Mostly working scheduler

kartduino.ino

@@ -51,6 +51,7 @@ struct table fuelTable;
 unsigned long injectTime[engineCylinders]; //The system time in uS that each injector needs to next fire at
 boolean intjectorNeedsFire[engineCylinders]; //Whether each injector needs to fire or not
 
+unsigned long counter;
 
 void setup() {
   
@@ -80,12 +81,12 @@ void setup() {
   
   dummyFuelTable(&fuelTable);
   initialiseScheduler();
-  
+  counter = 0;
 }
 
 void loop() 
   {
-    delay(2500);
+    //delay(2500);
     //Always check for sync
     //Main loop runs within this clause
     if (hasSync)
@@ -108,18 +109,22 @@ void loop()
       int pulseWidth = PW(req_fuel, VE, MAP, 100, engineInjectorDeadTime); //The 100 here is just a placeholder for any enrichment factors (Cold start, acceleration etc). To add 10% extra fuel, this would be 110
       
       //Serial.println(VE);
-      Serial.print("VE: ");
-      Serial.println(VE);
+      //Serial.print("VE: ");
+      //Serial.println(VE);
       
-      Serial.print("Injector pulsewidth: ");
-      Serial.println(pulseWidth);
+      //Serial.print("Injector pulsewidth: ");
+      //Serial.println(pulseWidth);
       //Serial.println(req_fuel * (float)(VE/100.0) * (float)(MAP/100.0) * (float)(100/100.0) + engineInjectorDeadTime);
       //Serial.println( (float)(req_fuel * (float)(VE/100)) );
       //Serial.println( (float)(VE/100.0));
-      
+      //920 out
+      if (counter > 100000) {
       Serial.print("Calling schedule at: ");
       Serial.println(micros());
-      setSchedule1(openInjector2, 1000);
+      setSchedule1(openInjector2, 1000000);
+      counter = 0;
+      }
+      counter++;
     
     }
     else
@@ -129,7 +134,7 @@ void loop()
     //Serial.println(toothLastToothTime);
     //Serial.println(toothLastMinusOneToothTime);
     //Serial.println(rpm);
-    delay(100);
+    //delay(100);
 
   }
   

scheduler.h

@@ -14,8 +14,13 @@ This differs from most other schedulers in that its calls are non-recurring (IE
 Each timer can have only 1 callback associated with it at any given time. If you call the setCallback function a 2nd time, the original schedule will be overwritten and not occur
 
 Timer identification
-The Adrduino timer2 is used for schedule 1
-The Arduino timer3 is used for schedule 2
+The Arduino timer3 is used for schedule 1
+The Arduino timer4 is used for schedule 2
+Both of these are 16-bit timers (ie count to 65536)
+See page 136 of the processors datasheet: http://www.atmel.com/Images/doc2549.pdf
+
+256 prescale gives tick every 16uS
+256 prescale gives overflow every 1048576uS (This means maximum wait time is 1.0485 seconds)
 
 */
 
@@ -40,6 +45,7 @@ void initialiseScheduler()
     TIMSK3 = 0x01;          //Timer2 INT Reg: Timer2 Overflow Interrupt Enable
     TCCR3A = 0x00;          //Timer2 Control Reg A: Wave Gen Mode normal
     TCCR3B = (1 << CS12);   //Timer2 Control Reg B: Timer Prescaler set to 256. Refer to http://www.instructables.com/files/orig/F3T/TIKL/H3WSA4V7/F3TTIKLH3WSA4V7.jpg
+    //TCCR3B = (1 << CS11) | (1 << CS10);   //Timer2 Control Reg B: Timer Prescaler set to 64
    
     
   }
@@ -54,9 +60,9 @@ void setSchedule1(void (*callback)(), unsigned long timeout)
   {
     //We need to calculate the value to reset the timer to (preload) in order to achieve the desired overflow time
     //As the timer is ticking every 16uS (Time per Tick = (Prescale)*(1/Frequency)) 
-    ///TCNT2 = ((255 - (timeout>>4)) * 256) / clockspeed;
-    //TCNT2 = (timeout / 8192);
-    TCNT3 = 1;
+    //TODO: Need to add check for timeout > 1048576 ????
+    TCNT3 = 65536 - (timeout / 16); //Each tick occurs every 16uS with a 256 prescaler so divide the timeout by 16 to get ther required number of ticks. Subtract this from the total number of tick (65536 for 16-bit timer)
+    //TCNT3 = 0;
     schedule1Callback = callback; //Name the callback function
     schedule1Active = 1; //Turn this schedule on
   }