wider usage of PeriodicController

firmware/config/stm32f4ems/chconf.h

@@ -35,7 +35,12 @@
 #define _CHIBIOS_RT_CONF_VER_5_1_
 
 #define PORT_IDLE_THREAD_STACK_SIZE     1024
+
+// rusEfi main processing happens on IRQ so PORT_INT_REQUIRED_STACK has to be pretty large.
+// see also a strange comment about PORT_INT_REQUIRED_STACK in global_shared.h
+// see also http://www.chibios.org/dokuwiki/doku.php?id=chibios:kb:stacks
 #define PORT_INT_REQUIRED_STACK 	768
+
 #define CHPRINTF_USE_FLOAT          	TRUE
 
 #if !defined(EFI_CLOCK_LOCKS) || defined(__DOXYGEN__)
@@ -613,6 +618,7 @@ extern "C"
  *
  * @note    The default is @p FALSE.
  */
+// see also CH_DBG_STACK_FILL_VALUE
 #if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
 #endif

firmware/controllers/algo/aux_pid.cpp

@@ -17,6 +17,7 @@
 #include "fsio_impl.h"
 #include "engine_math.h"
 #include "pin_repository.h"
+#include "PeriodicController.h"
 
 EXTERN_ENGINE
 ;
@@ -30,8 +31,6 @@ extern fsio8_Map3D_f32t fsioTable1;
 extern TunerStudioOutputChannels tsOutputChannels;
 #endif /* EFI_TUNER_STUDIO */
 
-static THD_WORKING_AREA(auxPidThreadStack, UTILITY_THREAD_STACK_SIZE);
-
 static LocalVersionHolder parametersVersion;
 static SimplePwm auxPidPwm[AUX_PID_COUNT];
 static OutputPin auxPidPin[AUX_PID_COUNT];
@@ -58,11 +57,12 @@ static void pidReset(void) {
 	auxPid.reset();
 }
 
-static msg_t auxPidThread(int param) {
+class AuxPidController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
-	UNUSED(param);
+public:
-		chRegSetThreadName("AuxPidController");
+	AuxPidController()	: PeriodicController("AuxPidController") { }
-		while (true) {
+private:
-			auxPid.sleep();
+	void PeriodicTask(efitime_t nowNt) override	{
+		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->auxPid[0].periodMs));
 
 			if (parametersVersion.isOld(engine->getGlobalConfigurationVersion())) {
 				pidReset();
@@ -76,7 +76,7 @@ static msg_t auxPidThread(int param) {
 			if (!enabledAtCurrentRpm) {
 				// we need to avoid accumulating iTerm while engine is not running
 				pidReset();
-				continue;
+				return;
 			}
 
 
@@ -101,10 +101,9 @@ static msg_t auxPidThread(int param) {
 
 
 		}
-#if defined __GNUC__
+};
-	return -1;
+
-#endif
+static AuxPidController instance;
-}
 
 static void turnAuxPidOn(int index) {
 	if (!isEnabled(index)) {
@@ -135,12 +134,10 @@ void stopAuxPins(void) {
 }
 
 void initAuxPid(Logging *sharedLogger) {
-	chThdCreateStatic(auxPidThreadStack, sizeof(auxPidThreadStack), LOWPRIO,
-			(tfunc_t)(void*) auxPidThread, NULL);
-
 	logger = sharedLogger;
 
 	startAuxPins();
+	instance.Start();
 }
 
 #endif

firmware/controllers/alternatorController.cpp

@@ -13,6 +13,7 @@
 #include "voltage.h"
 #include "pid.h"
 #include "LocalVersionHolder.h"
+#include "PeriodicController.h"
 
 #if EFI_ALTERNATOR_CONTROL || defined(__DOXYGEN__)
 #include "pwm_generator.h"
@@ -28,8 +29,6 @@ static SimplePwm alternatorControl("alt");
 static pid_s *altPidS = &persistentState.persistentConfiguration.engineConfiguration.alternatorControl;
 static Pid altPid(altPidS);
 
-static THD_WORKING_AREA(alternatorControlThreadStack, UTILITY_THREAD_STACK_SIZE);
-
 static percent_t currentAltDuty;
 
 #if EFI_TUNER_STUDIO || defined(__DOXYGEN__)
@@ -43,10 +42,13 @@ static void pidReset(void) {
 	altPid.reset();
 }
 
-static msg_t AltCtrlThread(int param) {
+class AlternatorController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
-	UNUSED(param);
+public:
-	chRegSetThreadName("AlternatorController");
+	AlternatorController() : PeriodicController("AlternatorController") { }
-	while (true) {
+private:
+	void PeriodicTask(efitime_t nowNt) override	{
+		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->alternatorControl.periodMs));
+
 #if ! EFI_UNIT_TEST || defined(__DOXYGEN__)
 		if (shouldResetPid) {
 			pidReset();
@@ -54,8 +56,6 @@ static msg_t AltCtrlThread(int param) {
 		}
 #endif
 
-		altPid.sleep();
-
 		if (engineConfiguration->debugMode == DBG_ALTERNATOR_PID) {
 			// this block could be executed even in on/off alternator control mode
 			// but at least we would reflect latest state
@@ -71,7 +71,7 @@ static msg_t AltCtrlThread(int param) {
 		if (!engine->isAlternatorControlEnabled) {
 			// we need to avoid accumulating iTerm while engine is not running
 			pidReset();
-			continue;
+			return;
 		}
 
 		float vBatt = getVBatt(PASS_ENGINE_PARAMETER_SIGNATURE);
@@ -88,7 +88,7 @@ static msg_t AltCtrlThread(int param) {
 #endif /* EFI_TUNER_STUDIO */
 			}
 
-			continue;
+			return;
 		}
 
 
@@ -101,11 +101,9 @@ static msg_t AltCtrlThread(int param) {
 
 		alternatorControl.setSimplePwmDutyCycle(currentAltDuty / 100);
 	}
-#if defined __GNUC__
+};
-	return -1;
-#endif
-}
 
+static AlternatorController instance;
 
 void showAltInfo(void) {
 	scheduleMsg(logger, "alt=%s @%s t=%dms", boolToString(engineConfiguration->isAlternatorControlEnabled),
@@ -169,8 +167,7 @@ void initAlternatorCtrl(Logging *sharedLogger) {
 				&enginePins.alternatorPin,
 				engineConfiguration->alternatorPwmFrequency, 0.1, applyAlternatorPinState);
 	}
-	chThdCreateStatic(alternatorControlThreadStack, sizeof(alternatorControlThreadStack), LOWPRIO,
+	instance.Start();
-			(tfunc_t)(void*) AltCtrlThread, NULL);
 }
 
 #endif /* EFI_ALTERNATOR_CONTROL */

firmware/controllers/electronic_throttle.cpp

@@ -106,6 +106,8 @@ public:
 	EtbController()	: PeriodicController("ETB") { }
 private:
 	void PeriodicTask(efitime_t nowNt) override	{
+		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->etb.periodMs));
+
 
 		// set debug_mode 17
 		if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
@@ -368,8 +370,6 @@ void initElectronicThrottle(void) {
 
 	pid.reset();
 
-	int periodMs = maxI(10, engineConfiguration->etb.periodMs);
-	etbController.setPeriod(periodMs);
 	etbController.Start();
 }
 

firmware/controllers/injector_central.cpp

@@ -34,6 +34,7 @@
 #include "efiGpio.h"
 #include "settings.h"
 #include "idle_thread.h"
+#include "PeriodicController.h"
 
 EXTERN_ENGINE
 ;
@@ -214,25 +215,22 @@ void dizzyBench(void) {
 	pinbench("300", "5", "400", "3", &enginePins.dizzyOutput, engineConfiguration->dizzySparkOutputPin);
 }
 
+class BenchController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
+public:
+	BenchController()	: PeriodicController("BenchThread") { }
+private:
+	void PeriodicTask(efitime_t nowNt) override	{
+		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->auxPid[0].periodMs));
 
-static THD_WORKING_AREA(benchThreadStack, UTILITY_THREAD_STACK_SIZE);
-
-static msg_t benchThread(int param) {
-	(void) param;
-	chRegSetThreadName("BenchThread");
-
-	while (true) {
 		// naive inter-thread communication - waiting for a flag
-		while (!isBenchTestPending) {
+		if (isBenchTestPending) {
-			chThdSleepMilliseconds(200);
-		}
 			isBenchTestPending = false;
 			runBench(brainPin, pinX, delayMs, onTime, offTime, count);
 		}
-#if defined __GNUC__
-	return 0;
-#endif
 	}
+};
+
+static BenchController instance;
 
 void OutputPin::unregisterOutput(brain_pin_e oldPin, brain_pin_e newPin) {
 	if (oldPin != GPIO_UNASSIGNED && oldPin != newPin) {
@@ -276,7 +274,6 @@ void runBenchTest(uint16_t subsystem, uint16_t index) {
 
 void initInjectorCentral(Logging *sharedLogger) {
 	logger = sharedLogger;
-	chThdCreateStatic(benchThreadStack, sizeof(benchThreadStack), NORMALPRIO, (tfunc_t)(void*) benchThread, NULL);
 
 	for (int i = 0; i < INJECTION_PIN_COUNT; i++) {
 		is_injector_enabled[i] = true;
@@ -301,6 +298,9 @@ void initInjectorCentral(Logging *sharedLogger) {
 
 	addConsoleActionSSSSS("fuelbench2", fuelbench2);
 	addConsoleActionSSSSS("sparkbench2", sparkbench2);
+
+	instance.setPeriod(200 /*ms*/);
+	instance.Start();
 }
 
 #endif

firmware/controllers/malfunction_indicator.cpp

@@ -30,9 +30,12 @@
 #include "malfunction_central.h"
 #include "malfunction_indicator.h"
 #include "efiGpio.h"
+#include "PeriodicController.h"
 
 #if EFI_MALFUNCTION_INDICATOR || defined(__DOXYGEN__)
 
+#define TEST_MIL_CODE FALSE
+
 EXTERN_ENGINE;
 
 #define MFI_LONG_BLINK	1500
@@ -40,8 +43,6 @@ EXTERN_ENGINE;
 #define MFI_BLINK_SEPARATOR 400
 #define MFI_CHECKENGINE_LIGHT 10000
 
-static THD_WORKING_AREA(mfiThreadStack, UTILITY_THREAD_STACK_SIZE);	// declare thread
-
 static void blink_digits(int digit, int duration) {
 	for (int iter = 0; iter < digit; iter++) {
 		enginePins.checkEnginePin.setValue(0);
@@ -78,18 +79,12 @@ static void DisplayErrorCode(int length, int code) {
 	}
 }
 
-//  our main thread for show check engine error
+class MILController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
-#if defined __GNUC__
+public:
-__attribute__((noreturn))    static msg_t mfiThread(void)
+	MILController()	: PeriodicController("MFIndicator") { }
-#else
+private:
-		static msg_t mfiThread(void)
+	void PeriodicTask(efitime_t nowNt) override	{
-#endif
+		static error_codes_set_s localErrorCopy;
-		{
-	chRegSetThreadName("MFIndicator");
-	error_codes_set_s localErrorCopy;
-
-	while (true) {
-		chThdSleepSeconds(10);
 
 		getErrorCodes(&localErrorCopy);
 		for (int p = 0; p < localErrorCopy.count; p++) {
@@ -98,12 +93,16 @@ __attribute__((noreturn))    static msg_t mfiThread(void)
 			DisplayErrorCode(DigitLength(code), code);
 		}
 	}
-}
+};
 
+static MILController instance;
+
+#if TEST_MIL_CODE
 static void testMil(void) {
 	addError(OBD_Engine_Coolant_Temperature_Circuit_Malfunction);
 	addError(OBD_Intake_Air_Temperature_Circuit_Malfunction);
 }
+#endif /* TEST_MIL_CODE */
 
 bool isMilEnabled() {
 	return CONFIGB(malfunctionIndicatorPin) != GPIO_UNASSIGNED;
@@ -113,10 +112,12 @@ void initMalfunctionIndicator(void) {
 	if (!isMilEnabled()) {
 		return;
 	}
-	// create static thread
+	instance.setPeriod(10);
-	chThdCreateStatic(mfiThreadStack, sizeof(mfiThreadStack), LOWPRIO, (tfunc_t)(void*) mfiThread, NULL);
+	instance.Start();
 
+#if	TEST_MIL_CODE
 	addConsoleAction("testmil", testMil);
+#endif /* TEST_MIL_CODE */
 }
 
 #endif /* EFI_MALFUNCTION_INDICATOR */

firmware/controllers/system/PeriodicController.h

@@ -98,3 +98,6 @@ public:
     	this->m_period = CH_CFG_ST_FREQUENCY / frequencyHz;
     }
 };
+
+// let's make sure period is not below specified threshold
+#define NOT_TOO_OFTEN(threshold, value) maxI(threshold, value)