/**
* @file rusefi.cpp
* @brief Initialization code and main status reporting look
*
* @date Dec 25, 2013
* @author Andrey Belomutskiy, (c) 2012-2018
*/
/**
* @mainpage
*
* @section sec_into
*
* rusEfi is implemented based on the idea that with modern 100+ MHz microprocessors the relatively
* undemanding task of internal combustion engine control could be implemented in a high-level, processor-independent
* (to some extent) manner. Thus the key concepts of rusEfi: dependency on high-level hardware abstraction layer, software-based PWM etc.
*
* @section sec_main Brief overview
*
* rusEfi runs on crank shaft or cam shaft ('trigger') position sensor events.
* Once per crank shaft revolution we evaluate the amount of needed fuel and
* the spark timing. Once we have decided on the parameters for this revolution
* we schedule all the actions to be triggered by the closest trigger event.
*
* We also have some utility threads like idle control thread and communication threads.
*
*
*
* @section sec_trigger Trigger Decoding
*
* Our primary trigger decoder is based on the idea of synchronizing the primary shaft signal and simply counting events on
* the secondary signal. A typical scenario would be when cam shaft positions sensor is the primary signal and crankshaft is secondary,
* but sometimes there would be two signals generated by two cam shaft sensors.
* Another scenario is when we only have crank shaft position sensor, this would make it the primary signal and there would be no secondary signal.
*
* There is no software filtering so the signals are expected to be valid. TODO: in reality we are still catching engine stop noise as unrealisticly high RPM.
*
* The decoder is configured to act either on the primary signal rise or on the primary signal fall. It then compares the duration
* of time from the previous signal to the duration of time from the signal before previous, and if the ratio falls into the configurable
* range between 'syncRatioFrom' and 'syncRatioTo' this is assumed to be the synchronizing event.
*
* For instance, for a 36/1 skipped tooth wheel the ratio range for synchronization is from 1.5 to 3
*
* Some triggers do not require synchronization, this case we just count signals.
* A single tooth primary signal would be a typical example when synchronization is not needed.
*
*
*
*
*
* @section sec_scheduler Event Scheduler
*
* It is a general agreement to measure all angles in crank shaft angles. In a four stroke
* engine, a full cycle consists of two revolutions of the crank shaft, so all the angles are
* running between 0 and 720 degrees.
*
* Ignition timing is a great example of a process which highlights the need of a hybrid
* approach to event scheduling.
* The most important part of controlling ignition
* is firing up the spark at the right moment - so, for this job we need 'angle-based' timing,
* for example we would need to fire up the spark at 700 degrees. Before we can fire up the spark
* at 700 degrees, we need to charge the ignition coil, for example this dwell time is 4ms - that
* means we need to turn on the coil at '4 ms before 700 degrees'. Let's assume that the engine is
* current at 600 RPM - that means 360 degrees would take 100ms so 4ms is 14.4 degrees at current RPM which
* means we need to start charting the coil at 685.6 degrees.
*
* The position sensors at our disposal are not providing us the current position at any moment of time -
* all we've got is a set of events which are happening at the knows positions. For instance, let's assume that
* our sensor sends as an event at 0 degrees, at 90 degrees, at 600 degrees and and 690 degrees.
*
* So, for this particular sensor the most precise scheduling would be possible if we schedule coil charting
* as '85.6 degrees after the 600 degrees position sensor event', and spark firing as
* '10 degrees after the 690 position sensor event'. Considering current RPM, we calculate that '10 degress after' is
* 2.777ms, so we schedule spark firing at '2.777ms after the 690 position sensor event', thus combining trigger events
* with time-based offset.
*
* @section config Persistent Configuration
* engine_configuration_s structure is kept in the internal flash memory, it has all the settings. Currently rusefi.ini has a direct mapping of this structure.
*
* Please note that due to TunerStudio protocol it's important to have the total structure size in synch between the firmware and TS .ini file -
* just to make sure that this is not forgotten the size of the structure is hard-coded as PAGE_0_SIZE constant. There is always some 'unused' fields added in advance so that
* one can add some fields without the pain of increasing the total configuration page size.
*
See flash_main.cpp
*
*
* @section sec_fuel_injection Fuel Injection
*
*
* @sectuion sec_misc Misc
*
*
See main_trigger_callback.cpp for main trigger event handler
*
See fuel_math.cpp for details on fuel amount logic
*
See rpm_calculator.cpp for details on how getRpm() is calculated
*
*/
#include "main.h"
#include "trigger_structure.h"
#include "hardware.h"
#include "engine_controller.h"
#include "efiGpio.h"
#include "global.h"
#include "rfi_perftest.h"
#include "rusefi.h"
#include "memstreams.h"
#include "eficonsole.h"
#include "status_loop.h"
#include "pin_repository.h"
#include "flash_main.h"
#include "algo.h"
#if EFI_HD44780_LCD
#include "lcd_HD44780.h"
#endif /* EFI_HD44780_LCD */
#if EFI_ENGINE_EMULATOR || defined(__DOXYGEN__)
#include "engine_emulator.h"
#endif /* EFI_ENGINE_EMULATOR */
#if defined(EFI_BOOTLOADER_INCLUDE_CODE) || defined(__DOXYGEN__)
#include "bootloader/bootloader.h"
#endif /* EFI_BOOTLOADER_INCLUDE_CODE */
LoggingWithStorage sharedLogger("main");
bool main_loop_started = false;
static char panicMessage[200];
extern bool hasFirmwareErrorFlag;
extern fatal_msg_t errorMessageBuffer;
static virtual_timer_t resetTimer;
EXTERN_ENGINE
;
// todo: move this into a hw-specific file
static void rebootNow(void) {
NVIC_SystemReset();
}
/**
* Some configuration changes require full firmware reset.
* Once day we will write graceful shutdown, but that would be one day.
*/
static void scheduleReboot(void) {
scheduleMsg(&sharedLogger, "Rebooting in 5 seconds...");
lockAnyContext();
chVTSetI(&resetTimer, MS2ST(5000), (vtfunc_t) rebootNow, NULL);
unlockAnyContext();
}
void runRusEfi(void) {
efiAssertVoid(getRemainingStack(chThdGetSelfX()) > 512, "init s");
assertEngineReference(PASS_ENGINE_PARAMETER_SIGNATURE);
initIntermediateLoggingBuffer();
initErrorHandling();
#if EFI_SHAFT_POSITION_INPUT || defined(__DOXYGEN__)
/**
* This is so early because we want to init logger
* which would be used while finding trigger sync index
* while reading configuration
*/
initTriggerDecoderLogger(&sharedLogger);
#endif /* EFI_SHAFT_POSITION_INPUT */
/**
* we need to initialize table objects before default configuration can set values
*/
initDataStructures(PASS_ENGINE_PARAMETER_SIGNATURE);
/**
* First thing is reading configuration from flash memory.
* In order to have complete flexibility configuration has to go before anything else.
*/
readConfiguration(&sharedLogger);
prepareVoidConfiguration(&activeConfiguration);
/**
* First data structure keeps track of which hardware I/O pins are used by whom
*/
initPinRepository();
/**
* Next we should initialize serial port console, it's important to know what's going on
*/
initializeConsole(&sharedLogger);
engine->setConfig(config);
addConsoleAction("reboot", scheduleReboot);
/**
* Initialize hardware drivers
*/
initHardware(&sharedLogger);
initStatusLoop();
/**
* Now let's initialize actual engine control logic
* todo: should we initialize some? most? controllers before hardware?
*/
initEngineContoller(&sharedLogger PASS_ENGINE_PARAMETER_SIGNATURE);
#if EFI_PERF_METRICS || defined(__DOXYGEN__)
initTimePerfActions(&sharedLogger);
#endif
#if EFI_ENGINE_EMULATOR || defined(__DOXYGEN__)
initEngineEmulator(&sharedLogger, engine);
#endif
startStatusThreads();
rememberCurrentConfiguration();
print("Running main loop\r\n");
main_loop_started = true;
/**
* This loop is the closes we have to 'main loop' - but here we only publish the status. The main logic of engine
* control is around main_trigger_callback
*/
while (true) {
efiAssertVoid(getRemainingStack(chThdGetSelfX()) > 128, "stack#1");
#if (EFI_CLI_SUPPORT && !EFI_UART_ECHO_TEST_MODE) || defined(__DOXYGEN__)
// sensor state + all pending messages for our own dev console
updateDevConsoleState();
#endif /* EFI_CLI_SUPPORT */
chThdSleepMilliseconds(boardConfiguration->consoleLoopPeriod);
}
}
/**
* this depends on chcore.h patch
+void chDbgStackOverflowPanic(thread_t *otp);
+
- chSysHalt("stack overflow"); \
+ chDbgStackOverflowPanic(otp); \
*
*/
void chDbgStackOverflowPanic(thread_t *otp) {
(void)otp;
strcpy(panicMessage, "stack overflow: ");
#if defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
int p_name_len = strlen(otp->p_name);
if (p_name_len < sizeof(panicMessage) - 2)
strcat(panicMessage, otp->p_name);
#endif
chDbgPanic3(panicMessage, __FILE__, __LINE__);
}
static char UNUSED_RAM_SIZE[7000];
static char UNUSED_CCM_SIZE[14000] CCM_OPTIONAL;
/**
* See also VCS_VERSION
*/
int getRusEfiVersion(void) {
if (UNUSED_RAM_SIZE[0] != 0)
return 123; // this is here to make the compiler happy about the unused array
if (UNUSED_CCM_SIZE[0] * 0 != 0)
return 3211; // this is here to make the compiler happy about the unused array
#if defined(EFI_BOOTLOADER_INCLUDE_CODE) || defined(__DOXYGEN__)
// make bootloader code happy too
if (initBootloader() != 0)
return 123;
#endif /* EFI_BOOTLOADER_INCLUDE_CODE */
return 20180122;
}