mirror of https://github.com/rusefi/rusefi-1.git
270 lines
9.6 KiB
C++
270 lines
9.6 KiB
C++
/**
|
|
* @file rusefi.cpp
|
|
* @brief Initialization code and main status reporting look
|
|
*
|
|
* @date Dec 25, 2013
|
|
* @author Andrey Belomutskiy, (c) 2012-2018
|
|
*/
|
|
|
|
/**
|
|
* @mainpage
|
|
* This documentation https://rusefi.com/docs/html/
|
|
*
|
|
* For version see engine_controller.cpp getRusEfiVersion
|
|
*
|
|
* @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_timers Timers
|
|
* At the moment rusEfi is build using 5 times:
|
|
* 1) 1MHz microsecond_timer.cpp
|
|
* 2) 10KHz fast ADC callback pwmpcb_fast adc_inputs.cpp
|
|
* 3) slow ADC callback pwmpcb_slow adc_inputs.cpp
|
|
* 4) periodicFastTimer engine_controller.cpp
|
|
* 5) periodicSlowTimer engine_controller.cpp
|
|
*
|
|
*
|
|
*
|
|
* @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.
|
|
* <br>See flash_main.cpp
|
|
*
|
|
*
|
|
* @section sec_fuel_injection Fuel Injection
|
|
*
|
|
*
|
|
* @sectuion sec_misc Misc
|
|
*
|
|
* <BR>See main_trigger_callback.cpp for main trigger event handler
|
|
* <BR>See fuel_math.cpp for details on fuel amount logic
|
|
* <BR>See rpm_calculator.cpp for details on how getRpm() is calculated
|
|
*
|
|
*/
|
|
|
|
#include "global.h"
|
|
#include "trigger_structure.h"
|
|
#include "hardware.h"
|
|
#include "engine_controller.h"
|
|
#include "efi_gpio.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"
|
|
#include "custom_engine.h"
|
|
#include "engine_math.h"
|
|
|
|
#if EFI_HD44780_LCD
|
|
#include "lcd_HD44780.h"
|
|
#endif /* EFI_HD44780_LCD */
|
|
|
|
#if EFI_ENGINE_EMULATOR
|
|
#include "engine_emulator.h"
|
|
#endif /* EFI_ENGINE_EMULATOR */
|
|
|
|
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
|
|
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, TIME_MS2I(5000), (vtfunc_t) rebootNow, NULL);
|
|
unlockAnyContext();
|
|
}
|
|
|
|
void runRusEfi(void) {
|
|
efiAssertVoid(CUSTOM_RM_STACK_1, getCurrentRemainingStack() > 512, "init s");
|
|
assertEngineReference();
|
|
engine->setConfig(config);
|
|
initIntermediateLoggingBuffer();
|
|
initErrorHandling();
|
|
addConsoleAction("reboot", scheduleReboot);
|
|
|
|
#if EFI_SHAFT_POSITION_INPUT
|
|
/**
|
|
* 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 data structure keeps track of which hardware I/O pins are used by whom
|
|
*/
|
|
initPinRepository();
|
|
|
|
#if EFI_INTERNAL_FLASH
|
|
/**
|
|
* First thing is reading configuration from flash memory.
|
|
* In order to have complete flexibility configuration has to go before anything else.
|
|
*/
|
|
readConfiguration(&sharedLogger);
|
|
#endif /* EFI_INTERNAL_FLASH */
|
|
#ifndef EFI_ACTIVE_CONFIGURATION_IN_FLASH
|
|
// TODO: need to fix this place!!! should be a version of PASS_ENGINE_PARAMETER_SIGNATURE somehow
|
|
prepareVoidConfiguration(&activeConfiguration);
|
|
#endif /* EFI_ACTIVE_CONFIGURATION_IN_FLASH */
|
|
|
|
/**
|
|
* Next we should initialize serial port console, it's important to know what's going on
|
|
*/
|
|
initializeConsole(&sharedLogger);
|
|
|
|
/**
|
|
* 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);
|
|
rememberCurrentConfiguration();
|
|
|
|
#if EFI_PERF_METRICS
|
|
initTimePerfActions(&sharedLogger);
|
|
#endif
|
|
|
|
#if EFI_ENGINE_EMULATOR
|
|
initEngineEmulator(&sharedLogger PASS_ENGINE_PARAMETER_SIGNATURE);
|
|
#endif
|
|
startStatusThreads();
|
|
|
|
runSchedulingPrecisionTestIfNeeded();
|
|
|
|
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(CUSTOM_RM_STACK, getCurrentRemainingStack() > 128, "stack#1");
|
|
|
|
#if EFI_CLI_SUPPORT && !EFI_UART_ECHO_TEST_MODE
|
|
// sensor state + all pending messages for our own rusEfi console
|
|
updateDevConsoleState();
|
|
#endif /* EFI_CLI_SUPPORT */
|
|
|
|
chThdSleepMilliseconds(CONFIGB(consoleLoopPeriodMs));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* 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)
|
|
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__);
|
|
}
|
|
|
|
|