Add full automotive RTOS project
Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
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/**
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* @file engine_control_task.c
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* @brief Main engine control task
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*/
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#include "engine_control.h"
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#include "fuel_injection.h"
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#include "ignition_control.h"
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#include "adc_driver.h"
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#include "gpio_driver.h"
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#include "pwm_driver.h"
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#include "dtc_manager.h"
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#include <string.h>
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#include <math.h>
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/* Engine Control State */
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typedef struct {
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EngineState_t state;
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EngineSensorData_t sensors;
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EngineActuatorData_t actuators;
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EngineFaultCode_t faults[20];
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uint8_t fault_count;
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uint32_t engine_run_time;
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Mutex_t data_mutex;
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bool initialized;
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} EngineControlState_t;
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static EngineControlState_t engine_control;
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/* PID Controller Structure */
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typedef struct {
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PidGains_t gains;
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float integral;
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float previous_error;
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float output;
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} PidController_t;
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static PidController_t fuel_pid;
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static PidController_t idle_pid;
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static PidController_t boost_pid;
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/* Initialize Engine Control */
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KernelStatus_t engine_control_init(void) {
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if (engine_control.initialized) {
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return KERNEL_ERROR;
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}
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/* Initialize state */
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memset(&engine_control, 0, sizeof(EngineControlState_t));
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engine_control.state = ENGINE_STATE_OFF;
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engine_control.fault_count = 0;
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/* Initialize PID controllers */
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fuel_pid.gains = fuel_pid_gains;
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fuel_pid.integral = 0;
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fuel_pid.previous_error = 0;
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fuel_pid.output = 0;
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idle_pid.gains = idle_pid_gains;
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idle_pid.integral = 0;
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idle_pid.previous_error = 0;
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idle_pid.output = 0;
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boost_pid.gains = boost_pid_gains;
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boost_pid.integral = 0;
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boost_pid.previous_error = 0;
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boost_pid.output = 0;
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/* Create mutex */
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mutex_create(&engine_control.data_mutex, false);
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/* Initialize sensors */
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adc_init(0, &(AdcConfig_t){
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.resolution = ADC_RESOLUTION_12BIT,
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.mode = ADC_MODE_SCAN,
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.trigger_source = ADC_TRIGGER_TIMER,
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.reference = ADC_REFERENCE_VDD,
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.channel_count = 8,
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.channels = {
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{.channel = 0, .sampling_time = ADC_SAMPLING_28_5_CYCLES}, /* Coolant temp */
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{.channel = 1, .sampling_time = ADC_SAMPLING_28_5_CYCLES}, /* Intake temp */
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{.channel = 2, .sampling_time = ADC_SAMPLING_28_5_CYCLES}, /* Manifold pressure */
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{.channel = 3, .sampling_time = ADC_SAMPLING_28_5_CYCLES}, /* Throttle position */
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{.channel = 4, .sampling_time = ADC_SAMPLING_28_5_CYCLES}, /* Accelerator pedal */
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{.channel = 5, .sampling_time = ADC_SAMPLING_28_5_CYCLES}, /* Oil pressure */
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{.channel = 6, .sampling_time = ADC_SAMPLING_28_5_CYCLES}, /* Fuel pressure */
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{.channel = 7, .sampling_time = ADC_SAMPLING_28_5_CYCLES} /* Battery voltage */
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}
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});
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/* Initialize actuators */
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pwm_init(0, &(PwmConfig_t){
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.frequency_hz = 1000,
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.alignment = PWM_ALIGNMENT_EDGE,
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.channel_count = 4,
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.channels = {
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{.channel = 0, .duty_cycle = 0}, /* Injector 1 */
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{.channel = 1, .duty_cycle = 0}, /* Injector 2 */
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{.channel = 2, .duty_cycle = 0}, /* Idle air control */
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{.channel = 3, .duty_cycle = 0} /* Boost control */
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}
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});
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engine_control.initialized = true;
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return KERNEL_OK;
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}
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/* Start Engine */
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KernelStatus_t engine_control_start(void) {
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if (!engine_control.initialized) {
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return KERNEL_ERROR;
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}
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engine_control.state = ENGINE_STATE_CRANKING;
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/* Start PWM outputs */
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pwm_start(0);
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/* Start ADC conversions */
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adc_start_conversion(0);
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return KERNEL_OK;
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}
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/* Stop Engine */
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KernelStatus_t engine_control_stop(void) {
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if (!engine_control.initialized) {
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return KERNEL_ERROR;
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}
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/* Stop actuators */
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pwm_stop(0);
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/* Stop ADC */
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adc_stop_conversion(0);
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engine_control.state = ENGINE_STATE_OFF;
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return KERNEL_OK;
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}
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/* Main Engine Control Task */
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void engine_control_task(void* parameters) {
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(void)parameters;
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TickType_t last_wake_time = kernel_get_tick_count();
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while (1) {
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/* Wait for next control period */
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kernel_delay(ENGINE_CONTROL_PERIOD_MS);
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switch (engine_control.state) {
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case ENGINE_STATE_CRANKING:
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/* Check RPM for engine start */
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if (engine_control.sensors.rpm > 400) {
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engine_control.state = ENGINE_STATE_RUNNING;
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}
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break;
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case ENGINE_STATE_RUNNING:
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/* Check for idle condition */
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if (engine_control.sensors.rpm < ENGINE_IDLE_RPM + 50 &&
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engine_control.sensors.accelerator_pedal < 5) {
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engine_control.state = ENGINE_STATE_IDLE;
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}
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/* Check for acceleration */
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if (engine_control.sensors.accelerator_pedal > 80) {
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engine_control.state = ENGINE_STATE_ACCELERATING;
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}
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break;
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case ENGINE_STATE_IDLE:
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/* Idle speed control */
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idle_pid_control();
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/* Check if leaving idle */
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if (engine_control.sensors.accelerator_pedal > 5) {
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engine_control.state = ENGINE_STATE_RUNNING;
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}
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break;
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case ENGINE_STATE_ACCELERATING:
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/* Acceleration enrichment */
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engine_control.actuators.injector_pulse_width *= 1.2f;
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/* Check if still accelerating */
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if (engine_control.sensors.accelerator_pedal < 80) {
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engine_control.state = ENGINE_STATE_RUNNING;
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}
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break;
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case ENGINE_STATE_DECELERATING:
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/* Deceleration fuel cutoff */
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if (engine_control.sensors.rpm > 1500 &&
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engine_control.sensors.accelerator_pedal < 2) {
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engine_control.actuators.injector_pulse_width = 0;
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}
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/* Check if still decelerating */
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if (engine_control.sensors.accelerator_pedal > 2) {
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engine_control.state = ENGINE_STATE_RUNNING;
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}
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break;
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case ENGINE_STATE_FAULT:
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/* Handle faults */
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handle_engine_faults();
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break;
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case ENGINE_STATE_LIMP_HOME:
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/* Limp home mode */
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engine_control.actuators.injector_pulse_width =
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fuel_map_values[0][3]; /* Fixed fuel */
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engine_control.actuators.ignition_advance =
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ignition_map_values[0][3]; /* Fixed timing */
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break;
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default:
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break;
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}
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/* Update engine run time */
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engine_control.engine_run_time += ENGINE_CONTROL_PERIOD_MS;
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/* Check for faults */
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check_engine_faults();
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last_wake_time = kernel_get_tick_count();
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}
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}
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/* Idle Speed Control */
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static void idle_pid_control(void) {
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int32_t rpm_error = ENGINE_IDLE_RPM - engine_control.sensors.rpm;
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/* PID calculation */
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idle_pid.integral += rpm_error * (IDLE_CONTROL_PERIOD_MS / 1000.0f);
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/* Limit integral */
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if (idle_pid.integral > idle_pid.gains.integral_limit) {
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idle_pid.integral = idle_pid.gains.integral_limit;
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} else if (idle_pid.integral < -idle_pid.gains.integral_limit) {
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idle_pid.integral = -idle_pid.gains.integral_limit;
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}
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float derivative = (rpm_error - idle_pid.previous_error) /
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(IDLE_CONTROL_PERIOD_MS / 1000.0f);
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idle_pid.output = idle_pid.gains.kp * rpm_error +
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idle_pid.gains.ki * idle_pid.integral +
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idle_pid.gains.kd * derivative;
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/* Limit output */
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if (idle_pid.output > idle_pid.gains.output_limit) {
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idle_pid.output = idle_pid.gains.output_limit;
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} else if (idle_pid.output < 0) {
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idle_pid.output = 0;
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}
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/* Update actuator */
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engine_control.actuators.idle_air_control = (uint16_t)idle_pid.output;
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idle_pid.previous_error = rpm_error;
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}
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/* Check Engine Faults */
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static void check_engine_faults(void) {
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/* Check coolant temperature */
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if (engine_control.sensors.coolant_temp > ENGINE_MAX_COOLANT_TEMP) {
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add_engine_fault(ENGINE_FAULT_OVERHEAT);
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engine_control.state = ENGINE_STATE_FAULT;
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}
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/* Check oil pressure */
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if (engine_control.sensors.oil_pressure < ENGINE_MIN_OIL_PRESSURE &&
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engine_control.sensors.rpm > 1000) {
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add_engine_fault(ENGINE_FAULT_LOW_OIL_PRESSURE);
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engine_control.state = ENGINE_STATE_FAULT;
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}
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/* Check battery voltage */
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if (engine_control.sensors.battery_voltage < 9.0f ||
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engine_control.sensors.battery_voltage > 16.0f) {
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add_engine_fault(ENGINE_FAULT_NONE); // Just log the condition
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}
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}
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/* Add Engine Fault */
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static void add_engine_fault(EngineFaultCode_t fault) {
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if (engine_control.fault_count < 20) {
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/* Check if fault already exists */
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for (uint8_t i = 0; i < engine_control.fault_count; i++) {
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if (engine_control.faults[i] == fault) {
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return;
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}
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}
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engine_control.faults[engine_control.fault_count] = fault;
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engine_control.fault_count++;
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/* Add DTC */
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DtcCode_t dtc_code = {
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.high_byte = 0x00, /* Powertrain */
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.middle_byte = 0x00,
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.low_byte = fault
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};
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dtc_manager_add_dtc(&dtc_code, 3); /* Medium severity */
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}
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}
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/* Handle Engine Faults */
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static void handle_engine_faults(void) {
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for (uint8_t i = 0; i < engine_control.fault_count; i++) {
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switch (engine_control.faults[i]) {
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case ENGINE_FAULT_OVERHEAT:
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/* Enable cooling fan */
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engine_control.actuators.cooling_fan_duty = 100;
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/* Reduce power */
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engine_control.actuators.injector_pulse_width *= 0.5f;
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break;
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case ENGINE_FAULT_LOW_OIL_PRESSURE:
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/* Immediate engine shutdown */
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engine_control_stop();
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break;
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default:
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/* Enter limp home mode */
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engine_control.state = ENGINE_STATE_LIMP_HOME;
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break;
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}
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}
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}
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/* Get Engine State */
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EngineState_t engine_control_get_state(void) {
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return engine_control.state;
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}
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/* Get Sensor Data */
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KernelStatus_t engine_control_get_sensor_data(EngineSensorData_t* data) {
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if (data == NULL) {
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return KERNEL_ERROR;
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}
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mutex_lock(&engine_control.data_mutex, 100);
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memcpy(data, &engine_control.sensors, sizeof(EngineSensorData_t));
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mutex_unlock(&engine_control.data_mutex);
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return KERNEL_OK;
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}
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/* Get Actuator Data */
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KernelStatus_t engine_control_get_actuator_data(EngineActuatorData_t* data) {
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if (data == NULL) {
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return KERNEL_ERROR;
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}
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mutex_lock(&engine_control.data_mutex, 100);
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memcpy(data, &engine_control.actuators, sizeof(EngineActuatorData_t));
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mutex_unlock(&engine_control.data_mutex);
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return KERNEL_OK;
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}
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