wider usage of PeriodicController

firmware/console/status_loop.cpp

@@ -57,6 +57,7 @@
 #include "lcd_controller.h"
 #include "settings.h"
 #include "can_hw.h"
+#include "PeriodicController.h"
 #include "cdm_ion_sense.h"
 
 extern afr_Map3D_t afrMap;
@@ -539,8 +540,6 @@ static void showFuelInfo(void) {
 }
 #endif
 
-static THD_WORKING_AREA(lcdThreadStack, UTILITY_THREAD_STACK_SIZE);
-
 /**
  * blinking thread to show that we are alive
  * that's a trivial task - a smaller stack should work
@@ -651,18 +650,21 @@ static void blinkingThread(void *arg) {
 
 #endif /* EFI_PROD_CODE */
 
-static void lcdThread(void *arg) {
+class LcdController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
-	(void)arg;
+public:
-	chRegSetThreadName("lcd");
+	LcdController() : PeriodicController("BenchThread") { }
-	while (true) {
+private:
+	void PeriodicTask(efitime_t nowNt) override	{
+		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->bc.lcdThreadPeriodMs));
 		if (engineConfiguration->bc.useLcdScreen) {
 #if EFI_HD44780_LCD
 			updateHD44780lcd();
 #endif
 		}
-		chThdSleepMilliseconds(engineConfiguration->bc.lcdThreadPeriodMs);
 	}
-}
+};
+
+static LcdController lcdInstance;
 
 #if EFI_HIP_9011 || defined(__DOXYGEN__)
 extern HIP9011 instance;
@@ -977,11 +979,11 @@ void initStatusLoop(void) {
 
 void startStatusThreads(void) {
 	// todo: refactoring needed, this file should probably be split into pieces
-	chThdCreateStatic(lcdThreadStack, sizeof(lcdThreadStack), NORMALPRIO, (tfunc_t) lcdThread, NULL);
 #if EFI_PROD_CODE || defined(__DOXYGEN__)
 	initStatusLeds();
 	chThdCreateStatic(blinkingStack, sizeof(blinkingStack), NORMALPRIO, (tfunc_t) blinkingThread, NULL);
 #endif /* EFI_PROD_CODE */
+	lcdInstance.Start();
 }
 
 void setFullLog(int value) {

firmware/controllers/idle_thread.cpp

@@ -31,13 +31,12 @@
 #include "idle_thread.h"
 #include "pin_repository.h"
 #include "engine.h"
+#include "PeriodicController.h"
 #include "stepper.h"
 
 #if EFI_IDLE_CONTROL || defined(__DOXYGEN__)
 #include "allsensors.h"
 
-static THD_WORKING_AREA(ivThreadStack, UTILITY_THREAD_STACK_SIZE);
-
 static Logging *logger;
 #if EFI_TUNER_STUDIO || defined(__DOXYGEN__)
 extern TunerStudioOutputChannels tsOutputChannels;
@@ -76,7 +75,6 @@ typedef enum {
 
 idle_state_e idleState = INIT;
 
-
 /**
  * that's current position with CLT and IAT corrections
  */
@@ -266,9 +264,12 @@ static percent_t automaticIdleController() {
 	return newValue;
 }
 
-static msg_t ivThread(int param) {
+class IdleController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
-	(void) param;
+public:
-	chRegSetThreadName("IdleValve");
+	IdleController() : PeriodicController("IdleValve") { }
+private:
+	void PeriodicTask(efitime_t nowNt) override	{
+		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->idleRpmPid.periodMs));
 
 	/*
 	 * Here we have idle logic thread - actual stepper movement is implemented in a separate
@@ -276,9 +277,6 @@ static msg_t ivThread(int param) {
 	 * @see stepper.cpp
 	 */
 
-	while (true) {
-		idlePid.sleep();  // in both manual and auto mode same period is used
-
 		if (engineConfiguration->isVerboseIAC && engineConfiguration->idleMode == IM_AUTO) {
 			scheduleMsg(logger, "state %d", idleState);
 			idlePid.showPidStatus(logger, "idle");
@@ -374,17 +372,16 @@ static msg_t ivThread(int param) {
 		// The threshold is dependent on IAC type (see initIdleHardware())
 		if (absF(iacPosition - currentIdlePosition) < idlePositionSensitivityThreshold) {
 			idleState = PWM_PRETTY_CLOSE;
-			continue; // value is pretty close, let's leave the poor valve alone
+			return; // value is pretty close, let's leave the poor valve alone
 		}
 
 		currentIdlePosition = iacPosition;
 		idleState = ADJUSTING;
 		applyIACposition(currentIdlePosition);
 	}
-#if defined __GNUC__
+};
-	return -1;
+
-#endif
+static IdleController instance;
-}
 
 void setTargetIdleRpm(int value) {
 	setTargetRpmCurve(value PASS_ENGINE_PARAMETER_SUFFIX);
@@ -486,7 +483,7 @@ void startIdleThread(Logging*sharedLogger) {
 
 	//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
 
-	chThdCreateStatic(ivThreadStack, sizeof(ivThreadStack), NORMALPRIO, (tfunc_t)(void*) ivThread, NULL);
+	instance.Start();
 
 	// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
 	// this switch is not used yet

firmware/controllers/injector_central.cpp

@@ -217,7 +217,7 @@ void dizzyBench(void) {
 
 class BenchController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
 public:
-	BenchController()	: PeriodicController("BenchThread") { }
+	BenchController() : PeriodicController("BenchThread") { }
 private:
 	void PeriodicTask(efitime_t nowNt) override	{
 		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->auxPid[0].periodMs));

firmware/hw_layer/accelerometer.cpp

@@ -24,6 +24,7 @@ EXTERN_ENGINE;
 #if EFI_MEMS || defined(__DOXYGEN__)
 #include "mpu_util.h"
 #include "lis302dl.h"
+#include "PeriodicController.h"
 
 static SPIDriver *driver;
 
@@ -56,21 +57,20 @@ void configureAccelerometerPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 static THD_WORKING_AREA(ivThreadStack, UTILITY_THREAD_STACK_SIZE);
 
-static msg_t ivThread(int param) {
+class AccelController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
-	(void) param;
+public:
-	chRegSetThreadName("Acc SPI");
+	AccelController() : PeriodicController("Acc SPI") { }
-	while (true) {
+private:
+	void PeriodicTask(efitime_t nowNt) override	{
 		// has to be a thread since we want to use blocking method - blocking method only available in threads, not in interrupt handler
 		// todo: migrate to async SPI API?
 		engine->sensors.accelerometer.x = (int8_t)lis302dlReadRegister(driver, LIS302DL_OUTX);
 		engine->sensors.accelerometer.y = (int8_t)lis302dlReadRegister(driver, LIS302DL_OUTY);
 		chThdSleepMilliseconds(20);
 	}
+};
 
-#if defined __GNUC__
+static BenchController instance;
-	return -1;
-#endif
-}
 
 void initAccelerometer(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	if (engineConfiguration->LIS302DLCsPin == GPIO_UNASSIGNED)