#include "tasks.h" void rtIgnitionTask(void *pvParameters) { // Invalid real time rt_task_ptr parameters, exit immediate if (!pvParameters) { LOG_ERROR("Null rt_task_ptr 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 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; // 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{ .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}; // 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 rt_task_ptr 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 (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); }