Exergie/NeoECU-Firmware
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Implemented "full" ignition timing system

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This is a first implementation of a "full" timing system, with proper
handling for cases wher the ignition charge time overlaps with the
compression pulse, the spark has a more complex state machine system
with the option to defer charge from the intake pulse to the compression
pulse, and further defferal of the spark release schedule to the ISR
that triggers when the output compare triggers for the charge

Preliminary error counters have been put in place, they still require
handling error conditions that would force a soft shutdown on the
ignition IC. Alongside this the code still needs to be verified so that
all non critical errors (ie missed charge schedules) reset the state
machine and increment a global spark miss counter to avoid having these
errors breaking the state machine as they can easily be recovered from

Cases where the coil would already be charging and an error occurs
require as stated above a full recovery procedure with soft shutdown of
the ignition IC and a clean cycle of the state machine to ensure a full
recovery
This commit is contained in:
h3cx committed 2026-09-26 22:11:51 +02:00
1 parent 0ea7b83bea
commit 7502b354dc
15 files changed
+444 -195
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STM32/CM7/Core/Src/main.c
+123 -108
View File
@@ -16,6 +16,7 @@
#include "ring_buffer.h"
#include "stm32h7xx_hal_tim.h"
#include "tasks.h"
#include "timer_utils.h"
#include <assert.h>
#include <stdbool.h>
#ifdef DEBUG
@@ -58,33 +59,33 @@ TIM_HandleTypeDef htim2;
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
.name = "defaultTask",
.stack_size = 128 * 4,
.priority = (osPriority_t)osPriorityNormal,
};
/* Definitions for crankTask */
osThreadId_t crankTaskHandle;
uint32_t crankTaskBuffer[ 128 ];
uint32_t crankTaskBuffer[128];
osStaticThreadDef_t crankTaskControlBlock;
const osThreadAttr_t crankTask_attributes = {
.name = "crankTask",
.cb_mem = &crankTaskControlBlock,
.cb_size = sizeof(crankTaskControlBlock),
.stack_mem = &crankTaskBuffer[0],
.stack_size = sizeof(crankTaskBuffer),
.priority = (osPriority_t) osPriorityRealtime7,
.name = "crankTask",
.cb_mem = &crankTaskControlBlock,
.cb_size = sizeof(crankTaskControlBlock),
.stack_mem = &crankTaskBuffer[0],
.stack_size = sizeof(crankTaskBuffer),
.priority = (osPriority_t)osPriorityRealtime7,
};
/* Definitions for camTask */
osThreadId_t camTaskHandle;
uint32_t camTaskBuffer[ 128 ];
uint32_t camTaskBuffer[128];
osStaticThreadDef_t camTaskControlBlock;
const osThreadAttr_t camTask_attributes = {
.name = "camTask",
.cb_mem = &camTaskControlBlock,
.cb_size = sizeof(camTaskControlBlock),
.stack_mem = &camTaskBuffer[0],
.stack_size = sizeof(camTaskBuffer),
.priority = (osPriority_t) osPriorityRealtime7,
.name = "camTask",
.cb_mem = &camTaskControlBlock,
.cb_size = sizeof(camTaskControlBlock),
.stack_mem = &camTaskBuffer[0],
.stack_size = sizeof(camTaskBuffer),
.priority = (osPriority_t)osPriorityRealtime7,
};
/* USER CODE BEGIN PV */
volatile global_state_t state_g = {0};
@@ -108,18 +109,22 @@ extern void camHandler(void *argument);
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM2 && htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3) {
if (state_g.next_spark_state == SPARK_IDLE &&
state_g.current_spark_state == SPARK_CHARGING) {
DEBUG_LOG("Releasing spark");
} else if (state_g.next_spark_state == SPARK_CHARGING &&
state_g.current_spark_state == SPARK_IDLE) {
DEBUG_LOG("Charging spark");
osThreadFlagsSet(crankTaskHandle, 0x02);
}
if (state_g.next_spark_state != SPARK_NONE) {
state_g.current_spark_state = state_g.next_spark_state;
state_g.next_spark_state = SPARK_NONE;
if (state_g.current_spark_state == SPARK_PENDING_CHARGE) {
state_g.current_spark_state = SPARK_CHARGING;
if (state_g.spark_defer) {
if (timer_safe_to_arm(state_g.t_defer_spark, &htim2)) {
TIM2_CH3_SetOCMode(TIM2_CH3_OC_INACTIVE);
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, state_g.t_defer_spark);
state_g.spark_defer = false;
state_g.current_spark_state = SPARK_PENDING_RELEASE;
} else {
// TODO: Implement SSD on ignition IC if charging and complete
// recovery
state_g.spark_errors.isr_release_error_ctr++;
}
}
} else if (state_g.current_spark_state == SPARK_PENDING_RELEASE) {
state_g.current_spark_state = SPARK_IDLE;
}
}
}
@@ -148,11 +153,10 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
* @brief The application entry point.
* @retval int
*/
int main(void) {
/* USER CODE BEGIN 1 */
@@ -161,7 +165,7 @@ int main(void)
#if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE)
int32_t timeout;
#endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
/* USER CODE END Boot_Mode_Sequence_0 */
/* USER CODE END Boot_Mode_Sequence_0 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
@@ -176,10 +180,11 @@ int main(void)
Error_Handler();
}
#endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
/* USER CODE END Boot_Mode_Sequence_1 */
/* USER CODE END Boot_Mode_Sequence_1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
/* Reset of all peripherals, Initializes the Flash interface and the Systick.
*/
HAL_Init();
/* USER CODE BEGIN Init */
@@ -189,6 +194,13 @@ int main(void)
state_g.cam_miss_ctr = 0;
state_g.next_spark_state = SPARK_NONE;
state_g.current_spark_state = SPARK_IDLE;
state_g.charge_defer = false;
state_g.spark_errors.overspeed_error_ctr = 0;
state_g.spark_errors.defer_charge_error_ctr = 0;
state_g.spark_errors.revised_charge_error_ctr = 0;
state_g.spark_errors.task_release_error_ctr = 0;
state_g.spark_errors.state_error_ctr = 0;
state_g.spark_errors.isr_release_error_ctr = 0;
/* USER CODE END Init */
/* Configure the system clock */
@@ -211,7 +223,7 @@ int main(void)
Error_Handler();
}
#endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
/* USER CODE END Boot_Mode_Sequence_2 */
/* USER CODE END Boot_Mode_Sequence_2 */
/* USER CODE BEGIN SysInit */
@@ -251,7 +263,8 @@ int main(void)
/* Create the thread(s) */
/* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
defaultTaskHandle =
osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* creation of crankTask */
crankTaskHandle = osThreadNew(crankHandler, NULL, &crankTask_attributes);
@@ -283,27 +296,27 @@ int main(void)
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Supply configuration update enable
*/
*/
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
/** Configure the main internal regulator output voltage
*/
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {
}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
@@ -316,16 +329,15 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLFRACN = 0;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 |
RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
@@ -334,19 +346,17 @@ void SystemClock_Config(void)
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
Error_Handler();
}
}
/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void) {
/* USER CODE BEGIN TIM2_Init 0 */
@@ -361,53 +371,45 @@ static void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.Prescaler = 99;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 4294967295;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
if (HAL_TIM_Base_Init(&htim2) != HAL_OK) {
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) {
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
{
if (HAL_TIM_IC_Init(&htim2) != HAL_OK) {
Error_Handler();
}
if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
{
if (HAL_TIM_OC_Init(&htim2) != HAL_OK) {
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) {
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 10;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) {
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) {
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
@@ -416,16 +418,14 @@ static void MX_TIM2_Init(void)
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
@@ -461,8 +461,7 @@ static void MX_GPIO_Init(void)
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
void StartDefaultTask(void *argument) {
/* USER CODE BEGIN 5 */
/* Infinite loop */
for (;;) {
@@ -471,17 +470,16 @@ void StartDefaultTask(void *argument)
/* USER CODE END 5 */
}
/* MPU Configuration */
/* MPU Configuration */
void MPU_Config(void)
{
void MPU_Config(void) {
MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */
HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected
*/
*/
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x0;
@@ -497,15 +495,33 @@ void MPU_Config(void)
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void) {
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
@@ -515,14 +531,13 @@ void Error_Handler(void)
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line) {
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line
number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,