#include "tasks.h" #include // Timeout callback for microsecond precision void spark_timeout_callback(void *arg) { TaskHandle_t handle = (TaskHandle_t)arg; xTaskNotify(handle, SPARK_FLAG_TIMEOUT, eSetValueWithOverwrite); } void rtIgnitionTask(void *pvParameters) { // Invalid real time rt_task_ptr parameters, exit immediate if (!pvParameters) { LOG_ERROR("Null rt_task_ptr parameters"); vTaskDelete(NULL); } LOG_INFO("rtTask Params OK"); // 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 rt_queue = params->rt_queue; TaskHandle_t rt_handle_ptr = *params->rt_handle_ptr; Devices *dev = params->dev; ADS1256 *adc = dev->adc_a; PCA9555 *io = dev->io; ignitionBoxStatus ign_box_sts; // Variables for ISR, static to be fixed in memory locations static isrParams isr_params_t12p{ .flag = TRIG_FLAG_12P, .ign_stat = &ign_box_sts, .rt_handle_ptr = rt_handle_ptr}; static isrParams isr_params_t12n{ .flag = TRIG_FLAG_12N, .ign_stat = &ign_box_sts, .rt_handle_ptr = rt_handle_ptr}; static isrParams isr_params_t34p{ .flag = TRIG_FLAG_34P, .ign_stat = &ign_box_sts, .rt_handle_ptr = rt_handle_ptr}; static isrParams isr_params_t34n{ .flag = TRIG_FLAG_34N, .ign_stat = &ign_box_sts, .rt_handle_ptr = rt_handle_ptr}; static isrParams isr_params_sp12{ .flag = SPARK_FLAG_12, .ign_stat = &ign_box_sts, .rt_handle_ptr = rt_handle_ptr}; static isrParams isr_params_sp34{ .flag = SPARK_FLAG_34, .ign_stat = &ign_box_sts, .rt_handle_ptr = rt_handle_ptr}; LOG_INFO("rtTask ISR Params OK"); // Create esp_timer for microsecond precision timeout esp_timer_handle_t timeout_timer; esp_timer_create_args_t timer_args = { .callback = spark_timeout_callback, .arg = (void *)rt_handle_ptr, .dispatch_method = ESP_TIMER_TASK, .name = "spark_timeout"}; esp_timer_create(&timer_args, &timeout_timer); // Attach Pin Interrupts attachInterruptArg(digitalPinToInterrupt(rt_int.trig_pin_12p), rt_int.isr_ptr, (void *)&isr_params_t12p, RISING); attachInterruptArg(digitalPinToInterrupt(rt_int.trig_pin_12n), rt_int.isr_ptr, (void *)&isr_params_t12n, RISING); attachInterruptArg(digitalPinToInterrupt(rt_int.trig_pin_34p), rt_int.isr_ptr, (void *)&isr_params_t34p, RISING); attachInterruptArg(digitalPinToInterrupt(rt_int.trig_pin_34n), rt_int.isr_ptr, (void *)&isr_params_t34n, RISING); attachInterruptArg(digitalPinToInterrupt(rt_int.spark_pin_12), rt_int.isr_ptr, (void *)&isr_params_sp12, RISING); attachInterruptArg(digitalPinToInterrupt(rt_int.spark_pin_34), rt_int.isr_ptr, (void *)&isr_params_sp34, RISING); LOG_INFO("rtTask ISR Attach OK"); // 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); LOG_WARN("rtTask Init Correct"); // Global rt_task_ptr variables bool first_cycle = true; bool cycle12 = false; bool cycle34 = false; int64_t last_cycle_time = 0; uint32_t n_errors = 0; while (params->rt_running) { uint32_t pickup_flag = 0; uint32_t spark_flag = 0; // WAIT FOR PICKUP SIGNAL xTaskNotifyWait( 0x00, // non pulire all'ingresso ULONG_MAX, // pulisci i primi 8 bit &pickup_flag, // valore ricevuto portMAX_DELAY); if (first_cycle && pickup_flag != TRIG_FLAG_12P) // skip first cycle because of possible initial noise on pickup signals at startu continue; #ifdef DEBUG Serial.print("\033[2J"); // clear screen Serial.print("\033[H"); // cursor home LOG_INFO("Iteration [", it++, "]"); if (!names.contains(pickup_flag)) { LOG_ERROR("Wrong Pickup Flag"); LOG_ERROR("Pickup Flags: ", printBits(pickup_flag).c_str()); continue; } else { LOG_INFO("Pickup Trigger: ", names.at(pickup_flag)); } #endif // Start microsecond precision timeout timer esp_timer_stop(timeout_timer); // stop timer in case it was running from previous cycle esp_timer_start_once(timeout_timer, spark_timeout_max); // WAIT FOR SPARK TO HAPPEN OR TIMEOUT xTaskNotifyWait( 0x00, // non pulire all'ingresso ULONG_MAX, // pulisci i primi 8 bit &spark_flag, // valore ricevuto portMAX_DELAY); // wait indefinitely, timeout handled by esp_timer // Handle timeout or spark event if (spark_flag != SPARK_FLAG_TIMEOUT) esp_timer_stop(timeout_timer); // 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 && spark_flag != SPARK_FLAG_TIMEOUT)) { ign_box_sts.coils12.spark_status = ign_box_sts.coils34.spark_status = sparkStatus::SPARK_SYNC_FAIL; continue; } // Select coil status reference based on pickup_flag coilsStatus *coils; switch (pickup_flag) { case TRIG_FLAG_12P: { first_cycle = false; // compute engine rpm from cycle time auto current_time = esp_timer_get_time(); auto cycle_time = current_time - last_cycle_time; last_cycle_time = current_time; ign_box_sts.eng_rpm = (uint32_t)(60.0f / (cycle_time / 1000000.0f)); } case TRIG_FLAG_12N: coils = &ign_box_sts.coils12; break; case TRIG_FLAG_34P: case TRIG_FLAG_34N: coils = &ign_box_sts.coils34; break; } // Select logic based on pickup and spark flags switch (pickup_flag) { case TRIG_FLAG_12P: case TRIG_FLAG_34P: { // Timeout not occourred, expected POSITIVE edge spark OCCOURRED if (spark_flag != SPARK_FLAG_TIMEOUT) { coils->spark_delay = (uint32_t)(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 } // Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED else if (spark_flag == SPARK_FLAG_TIMEOUT) { coils->spark_status = sparkStatus::SPARK_NEG_WAIT; coils->sstart_status = softStartStatus::NORMAL; } continue; // 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_negative = coils->spark_status == sparkStatus::SPARK_NEG_WAIT; // Timeout not occourred, expected NEGATIVE edge spark OCCOURRED if (spark_flag != SPARK_FLAG_TIMEOUT && expected_negative) { coils->spark_delay = (uint32_t)(coils->spark_time - coils->trig_time); coils->sstart_status = softStartStatus::SOFT_START; coils->spark_status = sparkStatus::SPARK_NEG_OK; } // Timeout occourred, expected POSITIVE edge spark NOT OCCOURRED else if (spark_flag == SPARK_FLAG_TIMEOUT && expected_negative) { coils->sstart_status = softStartStatus::ERROR; coils->spark_status = sparkStatus::SPARK_NEG_FAIL; } // Timeout not occouured, unexpected negative edge spark else if (spark_flag != SPARK_FLAG_TIMEOUT && !expected_negative) { coils->sstart_status = softStartStatus::SOFT_START; coils->spark_status = sparkStatus::SPARK_NEG_UNEXPECTED; } // Wait for finish of negative pulse to save data to buffer coils->n_events++; if (pickup_flag == TRIG_FLAG_12N) cycle12 = true; else cycle34 = true; break; } default: break; } if (cycle12 && cycle34) // wait for both 12 and 34 cycles to complete before sending data to main loop and resetting peak detectors { cycle12 = false; cycle34 = false; if (ign_box_sts.coils12.spark_status == sparkStatus::SPARK_POS_FAIL || ign_box_sts.coils12.spark_status == sparkStatus::SPARK_NEG_FAIL) ign_box_sts.coils12.n_missed_firing++; if (ign_box_sts.coils34.spark_status == sparkStatus::SPARK_POS_FAIL || ign_box_sts.coils34.spark_status == sparkStatus::SPARK_NEG_FAIL) ign_box_sts.coils34.n_missed_firing++; // read adc channels: pickup12, out12 [ pos + neg ] if (adc) // read only if adc initialized { uint32_t start_adc_read = esp_timer_get_time(); // 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); ign_box_sts.adc_read_time = (uint32_t)(esp_timer_get_time() - start_adc_read); } else // simulate adc read timig vTaskDelay(pdMS_TO_TICKS(1)); // 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(1)); // 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, 0) != pdPASS) ign_box_sts.n_queue_errors = ++n_errors; } } // Delete the timeout timer esp_timer_delete(timeout_timer); 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); }