78 lines
2.4 KiB
C
78 lines
2.4 KiB
C
// Copyright (C) 2026 Hector van der Aa <hector@h3cx.dev>
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// Copyright (C) 2026 Pierre Barbier <pierrebarbier741@gmail.com>
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// Copyright (C) 2026 Association Exergie <association.exergie@gmail.com>
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// SPDX-License-Identifier: GPL-3.0-or-later
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#include "cmsis_os2.h"
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#include "global_state.h"
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#include "macros.h"
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#include "main.h"
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#include "ring_buffer.h"
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#include "tasks.h"
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#include <stdint.h>
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void crankHandler(void *argument) {
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for (;;) {
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osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
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DEBUG_LOG("Crank pulse detected at: %lu\n\r",
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ringBufferRead(&state_g.crank_RB, 0));
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// FILTER
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float delta_percentage = ((float)(D1A - D1B)) / D1B;
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if ( delta_percentage> 0.4||delta_percentage < -0.4) {
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state_g.sync_state = SYNC_NOT_OK;
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state_g.crank_state = CYCLE_UNKNOWN;
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continue;
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}
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// INCREMENT SWITCH
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switch (state_g.crank_state) {
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case CYCLE_COMPRESSION: {
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if (state_g.cam_state != CAM_TRIGD) {
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DEBUG_LOG("Cam miss detected, sync dynamite incoming\n\r");
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state_g.cam_miss_ctr++;
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if (state_g.cam_miss_ctr > MAX_CAM_MISS) {
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state_g.sync_state = SYNC_NOT_OK;
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state_g.crank_state = CYCLE_UNKNOWN;
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break;
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}
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}
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state_g.crank_state = CYCLE_COMBUSTION;
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DEBUG_LOG("Crank state incremented\n\r");
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state_g.cam_state = CAM_IDLE;
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break;
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}
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case CYCLE_COMBUSTION:
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case CYCLE_EXHAUST:
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case CYCLE_INTAKE: {
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if (state_g.cam_state == CAM_TRIGD) {
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state_g.sync_state = SYNC_NOT_OK;
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state_g.crank_state = CYCLE_UNKNOWN;
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state_g.cam_state = CAM_IDLE;
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break;
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}
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state_g.crank_state++;
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DEBUG_LOG("Crank state incremented\n\r");
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break;
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}
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case CYCLE_UNKNOWN: {
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if (state_g.sync_state == SYNC_PENDING &&
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state_g.cam_state == CAM_TRIGD) {
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state_g.crank_state = CYCLE_COMBUSTION;
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state_g.cam_state = CAM_IDLE;
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}
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break;
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}
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}
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// SPARK SCHEDULE
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if (state_g.crank_state == CYCLE_COMPRESSION &&
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state_g.sync_state == SYNC_OK) {
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DEBUG_LOG("Spark schedule reached, congrats\n\r");
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uint32_t d1a = CRANK(0) - CRANK(1);
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// TODO: Map interpolation rather than SPARK_ADVANCE CONSTANT
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uint32_t d_spark = d1a * (45 - SPARK_ADVANCE) / 180;
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uint32_t t_spark = CRANK(0) + d_spark;
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// TODO: schedule spark
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}
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}
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}
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