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Broken spark implementation

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This commit is contained in:
Hector van der Aa
2026-06-03 17:45:48 +02:00
parent 1e8d3b766f
commit f8b73ea1bc
6 changed files with 90 additions and 29 deletions
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10
STM32/CM7/Core/Inc/global_state.h
View File

@@ -3,10 +3,12 @@
// SPDX-License-Identifier: GPL-3.0-or-later
#pragma once
#include <ring_buffer.h>
#include <stdbool.h>
#include <stdint.h>
#define MAX_CAM_MISS 2
#define SPARK_ADVANCE 20
#define INJECTION_PHASE 0
typedef enum { SYNC_OK = 0, SYNC_PENDING = 1, SYNC_NOT_OK = 2 } sync_state_t;
@@ -20,6 +22,12 @@ typedef enum {
typedef enum { CAM_IDLE = 0, CAM_TRIGD = 1 } cam_state_t;
typedef enum {
SPARK_IDLE = 0,
SPARK_CHARGING = 1,
SPARK_NONE = 2
} spark_state_t;
typedef struct {
crank_state_t crank_state;
cam_state_t cam_state;
@@ -27,4 +35,6 @@ typedef struct {
sync_state_t sync_state;
ring_buffer_t crank_RB;
ring_buffer_t cam_RB;
spark_state_t next_spark_state;
spark_state_t current_spark_state;
} global_state_t;

3
STM32/CM7/Core/Inc/macros.h
View File

@@ -5,7 +5,6 @@
#include "global_state.h"
#ifdef DEBUG
#include "SEGGER_RTT.h"
#define INJECTION_PHASE 0
#define DEBUG_LOG(fmt, ...) SEGGER_RTT_printf(0, fmt "\n", ##__VA_ARGS__)
#else
#define DEBUG_LOG(fmt, ...) \
@@ -14,5 +13,3 @@
#endif
#define CRANK(num) ringBufferRead(&state_g.crank_RB, num)
#define CAM(num) ringBufferRead(&state_g.cam_RB, num)
#define D1A CRANK(0)-CRANK(1)
#define D1B CRANK(1)-CRANK(2)

27
STM32/CM7/Core/Src/main.c
View File

@@ -11,9 +11,13 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "global_state.h"
#include "macros.h"
#include "ring_buffer.h"
#include "stm32h7xx_hal_tim.h"
#include "tasks.h"
#include <assert.h>
#include <stdbool.h>
#ifdef DEBUG
#include "SEGGER_RTT.h"
#endif
@@ -101,6 +105,25 @@ extern void camHandler(void *argument);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
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;
}
}
}
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM2) {
switch (htim->Channel) {
@@ -164,6 +187,8 @@ int main(void)
state_g.crank_state = CYCLE_UNKNOWN;
state_g.cam_state = CAM_IDLE;
state_g.cam_miss_ctr = 0;
state_g.next_spark_state = SPARK_NONE;
state_g.current_spark_state = SPARK_IDLE;
/* USER CODE END Init */
/* Configure the system clock */
@@ -377,7 +402,7 @@ static void MX_TIM2_Init(void)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_FORCED_INACTIVE;
sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;

10
STM32/CM7/Core/Src/tasks/cam.c
View File

@@ -4,9 +4,9 @@
// SPDX-License-Identifier: GPL-3.0-or-later
#include "cmsis_os2.h"
#include "global_state.h"
#include "macros.h"
#include "main.h"
#include "global_state.h"
#include "ring_buffer.h"
#include "tasks.h"
@@ -18,10 +18,10 @@ void camHandler(void *argument) {
ringBufferRead(&state_g.cam_RB, 0));
// FILTERS
if (CAM_TRIGD) {
ringBufferRevert(&state_g.cam_RB,1);
return;
}
// if (CAM_TRIGD) {
// ringBufferRevert(&state_g.cam_RB,1);
// return;
// }
state_g.cam_state = CAM_TRIGD;
state_g.cam_miss_ctr = 0;
switch (state_g.sync_state) {

50
STM32/CM7/Core/Src/tasks/crank.c
View File

@@ -24,12 +24,20 @@ void crankHandler(void *argument) {
DEBUG_LOG("Crank pulse detected at: %lu\n\r",
ringBufferRead(&state_g.crank_RB, 0));
// FILTER
float delta_percentage = ((float)(D1A - D1B)) / D1B;
if (delta_percentage > 0.4 || delta_percentage < -0.4) {
state_g.sync_state = SYNC_NOT_OK;
state_g.crank_state = CYCLE_UNKNOWN;
if (state_g.sync_state == SYNC_OK) {
uint32_t d1a = CRANK(0) - CRANK(1);
uint32_t d1b = CRANK(1) - CRANK(2);
int32_t delta_percentage =
((int64_t)d1a - (int64_t)d1b) * 100 / (int64_t)d1b;
DEBUG_LOG("%ld\n\r", delta_percentage);
if (delta_percentage > 40 || delta_percentage < -40) {
// state_g.sync_state = SYNC_NOT_OK;
// state_g.crank_state = CYCLE_UNKNOWN;
// ringBufferRevert(&state_g.crank_RB, 1);
state_g.crank_RB.w_head -= 1;
continue;
}
}
// INCREMENT SWITCH
switch (state_g.crank_state) {
case CYCLE_COMPRESSION: {
@@ -71,19 +79,39 @@ void crankHandler(void *argument) {
}
// SPARK SCHEDULE
if (state_g.crank_state == CYCLE_COMPRESSION &&
state_g.sync_state == SYNC_OK) {
if (state_g.sync_state == SYNC_OK) {
switch (state_g.crank_state) {
case CYCLE_COMPRESSION: {
DEBUG_LOG("Spark schedule reached, congrats\n\r");
uint32_t d1a = CRANK(0) - CRANK(1);
// TODO: Map interpolation rather than SPARK_ADVANCE CONSTANT
uint32_t d_spark = d1a * (45 - SPARK_ADVANCE) / 180;
uint32_t t_spark = CRANK(0) + d_spark;
// TODO: schedule spark
// __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, t_spark);
// TIM2_CH3_SetOCMode(t_spark);
} else if (state_g.crank_state == CYCLE_EXHAUST) {
uint32_t t_injection = CRANK(0) + (45+INJECTION_PHASE) * (CRANK(4) - CRANK(0)) / 720;
//TODO Schedule injection
if (state_g.current_spark_state != SPARK_CHARGING) {
uint32_t force_charge_time = __HAL_TIM_GET_COUNTER(&htim2) + 2000;
// TIM2_CH3_SetOCMode(TIM_OCMODE_ACTIVE);
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, force_charge_time);
state_g.next_spark_state = SPARK_CHARGING;
osThreadFlagsWait(0x02, osFlagsWaitAny, osWaitForever);
}
DEBUG_LOG("Spark scheduled for: %lu , current time: %lu\n\r", t_spark,
__HAL_TIM_GET_COUNTER(&htim2));
// TIM2_CH3_SetOCMode(TIM_OCMODE_INACTIVE);
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, t_spark);
state_g.next_spark_state = SPARK_IDLE;
break;
}
case CYCLE_EXHAUST: {
uint32_t t_injection =
CRANK(0) + (45 + INJECTION_PHASE) * (CRANK(4) - CRANK(0)) / 720;
// TODO: Schedule injection
break;
}
default:
break;
}
}
}
}

5
STM32/STM32.ioc
View File

@@ -95,7 +95,8 @@ PA14\ (JTCK/SWCLK).GPIOParameters=PinAttribute
PA14\ (JTCK/SWCLK).Locked=true
PA14\ (JTCK/SWCLK).PinAttribute=CortexM7
PA14\ (JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
PA2.GPIOParameters=PinAttribute
PA2.GPIOParameters=GPIO_Speed,PinAttribute
PA2.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PA2.Locked=true
PA2.PinAttribute=CortexM7
PA2.Signal=S_TIM2_CH3
@@ -261,7 +262,7 @@ TIM2.ICFilter_CH1=10
TIM2.ICFilter_CH2=10
TIM2.ICPolarity_CH1=TIM_INPUTCHANNELPOLARITY_FALLING
TIM2.IPParameters=ClockDivision,Prescaler,Channel-Input_Capture1_from_TI1,ICPolarity_CH1,Channel-Input_Capture2_from_TI2,ICFilter_CH2,ICFilter_CH1,Channel-Output Compare3 CH3,OCMode_3
TIM2.OCMode_3=TIM_OCMODE_FORCED_INACTIVE
TIM2.OCMode_3=TIM_OCMODE_TOGGLE
TIM2.Prescaler=0
VP_FREERTOS_M7_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_M7_VS_CMSIS_V2.Signal=FREERTOS_M7_VS_CMSIS_V2