mirror of https://github.com/rusefi/rusefi-1.git
623 lines
14 KiB
C++
623 lines
14 KiB
C++
/**
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* @file hardware.cpp
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* @brief Hardware package entry point
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*
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* @date May 27, 2013
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#include "global.h"
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#if EFI_PROD_CODE
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#include "os_access.h"
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#include "trigger_input.h"
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#include "servo.h"
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#include "adc_inputs.h"
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#include "can_hw.h"
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#include "hardware.h"
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#include "rtc_helper.h"
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#include "os_util.h"
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#include "injector_central.h"
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#include "vehicle_speed.h"
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#include "yaw_rate_sensor.h"
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#include "pin_repository.h"
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#include "max31855.h"
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#include "smart_gpio.h"
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#include "accelerometer.h"
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#include "eficonsole.h"
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#include "console_io.h"
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#include "sensor_chart.h"
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#include "mpu_util.h"
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//#include "usb_msd.h"
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#include "AdcConfiguration.h"
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#include "electronic_throttle.h"
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#include "idle_thread.h"
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#include "mcp3208.h"
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#include "hip9011.h"
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#include "histogram.h"
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#include "mmc_card.h"
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#include "neo6m.h"
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#include "lcd_HD44780.h"
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#include "settings.h"
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#include "joystick.h"
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#include "cdm_ion_sense.h"
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#include "trigger_central.h"
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#include "svnversion.h"
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#include "engine_configuration.h"
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#include "aux_pid.h"
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#include "perf_trace.h"
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#include "boost_control.h"
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#if EFI_MC33816
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#include "mc33816.h"
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#endif /* EFI_MC33816 */
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#if EFI_SPEED_DENSITY
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#include "map_averaging.h"
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#endif /* EFI_SPEED_DENSITY */
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#if EFI_INTERNAL_FLASH
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#include "flash_main.h"
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#endif /* EFI_INTERNAL_FLASH */
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EXTERN_ENGINE
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;
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extern bool hasFirmwareErrorFlag;
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static mutex_t spiMtx;
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/**
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* this depends on patch to chdebug.c
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+extern int maxNesting;
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ch.dbg.isr_cnt++;
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+ if (ch.dbg.isr_cnt > maxNesting)
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+ maxNesting = ch.dbg.isr_cnt;
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port_unlock_from_isr();
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*
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*/
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// todo: rename this to 'rusefiMaxISRNesting' one day
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int maxNesting = 0;
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#if HAL_USE_SPI
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extern bool isSpiInitialized[5];
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/**
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* #311 we want to test RTC before engine start so that we do not test it while engine is running
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*/
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bool rtcWorks = true;
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/**
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* Only one consumer can use SPI bus at a given time
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*/
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void lockSpi(spi_device_e device) {
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UNUSED(device);
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efiAssertVoid(CUSTOM_STACK_SPI, getCurrentRemainingStack() > 128, "lockSpi");
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// todo: different locks for different SPI devices!
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chMtxLock(&spiMtx);
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}
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void unlockSpi(void) {
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chMtxUnlock(&spiMtx);
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}
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static void initSpiModules(engine_configuration_s *engineConfiguration) {
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UNUSED(engineConfiguration);
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if (CONFIG(is_enabled_spi_1)) {
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turnOnSpi(SPI_DEVICE_1);
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}
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if (CONFIG(is_enabled_spi_2)) {
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turnOnSpi(SPI_DEVICE_2);
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}
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if (CONFIG(is_enabled_spi_3)) {
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turnOnSpi(SPI_DEVICE_3);
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}
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if (CONFIG(is_enabled_spi_4)) {
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turnOnSpi(SPI_DEVICE_4);
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}
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}
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/**
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* @return NULL if SPI device not specified
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*/
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SPIDriver * getSpiDevice(spi_device_e spiDevice) {
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if (spiDevice == SPI_NONE) {
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return NULL;
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}
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#if STM32_SPI_USE_SPI1
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if (spiDevice == SPI_DEVICE_1) {
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return &SPID1;
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}
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#endif
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#if STM32_SPI_USE_SPI2
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if (spiDevice == SPI_DEVICE_2) {
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return &SPID2;
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}
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#endif
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#if STM32_SPI_USE_SPI3
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if (spiDevice == SPI_DEVICE_3) {
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return &SPID3;
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}
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#endif
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#if STM32_SPI_USE_SPI4
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if (spiDevice == SPI_DEVICE_4) {
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return &SPID4;
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}
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#endif
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firmwareError(CUSTOM_ERR_UNEXPECTED_SPI, "Unexpected SPI device: %d", spiDevice);
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return NULL;
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}
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#endif
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#if HAL_USE_I2C
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#if defined(STM32F7XX)
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// values calculated with STM32CubeMX tool, 100kHz I2C clock for Nucleo-767 @168 MHz, PCK1=42MHz
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#define HAL_I2C_F7_100_TIMINGR 0x00A0A3F7
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static I2CConfig i2cfg = { HAL_I2C_F7_100_TIMINGR, 0, 0 }; // todo: does it work?
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#else /* defined(STM32F4XX) */
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static I2CConfig i2cfg = { OPMODE_I2C, 100000, STD_DUTY_CYCLE, };
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#endif /* defined(STM32F4XX) */
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void initI2Cmodule(void) {
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print("Starting I2C module\r\n");
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i2cInit();
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i2cStart(&I2CD1, &i2cfg);
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efiSetPadMode("I2C clock", EFI_I2C_SCL_BRAIN_PIN, PAL_MODE_ALTERNATE(EFI_I2C_AF) | PAL_STM32_OTYPE_OPENDRAIN);
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efiSetPadMode("I2C data", EFI_I2C_SDA_BRAIN_PIN, PAL_MODE_ALTERNATE(EFI_I2C_AF) | PAL_STM32_OTYPE_OPENDRAIN);
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}
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//static char txbuf[1];
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static void sendI2Cbyte(int addr, int data) {
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(void)addr;
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(void)data;
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// i2cAcquireBus(&I2CD1);
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// txbuf[0] = data;
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// i2cMasterTransmit(&I2CD1, addr, txbuf, 1, NULL, 0);
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// i2cReleaseBus(&I2CD1);
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}
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#endif
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static Logging *sharedLogger;
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#if EFI_PROD_CODE
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#define TPS_IS_SLOW -1
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static int fastMapSampleIndex;
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static int hipSampleIndex;
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static int tpsSampleIndex;
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#if HAL_USE_ADC
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extern AdcDevice fastAdc;
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/**
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* This method is not in the adc* lower-level file because it is more business logic then hardware.
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*/
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void adc_callback_fast(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
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(void) buffer;
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(void) n;
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ScopePerf perf(PE::AdcCallbackFast);
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/**
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* Note, only in the ADC_COMPLETE state because the ADC driver fires an
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* intermediate callback when the buffer is half full.
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* */
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if (adcp->state == ADC_COMPLETE) {
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ScopePerf perf(PE::AdcCallbackFastComplete);
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fastAdc.invalidateSamplesCache();
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/**
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* this callback is executed 10 000 times a second, it needs to be as fast as possible
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*/
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efiAssertVoid(CUSTOM_ERR_6676, getCurrentRemainingStack() > 128, "lowstck#9b");
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#if EFI_SENSOR_CHART
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if (ENGINE(sensorChartMode) == SC_AUX_FAST1) {
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float voltage = getAdcValue("fAux1", engineConfiguration->auxFastSensor1_adcChannel);
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scAddData(getCrankshaftAngleNt(getTimeNowNt() PASS_ENGINE_PARAMETER_SUFFIX), voltage);
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}
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#endif /* EFI_SENSOR_CHART */
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#if EFI_MAP_AVERAGING
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mapAveragingAdcCallback(fastAdc.samples[fastMapSampleIndex]);
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#endif /* EFI_MAP_AVERAGING */
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#if EFI_HIP_9011
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if (CONFIG(isHip9011Enabled)) {
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hipAdcCallback(fastAdc.samples[hipSampleIndex]);
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}
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#endif /* EFI_HIP_9011 */
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// if (tpsSampleIndex != TPS_IS_SLOW) {
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// tpsFastAdc = fastAdc.samples[tpsSampleIndex];
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// }
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}
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}
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#endif /* HAL_USE_ADC */
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static void calcFastAdcIndexes(void) {
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#if HAL_USE_ADC
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fastMapSampleIndex = fastAdc.internalAdcIndexByHardwareIndex[engineConfiguration->map.sensor.hwChannel];
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hipSampleIndex =
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engineConfiguration->hipOutputChannel == EFI_ADC_NONE ?
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-1 : fastAdc.internalAdcIndexByHardwareIndex[engineConfiguration->hipOutputChannel];
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if (engineConfiguration->tps1_1AdcChannel != EFI_ADC_NONE) {
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tpsSampleIndex = fastAdc.internalAdcIndexByHardwareIndex[engineConfiguration->tps1_1AdcChannel];
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} else {
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tpsSampleIndex = TPS_IS_SLOW;
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}
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#endif/* HAL_USE_ADC */
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}
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static void adcConfigListener(Engine *engine) {
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UNUSED(engine);
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// todo: something is not right here - looks like should be a callback for each configuration change?
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calcFastAdcIndexes();
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}
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void turnOnHardware(Logging *sharedLogger) {
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#if EFI_SHAFT_POSITION_INPUT
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turnOnTriggerInputPins(sharedLogger);
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#endif /* EFI_SHAFT_POSITION_INPUT */
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}
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void stopSpi(spi_device_e device) {
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#if HAL_USE_SPI
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if (!isSpiInitialized[device])
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return; // not turned on
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isSpiInitialized[device] = false;
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brain_pin_markUnused(getSckPin(device));
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brain_pin_markUnused(getMisoPin(device));
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brain_pin_markUnused(getMosiPin(device));
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#endif /* HAL_USE_SPI */
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}
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/**
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* this method is NOT currently invoked on ECU start
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* todo: maybe start invoking this method on ECU start so that peripheral start-up initialization and restart are unified?
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*/
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void applyNewHardwareSettings(void) {
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// all 'stop' methods need to go before we begin starting pins
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#if EFI_SHAFT_POSITION_INPUT
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stopTriggerInputPins();
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#endif /* EFI_SHAFT_POSITION_INPUT */
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#if (HAL_USE_PAL && EFI_JOYSTICK)
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stopJoystickPins();
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#endif /* HAL_USE_PAL && EFI_JOYSTICK */
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enginePins.stopInjectionPins();
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enginePins.stopIgnitionPins();
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#if EFI_CAN_SUPPORT
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stopCanPins();
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#endif /* EFI_CAN_SUPPORT */
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#if EFI_HIP_9011
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stopHip9001_pins();
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#endif /* EFI_HIP_9011 */
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#if EFI_IDLE_CONTROL
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bool isIdleRestartNeeded = isIdleHardwareRestartNeeded();
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if (isIdleRestartNeeded) {
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stopIdleHardware();
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}
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#endif
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#if EFI_ELECTRONIC_THROTTLE_BODY
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bool etbRestartNeeded = isETBRestartNeeded();
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if (etbRestartNeeded) {
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stopETBPins();
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}
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#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
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#if (BOARD_TLE6240_COUNT > 0)
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stopSmartCsPins();
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#endif /* (BOARD_MC33972_COUNT > 0) */
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#if EFI_VEHICLE_SPEED
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stopVSSPins();
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#endif /* EFI_VEHICLE_SPEED */
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#if EFI_AUX_PID
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stopAuxPins();
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#endif /* EFI_AUX_PID */
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if (isConfigurationChanged(is_enabled_spi_1))
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stopSpi(SPI_DEVICE_1);
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if (isConfigurationChanged(is_enabled_spi_2))
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stopSpi(SPI_DEVICE_2);
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if (isConfigurationChanged(is_enabled_spi_3))
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stopSpi(SPI_DEVICE_3);
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if (isConfigurationChanged(is_enabled_spi_4))
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stopSpi(SPI_DEVICE_4);
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#if EFI_HD44780_LCD
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stopHD44780_pins();
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#endif /* #if EFI_HD44780_LCD */
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#if EFI_BOOST_CONTROL
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stopBoostPin();
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#endif
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if (isPinOrModeChanged(clutchUpPin, clutchUpPinMode))
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brain_pin_markUnused(activeConfiguration.clutchUpPin);
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enginePins.unregisterPins();
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#if EFI_SHAFT_POSITION_INPUT
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startTriggerInputPins();
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#endif /* EFI_SHAFT_POSITION_INPUT */
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#if (HAL_USE_PAL && EFI_JOYSTICK)
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startJoystickPins();
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#endif /* HAL_USE_PAL && EFI_JOYSTICK */
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#if EFI_HD44780_LCD
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startHD44780_pins();
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#endif /* #if EFI_HD44780_LCD */
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enginePins.startInjectionPins();
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enginePins.startIgnitionPins();
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#if EFI_CAN_SUPPORT
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startCanPins();
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#endif /* EFI_CAN_SUPPORT */
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#if EFI_HIP_9011
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startHip9001_pins();
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#endif /* EFI_HIP_9011 */
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#if EFI_IDLE_CONTROL
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if (isIdleRestartNeeded) {
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initIdleHardware();
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}
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#endif
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#if EFI_ELECTRONIC_THROTTLE_BODY
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if (etbRestartNeeded) {
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startETBPins(PASS_ENGINE_PARAMETER_SIGNATURE);
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}
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#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
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#if EFI_VEHICLE_SPEED
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startVSSPins();
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#endif /* EFI_VEHICLE_SPEED */
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#if EFI_BOOST_CONTROL
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startBoostPin();
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#endif
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#if EFI_AUX_PID
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startAuxPins();
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#endif /* EFI_AUX_PID */
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adcConfigListener(engine);
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}
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void setBor(int borValue) {
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scheduleMsg(sharedLogger, "setting BOR to %d", borValue);
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BOR_Set((BOR_Level_t)borValue);
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showBor();
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}
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void showBor(void) {
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scheduleMsg(sharedLogger, "BOR=%d", (int)BOR_Get());
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}
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void initHardware(Logging *l) {
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efiAssertVoid(CUSTOM_IH_STACK, getCurrentRemainingStack() > EXPECTED_REMAINING_STACK, "init h");
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sharedLogger = l;
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engine_configuration_s *engineConfiguration = engine->engineConfigurationPtr;
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efiAssertVoid(CUSTOM_EC_NULL, engineConfiguration!=NULL, "engineConfiguration");
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printMsg(sharedLogger, "initHardware()");
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// todo: enable protection. it's disabled because it takes
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// 10 extra seconds to re-flash the chip
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//flashProtect();
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chMtxObjectInit(&spiMtx);
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#if EFI_HISTOGRAMS
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/**
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* histograms is a data structure for CPU monitor, it does not depend on configuration
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*/
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initHistogramsModule();
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#endif /* EFI_HISTOGRAMS */
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/**
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* We need the LED_ERROR pin even before we read configuration
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*/
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initPrimaryPins(sharedLogger);
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if (hasFirmwareError()) {
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return;
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}
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#if EFI_INTERNAL_FLASH
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#ifdef CONFIG_RESET_SWITCH_PORT
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palSetPadMode(CONFIG_RESET_SWITCH_PORT, CONFIG_RESET_SWITCH_PIN, PAL_MODE_INPUT_PULLUP);
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#endif /* CONFIG_RESET_SWITCH_PORT */
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initFlash(sharedLogger);
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/**
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* this call reads configuration from flash memory or sets default configuration
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* if flash state does not look right.
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*
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* interesting fact that we have another read from flash before we get here
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*/
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if (SHOULD_INGORE_FLASH()) {
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engineConfiguration->engineType = DEFAULT_ENGINE_TYPE;
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resetConfigurationExt(sharedLogger, engineConfiguration->engineType PASS_ENGINE_PARAMETER_SUFFIX);
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writeToFlashNow();
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} else {
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readFromFlash();
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}
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#else
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engineConfiguration->engineType = DEFAULT_ENGINE_TYPE;
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resetConfigurationExt(sharedLogger, engineConfiguration->engineType PASS_ENGINE_PARAMETER_SUFFIX);
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#endif /* EFI_INTERNAL_FLASH */
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// it's important to initialize this pretty early in the game before any scheduling usages
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initSingleTimerExecutorHardware();
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#if EFI_HD44780_LCD
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// initI2Cmodule();
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lcd_HD44780_init(sharedLogger);
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if (hasFirmwareError())
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return;
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lcd_HD44780_print_string(VCS_VERSION);
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#endif /* EFI_HD44780_LCD */
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if (hasFirmwareError()) {
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return;
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}
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#if EFI_SHAFT_POSITION_INPUT
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initTriggerDecoder(PASS_ENGINE_PARAMETER_SIGNATURE);
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#endif
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#if HAL_USE_ADC
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initAdcInputs();
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// wait for first set of ADC values so that we do not produce invalid sensor data
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waitForSlowAdc(1);
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#endif /* HAL_USE_ADC */
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initRtc();
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#if HAL_USE_SPI
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initSpiModules(engineConfiguration);
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#endif /* HAL_USE_SPI */
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// initSmartGpio depends on 'initSpiModules'
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initSmartGpio(PASS_ENGINE_PARAMETER_SIGNATURE);
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// output pins potentially depend on 'initSmartGpio'
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initOutputPins(PASS_ENGINE_PARAMETER_SIGNATURE);
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#if EFI_MC33816
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initMc33816();
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#endif /* EFI_MC33816 */
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#if EFI_MAX_31855
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initMax31855(sharedLogger, CONFIG(max31855spiDevice), CONFIG(max31855_cs));
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#endif /* EFI_MAX_31855 */
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#if EFI_CAN_SUPPORT
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initCan();
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#endif /* EFI_CAN_SUPPORT */
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// init_adc_mcp3208(&adcState, &SPID2);
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// requestAdcValue(&adcState, 0);
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#if EFI_SHAFT_POSITION_INPUT
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// todo: figure out better startup logic
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initTriggerCentral(sharedLogger);
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#endif /* EFI_SHAFT_POSITION_INPUT */
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turnOnHardware(sharedLogger);
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#if EFI_HIP_9011
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initHip9011(sharedLogger);
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#endif /* EFI_HIP_9011 */
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#if EFI_FILE_LOGGING
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initMmcCard();
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#endif /* EFI_FILE_LOGGING */
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#if EFI_MEMS
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initAccelerometer(PASS_ENGINE_PARAMETER_SIGNATURE);
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#endif
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// initFixedLeds();
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#if EFI_BOSCH_YAW
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initBoschYawRateSensor();
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#endif /* EFI_BOSCH_YAW */
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// initBooleanInputs();
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#if EFI_UART_GPS
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initGps();
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#endif
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#if EFI_SERVO
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initServo();
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#endif
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#if ADC_SNIFFER
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initAdcDriver();
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#endif
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#if HAL_USE_I2C
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addConsoleActionII("i2c", sendI2Cbyte);
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#endif
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// USBMassStorageDriver UMSD1;
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// while (true) {
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// for (int addr = 0x20; addr < 0x28; addr++) {
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// sendI2Cbyte(addr, 0);
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// int err = i2cGetErrors(&I2CD1);
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// print("I2C: err=%x from %d\r\n", err, addr);
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// chThdSleepMilliseconds(5);
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// sendI2Cbyte(addr, 255);
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// chThdSleepMilliseconds(5);
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// }
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// }
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#if EFI_VEHICLE_SPEED
|
|
initVehicleSpeed(sharedLogger);
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#endif
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#if EFI_CDM_INTEGRATION
|
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cdmIonInit();
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#endif
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#if (HAL_USE_PAL && EFI_JOYSTICK)
|
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initJoystick(sharedLogger);
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#endif /* HAL_USE_PAL && EFI_JOYSTICK */
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|
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calcFastAdcIndexes();
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|
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printMsg(sharedLogger, "initHardware() OK!");
|
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}
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|
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#endif /* EFI_PROD_CODE */
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|
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#endif /* EFI_PROD_CODE || EFI_SIMULATOR */
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|
|
#if HAL_USE_SPI
|
|
// this is F4 implementation but we will keep it here for now for simplicity
|
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int getSpiPrescaler(spi_speed_e speed, spi_device_e device) {
|
|
switch (speed) {
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case _5MHz:
|
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return device == SPI_DEVICE_1 ? SPI_BaudRatePrescaler_16 : SPI_BaudRatePrescaler_8;
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case _2_5MHz:
|
|
return device == SPI_DEVICE_1 ? SPI_BaudRatePrescaler_32 : SPI_BaudRatePrescaler_16;
|
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case _1_25MHz:
|
|
return device == SPI_DEVICE_1 ? SPI_BaudRatePrescaler_64 : SPI_BaudRatePrescaler_32;
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|
|
case _150KHz:
|
|
// SPI1 does not support 150KHz, it would be 300KHz for SPI1
|
|
return SPI_BaudRatePrescaler_256;
|
|
default:
|
|
// unexpected
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
#endif /* HAL_USE_SPI */
|