The Big Refactoring of 2019: scheduler should not be global #655

firmware/config/engines/custom_engine.cpp

@@ -41,7 +41,7 @@ static void toggleTestAndScheduleNext() {
 	testPin.toggle();
 	periodIndex = (periodIndex + 1) % TEST_LEN;
 	testTime += test557[periodIndex];
-	scheduleByTimestamp(&scheduling, testTime, (schfunc_t) &toggleTestAndScheduleNext, NULL);
+	engine->executor.scheduleByTimestamp(&scheduling, testTime, (schfunc_t) &toggleTestAndScheduleNext, NULL);
 
 }
 

firmware/controllers/algo/aux_pid.cpp

@@ -115,7 +115,9 @@ static void turnAuxPidOn(int index) {
 		return;
 	}
 
-	startSimplePwmExt(&auxPidPwm[index], "Aux PID", engineConfiguration->auxPidPins[index],
+	startSimplePwmExt(&auxPidPwm[index], "Aux PID",
+			&engine->executor,
+			engineConfiguration->auxPidPins[index],
 			&auxPidPin[0],
 			engineConfiguration->auxPidFrequency[index], 0.1, applyPinState);
 }

firmware/controllers/alternatorController.cpp

@@ -24,7 +24,7 @@ EXTERN_ENGINE
 
 static Logging *logger;
 
-static SimplePwm alternatorControl;
+static SimplePwm alternatorControl("alt");
 static pid_s *altPidS = &persistentState.persistentConfiguration.engineConfiguration.alternatorControl;
 static Pid altPid(altPidS);
 
@@ -162,7 +162,10 @@ void initAlternatorCtrl(Logging *sharedLogger) {
 		enginePins.alternatorPin.initPin("on/off alternator", boardConfiguration->alternatorControlPin);
 
 	} else {
-		startSimplePwmExt(&alternatorControl, "Alternator control", boardConfiguration->alternatorControlPin,
+		startSimplePwmExt(&alternatorControl,
+				"Alternator control",
+				&engine->executor,
+				boardConfiguration->alternatorControlPin,
 				&enginePins.alternatorPin,
 				engineConfiguration->alternatorPwmFrequency, 0.1, applyAlternatorPinState);
 	}

firmware/controllers/core/fsio_impl.cpp

@@ -659,7 +659,9 @@ void initFsioImpl(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 			if (frequency == 0) {
 				enginePins.fsioOutputs[i].initPin(getGpioPinName(i), boardConfiguration->fsioOutputPins[i], &DEFAULT_OUTPUT);
 			} else {
-				startSimplePwmExt(&fsioPwm[i], "FSIOpwm", brainPin, &enginePins.fsioOutputs[i], frequency, 0.5f, applyPinState);
+				startSimplePwmExt(&fsioPwm[i], "FSIOpwm",
+						&engine->executor,
+						brainPin, &enginePins.fsioOutputs[i], frequency, 0.5f, applyPinState);
 			}
 		}
 	}

firmware/controllers/electronic_throttle.cpp

@@ -82,10 +82,10 @@ static THD_WORKING_AREA(etbTreadStack, UTILITY_THREAD_STACK_SIZE);
 /**
  * @brief Pulse-Width Modulation state
  */
-static SimplePwm etbPwmUp CCM_OPTIONAL;
+static SimplePwm etbPwmUp("etbUp") CCM_OPTIONAL;
 static float valueOverride = NAN;
 /*
-static SimplePwm etbPwmDown CCM_OPTIONAL;
+static SimplePwm etbPwmDown("etbDown") CCM_OPTIONAL;
 static OutputPin outputDirectionOpen CCM_OPTIONAL;
 */
 static OutputPin outputDirectionClose CCM_OPTIONAL;
@@ -282,6 +282,7 @@ void startETBPins(void) {
 
 	// this line used for PWM
 	startSimplePwmExt(&etbPwmUp, "etb1",
+			&engine->executor,
 			boardConfiguration->etbControlPin1,
 			&enginePins.etbOutput1,
 			freq,

firmware/controllers/engine_controller.cpp

@@ -764,7 +764,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
 #endif /* EFI_PROD_CODE */
 }
 
-static char UNUSED_RAM_SIZE[10500];
+static char UNUSED_RAM_SIZE[10400];
 
 static char UNUSED_CCM_SIZE[7100] CCM_OPTIONAL;
 
@@ -781,5 +781,5 @@ int getRusEfiVersion(void) {
 	if (initBootloader() != 0)
 		return 123;
 #endif /* EFI_BOOTLOADER_INCLUDE_CODE */
-	return 20190105;
+	return 20190109;
 }

firmware/controllers/idle_thread.cpp

@@ -57,7 +57,7 @@ static Pid idlePid(&engineConfiguration->idleRpmPid);
 #endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
 
 // todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
-static SimplePwm idleSolenoid;
+static SimplePwm idleSolenoid("idle");
 
 static StepperMotor iacMotor;
 
@@ -465,7 +465,9 @@ static void initIdleHardware() {
 		/**
 		 * Start PWM for idleValvePin
 		 */
-		startSimplePwmExt(&idleSolenoid, "Idle Valve", boardConfiguration->idle.solenoidPin, &enginePins.idleSolenoidPin,
+		startSimplePwmExt(&idleSolenoid, "Idle Valve",
+				&engine->executor,
+				boardConfiguration->idle.solenoidPin, &enginePins.idleSolenoidPin,
 				boardConfiguration->idle.solenoidFrequency, boardConfiguration->manIdlePosition / 100,
 				applyIdleSolenoidPinState);
 		idlePositionSensitivityThreshold = 0.0f;

firmware/controllers/system/pwm_generator_logic.cpp

@@ -10,6 +10,7 @@
 
 #include "global.h"
 #include "pwm_generator_logic.h"
+#include "error_handling.h"
 
 /**
  * We need to limit the number of iterations in order to avoid precision loss while calculating
@@ -29,6 +30,10 @@ SimplePwm::SimplePwm() {
 	init(_switchTimes, sr);
 }
 
+SimplePwm::SimplePwm(const char *name) : SimplePwm()  {
+	this->name = name;
+}
+
 void PwmConfig::baseConstructor() {
 	memset((void*)&scheduling, 0, sizeof(scheduling));
 	memset((void*)&safe, 0, sizeof(safe));
@@ -39,6 +44,8 @@ void PwmConfig::baseConstructor() {
 	phaseCount = 0;
 	pwmCycleCallback = NULL;
 	stateChangeCallback = NULL;
+	executor = NULL;
+	name = "[noname]";
 }
 
 PwmConfig::PwmConfig() {
@@ -216,6 +223,11 @@ static void timerCallback(PwmConfig *state) {
 	efiAssertVoid(CUSTOM_ERR_6581, state->dbgNestingLevel < 25, "PWM nesting issue");
 
 	efitimeus_t switchTimeUs = state->togglePwmState();
+//	if (state->executor == NULL) {
+//		firmwareError(CUSTOM_ERR_6695, "exec on %s", state->name);
+//		return;
+//	}
+
 	scheduleByTimestamp(&state->scheduling, switchTimeUs, (schfunc_t) timerCallback, state);
 	state->dbgNestingLevel--;
 }
@@ -246,8 +258,9 @@ void copyPwmParameters(PwmConfig *state, int phaseCount, float *switchTimes, int
  * this method also starts the timer cycle
  * See also startSimplePwm
  */
-void PwmConfig::weComplexInit(const char *msg, int phaseCount, float *switchTimes, int waveCount,
+void PwmConfig::weComplexInit(const char *msg, ExecutorInterface *executor, int phaseCount, float *switchTimes, int waveCount,
 		pin_state_t **pinStates, pwm_cycle_callback *pwmCycleCallback, pwm_gen_callback *stateChangeCallback) {
+	this->executor = executor;
 
 	efiAssertVoid(CUSTOM_ERR_6582, periodNt != 0, "period is not initialized");
 	if (phaseCount == 0) {
@@ -275,7 +288,8 @@ void PwmConfig::weComplexInit(const char *msg, int phaseCount, float *switchTime
 	timerCallback(this);
 }
 
-void startSimplePwm(SimplePwm *state, const char *msg, OutputPin *output, float frequency, float dutyCycle, pwm_gen_callback *stateChangeCallback) {
+void startSimplePwm(SimplePwm *state, const char *msg, ExecutorInterface *executor,
+		OutputPin *output, float frequency, float dutyCycle, pwm_gen_callback *stateChangeCallback) {
 	efiAssertVoid(CUSTOM_ERR_6692, state != NULL, "state");
 	efiAssertVoid(CUSTOM_ERR_6665, dutyCycle >= 0 && dutyCycle <= 1, "dutyCycle");
 	if (frequency < 1) {
@@ -292,15 +306,17 @@ void startSimplePwm(SimplePwm *state, const char *msg, OutputPin *output, float
 	state->outputPins[0] = output;
 
 	state->setFrequency(frequency);
-	state->weComplexInit(msg, 2, switchTimes, 1, pinStates, NULL, stateChangeCallback);
+	state->weComplexInit(msg, executor, 2, switchTimes, 1, pinStates, NULL, stateChangeCallback);
 }
 
-void startSimplePwmExt(SimplePwm *state, const char *msg, brain_pin_e brainPin, OutputPin *output, float frequency,
+void startSimplePwmExt(SimplePwm *state, const char *msg,
+		ExecutorInterface *executor,
+		brain_pin_e brainPin, OutputPin *output, float frequency,
 		float dutyCycle, pwm_gen_callback *stateChangeCallback) {
 
 	output->initPin(msg, brainPin);
 
-	startSimplePwm(state, msg, output, frequency, dutyCycle, stateChangeCallback);
+	startSimplePwm(state, msg, executor, output, frequency, dutyCycle, stateChangeCallback);
 }
 
 /**

firmware/controllers/system/pwm_generator_logic.h

@@ -54,10 +54,13 @@ public:
 	void init(float *switchTimes, SingleWave *waves);
 
 	void weComplexInit(const char *msg,
+			ExecutorInterface *executor,
 			int phaseCount, float *swithcTimes, int waveCount, pin_state_t **pinStates,
 			pwm_cycle_callback *pwmCycleCallback,
 			pwm_gen_callback *callback);
 
+	ExecutorInterface *executor;
+
 	/**
 	 * We need to handle zero duty cycle and 100% duty cycle in a special way
 	 */
@@ -69,7 +72,7 @@ public:
 	void setFrequency(float frequency);
 
 	void handleCycleStart();
-
+	const char *name;
 
 	OutputPin *outputPins[PWM_PHASE_MAX_WAVE_PER_PWM];
 	MultiWave multiWave;
@@ -106,6 +109,7 @@ private:
 class SimplePwm : public PwmConfig {
 public:
 	SimplePwm();
+	SimplePwm(const char *name);
 	void setSimplePwmDutyCycle(float dutyCycle);
 	pin_state_t pinStates[2];
 	SingleWave sr[1];
@@ -119,7 +123,9 @@ private:
  *
  * This method should be called after scheduling layer is started by initSignalExecutor()
  */
-void startSimplePwm(SimplePwm *state, const char *msg, OutputPin *output,
+void startSimplePwm(SimplePwm *state, const char *msg,
+		ExecutorInterface *executor,
+		OutputPin *output,
 		float dutyCycle, float frequency, pwm_gen_callback *stateChangeCallback);
 
 /**
@@ -127,7 +133,10 @@ void startSimplePwm(SimplePwm *state, const char *msg, OutputPin *output,
  *
  * This method should be called after scheduling layer is started by initSignalExecutor()
  */
-void startSimplePwmExt(SimplePwm *state, const char *msg, brain_pin_e brainPin, OutputPin *output,
+void startSimplePwmExt(SimplePwm *state,
+		const char *msg,
+		ExecutorInterface *executor,
+		brain_pin_e brainPin, OutputPin *output,
 		float frequency, float dutyCycle, pwm_gen_callback *stateChangeCallback);
 
 void copyPwmParameters(PwmConfig *state, int phaseCount, float *switchTimes,

firmware/controllers/trigger/trigger_emulator_algo.cpp

@@ -160,7 +160,7 @@ static void resumeStimulator() {
 	stopEmulationAtIndex = DO_NOT_STOP;
 }
 
-void initTriggerEmulatorLogic(Logging *sharedLogger) {
+void initTriggerEmulatorLogic(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	logger = sharedLogger;
 
 	TriggerShape *s = &engine->triggerCentral.triggerShape;
@@ -169,7 +169,9 @@ void initTriggerEmulatorLogic(Logging *sharedLogger) {
 			s->wave.channels[0].pinStates,
 			s->wave.channels[1].pinStates,
 			s->wave.channels[2].pinStates };
-	triggerSignal.weComplexInit("position sensor", s->getSize(), s->wave.switchTimes, PWM_PHASE_MAX_WAVE_PER_PWM,
+	triggerSignal.weComplexInit("position sensor",
+			&engine->executor,
+			s->getSize(), s->wave.switchTimes, PWM_PHASE_MAX_WAVE_PER_PWM,
 			pinStates, updateTriggerShapeIfNeeded, emulatorApplyPinState);
 
 	addConsoleActionI("rpm", setTriggerEmulatorRPM);

firmware/controllers/trigger/trigger_emulator_algo.h

@@ -21,6 +21,6 @@ public:
 	void handleEmulatorCallback(PwmConfig *state, int stateIndex);
 };
 
-void initTriggerEmulatorLogic(Logging *sharedLogger);
+void initTriggerEmulatorLogic(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX);
 
 #endif /* TRIGGER_EMULATOR_ALGO_H_ */

firmware/hw_layer/sensors/CJ125.cpp

@@ -36,7 +36,7 @@ struct CJ125_state {
 	efitick_t prevNt;
 };
 
-static SimplePwm wboHeaterControl;
+static SimplePwm wboHeaterControl("wbo");
 static OutputPin wboHeaterPin;
 static OutputPin cj125Cs;
 static Logging *logger;
@@ -398,7 +398,9 @@ static void cjStartHeaterControl(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	if (boardConfiguration->wboHeaterPin != GPIO_UNASSIGNED) {
 		scheduleMsg(logger, "cj125: Starting heater control");
 		// todo: use custom pin state method, turn pin off while not running
-		startSimplePwmExt(&wboHeaterControl, "wboHeaterPin", boardConfiguration->wboHeaterPin,
+		startSimplePwmExt(&wboHeaterControl, "wboHeaterPin",
+				&engine->executor,
+				boardConfiguration->wboHeaterPin,
 				&wboHeaterPin, CJ125_HEATER_PWM_FREQ, 0.0f, applyPinState);
 		cjSetIdleHeater(PASS_ENGINE_PARAMETER_SIGNATURE);
 	}

unit_tests/tests/test_pwm_generator.cpp

@@ -45,11 +45,13 @@ static void test100dutyCycle() {
 	print("*************************************** test100dutyCycle\r\n");
 
 	expectedTimeOfNextEvent = timeNowUs = 0;
-	SimplePwm pwm;
+	TestExecutor executor;
+	SimplePwm pwm("test PWM1");
 	OutputPin pin;
 	schedulingQueue.clear();
 
 	startSimplePwm(&pwm, "unit_test",
+			&executor,
 			&pin,
 			1000 /* frequency */,
 			1.0 /* duty cycle */,
@@ -71,11 +73,13 @@ static void testSwitchToNanPeriod() {
 	print("*************************************** testSwitchToNanPeriod\r\n");
 
 	expectedTimeOfNextEvent = timeNowUs = 0;
-	SimplePwm pwm;
+	TestExecutor executor;
+	SimplePwm pwm("test PWM1");
 	OutputPin pin;
 	schedulingQueue.clear();
 
 	startSimplePwm(&pwm, "unit_test",
+			&executor,
 			&pin,
 			1000 /* frequency */,
 			0.60 /* duty cycle */,
@@ -108,11 +112,14 @@ void testPwmGenerator() {
 	print("*************************************** testPwmGenerator\r\n");
 
 	expectedTimeOfNextEvent = timeNowUs = 0;
-	SimplePwm pwm;
+	TestExecutor executor;
+	SimplePwm pwm("test PWM3");
 	OutputPin pin;
 	schedulingQueue.clear();
 
-	startSimplePwm(&pwm, "unit_test",
+	startSimplePwm(&pwm,
+			"unit_test",
+			&executor,
 			&pin,
 			1000 /* frequency */,
 			0.80 /* duty cycle */,