scheduler.h

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#ifndef SCHEDULER_H
#define SCHEDULER_H
 
#include "globals.h"
#include "crankMaths.h"
#include "scheduledIO.h"
 
#define USE_IGN_REFRESH
#define IGNITION_REFRESH_THRESHOLD  30 //Time in uS that the refresh functions will check to ensure there is enough time before changing the end compare
 
void initialiseIgnitionSchedulers(void);
 
void startIgnitionSchedulers(void);
void stopIgnitionSchedulers(void);
void refreshIgnitionSchedule1(unsigned long timeToEnd);
 
void initialiseFuelSchedulers(void);
 
void startFuelSchedulers(void);
void stopFuelSchedulers(void);
 
void beginInjectorPriming(void);
 
enum ScheduleStatus {
  // We use powers of 2 so we can check multiple states with a single bitwise AND
 
  OFF              = 0b00000000U, 
  PENDING          = 0b00000001U,
  RUNNING          = 0b00000010U,
  RUNNING_WITHNEXT = 0b00000100U,
}; 
 
 
struct Schedule {
  // Deduce the real types of the counter and compare registers.
  // COMPARE_TYPE is NOT the same - it's just an integer type wide enough to
  // store 16-bit counter/compare calculation results.
  using counter_t = decltype(FUEL1_COUNTER /* <-- Arbitrary choice of macro, assumes all have the same type */);
  using compare_t = decltype(FUEL1_COMPARE /* <-- Arbitrary choice of macro, assumes all have the same type */);
 
  constexpr Schedule(counter_t &counter, compare_t &compare)
    : _counter(counter)
    , _compare(compare) 
  {
  }  
 
  volatile COMPARE_TYPE duration = 0U;
  volatile ScheduleStatus Status = OFF;  
  voidVoidCallback pStartCallback = &nullCallback; 
  voidVoidCallback pEndCallback = &nullCallback;   
  COMPARE_TYPE nextStartCompare = 0U;   
  
  counter_t &_counter;       
  compare_t &_compare;       
};
 
static inline bool isRunning(const Schedule &schedule) {
  // Using flags and bitwise AND (&) to check multiple states is much quicker
  // than a logical or (||) (one less branch & 30% less instructions)
  static constexpr uint8_t flags = RUNNING | RUNNING_WITHNEXT;
  return ((uint8_t)schedule.Status & flags)!=0U;
}
 
void setCallbacks(Schedule &schedule, voidVoidCallback pStartCallback, voidVoidCallback pEndCallback);
 
void setSchedule(Schedule &schedule, uint32_t delay, uint16_t duration, bool allowQueuedSchedule);
 
struct IgnitionSchedule : public Schedule {
 
  using Schedule::Schedule;
 
  volatile COMPARE_TYPE endCompare;   
  volatile unsigned long startTime; 
  volatile bool endScheduleSetByDecoder = false;
};
 
static inline void setIgnitionSchedule(IgnitionSchedule &schedule, uint32_t delay, uint16_t duration) 
{
  // Only queue up the next schedule if the maximum time between sparks (Based on CRANK_ANGLE_MAX_IGN) is less than the max timer period
  setSchedule(schedule, delay, duration, angleToTimeMicroSecPerDegree((uint16_t)CRANK_ANGLE_MAX_IGN) < MAX_TIMER_PERIOD);
}
 
void moveToNextState(IgnitionSchedule &schedule);
 
extern IgnitionSchedule ignitionSchedule1;
extern IgnitionSchedule ignitionSchedule2;
extern IgnitionSchedule ignitionSchedule3;
extern IgnitionSchedule ignitionSchedule4;
extern IgnitionSchedule ignitionSchedule5;
#if IGN_CHANNELS >= 6
extern IgnitionSchedule ignitionSchedule6;
#endif
#if IGN_CHANNELS >= 7
extern IgnitionSchedule ignitionSchedule7;
#endif
#if IGN_CHANNELS >= 8
extern IgnitionSchedule ignitionSchedule8;
#endif
 
struct FuelSchedule : public Schedule {
 
  using Schedule::Schedule;
 
};
 
static inline void setFuelSchedule(FuelSchedule &schedule, uint32_t delay, uint16_t duration) 
{
  // Only queue up the next schedule if the maximum time between squirts (Based on CRANK_ANGLE_MAX_INJ) is less than the max timer period
  setSchedule(schedule, delay, duration, angleToTimeMicroSecPerDegree((uint16_t)CRANK_ANGLE_MAX_INJ) < MAX_TIMER_PERIOD);
}
 
void moveToNextState(FuelSchedule &schedule);
 
extern FuelSchedule fuelSchedule1;
extern FuelSchedule fuelSchedule2;
extern FuelSchedule fuelSchedule3;
extern FuelSchedule fuelSchedule4;
#if INJ_CHANNELS >= 5
extern FuelSchedule fuelSchedule5;
#endif
#if INJ_CHANNELS >= 6
extern FuelSchedule fuelSchedule6;
#endif
#if INJ_CHANNELS >= 7
extern FuelSchedule fuelSchedule7;
#endif
#if INJ_CHANNELS >= 8
extern FuelSchedule fuelSchedule8;
#endif
 
#endif // SCHEDULER_H