mirror of https://github.com/rusefi/rusefi.git
598 lines
13 KiB
C++
598 lines
13 KiB
C++
/**
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* @file hardware.cpp
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* @brief Hardware package entry point
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*
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* @date May 27, 2013
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#include "pch.h"
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#include "os_access.h"
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#include "trigger_input.h"
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#include "servo.h"
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#include "can_hw.h"
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#include "hardware.h"
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#include "rtc_helper.h"
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#include "os_util.h"
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#include "bench_test.h"
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#include "yaw_rate_sensor.h"
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#include "pin_repository.h"
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#include "max31855.h"
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#include "logic_analyzer.h"
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#include "smart_gpio.h"
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#include "accelerometer.h"
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#include "eficonsole.h"
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#include "console_io.h"
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#include "sensor_chart.h"
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#include "serial_hw.h"
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#include "idle_thread.h"
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#if EFI_PROD_CODE
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#include "mpu_util.h"
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#endif /* EFI_PROD_CODE */
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#include "mmc_card.h"
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#include "AdcConfiguration.h"
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#include "idle_hardware.h"
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#include "mcp3208.h"
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#include "hip9011.h"
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#include "histogram.h"
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#include "gps_uart.h"
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#include "HD44780.h"
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#include "joystick.h"
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#include "cdm_ion_sense.h"
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#include "trigger_central.h"
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#include "svnversion.h"
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#include "vvt.h"
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#include "trigger_emulator_algo.h"
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#include "boost_control.h"
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#include "software_knock.h"
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#include "init.h"
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#if EFI_MC33816
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#include "mc33816.h"
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#endif /* EFI_MC33816 */
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#if EFI_MAP_AVERAGING
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#include "map_averaging.h"
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#endif
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#if EFI_INTERNAL_FLASH
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#include "flash_main.h"
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#endif
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#if HAL_USE_PAL && EFI_PROD_CODE
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#include "digital_input_exti.h"
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#endif // HAL_USE_PAL
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#if EFI_CAN_SUPPORT
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#include "can_vss.h"
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#endif
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/**
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* #311 we want to test RTC before engine start so that we do not test it while engine is running
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*/
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bool rtcWorks = true;
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#if HAL_USE_SPI
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extern bool isSpiInitialized[5];
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/**
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* Only one consumer can use SPI bus at a given time
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*/
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void lockSpi(spi_device_e device) {
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efiAssertVoid(CUSTOM_STACK_SPI, getCurrentRemainingStack() > 128, "lockSpi");
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spiAcquireBus(getSpiDevice(device));
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}
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void unlockSpi(spi_device_e device) {
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spiReleaseBus(getSpiDevice(device));
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}
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static void initSpiModules(engine_configuration_s *engineConfiguration) {
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UNUSED(engineConfiguration);
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if (engineConfiguration->is_enabled_spi_1) {
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turnOnSpi(SPI_DEVICE_1);
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}
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if (engineConfiguration->is_enabled_spi_2) {
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turnOnSpi(SPI_DEVICE_2);
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}
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if (engineConfiguration->is_enabled_spi_3) {
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turnOnSpi(SPI_DEVICE_3);
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}
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if (engineConfiguration->is_enabled_spi_4) {
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turnOnSpi(SPI_DEVICE_4);
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}
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}
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/**
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* @return NULL if SPI device not specified
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*/
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SPIDriver * getSpiDevice(spi_device_e spiDevice) {
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if (spiDevice == SPI_NONE) {
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return NULL;
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}
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#if STM32_SPI_USE_SPI1
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if (spiDevice == SPI_DEVICE_1) {
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return &SPID1;
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}
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#endif
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#if STM32_SPI_USE_SPI2
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if (spiDevice == SPI_DEVICE_2) {
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return &SPID2;
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}
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#endif
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#if STM32_SPI_USE_SPI3
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if (spiDevice == SPI_DEVICE_3) {
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return &SPID3;
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}
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#endif
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#if STM32_SPI_USE_SPI4
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if (spiDevice == SPI_DEVICE_4) {
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return &SPID4;
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}
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#endif
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firmwareError(CUSTOM_ERR_UNEXPECTED_SPI, "Unexpected SPI device: %d", spiDevice);
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return NULL;
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}
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#endif
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#if HAL_USE_ADC
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static FastAdcToken fastMapSampleIndex;
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static FastAdcToken hipSampleIndex;
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#if HAL_TRIGGER_USE_ADC
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static FastAdcToken triggerSampleIndex;
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#endif
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extern AdcDevice fastAdc;
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#ifdef FAST_ADC_SKIP
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// No reason to enable if N = 1
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static_assert(FAST_ADC_SKIP > 1);
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static size_t fastAdcSkipCount = 0;
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#endif // FAST_ADC_SKIP
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/**
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* This method is not in the adc* lower-level file because it is more business logic then hardware.
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*/
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void onFastAdcComplete(adcsample_t*) {
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ScopePerf perf(PE::AdcCallbackFast);
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#if HAL_TRIGGER_USE_ADC
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// we need to call this ASAP, because trigger processing is time-critical
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triggerAdcCallback(getFastAdc(triggerSampleIndex));
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#endif /* HAL_TRIGGER_USE_ADC */
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#ifdef FAST_ADC_SKIP
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// If we run the fast ADC _very_ fast for triggerAdcCallback's benefit, we may want to
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// skip most of the samples for the rest of the callback.
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if (fastAdcSkipCount++ == FAST_ADC_SKIP) {
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fastAdcSkipCount = 0;
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} else {
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return;
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}
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#endif
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/**
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* this callback is executed 10 000 times a second, it needs to be as fast as possible
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*/
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efiAssertVoid(CUSTOM_STACK_ADC, getCurrentRemainingStack() > 128, "lowstck#9b");
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#if EFI_SENSOR_CHART && EFI_SHAFT_POSITION_INPUT
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if (engine->sensorChartMode == SC_AUX_FAST1) {
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float voltage = getAdcValue("fAux1", engineConfiguration->auxFastSensor1_adcChannel);
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scAddData(engine->triggerCentral.getCurrentEnginePhase(getTimeNowNt()).value_or(0), voltage);
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}
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#endif /* EFI_SENSOR_CHART */
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#if EFI_MAP_AVERAGING
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mapAveragingAdcCallback(getFastAdc(fastMapSampleIndex));
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#endif /* EFI_MAP_AVERAGING */
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#if EFI_HIP_9011
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if (engineConfiguration->isHip9011Enabled) {
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hipAdcCallback(getFastAdc(hipSampleIndex));
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}
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#endif /* EFI_HIP_9011 */
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}
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#endif /* HAL_USE_ADC */
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static void calcFastAdcIndexes() {
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#if HAL_USE_ADC
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fastMapSampleIndex = enableFastAdcChannel("Fast MAP", engineConfiguration->map.sensor.hwChannel);
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hipSampleIndex = enableFastAdcChannel("HIP9011", engineConfiguration->hipOutputChannel);
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#if HAL_TRIGGER_USE_ADC
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triggerSampleIndex = enableFastAdcChannel("Trigger ADC", getAdcChannelForTrigger());
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#endif /* HAL_TRIGGER_USE_ADC */
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#endif/* HAL_USE_ADC */
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}
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static void adcConfigListener(Engine *engine) {
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UNUSED(engine);
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// todo: something is not right here - looks like should be a callback for each configuration change?
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calcFastAdcIndexes();
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}
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static void turnOnHardware() {
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#if EFI_PROD_CODE && EFI_SHAFT_POSITION_INPUT
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turnOnTriggerInputPins();
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#endif /* EFI_SHAFT_POSITION_INPUT */
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}
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void stopSpi(spi_device_e device) {
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#if HAL_USE_SPI
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if (!isSpiInitialized[device]) {
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return; // not turned on
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}
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isSpiInitialized[device] = false;
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efiSetPadUnused(getSckPin(device));
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efiSetPadUnused(getMisoPin(device));
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efiSetPadUnused(getMosiPin(device));
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#endif /* HAL_USE_SPI */
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}
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/**
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* this method is NOT currently invoked on ECU start
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* todo: maybe start invoking this method on ECU start so that peripheral start-up initialization and restart are unified?
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*/
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void applyNewHardwareSettings() {
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/**
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* All 'stop' methods need to go before we begin starting pins.
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*
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* We take settings from 'activeConfiguration' not 'engineConfiguration' while stopping hardware.
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* Some hardware is restart unconditionally on change of parameters while for some systems we make extra effort and restart only
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* relevant settings were changes.
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*
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*/
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ButtonDebounce::stopConfigurationList();
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#if EFI_PROD_CODE
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stopSensors();
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#endif // EFI_PROD_CODE
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#if EFI_PROD_CODE && EFI_SHAFT_POSITION_INPUT
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stopTriggerInputPins();
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#endif /* EFI_SHAFT_POSITION_INPUT */
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#if (HAL_USE_PAL && EFI_JOYSTICK)
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stopJoystickPins();
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#endif /* HAL_USE_PAL && EFI_JOYSTICK */
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#if EFI_CAN_SUPPORT
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stopCanPins();
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#endif /* EFI_CAN_SUPPORT */
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#if EFI_AUX_SERIAL
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stopAuxSerialPins();
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#endif /* EFI_AUX_SERIAL */
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#if EFI_HIP_9011
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stopHip9001_pins();
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#endif /* EFI_HIP_9011 */
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stopHardware();
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if (isConfigurationChanged(is_enabled_spi_1)) {
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stopSpi(SPI_DEVICE_1);
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}
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if (isConfigurationChanged(is_enabled_spi_2)) {
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stopSpi(SPI_DEVICE_2);
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}
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if (isConfigurationChanged(is_enabled_spi_3)) {
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stopSpi(SPI_DEVICE_3);
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}
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if (isConfigurationChanged(is_enabled_spi_4)) {
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stopSpi(SPI_DEVICE_4);
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}
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#if EFI_HD44780_LCD
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stopHD44780_pins();
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#endif /* #if EFI_HD44780_LCD */
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if (isPinOrModeChanged(clutchUpPin, clutchUpPinMode)) {
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// bug? duplication with stopPedalPins?
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efiSetPadUnused(activeConfiguration.clutchUpPin);
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}
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stopTriggerDebugPins();
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enginePins.unregisterPins();
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#if EFI_PROD_CODE
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reconfigureSensors();
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#endif /* EFI_PROD_CODE */
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ButtonDebounce::startConfigurationList();
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/*******************************************
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* Start everything back with new settings *
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******************************************/
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#if EFI_PROD_CODE && EFI_SHAFT_POSITION_INPUT
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startTriggerInputPins();
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#endif /* EFI_SHAFT_POSITION_INPUT */
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startHardware();
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#if EFI_HD44780_LCD
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startHD44780_pins();
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#endif /* #if EFI_HD44780_LCD */
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#if EFI_PROD_CODE && (BOARD_EXT_GPIOCHIPS > 0)
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/* TODO: properly restart gpio chips...
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* This is only workaround for "CS pin lost" bug
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* see: https://github.com/rusefi/rusefi/issues/2107
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* We should provide better way to gracefully stop all
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* gpio chips: set outputs to safe state, release all
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* on-chip resources (gpios, SPIs, etc) and then restart
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* with updated settings.
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* Following code just re-inits CS pins for all external
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* gpio chips, but does not update CS pin definition in
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* gpio chips private data/settings. So changing CS pin
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* on-fly does not work */
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startSmartCsPins();
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#endif /* (BOARD_EXT_GPIOCHIPS > 0) */
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enginePins.startPins();
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#if EFI_AUX_SERIAL
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startAuxSerialPins();
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#endif /* EFI_AUX_SERIAL */
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#if EFI_HIP_9011
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startHip9001_pins();
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#endif /* EFI_HIP_9011 */
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#if EFI_PROD_CODE && EFI_IDLE_CONTROL
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if (isIdleHardwareRestartNeeded()) {
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initIdleHardware();
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}
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#endif
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#if EFI_BOOST_CONTROL
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startBoostPin();
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#endif
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#if EFI_EMULATE_POSITION_SENSORS
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startTriggerEmulatorPins();
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#endif /* EFI_EMULATE_POSITION_SENSORS */
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#if EFI_LOGIC_ANALYZER
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startLogicAnalyzerPins();
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#endif /* EFI_LOGIC_ANALYZER */
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#if EFI_AUX_PID
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startVvtControlPins();
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#endif /* EFI_AUX_PID */
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adcConfigListener(engine);
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}
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#if EFI_PROD_CODE
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void setBor(int borValue) {
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efiPrintf("setting BOR to %d", borValue);
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BOR_Set((BOR_Level_t)borValue);
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showBor();
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}
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void showBor(void) {
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efiPrintf("BOR=%d", (int)BOR_Get());
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}
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#endif /* EFI_PROD_CODE */
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// This function initializes hardware that can do so before configuration is loaded
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void initHardwareNoConfig() {
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efiAssertVoid(CUSTOM_IH_STACK, getCurrentRemainingStack() > EXPECTED_REMAINING_STACK, "init h");
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efiAssertVoid(CUSTOM_EC_NULL, engineConfiguration!=NULL, "engineConfiguration");
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efiPrintf("initHardware()");
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#if EFI_PROD_CODE
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initPinRepository();
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#endif
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#if EFI_HISTOGRAMS
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/**
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* histograms is a data structure for CPU monitor, it does not depend on configuration
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*/
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initHistogramsModule();
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#endif /* EFI_HISTOGRAMS */
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/**
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* We need the LED_ERROR pin even before we read configuration
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*/
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initPrimaryPins();
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#if EFI_PROD_CODE
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// it's important to initialize this pretty early in the game before any scheduling usages
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initSingleTimerExecutorHardware();
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initRtc();
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#endif /* EFI_PROD_CODE */
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#if EFI_INTERNAL_FLASH
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initFlash();
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#endif
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#if EFI_SHAFT_POSITION_INPUT
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// todo: figure out better startup logic
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initTriggerCentral();
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#endif /* EFI_SHAFT_POSITION_INPUT */
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#if EFI_FILE_LOGGING
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initEarlyMmcCard();
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#endif // EFI_FILE_LOGGING
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}
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void stopHardware() {
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stopPedalPins();
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#if EFI_PROD_CODE && (BOARD_EXT_GPIOCHIPS > 0)
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stopSmartCsPins();
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#endif /* (BOARD_EXT_GPIOCHIPS > 0) */
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#if EFI_LOGIC_ANALYZER
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stopLogicAnalyzerPins();
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#endif /* EFI_LOGIC_ANALYZER */
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#if EFI_EMULATE_POSITION_SENSORS
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stopTriggerEmulatorPins();
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#endif /* EFI_EMULATE_POSITION_SENSORS */
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#if EFI_AUX_PID
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stopVvtControlPins();
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#endif /* EFI_AUX_PID */
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}
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/**
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* This method is invoked both on ECU start and configuration change
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*/
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void startHardware() {
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#if (HAL_USE_PAL && EFI_JOYSTICK)
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startJoystickPins();
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#endif /* HAL_USE_PAL && EFI_JOYSTICK */
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validateTriggerInputs();
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startTriggerDebugPins();
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startPedalPins();
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#if EFI_CAN_SUPPORT
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startCanPins();
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#endif /* EFI_CAN_SUPPORT */
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}
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void initHardware() {
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#if HAL_USE_PAL && EFI_PROD_CODE
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efiExtiInit();
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#endif // HAL_USE_PAL
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#if EFI_HD44780_LCD
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lcd_HD44780_init();
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if (hasFirmwareError())
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return;
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lcd_HD44780_print_string(VCS_VERSION);
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#endif /* EFI_HD44780_LCD */
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if (hasFirmwareError()) {
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return;
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}
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#if HAL_USE_ADC
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initAdcInputs();
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// wait for first set of ADC values so that we do not produce invalid sensor data
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waitForSlowAdc(1);
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#endif /* HAL_USE_ADC */
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#if EFI_SOFTWARE_KNOCK
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initSoftwareKnock();
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#endif /* EFI_SOFTWARE_KNOCK */
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#if HAL_USE_SPI
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initSpiModules(engineConfiguration);
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#endif /* HAL_USE_SPI */
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#if EFI_PROD_CODE && (BOARD_EXT_GPIOCHIPS > 0)
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// initSmartGpio depends on 'initSpiModules'
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initSmartGpio();
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#endif
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// output pins potentially depend on 'initSmartGpio'
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initOutputPins();
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#if EFI_ENGINE_CONTROL
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enginePins.startPins();
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#endif /* EFI_ENGINE_CONTROL */
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#if EFI_MC33816
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initMc33816();
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#endif /* EFI_MC33816 */
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#if EFI_MAX_31855
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initMax31855(engineConfiguration->max31855spiDevice, engineConfiguration->max31855_cs);
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#endif /* EFI_MAX_31855 */
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#if EFI_CAN_SUPPORT
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initCan();
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#endif /* EFI_CAN_SUPPORT */
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// init_adc_mcp3208(&adcState, &SPID2);
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// requestAdcValue(&adcState, 0);
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turnOnHardware();
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#if EFI_HIP_9011
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initHip9011();
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#endif /* EFI_HIP_9011 */
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#if EFI_MEMS
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initAccelerometer();
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#endif
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#if EFI_BOSCH_YAW
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initBoschYawRateSensor();
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#endif /* EFI_BOSCH_YAW */
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#if EFI_UART_GPS
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initGps();
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#endif
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|
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#if EFI_SERVO
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initServo();
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#endif
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#if EFI_AUX_SERIAL
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initAuxSerial();
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#endif /* EFI_AUX_SERIAL */
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|
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#if EFI_CAN_SUPPORT
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|
initCanVssSupport();
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#endif // EFI_CAN_SUPPORT
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|
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#if EFI_CDM_INTEGRATION
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|
cdmIonInit();
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#endif // EFI_CDM_INTEGRATION
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|
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#if (HAL_USE_PAL && EFI_JOYSTICK)
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|
initJoystick();
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|
#endif /* HAL_USE_PAL && EFI_JOYSTICK */
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|
|
|
calcFastAdcIndexes();
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|
|
|
startHardware();
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|
|
|
efiPrintf("initHardware() OK!");
|
|
}
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|
|
|
#if HAL_USE_SPI
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|
// this is F4 implementation but we will keep it here for now for simplicity
|
|
int getSpiPrescaler(spi_speed_e speed, spi_device_e device) {
|
|
switch (speed) {
|
|
case _5MHz:
|
|
return device == SPI_DEVICE_1 ? SPI_BaudRatePrescaler_16 : SPI_BaudRatePrescaler_8;
|
|
case _2_5MHz:
|
|
return device == SPI_DEVICE_1 ? SPI_BaudRatePrescaler_32 : SPI_BaudRatePrescaler_16;
|
|
case _1_25MHz:
|
|
return device == SPI_DEVICE_1 ? SPI_BaudRatePrescaler_64 : SPI_BaudRatePrescaler_32;
|
|
|
|
case _150KHz:
|
|
// SPI1 does not support 150KHz, it would be 300KHz for SPI1
|
|
return SPI_BaudRatePrescaler_256;
|
|
default:
|
|
// unexpected
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
#endif /* HAL_USE_SPI */
|