135 lines
6.2 KiB
C
135 lines
6.2 KiB
C
/*
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This scheduler is designed to maintain 2 schedules for use by the fuel and ignition systems.
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It functions by waiting for the overflow vectors from each of the timers in use to overflow, which triggers an interrupt
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//Technical
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Currently I am prescaling the 16-bit timers to 256 for injection and 64 for ignition. This means that the counter increments every 16us (injection) / 4uS (ignition) and will overflow every 1048576uS
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Max Period = (Prescale)*(1/Frequency)*(2^17)
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(See http://playground.arduino.cc/code/timer1)
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This means that the precision of the scheduler is 16uS (+/- 8uS of target) for fuel and 4uS (+/- 2uS) for ignition
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/Features
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This differs from most other schedulers in that its calls are non-recurring (IE You schedule an event at a certain time and once it has occurred, it will not reoccur unless you explicitely ask for it)
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Each timer can have only 1 callback associated with it at any given time. If you call the setCallback function a 2nd time, the original schedule will be overwritten and not occur
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Timer identification
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The Arduino timer3 is used for schedule 1
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The Arduino timer4 is used for schedule 2
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Both of these are 16-bit timers (ie count to 65536)
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See page 136 of the processors datasheet: http://www.atmel.com/Images/doc2549.pdf
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256 prescale gives tick every 16uS
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256 prescale gives overflow every 1048576uS (This means maximum wait time is 1.0485 seconds)
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*/
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#ifndef SCHEDULER_H
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#define SCHEDULER_H
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#ifdef __SAM3X8E__
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//Do stuff for ARM based CPUs
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#else
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#endif
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void initialiseSchedulers();
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void setFuelSchedule1(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setFuelSchedule2(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setFuelSchedule3(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setFuelSchedule4(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setFuelSchedule5(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setFuelSchedule6(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setFuelSchedule7(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setFuelSchedule8(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule1(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule2(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule3(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule4(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule5(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule6(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule7(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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void setIgnitionSchedule8(void (*startCallback)(), unsigned long timeout, unsigned long duration, void(*endCallback)());
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enum ScheduleStatus {OFF, PENDING, RUNNING}; //The 3 statuses that a schedule can have
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struct Schedule {
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volatile unsigned long duration;
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volatile ScheduleStatus Status;
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volatile byte schedulesSet; //A counter of how many times the schedule has been set
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void (*StartCallback)(); //Start Callback function for schedule
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void (*EndCallback)(); //Start Callback function for schedule
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volatile unsigned long startTime; //The system time (in uS) that the schedule started
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unsigned int startCompare; //The counter value of the timer when this will start
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unsigned int endCompare;
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};
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Schedule *timer3Aqueue[4];
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Schedule *timer3Bqueue[4];
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Schedule *timer3Cqueue[4];
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Schedule fuelSchedule1;
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Schedule fuelSchedule2;
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Schedule fuelSchedule3;
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Schedule fuelSchedule4;
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Schedule fuelSchedule5;
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Schedule fuelSchedule6;
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Schedule fuelSchedule7;
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Schedule fuelSchedule8;
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Schedule ignitionSchedule1;
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Schedule ignitionSchedule2;
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Schedule ignitionSchedule3;
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Schedule ignitionSchedule4;
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Schedule ignitionSchedule5;
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Schedule ignitionSchedule6;
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Schedule ignitionSchedule7;
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Schedule ignitionSchedule8;
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Schedule nullSchedule; //This is placed at the end of the queue. It's status will always be set to OFF and hence will never perform any action within an ISR
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static inline unsigned int setQueue(Schedule *queue[], Schedule *schedule1, Schedule *schedule2, unsigned int CNT)
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{
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//Create an array of all the upcoming targets, relative to the current count on the timer
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unsigned int tmpQueue[4];
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tmpQueue[0] = schedule1->startCompare - CNT;
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tmpQueue[1] = schedule1->endCompare - CNT;
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tmpQueue[2] = schedule2->startCompare - CNT;
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tmpQueue[3] = schedule2->endCompare - CNT;
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//Set the initial queue state. This order matches the tmpQueue order
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queue[0] = schedule1;
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queue[1] = schedule1;
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queue[2] = schedule2;
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queue[3] = schedule2;
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//Sort the queues. Both queues are kept in sync.
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//This implementes a sorting networking based on the Bose-Nelson swap algorithm
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//See:
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#define SWAP(x,y) if(tmpQueue[y] < tmpQueue[x]) { unsigned int tmp = tmpQueue[x]; tmpQueue[x] = tmpQueue[y]; tmpQueue[y] = tmp; Schedule *tmpS = queue[x]; queue[x] = queue[y]; queue[y] = tmpS; }
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//SWAP(0, 1); //Likely not needed
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//SWAP(2, 3); //Likely not needed
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SWAP(1, 3);
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SWAP(1, 2);
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//Return the next compare time in the queue
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return tmpQueue[0] + CNT; //Return the
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}
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/*
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* Moves all the Schedules in a queue forward one position.
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* The current item (0) is discarded
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* The final queue slot is set to nullSchedule to indicate that no action should be taken
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*/
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static inline unsigned int popQueue(Schedule *queue[])
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{
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queue[0] = queue[1];
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queue[1] = queue[2];
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queue[2] = queue[3];
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queue[3] = &nullSchedule;
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if( queue[0]->Status == PENDING ) { return queue[0]->startCompare; }
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else { return queue[0]->endCompare; }
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}
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#endif // SCHEDULER_H
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