "soc/gpio_struct.h"
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#include "soc/gpio_struct.h"
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#ifndef TEST
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#ifndef TEST
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#include "pins.h"
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#include "pins.h"
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@@ -30,10 +29,6 @@
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#define SPARK_FLAG_12 (1 << 9)
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#define SPARK_FLAG_12 (1 << 9)
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#define SPARK_FLAG_34 (1 << 10)
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#define SPARK_FLAG_34 (1 << 10)
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// Task handle
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TaskHandle_t trigA_TaskHandle = NULL;
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TaskHandle_t trigB_TaskHandle = NULL;
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// Spark Status
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// Spark Status
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enum sparkStatus
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enum sparkStatus
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{
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{
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@@ -83,53 +78,8 @@ struct ignitionBoxStatus
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struct isrParams {
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struct isrParams {
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const uint32_t flag;
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const uint32_t flag;
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ignitionBoxStatus* ign_stat;
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ignitionBoxStatus* ign_stat;
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TaskHandle_t* rt_handle_ptr;
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};
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};
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// =====================
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void IRAM_ATTR trig_isr(void *arg);
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// ISR (Pass return bitmask to ISR management function)
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// one function for each wake up pin conncted to a trigger
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// =====================
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void IRAM_ATTR trig_isr_a(void *arg)
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{
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const int64_t time_us = esp_timer_get_time();
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// exit if task is not running
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if (!trigA_TaskHandle || !arg)
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return;
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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isrParams *params = (isrParams*)arg;
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ignitionBoxStatus *box = box;
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// reset spark flags, cannot be same time as trigger flags
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box->coils12.spark_ok = false;
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box->coils34.spark_ok = false;
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switch (params->flag)
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{
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case TRIG_FLAG_12P:
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box->coils12.trig_time = time_us;
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xTaskNotifyFromISR(trigA_TaskHandle, params->flag, eSetValueWithOverwrite, &xHigherPriorityTaskWoken);
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break;
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case TRIG_FLAG_34P:
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box->coils34.trig_time = time_us;
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xTaskNotifyFromISR(trigA_TaskHandle, params->flag, eSetValueWithOverwrite, &xHigherPriorityTaskWoken);
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break;
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case SPARK_FLAG_12:
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box->coils12.spark_ok = true;
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box->coils12.spark_time = time_us;
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vTaskNotifyGiveFromISR(trigA_TaskHandle, &xHigherPriorityTaskWoken);
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break;
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case SPARK_FLAG_34:
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box->coils34.spark_ok = true;
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box->coils34.spark_time = time_us;
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vTaskNotifyGiveFromISR(trigA_TaskHandle, &xHigherPriorityTaskWoken);
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break;
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default:
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break;
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}
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if (xHigherPriorityTaskWoken)
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portYIELD_FROM_ISR();
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}
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@@ -51,13 +51,20 @@ void loop()
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// global variables
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// global variables
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bool running = true;
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bool running = true;
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Devices dev;
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Devices dev;
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// Task handle
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TaskHandle_t trigA_TaskHandle = NULL;
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TaskHandle_t trigB_TaskHandle = NULL;
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QueueHandle_t rt_taskA_queue = xQueueCreate(10, sizeof(ignitionBoxStatus));
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QueueHandle_t rt_taskA_queue = xQueueCreate(10, sizeof(ignitionBoxStatus));
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QueueHandle_t rt_taskB_queue = xQueueCreate(10, sizeof(ignitionBoxStatus));
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rtTaskParams taskA_params {
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rtTaskParams taskA_params {
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.rt_running = true,
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.rt_running = true,
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.dev = &dev,
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.dev = &dev,
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.rt_handle_ptr = &trigA_TaskHandle,
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.rt_queue = rt_taskA_queue,
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.rt_queue = rt_taskA_queue,
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.rt_int = rtTaskInterrupts{
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.rt_int = rtTaskInterrupts{
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.isr_ptr = trig_isr_a,
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.isr_ptr = trig_isr,
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.trig_pin_12p = TRIG_PIN_A12P,
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.trig_pin_12p = TRIG_PIN_A12P,
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.trig_pin_12n = TRIG_PIN_A12N,
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.trig_pin_12n = TRIG_PIN_A12N,
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.trig_pin_34p = TRIG_PIN_A34P,
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.trig_pin_34p = TRIG_PIN_A34P,
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@@ -76,8 +83,9 @@ void loop()
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.rt_running = true,
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.rt_running = true,
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.dev = &dev,
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.dev = &dev,
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.rt_queue = rt_taskB_queue,
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.rt_queue = rt_taskB_queue,
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.rt_handle_ptr = &trigB_TaskHandle,
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.rt_int = rtTaskInterrupts{
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.rt_int = rtTaskInterrupts{
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.isr_ptr = trig_isr_a,
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.isr_ptr = trig_isr,
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.trig_pin_12p = TRIG_PIN_B12P,
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.trig_pin_12p = TRIG_PIN_B12P,
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.trig_pin_12n = TRIG_PIN_B12N,
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.trig_pin_12n = TRIG_PIN_B12N,
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.trig_pin_34p = TRIG_PIN_B34P,
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.trig_pin_34p = TRIG_PIN_B34P,
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250
RotaxMonitor/src/tasks.cpp
Normal file
250
RotaxMonitor/src/tasks.cpp
Normal file
@@ -0,0 +1,250 @@
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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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|
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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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|
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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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|
|
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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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|
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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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|
}
|
||||||
|
|
||||||
|
coilsStatus *coils;
|
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|
switch (pickup_flag)
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||||||
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{
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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;
|
||||||
|
break;
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool new_data = false;
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||||||
|
switch (pickup_flag)
|
||||||
|
{
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||||||
|
// CASES for NEGATIVE cycle triggering of pickup and sparks 12 & 34
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||||||
|
case TRIG_FLAG_12P:
|
||||||
|
case TRIG_FLAG_34P:
|
||||||
|
{
|
||||||
|
// Timeout not occourred, expected POSITIVE edge spark OCCOURRED
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|
if (spark_timeout == pdPASS)
|
||||||
|
{
|
||||||
|
coils->spark_delay = coils->spark_time - coils->trig_time;
|
||||||
|
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);
|
||||||
|
#endif
|
||||||
|
}
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// Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED
|
||||||
|
else if (spark_timeout == pdFAIL)
|
||||||
|
{
|
||||||
|
coils->spark_status = sparkStatus::SPARK_NEG_WAIT;
|
||||||
|
coils->sstart_status = softStartStatus::NORMAL;
|
||||||
|
}
|
||||||
|
new_data = false;
|
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|
break; // Do nothing more on positive pulse
|
||||||
|
}
|
||||||
|
// CASES for NEGATIVE cycle triggering of pickup and sparks 12 & 34
|
||||||
|
case TRIG_FLAG_12N:
|
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|
case TRIG_FLAG_34N:
|
||||||
|
{
|
||||||
|
const bool expected_negative12 = coils->spark_status == sparkStatus::SPARK_NEG_WAIT;
|
||||||
|
// Timeout not occourred, expected NEGATIVE edge spark OCCOURRED
|
||||||
|
if (spark_timeout == pdPASS && expected_negative12)
|
||||||
|
{
|
||||||
|
coils->spark_delay = coils->spark_time - coils->trig_time;
|
||||||
|
coils->sstart_status = softStartStatus::SOFT_START;
|
||||||
|
coils->spark_status == sparkStatus::SPARK_NEG_OK;
|
||||||
|
#ifdef DEBUG
|
||||||
|
LOG_INFO("Trigger Spark NEGATIVE");
|
||||||
|
LOG_INFO("Spark12 Delay Timer: ", (int)ign_box_sts.coils12.spark_delay);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
// Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED
|
||||||
|
else if (spark_timeout == pdFAIL && expected_negative12)
|
||||||
|
{
|
||||||
|
coils->sstart_status = softStartStatus::NORMAL;
|
||||||
|
coils->spark_status = sparkStatus::SPARK_NEG_FAIL;
|
||||||
|
}
|
||||||
|
// Timeout not occouured, unexpected negative edge spark
|
||||||
|
else if (spark_timeout == pdPASS && !expected_negative12)
|
||||||
|
{
|
||||||
|
coils->sstart_status = softStartStatus::SOFT_START;
|
||||||
|
coils->spark_status = sparkStatus::SPARK_NEG_UNEXPECTED;
|
||||||
|
}
|
||||||
|
// Wait for finish of negative pulse to save data to buffer
|
||||||
|
new_data = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
LOG_ERROR("Invalid Interrupt");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (new_data)
|
||||||
|
{
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(1)); // delay 1ms to allow peak detectors to charge for negative cycle
|
||||||
|
// read adc channels: pickup12, out12 [ pos + neg ]
|
||||||
|
if (adc) // read only if adc initialized
|
||||||
|
{
|
||||||
|
// from peak detector circuits
|
||||||
|
ign_box_sts.coils12.peak_p_in = adcReadChannel(adc, ADC_CH_PEAK_12P_IN);
|
||||||
|
ign_box_sts.coils12.peak_n_in = adcReadChannel(adc, ADC_CH_PEAK_12N_IN);
|
||||||
|
ign_box_sts.coils34.peak_p_in = adcReadChannel(adc, ADC_CH_PEAK_34P_IN);
|
||||||
|
ign_box_sts.coils34.peak_n_in = adcReadChannel(adc, ADC_CH_PEAK_34N_IN);
|
||||||
|
ign_box_sts.coils12.peak_p_out = adcReadChannel(adc, ADC_CH_PEAK_12P_OUT);
|
||||||
|
ign_box_sts.coils12.peak_n_out = adcReadChannel(adc, ADC_CH_PEAK_12N_OUT);
|
||||||
|
ign_box_sts.coils34.peak_p_out = adcReadChannel(adc, ADC_CH_PEAK_34P_OUT);
|
||||||
|
ign_box_sts.coils34.peak_n_out = adcReadChannel(adc, ADC_CH_PEAK_34N_OUT);
|
||||||
|
}
|
||||||
|
else // simulate adc read timig
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(6));
|
||||||
|
|
||||||
|
// reset peak detectors + sample and hold
|
||||||
|
// outputs on io expander
|
||||||
|
if (io)
|
||||||
|
{
|
||||||
|
const uint16_t iostat = io->read();
|
||||||
|
io->write(iostat | rst_bitmask);
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(1));
|
||||||
|
io->write(iostat & ~rst_bitmask);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(2));
|
||||||
|
|
||||||
|
// send essage to main loop with ignition info, by copy so local static variable is ok
|
||||||
|
if (rt_queue)
|
||||||
|
ign_box_sts.timestamp = esp_timer_get_time(); // update data timestamp
|
||||||
|
if (xQueueSendToBack(rt_queue, (void *)&ign_box_sts, pdMS_TO_TICKS(1)) != pdPASS)
|
||||||
|
{
|
||||||
|
q_fail_count++;
|
||||||
|
LOG_ERROR("Failed to send to rt_queue");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
LOG_WARN("Ending realTime Task");
|
||||||
|
// Ignition A Interrupts DETACH
|
||||||
|
detachInterrupt(rt_int.trig_pin_12p);
|
||||||
|
detachInterrupt(rt_int.trig_pin_12n);
|
||||||
|
detachInterrupt(rt_int.trig_pin_34p);
|
||||||
|
detachInterrupt(rt_int.trig_pin_34n);
|
||||||
|
detachInterrupt(rt_int.spark_pin_12);
|
||||||
|
detachInterrupt(rt_int.spark_pin_34);
|
||||||
|
// delete present task
|
||||||
|
vTaskDelete(NULL);
|
||||||
|
}
|
||||||
@@ -1,4 +1,5 @@
|
|||||||
#pragma once
|
#pragma once
|
||||||
|
#define DEBUGLOG_DEFAULT_LOG_LEVEL_DEBUG
|
||||||
|
|
||||||
// Serial debug flag
|
// Serial debug flag
|
||||||
// #define DEBUG
|
// #define DEBUG
|
||||||
@@ -6,7 +7,9 @@
|
|||||||
// Arduino Libraries
|
// Arduino Libraries
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
#include <DebugLog.h>
|
#include <DebugLog.h>
|
||||||
|
#ifdef DEBUG
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
// ISR
|
// ISR
|
||||||
#include "isr.h"
|
#include "isr.h"
|
||||||
@@ -55,249 +58,10 @@ struct rtTaskParams
|
|||||||
{
|
{
|
||||||
bool rt_running; // run flag, false to terminate
|
bool rt_running; // run flag, false to terminate
|
||||||
Devices *dev;
|
Devices *dev;
|
||||||
|
TaskHandle_t* rt_handle_ptr;
|
||||||
const QueueHandle_t rt_queue;
|
const QueueHandle_t rt_queue;
|
||||||
const rtTaskInterrupts rt_int; // interrupt pins to attach
|
const rtTaskInterrupts rt_int; // interrupt pins to attach
|
||||||
const rtTaskResets rt_resets; // reset ping for peak detectors
|
const rtTaskResets rt_resets; // reset ping for peak detectors
|
||||||
};
|
};
|
||||||
|
|
||||||
void rtIgnitionTask(void *pvParameters)
|
void rtIgnitionTask(void *pvParameters);
|
||||||
{
|
|
||||||
|
|
||||||
// Invalid real time task parameters, exit immediate
|
|
||||||
if (!pvParameters)
|
|
||||||
{
|
|
||||||
LOG_ERROR("Null task parameters");
|
|
||||||
vTaskDelete(NULL);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Task Parameters and Devices
|
|
||||||
rtTaskParams *params = (rtTaskParams *)pvParameters;
|
|
||||||
const rtTaskInterrupts rt_int = params->rt_int; // copy to avoid external override
|
|
||||||
const rtTaskResets rt_rst = params->rt_resets; // copy to avoid external override
|
|
||||||
QueueHandle_t queue = params->rt_queue;
|
|
||||||
Devices *dev = params->dev;
|
|
||||||
ADS1256 *adc = dev->adc_a;
|
|
||||||
PCA9555 *io = dev->io;
|
|
||||||
|
|
||||||
// Variables for ISR, static to be fixed in memory locations
|
|
||||||
static ignitionBoxStatus ign_box_sts; // common for all ISR calls
|
|
||||||
static isrParams isr_params_t12p{ // only call flag changes
|
|
||||||
.flag = TRIG_FLAG_12P,
|
|
||||||
.ign_stat = &ign_box_sts};
|
|
||||||
static isrParams isr_params_t12n{
|
|
||||||
.flag = TRIG_FLAG_12N,
|
|
||||||
.ign_stat = &ign_box_sts};
|
|
||||||
static isrParams isr_params_t34p{
|
|
||||||
.flag = TRIG_FLAG_34P,
|
|
||||||
.ign_stat = &ign_box_sts};
|
|
||||||
static isrParams isr_params_t34n{
|
|
||||||
.flag = TRIG_FLAG_34N,
|
|
||||||
.ign_stat = &ign_box_sts};
|
|
||||||
static isrParams isr_params_sp12{
|
|
||||||
.flag = SPARK_FLAG_12,
|
|
||||||
.ign_stat = &ign_box_sts};
|
|
||||||
static isrParams isr_params_sp34{
|
|
||||||
.flag = SPARK_FLAG_34,
|
|
||||||
.ign_stat = &ign_box_sts};
|
|
||||||
|
|
||||||
// Attach Pin Interrupts
|
|
||||||
attachInterruptArg(rt_int.trig_pin_12p, rt_int.isr_ptr, (void *)&isr_params_t12p, RISING);
|
|
||||||
attachInterruptArg(rt_int.trig_pin_12n, rt_int.isr_ptr, (void *)&isr_params_t12n, RISING);
|
|
||||||
attachInterruptArg(rt_int.trig_pin_34p, rt_int.isr_ptr, (void *)&isr_params_t34p, RISING);
|
|
||||||
attachInterruptArg(rt_int.trig_pin_34n, rt_int.isr_ptr, (void *)&isr_params_t34n, RISING);
|
|
||||||
attachInterruptArg(rt_int.spark_pin_12, rt_int.isr_ptr, (void *)&isr_params_sp12, RISING);
|
|
||||||
attachInterruptArg(rt_int.spark_pin_34, rt_int.isr_ptr, (void *)&isr_params_sp34, RISING);
|
|
||||||
|
|
||||||
// Compute Reset Pin Bitmask
|
|
||||||
const uint16_t rst_bitmask = (1 << rt_rst.rst_io_12p) |
|
|
||||||
(1 << rt_rst.rst_io_12n) |
|
|
||||||
(1 << rt_rst.rst_io_34p) |
|
|
||||||
(1 << rt_rst.rst_io_34n);
|
|
||||||
|
|
||||||
uint32_t it = 0;
|
|
||||||
uint32_t q_fail_count = 0;
|
|
||||||
while (params->rt_running)
|
|
||||||
{
|
|
||||||
// Global task variables
|
|
||||||
uint32_t pickup_flag = 0;
|
|
||||||
uint32_t spark_flag = 0;
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.print("\033[2J"); // clear screen
|
|
||||||
Serial.print("\033[H"); // cursor home
|
|
||||||
LOG_INFO("Iteration [", it, "]");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// WAIT FOR PICKUP SIGNAL
|
|
||||||
xTaskNotifyWait(
|
|
||||||
0x00, // non pulire all'ingresso
|
|
||||||
ULONG_MAX, // pulisci i primi 8 bit
|
|
||||||
&pickup_flag, // valore ricevuto
|
|
||||||
portMAX_DELAY);
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
LOG_INFO("Pickup Flags: ", printBits(pickup_flag).c_str());
|
|
||||||
if (!names.contains(pickup_flag))
|
|
||||||
{
|
|
||||||
LOG_ERROR("Wrong Pickup Flag");
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
LOG_INFO("Pickup Trigger: ", names.at(pickup_flag));
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// WAIT FOR SPARK TO HAPPEN
|
|
||||||
auto spark_timeout = ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(spark_timeout_max));
|
|
||||||
if (ign_box_sts.coils12.spark_ok || ign_box_sts.coils34.spark_ok) // otherwise timeout if none is set in the ISR
|
|
||||||
spark_flag = ign_box_sts.coils12.spark_ok ? SPARK_FLAG_12 : SPARK_FLAG_34;
|
|
||||||
|
|
||||||
xTaskNotifyStateClear(NULL);
|
|
||||||
ulTaskNotifyValueClear(NULL, 0xFFFFFFFF);
|
|
||||||
#ifdef DEBUG
|
|
||||||
LOG_INFO("Spark Flags: ", printBits(spark_flag).c_str());
|
|
||||||
if (!names.contains(spark_flag))
|
|
||||||
LOG_ERROR("No Spark");
|
|
||||||
else
|
|
||||||
LOG_INFO("Spark Trigger:", names.at(spark_flag));
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// A trigger from pickup 12 is followed by a spark event on 34 or vice versa pickup 34 triggers spark on 12
|
|
||||||
if ((pickup_flag == TRIG_FLAG_12P || pickup_flag == TRIG_FLAG_12N) && spark_flag != SPARK_FLAG_12)
|
|
||||||
{
|
|
||||||
ign_box_sts.coils12.spark_status = ign_box_sts.coils34.spark_status = sparkStatus::SPARK_SYNC_FAIL;
|
|
||||||
// Save error on circular buffer and skip to next cycle //
|
|
||||||
LOG_ERROR("Spark Mismatch");
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
coilsStatus *coils;
|
|
||||||
switch (pickup_flag)
|
|
||||||
{
|
|
||||||
case TRIG_FLAG_12P:
|
|
||||||
case TRIG_FLAG_12N:
|
|
||||||
coils = &ign_box_sts.coils12;
|
|
||||||
break;
|
|
||||||
case TRIG_FLAG_34P:
|
|
||||||
case TRIG_FLAG_34N:
|
|
||||||
coils = &ign_box_sts.coils34;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool new_data = false;
|
|
||||||
switch (pickup_flag)
|
|
||||||
{
|
|
||||||
// CASES for NEGATIVE cycle triggering of pickup and sparks 12 & 34
|
|
||||||
case TRIG_FLAG_12P:
|
|
||||||
case TRIG_FLAG_34P:
|
|
||||||
{
|
|
||||||
// Timeout not occourred, expected POSITIVE edge spark OCCOURRED
|
|
||||||
if (spark_timeout == pdPASS)
|
|
||||||
{
|
|
||||||
coils->spark_delay = coils->spark_time - coils->trig_time;
|
|
||||||
coils->sstart_status = softStartStatus::NORMAL; // because spark on positive edge
|
|
||||||
coils->spark_status = sparkStatus::SPARK_POS_OK; // do not wait for spark on negative edge
|
|
||||||
#ifdef DEBUG
|
|
||||||
LOG_INFO("Trigger Spark POSITIVE");
|
|
||||||
LOG_INFO("Spark12 Delay Timer: ", (int)coils->spark_delay);
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
// Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED
|
|
||||||
else if (spark_timeout == pdFAIL)
|
|
||||||
{
|
|
||||||
coils->spark_status = sparkStatus::SPARK_NEG_WAIT;
|
|
||||||
coils->sstart_status = softStartStatus::NORMAL;
|
|
||||||
}
|
|
||||||
new_data = false;
|
|
||||||
break; // Do nothing more on positive pulse
|
|
||||||
}
|
|
||||||
// CASES for NEGATIVE cycle triggering of pickup and sparks 12 & 34
|
|
||||||
case TRIG_FLAG_12N:
|
|
||||||
case TRIG_FLAG_34N:
|
|
||||||
{
|
|
||||||
const bool expected_negative12 = coils->spark_status == sparkStatus::SPARK_NEG_WAIT;
|
|
||||||
// Timeout not occourred, expected NEGATIVE edge spark OCCOURRED
|
|
||||||
if (spark_timeout == pdPASS && expected_negative12)
|
|
||||||
{
|
|
||||||
coils->spark_delay = coils->spark_time - coils->trig_time;
|
|
||||||
coils->sstart_status = softStartStatus::SOFT_START;
|
|
||||||
coils->spark_status == sparkStatus::SPARK_NEG_OK;
|
|
||||||
#ifdef DEBUG
|
|
||||||
LOG_INFO("Trigger Spark NEGATIVE");
|
|
||||||
LOG_INFO("Spark12 Delay Timer: ", (int)ign_box_sts.coils12.spark_delay);
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
// Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED
|
|
||||||
else if (spark_timeout == pdFAIL && expected_negative12)
|
|
||||||
{
|
|
||||||
coils->sstart_status = softStartStatus::NORMAL;
|
|
||||||
coils->spark_status = sparkStatus::SPARK_NEG_FAIL;
|
|
||||||
}
|
|
||||||
// Timeout not occouured, unexpected negative edge spark
|
|
||||||
else if (spark_timeout == pdPASS && !expected_negative12)
|
|
||||||
{
|
|
||||||
coils->sstart_status = softStartStatus::SOFT_START;
|
|
||||||
coils->spark_status = sparkStatus::SPARK_NEG_UNEXPECTED;
|
|
||||||
}
|
|
||||||
// Wait for finish of negative pulse to save data to buffer
|
|
||||||
new_data = true;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
default:
|
|
||||||
LOG_ERROR("Invalid Interrupt");
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (new_data)
|
|
||||||
{
|
|
||||||
vTaskDelay(pdMS_TO_TICKS(1)); // delay 1ms to allow peak detectors to charge for negative cycle
|
|
||||||
// read adc channels: pickup12, out12 [ pos + neg ]
|
|
||||||
if (adc) // read only if adc initialized
|
|
||||||
{
|
|
||||||
// from peak detector circuits
|
|
||||||
ign_box_sts.coils12.peak_p_in = adcReadChannel(adc, ADC_CH_PEAK_12P_IN);
|
|
||||||
ign_box_sts.coils12.peak_n_in = adcReadChannel(adc, ADC_CH_PEAK_12N_IN);
|
|
||||||
ign_box_sts.coils34.peak_p_in = adcReadChannel(adc, ADC_CH_PEAK_34P_IN);
|
|
||||||
ign_box_sts.coils34.peak_n_in = adcReadChannel(adc, ADC_CH_PEAK_34N_IN);
|
|
||||||
ign_box_sts.coils12.peak_p_out = adcReadChannel(adc, ADC_CH_PEAK_12P_OUT);
|
|
||||||
ign_box_sts.coils12.peak_n_out = adcReadChannel(adc, ADC_CH_PEAK_12N_OUT);
|
|
||||||
ign_box_sts.coils34.peak_p_out = adcReadChannel(adc, ADC_CH_PEAK_34P_OUT);
|
|
||||||
ign_box_sts.coils34.peak_n_out = adcReadChannel(adc, ADC_CH_PEAK_34N_OUT);
|
|
||||||
}
|
|
||||||
else // simulate adc read timig
|
|
||||||
vTaskDelay(pdMS_TO_TICKS(6));
|
|
||||||
|
|
||||||
// reset peak detectors + sample and hold
|
|
||||||
// outputs on io expander
|
|
||||||
if (io)
|
|
||||||
{
|
|
||||||
const uint16_t iostat = io->read();
|
|
||||||
io->write(iostat | rst_bitmask);
|
|
||||||
vTaskDelay(pdMS_TO_TICKS(1));
|
|
||||||
io->write(iostat & ~rst_bitmask);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
vTaskDelay(pdMS_TO_TICKS(2));
|
|
||||||
|
|
||||||
// send essage to main loop with ignition info, by copy so local static variable is ok
|
|
||||||
if (queue)
|
|
||||||
ign_box_sts.timestamp = esp_timer_get_time(); // update data timestamp
|
|
||||||
if (xQueueSendToBack(queue, (void *)&ign_box_sts, pdMS_TO_TICKS(1)) != pdPASS)
|
|
||||||
{
|
|
||||||
q_fail_count++;
|
|
||||||
LOG_ERROR("Failed to send to queue");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
LOG_WARN("Ending realTime Task");
|
|
||||||
// Ignition A Interrupts DETACH
|
|
||||||
detachInterrupt(rt_int.trig_pin_12p);
|
|
||||||
detachInterrupt(rt_int.trig_pin_12n);
|
|
||||||
detachInterrupt(rt_int.trig_pin_34p);
|
|
||||||
detachInterrupt(rt_int.trig_pin_34n);
|
|
||||||
detachInterrupt(rt_int.spark_pin_12);
|
|
||||||
detachInterrupt(rt_int.spark_pin_34);
|
|
||||||
// delete present task
|
|
||||||
vTaskDelete(NULL);
|
|
||||||
}
|
|
||||||
|
|||||||
Reference in New Issue
Block a user