auto-sync

firmware/controllers/system/SingleTimerExecutor.cpp

@@ -43,26 +43,31 @@ void Executor::unlock(void) {
 	unlockAnyContext();
 }
 
-void Executor::schedule(const char *prefix, scheduling_s *scheduling, uint64_t nowUs, int delayUs, schfunc_t callback, void *param) {
-	if (delayUs < 0) {
-		firmwareError("Negative delayUs %s: %d", prefix, delayUs);
-		return;
-	}
-	if (delayUs == 0) {
-		callback(param);
-		return;
-	}
+void Executor::schedule2(const char *prefix, scheduling_s *scheduling, uint64_t timeUs, schfunc_t callback, void *param) {
+//	if (delayUs < 0) {
+//		firmwareError("Negative delayUs %s: %d", prefix, delayUs);
+//		return;
+//	}
+//	if (delayUs == 0) {
+//		callback(param);
+//		return;
+//	}
 	if (!reentrantLock) {
 		// this would guard the queue and disable interrupts
 		lock();
 	}
-	queue.insertTask(scheduling, nowUs + delayUs, callback, param);
+	queue.insertTask(scheduling, timeUs, callback, param);
 	if (!reentrantLock) {
-		doExecute(nowUs);
+		doExecute(getTimeNowUs());
 		unlock();
 	}
 }
 
+
+void Executor::schedule(const char *prefix, scheduling_s *scheduling, uint64_t nowUs, int delayUs, schfunc_t callback, void *param) {
+	schedule2(prefix, scheduling, nowUs + delayUs, callback, param);
+}
+
 void Executor::execute(uint64_t nowUs) {
 	lock();
 	doExecute(nowUs);
@@ -108,6 +113,11 @@ void scheduleTask(const char *prefix, scheduling_s *scheduling, int delayUs, sch
 	instance.schedule(prefix, scheduling, getTimeNowUs(), delayUs, callback, param);
 }
 
+void scheduleTask2(const char *prefix, scheduling_s *scheduling, uint64_t time, schfunc_t callback, void *param) {
+	instance.schedule2(prefix, scheduling, time, callback, param);
+}
+
+
 void initSignalExecutorImpl(void) {
 	globalTimerCallback = executorCallback;
 #if EFI_PROD_CODE

firmware/controllers/system/SingleTimerExecutor.h

@@ -15,6 +15,7 @@ class Executor {
 public:
 	Executor();
 	void schedule(const char *prefix, scheduling_s *scheduling, uint64_t nowUs, int delayUs, schfunc_t callback, void *param);
+	void schedule2(const char *prefix, scheduling_s *scheduling, uint64_t timeUs, schfunc_t callback, void *param);
 	void execute(uint64_t nowUs);
 private:
 	EventQueue queue;

firmware/controllers/system/pwm_generator_logic.cpp

@@ -114,34 +114,34 @@ static uint64_t togglePwmState(PwmConfig *state) {
 	scheduleMsg(&logger, "%s: nextSwitchTime %d", state->name, nextSwitchTime);
 #endif
 	// signed value is needed here
-	int64_t timeToSwitch = nextSwitchTimeUs - getTimeNowUs();
-	if (timeToSwitch < 1) {
-		/**
-		 * We are here if we are late for a state transition.
-		 * At 12000RPM=200Hz with a 60 toothed wheel we need to change state every
-		 * 1000000 / 200 / 120 = ~41 uS. We are kind of OK.
-		 *
-		 * We are also here after a flash write. Flash write freezes the whole chip for a couple of seconds,
-		 * so PWM generation and trigger simulation generation would have to recover from this time lag.
-		 */
-		//todo: introduce error and test this error handling		warning(OBD_PCM_Processor_Fault, "PWM: negative switch time");
-		timeToSwitch = 10;
-	}
+//	int64_t timeToSwitch = nextSwitchTimeUs - getTimeNowUs();
+//	if (timeToSwitch < 1) {
+//		/**
+//		 * We are here if we are late for a state transition.
+//		 * At 12000RPM=200Hz with a 60 toothed wheel we need to change state every
+//		 * 1000000 / 200 / 120 = ~41 uS. We are kind of OK.
+//		 *
+//		 * We are also here after a flash write. Flash write freezes the whole chip for a couple of seconds,
+//		 * so PWM generation and trigger simulation generation would have to recover from this time lag.
+//		 */
+//		//todo: introduce error and test this error handling		warning(OBD_PCM_Processor_Fault, "PWM: negative switch time");
+//		timeToSwitch = 10;
+//	}
 
 	state->safe.phaseIndex++;
 	if (state->safe.phaseIndex == state->phaseCount) {
 		state->safe.phaseIndex = 0; // restart
 		state->safe.iteration++;
 	}
-	return timeToSwitch;
+	return nextSwitchTimeUs;
 }
 
 /**
  * Main PWM loop: toggle pin & schedule next invocation
  */
 static void timerCallback(PwmConfig *state) {
-	time_t timeToSleepUs = togglePwmState(state);
-	scheduleTask("pwm", &state->scheduling, timeToSleepUs, (schfunc_t) timerCallback, state);
+	uint64_t switchTimeUs = togglePwmState(state);
+	scheduleTask2("pwm", &state->scheduling, switchTimeUs, (schfunc_t) timerCallback, state);
 }
 
 /**

firmware/controllers/system/scheduler.h

@@ -30,6 +30,7 @@ extern "C"
 #endif /* __cplusplus */
 
 void scheduleTask(const char *prefix, scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param);
+void scheduleTask2(const char *prefix, scheduling_s *scheduling, uint64_t time, schfunc_t callback, void *param);
 
 #ifdef __cplusplus
 }