diff --git a/firmware/controllers/map_averaging.cpp b/firmware/controllers/map_averaging.cpp index a565331f9c..a41756b7e1 100644 --- a/firmware/controllers/map_averaging.cpp +++ b/firmware/controllers/map_averaging.cpp @@ -215,10 +215,10 @@ float getMap(void) { void initMapAveraging(Logging *sharedLogger, Engine *engine) { logger = sharedLogger; - startTimer[0].name = "map start0"; - startTimer[1].name = "map start1"; - endTimer[0].name = "map end0"; - endTimer[1].name = "map end1"; +// startTimer[0].name = "map start0"; +// startTimer[1].name = "map start1"; +// endTimer[0].name = "map end0"; +// endTimer[1].name = "map end1"; addTriggerEventListener(&mapAveragingCallback, "MAP averaging", engine); addConsoleAction("faststat", showMapStats); diff --git a/firmware/controllers/system/SingleTimerExecutor.cpp b/firmware/controllers/system/SingleTimerExecutor.cpp index 01c5d81e48..3c4383322a 100644 --- a/firmware/controllers/system/SingleTimerExecutor.cpp +++ b/firmware/controllers/system/SingleTimerExecutor.cpp @@ -153,12 +153,12 @@ void Executor::scheduleTimerCallback() { * @param [in] dwell the number of ticks of output duration. */ void scheduleTask(const char *prefix, scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param) { - scheduling->name = prefix; +// scheduling->name = prefix; instance.scheduleByTime(scheduling, getTimeNowUs() + delayUs, callback, param); } void scheduleByTime(const char *prefix, scheduling_s *scheduling, efitimeus_t time, schfunc_t callback, void *param) { - scheduling->name = prefix; +// scheduling->name = prefix; instance.scheduleByTime(scheduling, time, callback, param); } diff --git a/firmware/controllers/system/event_queue.cpp b/firmware/controllers/system/event_queue.cpp index f2effa9e41..74c13dcb83 100644 --- a/firmware/controllers/system/event_queue.cpp +++ b/firmware/controllers/system/event_queue.cpp @@ -16,6 +16,12 @@ #include "efitime.h" #include "efilib2.h" +scheduling_s::scheduling_s() { + callback = NULL; + next = NULL; + isScheduled = false; +} + EventQueue::EventQueue() { head = NULL; setLateDelay(100); @@ -34,13 +40,13 @@ bool_t EventQueue::insertTask(scheduling_s *scheduling, uint64_t timeX, schfunc_ #endif efiAssert(callback != NULL, "NULL callback", false); - int alreadyPending = checkIfPending(scheduling); - if (alreadyPending) + if (scheduling->isScheduled) return false; scheduling->momentX = timeX; scheduling->callback = callback; scheduling->param = param; + scheduling->isScheduled = true; if (head == NULL || timeX < head->momentX) { LL_PREPEND(head, scheduling); @@ -139,6 +145,7 @@ int EventQueue::executeAll(uint64_t now) { LL_FOREACH_SAFE(executionList, current, tmp) { uint32_t before = GET_TIMESTAMP(); + current->isScheduled = false; current->callback(current->param); // even with overflow it's safe to substract here lastEventQueueTime = GET_TIMESTAMP() - before; diff --git a/firmware/controllers/system/event_queue.h b/firmware/controllers/system/event_queue.h index 0f31462995..2f8e2275d9 100644 --- a/firmware/controllers/system/event_queue.h +++ b/firmware/controllers/system/event_queue.h @@ -35,7 +35,7 @@ bool assertNotInList(T *head, T*element) { * was not scheduled by angle but was scheduled by time. In case of scheduling * by time with slow RPM the whole next fast revolution might be within the wait period */ - warning(OBD_PCM_Processor_Fault, "re-adding element into event_queue: [%s]", element->name); + warning(OBD_PCM_Processor_Fault, "re-adding element into event_queue"); return true; } } diff --git a/firmware/controllers/system/pwm_generator_logic.cpp b/firmware/controllers/system/pwm_generator_logic.cpp index 48e9879746..a4888f692e 100644 --- a/firmware/controllers/system/pwm_generator_logic.cpp +++ b/firmware/controllers/system/pwm_generator_logic.cpp @@ -26,7 +26,6 @@ void PwmConfig::baseConstructor() { memset(&scheduling, 0, sizeof(scheduling)); memset(&safe, 0, sizeof(safe)); dbgNestingLevel = 0; - scheduling.name = "PwmConfig"; periodNt = NAN; memset(&outputPins, 0, sizeof(outputPins)); phaseCount = 0; diff --git a/firmware/controllers/system/scheduler.h b/firmware/controllers/system/scheduler.h index b21de938e9..d6ae4370ae 100644 --- a/firmware/controllers/system/scheduler.h +++ b/firmware/controllers/system/scheduler.h @@ -23,8 +23,7 @@ public: schfunc_t callback; void *param; scheduling_s *next; - const char *name; -// bool_t isScheduled; + bool_t isScheduled; }; void scheduleTask(const char *prefix, scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param); diff --git a/firmware/controllers/trigger/rpm_calculator.cpp b/firmware/controllers/trigger/rpm_calculator.cpp index 727a2b3eca..4547ed652c 100644 --- a/firmware/controllers/trigger/rpm_calculator.cpp +++ b/firmware/controllers/trigger/rpm_calculator.cpp @@ -236,8 +236,8 @@ float getCrankshaftAngleNt(uint64_t timeNt DECLARE_ENGINE_PARAMETER_S) { void initRpmCalculator(Engine *engine) { #if (EFI_PROD_CODE || EFI_SIMULATOR) || defined(__DOXYGEN__) - tdcScheduler[0].name = "tdc0"; - tdcScheduler[1].name = "tdc1"; +// tdcScheduler[0].name = "tdc0"; +// tdcScheduler[1].name = "tdc1"; addTriggerEventListener(tdcMarkCallback, "chart TDC mark", engine); #endif diff --git a/firmware/hw_layer/stepper.cpp b/firmware/hw_layer/stepper.cpp index ea825bd0c6..40e7657904 100644 --- a/firmware/hw_layer/stepper.cpp +++ b/firmware/hw_layer/stepper.cpp @@ -68,10 +68,14 @@ void StepperMotor::setTargetPosition(int targetPosition) { } void StepperMotor::pulse() { + palWritePad(enablePort, enablePin, false); // ebable stepper + palWritePad(stepPort, stepPin, true); chThdSleepMilliseconds(ST_DELAY_MS); palWritePad(stepPort, stepPin, false); chThdSleepMilliseconds(ST_DELAY_MS); + + palWritePad(enablePort, enablePin, true); // disable stepper } void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin, float reactionTime, int totalSteps, @@ -88,9 +92,13 @@ void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin, flo directionPort = getHwPort(directionPin); this->directionPin = getHwPin(directionPin); + enablePort = getHwPort(enablePin); + this->enablePin = getHwPin(enablePin); + mySetPadMode2("stepper step", stepPin, PAL_MODE_OUTPUT_PUSHPULL); mySetPadMode2("stepper dir", directionPin, PAL_MODE_OUTPUT_PUSHPULL); mySetPadMode2("stepper enable", enablePin, PAL_MODE_OUTPUT_PUSHPULL); + palWritePad(this->enablePort, enablePin, true); // disable stepper chThdCreateStatic(stThreadStack, sizeof(stThreadStack), NORMALPRIO, (tfunc_t) stThread, this); } diff --git a/firmware/hw_layer/stepper.h b/firmware/hw_layer/stepper.h index d1508076f1..c97c87b7ef 100644 --- a/firmware/hw_layer/stepper.h +++ b/firmware/hw_layer/stepper.h @@ -28,6 +28,9 @@ private: GPIO_TypeDef * stepPort; ioportmask_t stepPin; + GPIO_TypeDef * enablePort; + ioportmask_t enablePin; + THD_WORKING_AREA(stThreadStack, UTILITY_THREAD_STACK_SIZE); }; diff --git a/firmware/iar/ch.ewp b/firmware/iar/ch.ewp index 4952195cbd..6a1264234d 100644 --- a/firmware/iar/ch.ewp +++ b/firmware/iar/ch.ewp @@ -2728,7 +2728,7 @@ $PROJ_DIR$\..\hw_layer\mcp3208.h - $PROJ_DIR$\..\hw_layer\microsecond_timer.c + $PROJ_DIR$\..\hw_layer\microsecond_timer.cpp $PROJ_DIR$\..\hw_layer\microsecond_timer.h diff --git a/unit_tests/test_signal_executor.cpp b/unit_tests/test_signal_executor.cpp index 08c684243b..20f0154a52 100644 --- a/unit_tests/test_signal_executor.cpp +++ b/unit_tests/test_signal_executor.cpp @@ -107,22 +107,24 @@ void testSignalExecutor(void) { callbackCounter = 0; eq.executeAll(10); - assertEqualsM("callbackCounter", 2, callbackCounter); + assertEqualsM("callbackCounter/2", 2, callbackCounter); callbackCounter = 0; eq.executeAll(11); - assertEquals(1, callbackCounter); - eq.clear(); + assertEqualsM("callbackCounter/1#1", 1, callbackCounter); + eq.executeAll(100); + assertEquals(0, eq.size()); eq.insertTask(&s1, 12, callback, NULL); eq.insertTask(&s2, 11, callback, NULL); eq.insertTask(&s3, 10, callback, NULL); callbackCounter = 0; eq.executeAll(10); - assertEquals(1, callbackCounter); + assertEqualsM("callbackCounter/1#2", 1, callbackCounter); callbackCounter = 0; eq.executeAll(11); assertEquals(1, callbackCounter); - eq.clear(); + eq.executeAll(100); + assertEquals(0, eq.size()); callbackCounter = 0; eq.insertTask(&s1, 10, callback, NULL); @@ -143,7 +145,8 @@ void testSignalExecutor(void) { eq.executeAll(1); assertEquals(10, eq.getNextEventTime(0)); - eq.clear(); + eq.executeAll(100); + assertEquals(0, eq.size()); callbackCounter = 0; // both events are scheduled for the same time eq.insertTask(&s1, 10, callback, NULL);