init.c File Reference

Initialise the devices state. More...

#include "inc/freeEMS.h"
#include "inc/flashWrite.h"
#include "inc/interrupts.h"
#include "inc/utils.h"
#include "inc/commsISRs.h"
#include "inc/pagedLocationBuffers.h"
#include "inc/init.h"
#include "inc/DecoderInterface.h"
#include "inc/xgateVectors.h"
#include <string.h>

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Defines
#define	INIT_C
Functions
void	init ()
	The main top level init.
void	initPLL ()
	Set the PLL clock frequency.
void	initIO ()
void	initLookupAddresses ()
	Buffer lookup tables addresses.
void	initFuelAddresses ()
	Buffer fuel tables addresses.
void	initPagedRAMFuel (void)
	Copy fuel tables to RAM.
void	initTimingAddresses ()
	Buffer timing tables addresses.
void	initPagedRAMTime ()
	Copy timing tables to RAM.
void	initTunableAddresses ()
	Buffer tunable tables addresses.
void	initPagedRAMTune ()
void	initAllPagedAddresses ()
	Buffer addresses of paged data.
void	initAllPagedRAM ()
	Copies paged flash to RAM.
void	initVariables ()
void	initFlash ()
	Flash module setup.
void	initXgate ()
	Xgate module setup.
void	initECTTimer ()
void	initPITTimer ()
void	initSCIStuff ()
void	initConfiguration ()
void	initInterrupts ()

---

Detailed Description

Initialise the devices state.

Setup, configure and initialise all aspects of the devices state including but not limited to:

• Setup the bus clock speed
• Configuration based variable initialisation
• I/O register behaviour and initial state
• Configure and enable interrupts
• Copy tunable data up to RAM from flash
• Configure peripheral module behaviour

Author:

Fred Cooke

Definition in file init.c.

---

Define Documentation

#define INIT_C

Definition at line 45 of file init.c.

---

Function Documentation

void init

(

void

)

The main top level init.

The main init function to be called from main.c before entering the main loop. This function is simply a delegator to the finer grained special purpose init functions.

Author:

Fred Cooke

Definition at line 66 of file init.c.

References ATOMIC_END, ATOMIC_START, initAllPagedRAM(), initConfiguration(), initECTTimer(), initFlash(), initInterrupts(), initIO(), initPITTimer(), initPLL(), initSCIStuff(), initVariables(), and initXgate().

Referenced by main().

           {
    ATOMIC_START();             /* Disable ALL interrupts while we configure the board ready for use */
    initPLL();                  /* Set up the PLL and use it */
    initIO();                   /* TODO make this config dependent. Set up all the pins and modules to be in low power harmless states */
    initAllPagedRAM();          /* Copy table and config blocks of data from flash to the paged ram blocks for fast data lookup */
    initVariables();            /* Initialise the rest of the running variables etc */
    initFlash();                /* TODO, finalise this */
    initECTTimer();             /* TODO move this to inside config in an organised way. Set up the timer module and its various aspects */
    initPITTimer();             /* TODO ditto... */
    initSCIStuff();             /* Setup the sci module(s) that we will use. */
    initConfiguration();        /* TODO Set user/feature/config up here! */
    initXgate();
    initInterrupts();           /* still last, reset timers, enable interrupts here TODO move this to inside config in an organised way. Set up the rest of the individual interrupts */
    ATOMIC_END();               /* Re-enable any configured interrupts */
}

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void initAllPagedAddresses

(

)

Buffer addresses of paged data.

Save the paged memory addresses to variables such that we can access them from another paged block with no warnings.

If you try to access paged data from the wrong place you get nasty warnings. These calls to functions that live in the same page that they are addressing prevent those warnings.

Note:

Many thanks to Jean Bélanger for the inspiration/idea to do this!

Author:

Fred Cooke

Definition at line 404 of file init.c.

References initFuelAddresses(), initLookupAddresses(), initTimingAddresses(), and initTunableAddresses().

Referenced by initAllPagedRAM().

                            {
    /* Setup pointers to lookup tables */
    initLookupAddresses();
    /* Setup pointers to the main tables */
    initFuelAddresses();
    initTimingAddresses();
    initTunableAddresses();
}

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void initAllPagedRAM

(

)

Copies paged flash to RAM.

Take the tables and config from flash up to RAM to allow live tuning.

For the main tables and other paged config we need to adjust the RPAGE value to the appropriate one before copying up.

This function is simply a delegator to the ones for each flash page. Each one lives in the same paged space as the data it is copying up.

Author:

Fred Cooke

Definition at line 426 of file init.c.

References initAllPagedAddresses(), initPagedRAMFuel(), initPagedRAMTime(), initPagedRAMTune(), setupPagedRAM(), and TRUE.

Referenced by init().

                      {
    /* Setup the flash block pointers before copying flash to RAM using them */
    initAllPagedAddresses();

    /* Copy the tables up to their paged RAM blocks through the window from flash */
    initPagedRAMFuel();
    initPagedRAMTime();
    initPagedRAMTune();

    /* Default to page one for now, perhaps read the configured port straight out of reset in future? TODO */
    setupPagedRAM(TRUE); // probably something like (PORTA & TableSwitchingMask)
}

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void initConfiguration

(

)

Definition at line 694 of file init.c.

References bootFuelConst, sensorRange::BRVMinimum, sensorRange::BRVRange, fixedConfig1::engineSettings, fixedConfigs1, fixedConfigs2, engineSetting::injectorFlow, masterFuelConstant, ONES16, engineSetting::perCylinderVolume, PORTS_BA, fixedConfig2::sensorRanges, sleep(), engineSetting::stoichiometricAFR, TPSADCRange, sensorRange::TPSClosedMAP, TPSMAPRange, sensorRange::TPSMaximumADC, sensorRange::TPSMinimumADC, and sensorRange::TPSOpenMAP.

Referenced by init().

                        {
//  // TODO Calc TPS ADC range on startup or every time? this depends on whether we ensure that things work without a re init or reset or not.


    /* Add in tunable physical parameters at boot time TODO move to init.c TODO duplicate for secondary fuel? or split somehow?
     *nstant = ((masterConst * perCylinderVolume) / (stoichiometricAFR * injectorFlow));
     *nstant = ((139371764   * 16384            ) / (15053             * 4096        ));
     * OR
     *nstant = ((masterConst / injectorFlow) * perCylinderVolume) / stoichiometricAFR;
     *nstant = ((139371764   / 4096        ) * 16384            ) / 15053            ;
     * http://www.google.com/search?hl=en&safe=off&q=((139371764++%2F+4096+++++)+*+16384+++)+%2F+15053++++&btnG=Search */
    bootFuelConst = ((unsigned long)(masterFuelConstant / fixedConfigs1.engineSettings.injectorFlow) * fixedConfigs1.engineSettings.perCylinderVolume) / fixedConfigs1.engineSettings.stoichiometricAFR;

    /* The MAP range used to convert fake TPS from MAP and vice versa */
    TPSMAPRange = fixedConfigs2.sensorRanges.TPSOpenMAP - fixedConfigs2.sensorRanges.TPSClosedMAP;

    /* The ADC range used to generate TPS percentage */
    TPSADCRange = fixedConfigs2.sensorRanges.TPSMaximumADC - fixedConfigs2.sensorRanges.TPSMinimumADC;


    /* Use like flags for now, just add one for each later */
    unsigned char cumulativeConfigErrors = 0;

    /* Check various aspects of config which will cause problems */

    /* BRV max bigger than variable that holds it */
    if(((unsigned long)fixedConfigs2.sensorRanges.BRVMinimum + fixedConfigs2.sensorRanges.BRVRange) > 65535){
        //sendError(BRV_MAX_TOO_LARGE);
        cumulativeConfigErrors++;
    }

    // TODO check all critical variables here!

    /*
     * check ignition settings for range etc, possibly check some of those on the fly too
     * check fuel settings for being reasonable
     * check all variable tables for correct sizing
     * etc
     */

    while(cumulativeConfigErrors > 0){
        sleep(1000);
        PORTS_BA ^= ONES16; // flash leds
        //send("There were ");
        //sendUC(cumulativeConfigErrors);
        //send(" config errors, init aborted!");
    } // TODO ensure that we can recieve config and settings via serial while this is occuring! If not a bad config will lock us out all together.
}

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void initECTTimer

(

)

Definition at line 584 of file init.c.

References fixedConfigs1, MCCNT, MCCTL, MCFLG, ONES, ONES16, PTMCPSR, PTPSR, fixedConfig1::tachoSettings, tachoSetting::tachoTickFactor, TCTL1, TCTL2, TCTL3, TCTL4, TFLG, TFLGOF, TIE, TIOS, TSCR1, TSCR2, and ZEROS.

Referenced by init().

                   {

    // TODO rearrange the order of this stuff and pull enable and interrupt enable out to the last function call of init.


#ifndef NO_INIT
    /* Timer channel interrupts */
    TIE = 0x03; /* 0,1 IC interrupts enabled for reading engine position and RPM, 6 OC channels disabled such that no injector switching happens till scheduled */
    TFLG = ONES; /* Clear all the flags such that we are up and running before they first occur */
    TFLGOF = ONES; /* Clear all the flags such that we are up and running before they first occur */

    /* TODO Turn the timer on and set the rate and overflow interrupt */
//  DLYCT = 0xFF; /* max noise filtering as experiment for volvo this will come from flash config */ // just hiding a wiring/circuit issue...
    TSCR1 = 0x88; /* 0b_1000_1000 Timer enabled, and precision timer turned on */
    TSCR2 = 0x87; /* 0b_1000_0111 Overflow interrupt enable, divide by 256 if precision turned off */
//  PTPSR = 0x03; /* 4 prescaler gives .1uS resolution and max period of 7ms measured */
    PTPSR = 0x1F; /* 32 prescaler gives 0.8uS resolution and max period of 52.4288ms measured */
//  PTPSR = 0x3F; /* 64 prescaler gives 1.6uS resolution and max period of 105ms measured */
//  PTPSR = 0xFF; /* 256 prescaler gives 6.4uS resolution and max period of 400ms measured */
//  PTPSR = 0x7F; /* 128 prescaler gives 3.2uS resolution and max period of 200ms measured */
    /* http://www.google.com/search?hl=en&safe=off&q=1+%2F+%2840MHz+%2F+32+%29&btnG=Search */
    /* http://www.google.com/search?hl=en&safe=off&q=1+%2F+%2840MHz+%2F+32+%29+*+2%5E16&btnG=Search */
    /* www.mecheng.adelaide.edu.au/robotics_novell/WWW_Devs/Dragon12/LM4_Timer.pdf */

    /* Initial actions */
    TIOS = 0xFC; /* 0b_1111_1100 0 and 1 are input capture, 2 through 7 are output compare */
    TCTL1 = ZEROS; /* Set disabled at startup time, use these and other flags to switch fueling on and off inside the decoder */
    TCTL2 = ZEROS; /* 0,1 have compare turned off regardless as they are in IC mode. */
    TCTL3 = ZEROS; /* Capture off for 4 - 7 */
    TCTL4 = 0x0F; /* Capture on both edges of two pins for IC (0,1), capture off for 2,3 */

    // TODO setup delay counters on 0 and 1 to filter noise (nice feature!)
    //DLYCT = ??; built in noise filter

    /* Configurable tachometer output */
    PTMCPSR = fixedConfigs1.tachoSettings.tachoTickFactor - 1; // Precision prescaler - fastest is 1 represented by 0, slowest/longest possible is 256 represented by 255 or 0xFF
    MCCNT = ONES16; // init to slowest possible, first
    MCCTL = 0xC4; // turn on and setup the mod down counter
    MCFLG = 0x80; // clear the flag up front
#endif
}

void initFlash

(

)

Flash module setup.

Initialise configuration registers for the flash module to allow burning of non-volatile flash memory from within the firmware.

The FCLKDIV register can be written once only after reset, thus the lower seven bits and the PRDIV8 bit must be set at the same time.

We want to put the flash clock as high as possible between 150kHz and 200kHz

The oscillator clock is 16MHz and because that is above 12.8MHz we will set the PRDIV8 bit to further divide by 8 bits as per the manual.

16MHz = 16000KHz which pre-divided by 8 is 2000kHz

2000kHz / 200kHz = 10 thus we want to set the divide register to 10 or 0x0A

Combining 0x0A with PRDIV8 gives us 0x4A (0x0A | 0x40 = 0x4A) so we use that

Author:

Sean Keys

Note:

If you use a different crystal lower than 12.8MHz PRDIV8 should not be set.

Warning:

If the frequency you end up with is outside 150kHz - 200kHz you may damage your flash module or get corrupt data written to it.

Definition at line 509 of file init.c.

References ACCERR, FCLKDIV, FPROT, FSTAT, and PVIOL.

Referenced by init().

                {
    FCLKDIV = 0x4A;                     /* Set the flash clock frequency    */
    FPROT = 0xFF;                       /* Disable all flash protection     */
    FSTAT = FSTAT | (PVIOL | ACCERR);   /* Clear any errors                 */
}

void initFuelAddresses

(

)

Buffer fuel tables addresses.

Save pointers to the fuel tables which live in paged flash.

Note:

Many thanks to Jean Bélanger for the inspiration/idea to do this!

Author:

Fred Cooke

Definition at line 239 of file init.c.

References LambdaTableFlash, LambdaTableFlash2, LambdaTableFlash2Location, LambdaTableFlashLocation, VETableMainFlash, VETableMainFlash2, VETableMainFlash2Location, VETableMainFlashLocation, VETableSecondaryFlash, VETableSecondaryFlash2, VETableSecondaryFlash2Location, VETableSecondaryFlashLocation, VETableTertiaryFlash, VETableTertiaryFlash2, VETableTertiaryFlash2Location, and VETableTertiaryFlashLocation.

Referenced by initAllPagedAddresses().

                        {
    /* Setup addresses within the page to avoid warnings */
    VETableMainFlashLocation        = (void*)&VETableMainFlash;
    VETableSecondaryFlashLocation   = (void*)&VETableSecondaryFlash;
    VETableTertiaryFlashLocation    = (void*)&VETableTertiaryFlash;
    LambdaTableFlashLocation        = (void*)&LambdaTableFlash;
    VETableMainFlash2Location       = (void*)&VETableMainFlash2;
    VETableSecondaryFlash2Location  = (void*)&VETableSecondaryFlash2;
    VETableTertiaryFlash2Location   = (void*)&VETableTertiaryFlash2;
    LambdaTableFlash2Location       = (void*)&LambdaTableFlash2;
}

void initInterrupts

(

)

Definition at line 745 of file init.c.

References CRGFLG, CRGINT, IVBR, ONES, PIEH, PIFH, PPSH, RTICTL, VREGCTRL, and ZEROS.

Referenced by init().

                     {
    /* IMPORTANT : Set the s12x vector base register (Thanks Karsten!!) */
    IVBR = 0xF7; /* Without this the interrupts will never find your code! */

    /* Set up the Real Time Interrupt */
    RTICTL = 0x81; /* 0b_1000_0001 0.125ms/125us period http://www.google.com/search?hl=en&safe=off&q=1+%2F+%2816MHz+%2F+%282+*+10%5E3%29+%29&btnG=Search */
//  RTICTL = 0xF9; /* 0b_1111_1001 0.125s/125ms period http://www.google.com/search?hl=en&safe=off&q=1+%2F+%2816MHz+%2F+%282*10%5E6%29+%29&btnG=Search */
    CRGINT |= 0x80; /* Enable the RTI */
    CRGFLG = 0x80; /* Clear the RTI flag */

#ifndef NO_INIT
    // set up port H for testing
    PPSH = ZEROS; // falling edge/pull up for all
    PIEH = ONES; // enable all pins interrupts
    PIFH = ONES; // clear all port H interrupt flags
#endif

    // TODO set up irq and xirq for testing
    // IRQCR for IRQ
    //

    /* VReg API setup (only for wait mode? i think so) */
//  VREGAPIR = 0x09C3; /* For 500ms period : (500ms - 0.2ms) / 0.2ms = 0b100111000011 = 2499 */
//  VREGAPICL = 0x02; /* Enable the interrupt */
//  VREGAPICL = 0x04; /* Start the counter running */
    /* Writing a one to the flag will set it if it is unset, so best not to mess with it here as it probably starts off unset */

    /* LVI Low Voltage Interrupt enable */
    VREGCTRL = 0x02; // Counts bad power events for diagnosis reasons
}

void initIO

(

)

Definition at line 116 of file init.c.

References ATD0CTL2, ATD0CTL3, ATD0CTL4, ATD0CTL5, ATD1CTL0, ATD1CTL2, ATD1CTL3, DDRA, DDRB, DDRC, DDRD, DDRE, DDRH, DDRJ, DDRK, DDRM, DDRP, DDRS, DDRT, ONES, PORTA, PORTB, PORTE, PORTH, PORTJ, PORTK, PORTM, PORTP, PORTS, PORTT, PWMCLK, PWMDTY0, PWMDTY1, PWMDTY2, PWMDTY3, PWMDTY4, PWMDTY5, PWMDTY6, PWMDTY7, PWME, PWMPER0, PWMPER1, PWMPER2, PWMPER3, PWMPER4, PWMPER5, PWMPER6, PWMPER7, PWMPRCLK, PWMSCLA, PWMSCLB, and ZEROS.

Referenced by init().

             {
    /* for now, hard code all stuff to be outputs as per Freescale documentation,   */
    /* later what to do will be pulled from flash configuration such that all       */
    /* things are setup at once, and not messed with thereafter. when the port      */
    /* something uses is changed via the tuning interface, the confuration will be  */
    /* done on the fly, and the value burned to flash such that next boot happens   */
    /* correctly and current running devices are used in that way.                  */

    /* Turn off and on and configure all the modules in an explicit way */
    // TODO set up and turn off all modules (CAN,SCI,SPI,IIC,etc)

    /* Digital input buffers on the ATD channels are off by default, leave them this way! */
    //ATD0DIEN = ZEROS; /* You are out of your mind if you waste this on digital Inputs */
    //ATD1DIEN0 = ZEROS; /* You are out of your mind if you waste this on digital Inputs (NOT-bonded, can't use) */
    //ATD1DIEN1 = ZEROS; /* You are out of your mind if you waste this on digital Inputs */

    /* And configure them all for analog input */
    //ATD0CTL0 = 0x07/* With mult turned on this is required to be set to cause wrap around, but is correct out of reset */
    //ATD0CTL1 = 0x07/* Trigger and interrupt configuration, unused for now. */
    ATD0CTL2 = 0xC0; /* Turns on the ADC block and sets auto flag clear */
    ATD0CTL3 = 0x40; /* Set sequence length = 8 */
    ATD0CTL4 = 0x73; /* Set the ADC clock and sample period for best accuracy */
    ATD0CTL5 = 0xB0; /* Sets justification to right, multiplex and scan all channels. Writing to this causes conversions to begin */

    /* And configure them all for analog input */
    ATD1CTL0 = 0x07; /* TODO bring this out of config based on chip variant variable. Sets wrap on 8th ADC because we can't use the other 8 on 112 pin version */
    //ATD0CTL1 = 0x07/* Trigger and interrupt configuration, unused for now. */
    ATD1CTL2 = 0xC0; /* Turns on the ADC block and sets auto flag clear */
    ATD1CTL3 = 0x40; /* Set sequence length = 8 */
    ATD0CTL4 = 0x73; /* Set the ADC clock and sample period for best accuracy */
    ATD0CTL5 = 0xB0; /* Sets justification to right, multiplex and scan all channels. Writing to this causes conversions to begin */

#ifndef NO_INIT
    /* Set up the PWM component and initialise its values to off */
    PWME = 0x7F; /* Turn on PWM 0 - 6 (7 is user LED on main board) */
    PWMCLK = ZEROS; /* The fastest we can go for all channels */
    PWMPRCLK = ZEROS; /* The fastest prescaler we can go for all channels */
    PWMSCLA = ZEROS; /* The fastest we can go */
    PWMSCLB = ZEROS; /* The fastest we can go */
    /* TODO PWM channel concatenation for high resolution */
    // join channel pairs together here (needs 16 bit regs enabled too)
    /* TODO Initialise pwm channels with frequency, and initial duty for real use */
    // initial PWM settings for testing
    /* PWM periods */
    PWMPER0 = 0xFF; // 255 for ADC0 testing
    PWMPER1 = 0xFF; // 255 for ADC1 testing
    PWMPER2 = 0xFF; // 255 for ADC1 testing
    PWMPER3 = 0xFF; // 255 for ADC1 testing
    PWMPER4 = 0xFF; // 255 for ADC1 testing
    PWMPER5 = 0xFF; // 255 for ADC1 testing
    PWMPER6 = 0xFF; // 255 for ADC1 testing
    PWMPER7 = 0xFF; // 255 for ADC1 testing
    /* PWM duties */
    PWMDTY0 = 0;
    PWMDTY1 = 0;
    PWMDTY2 = 0;
    PWMDTY3 = 0;
    PWMDTY4 = 0;
    PWMDTY5 = 0;
    PWMDTY6 = 0;
    PWMDTY7 = 0;


    /* Initialise the state of pins configured as output */
    /* Initialise to low such that transistor grounded things are all turned off by default. */
    PORTA = ZEROS; /* The serial monitor pin is on 0x40, and could cause problems if capacitance at the output is large when a reset occurs. */
    PORTB = ZEROS; /* Init the rest of the spark outputs as off */
    PORTE = 0x1F; /* 0b_0001_1111 : when not in use 0b_1001_1111 PE7 should be high PE5 and PE6 should be low, the rest high */
    PORTK = ZEROS;
    PORTS = ZEROS;
    PORTT = ZEROS; /* All pins in off state at boot up (only matters for 2 - 7) */
    PORTM = ZEROS;
    PORTP = ZEROS; // TODO hook these up to the adc channels such that you can vary the brightness of an led with a pot.
    PORTH = ZEROS;
    PORTJ = ZEROS;
    /* AD0PT1 You are out of your mind if you waste this on digital Inputs */
    /* AD1PT1 You are out of your mind if you waste this on digital Inputs */

    /* Initialise the Data Direction Registers */
    /* To outputs based on the note at the end of chapter 1.2.2 of MC9S12XDP512V2.pdf */
    DDRA = ONES; /* GPIO (8) */
    DDRB = ONES; /* GPIO (8) */
    DDRE = 0xFC; /* 0b_1111_1100 : Clock and mode pins PE0,PE1 are input only pins, the rest are GPIO */
    DDRK = ONES; /* Only 0,1,2,3,4,5,7, NOT 6 (7) */
    DDRS = ONES; /* SCI0, SCI1, SPI0 (8) */
    DDRT = 0xFC; /* 0b_1111_1100 set ECT pins 0,1 to IC and 2:7 to OC (8) */
    DDRM = ONES; /* CAN 0 - 3 (8) */
    DDRP = ONES; /* PWM pins (8) */
    DDRH = ZEROS; /* All pins configured as input for misc isrs (SPI1, SPI2) (8) */
    DDRJ = ONES; /* Only 0,1,6,7 are brought out on the 112 pin chip (4) */
    /* Configure the non bonded pins to output to avoid current drain (112 pin package) */
    DDRC = ONES; /* NON-bonded external data bus pins */
    DDRD = ONES; /* NON-bonded external data bus pins */
    /* AD0DDR1 You are out of your mind if you waste this on digital Inputs */
    /* AD1DDR1 You are out of your mind if you waste this on digital Inputs */
#endif
}

void initLookupAddresses

(

)

Buffer lookup tables addresses.

Save pointers to the lookup tables which live in paged flash.

Note:

Many thanks to Jean Bélanger for the inspiration/idea to do this!

Author:

Fred Cooke

Definition at line 223 of file init.c.

References CHTTransferTable, CHTTransferTableLocation, IATTransferTable, IATTransferTableLocation, MAFTransferTable, MAFTransferTableLocation, TestTransferTable, and TestTransferTableLocation.

Referenced by initAllPagedAddresses().

                          {
    IATTransferTableLocation = (void*)&IATTransferTable;
    CHTTransferTableLocation = (void*)&CHTTransferTable;
    MAFTransferTableLocation = (void*)&MAFTransferTable;
    TestTransferTableLocation = (void*)&TestTransferTable;
}

void initPagedRAMFuel

(

void

)

Copy fuel tables to RAM.

Initialises the fuel tables in RAM by copying them up from flash.

Author:

Fred Cooke

Definition at line 258 of file init.c.

References LambdaTableFlash2Location, LambdaTableFlashLocation, MAINTABLE_SIZE, RPAGE, RPAGE_FUEL_ONE, RPAGE_FUEL_TWO, VETableMainFlash2Location, VETableMainFlashLocation, VETableSecondaryFlash2Location, VETableSecondaryFlashLocation, VETableTertiaryFlash2Location, and VETableTertiaryFlashLocation.

Referenced by initAllPagedRAM().

                           {
    /* Copy the tables from flash to RAM */
    RPAGE = RPAGE_FUEL_ONE;
    memcpy((void*)&TablesA, VETableMainFlashLocation,       MAINTABLE_SIZE);
    memcpy((void*)&TablesB, VETableSecondaryFlashLocation,  MAINTABLE_SIZE);
    memcpy((void*)&TablesC, VETableTertiaryFlashLocation,   MAINTABLE_SIZE);
    memcpy((void*)&TablesD, LambdaTableFlashLocation,       MAINTABLE_SIZE);
    RPAGE = RPAGE_FUEL_TWO;
    memcpy((void*)&TablesA, VETableMainFlash2Location,      MAINTABLE_SIZE);
    memcpy((void*)&TablesB, VETableSecondaryFlash2Location, MAINTABLE_SIZE);
    memcpy((void*)&TablesC, VETableTertiaryFlash2Location,  MAINTABLE_SIZE);
    memcpy((void*)&TablesD, LambdaTableFlash2Location,      MAINTABLE_SIZE);
}

void initPagedRAMTime

(

)

Copy timing tables to RAM.

Initialises the timing tables in RAM by copying them up from flash.

Author:

Fred Cooke

Definition at line 300 of file init.c.

References IgnitionAdvanceTableMainFlash2Location, IgnitionAdvanceTableMainFlashLocation, IgnitionAdvanceTableSecondaryFlash2Location, IgnitionAdvanceTableSecondaryFlashLocation, InjectionAdvanceTableMainFlash2Location, InjectionAdvanceTableMainFlashLocation, InjectionAdvanceTableSecondaryFlash2Location, InjectionAdvanceTableSecondaryFlashLocation, MAINTABLE_SIZE, RPAGE, RPAGE_TIME_ONE, and RPAGE_TIME_TWO.

Referenced by initAllPagedRAM().

                       {
    /* Copy the tables from flash to RAM */
    RPAGE = RPAGE_TIME_ONE;
    memcpy((void*)&TablesA, IgnitionAdvanceTableMainFlashLocation,          MAINTABLE_SIZE);
    memcpy((void*)&TablesB, IgnitionAdvanceTableSecondaryFlashLocation,     MAINTABLE_SIZE);
    memcpy((void*)&TablesC, InjectionAdvanceTableMainFlashLocation,         MAINTABLE_SIZE);
    memcpy((void*)&TablesD, InjectionAdvanceTableSecondaryFlashLocation,    MAINTABLE_SIZE);
    RPAGE = RPAGE_TIME_TWO;
    memcpy((void*)&TablesA, IgnitionAdvanceTableMainFlash2Location,         MAINTABLE_SIZE);
    memcpy((void*)&TablesB, IgnitionAdvanceTableSecondaryFlash2Location,    MAINTABLE_SIZE);
    memcpy((void*)&TablesC, InjectionAdvanceTableMainFlash2Location,        MAINTABLE_SIZE);
    memcpy((void*)&TablesD, InjectionAdvanceTableSecondaryFlash2Location,   MAINTABLE_SIZE);
}

void initPagedRAMTune

(

)

Definition at line 376 of file init.c.

References MAINTABLE_SIZE, RPAGE, RPAGE_TUNE_ONE, RPAGE_TUNE_TWO, SmallTablesAFlash2Location, SmallTablesAFlashLocation, SmallTablesBFlash2Location, SmallTablesBFlashLocation, SmallTablesCFlash2Location, SmallTablesCFlashLocation, SmallTablesDFlash2Location, and SmallTablesDFlashLocation.

Referenced by initAllPagedRAM().

                       {
    /* Copy the tables from flash to RAM */
    RPAGE = RPAGE_TUNE_ONE;
    memcpy((void*)&TablesA, SmallTablesAFlashLocation,  MAINTABLE_SIZE);
    memcpy((void*)&TablesB, SmallTablesBFlashLocation,  MAINTABLE_SIZE);
    memcpy((void*)&TablesC, SmallTablesCFlashLocation,  MAINTABLE_SIZE);
    memcpy((void*)&TablesD, SmallTablesDFlashLocation,  MAINTABLE_SIZE);
    RPAGE = RPAGE_TUNE_TWO;
    memcpy((void*)&TablesA, SmallTablesAFlash2Location, MAINTABLE_SIZE);
    memcpy((void*)&TablesB, SmallTablesBFlash2Location, MAINTABLE_SIZE);
    memcpy((void*)&TablesC, SmallTablesCFlash2Location, MAINTABLE_SIZE);
    memcpy((void*)&TablesD, SmallTablesDFlash2Location, MAINTABLE_SIZE);
}

void initPITTimer

(

)

Definition at line 628 of file init.c.

References PITCFLMT, PITMTLD0, and PITMTLD1.

Referenced by init().

                   {
#ifndef NO_INIT
    /*  */
    // set micro periods
    PITMTLD0 = 0x1F; /* 32 prescaler gives 0.8uS resolution and max period of 52.4288ms measured */
    PITMTLD1 = 0x1F; /* ditto */
    /* http://www.google.com/search?hl=en&safe=off&q=1+%2F+%2840MHz+%2F+32+%29 Exactly the same as for ECT */

    // set timers running
//  PITLD0 = dwellPeriod;
    // enable module
    PITCFLMT = 0x80;
    // enable channels
    //PITCE = 0x03;
    // enable interrupt
//  PITINTE = 0x01;
    // clear flags
    //PITFLT = ONES;
#endif
}

void initPLL

(

)

Set the PLL clock frequency.

Set the Phase Locked Loop to our desired frequency (80MHz) and switch to using it for clock (40MHz bus speed).

Author:

Fred Cooke

Definition at line 94 of file init.c.

References CLKSEL, CRGFLG, PLLCTL, PLLDIVISOR, PLLLOCK, PLLMULTIPLIER, PLLOFF, PLLON, PLLSELOFF, PLLSELON, REFDV, and SYNR.

Referenced by init().

              {
    CLKSEL &= PLLSELOFF;    /* Switches to base external OSCCLK to ensure PLL is not being used (off out of reset, but not sure if the monitor turns it on before passing control or not) */
    PLLCTL &= PLLOFF;       /* Turn the PLL device off to adjust its speed (on by default out of reset) */
    REFDV = PLLDIVISOR;     /* 16MHz / (3 + 1) = 4MHz Bus frequency */
    SYNR = PLLMULTIPLIER;   /* 4MHz * (9 + 1) = 40MHz Bus frequency */
    PLLCTL |= PLLON;        /* Turn the PLL device back on again at 80MHz */

    while (!(CRGFLG & PLLLOCK)){
        /* Do nothing while we wait till the PLL loop locks onto the target frequency. */
        /* Target frequency is given by (2 * (crystal frequency / (REFDV + 1)) * (SYNR + 1)) */
        /* Bus frequency is half PLL frequency and given by ((crystal frequency / (REFDV + 1)) * (SYNR + 1)) */
    }

    CLKSEL = PLLSELON;      /* Switches to PLL clock for internal bus frequency */
    /* from MC9S12XDP512V2.pdf Section 2.4.1.1.2 page 101 Third paragraph       */
    /* "This takes a MAXIMUM of 4 OSCCLK clock cylces PLUS 4 PLL clock cycles"  */
    /* "During this time ALL clocks freeze, and CPU activity ceases"            */
    /* Therefore there is no point waiting for this to occur, we already are... */
}

void initSCIStuff

(

)

Definition at line 650 of file init.c.

References serialSetting::baudDivisor, fixedConfigs1, SCI0BD, SCI0CR1, SCI0CR2, and fixedConfig1::serialSettings.

Referenced by init().

                   {
    /* The alternative register set selector defaults to zero */

    // set the baud/data speed
    SCI0BD = fixedConfigs1.serialSettings.baudDivisor;

    // etc

    /* Switch to alternative register set? */

    // etc

    /* Switch back again? */

    /*
     * 0 = LOOPS (normal two wire operation)
     * 0 = SCISWAI (Wait mode on)
     * 0 = RSRC (if loops=1, int/ext wiring)
     * 1 = M MODE (9 bit operation)
     * 0 = WAKE (idle line wakeup)
     * 0 = ILT (idle line type count start pos)
     * 1 = PE (parity on)
     * 1 = PT (odd parity) (minicom defaults to no parity)
     *
     * 00010011 = 0x13
     */
    SCI0CR1 = 0x13;

    /*
     * 0 = TIE (tx data empty isr disabled)
     * 0 = TCIE (tx complete isr disabled)
     * 1 = RIE (rx full isr enabled)
     * 0 = ILIE (idle line isr disabled)
     * 1 = TE (transmit enabled)
     * 1 = RE (receive enabled)
     * 0 = RWU (rx wake up normal)
     * 0 = SBK (send break off)
     *
     * 00101100 = 0x2C
     */
    SCI0CR2 = 0x2C;
}

void initTimingAddresses

(

)

Buffer timing tables addresses.

Save pointers to the timing tables which live in paged flash.

Note:

Many thanks to Jean Bélanger for the inspiration/idea to do this!

Author:

Fred Cooke

Definition at line 281 of file init.c.

References IgnitionAdvanceTableMainFlash, IgnitionAdvanceTableMainFlash2, IgnitionAdvanceTableMainFlash2Location, IgnitionAdvanceTableMainFlashLocation, IgnitionAdvanceTableSecondaryFlash, IgnitionAdvanceTableSecondaryFlash2, IgnitionAdvanceTableSecondaryFlash2Location, IgnitionAdvanceTableSecondaryFlashLocation, InjectionAdvanceTableMainFlash, InjectionAdvanceTableMainFlash2, InjectionAdvanceTableMainFlash2Location, InjectionAdvanceTableMainFlashLocation, InjectionAdvanceTableSecondaryFlash, InjectionAdvanceTableSecondaryFlash2, InjectionAdvanceTableSecondaryFlash2Location, and InjectionAdvanceTableSecondaryFlashLocation.

Referenced by initAllPagedAddresses().

                          {
    /* Setup addresses within the page to avoid warnings */
    IgnitionAdvanceTableMainFlashLocation           = (void*)&IgnitionAdvanceTableMainFlash;
    IgnitionAdvanceTableSecondaryFlashLocation      = (void*)&IgnitionAdvanceTableSecondaryFlash;
    InjectionAdvanceTableMainFlashLocation          = (void*)&InjectionAdvanceTableMainFlash;
    InjectionAdvanceTableSecondaryFlashLocation     = (void*)&InjectionAdvanceTableSecondaryFlash;
    IgnitionAdvanceTableMainFlash2Location          = (void*)&IgnitionAdvanceTableMainFlash2;
    IgnitionAdvanceTableSecondaryFlash2Location     = (void*)&IgnitionAdvanceTableSecondaryFlash2;
    InjectionAdvanceTableMainFlash2Location         = (void*)&InjectionAdvanceTableMainFlash2;
    InjectionAdvanceTableSecondaryFlash2Location    = (void*)&InjectionAdvanceTableSecondaryFlash2;
}

void initTunableAddresses

(

)

Buffer tunable tables addresses.

Save pointers to the tunable tables which live in paged flash and their sub-sections too.

Note:

Many thanks to Jean Bélanger for the inspiration/idea to do this!

Author:

Fred Cooke

Definition at line 324 of file init.c.

References SmallTables1::dwellDesiredVersusVoltageTable, dwellDesiredVersusVoltageTable2Location, dwellDesiredVersusVoltageTableLocation, SmallTables1::dwellMaxVersusRPMTable, dwellMaxVersusRPMTable2Location, dwellMaxVersusRPMTableLocation, SmallTables1::engineTempEnrichmentTableFixed, engineTempEnrichmentTableFixed2Location, engineTempEnrichmentTableFixedLocation, SmallTables1::engineTempEnrichmentTablePercent, engineTempEnrichmentTablePercent2Location, engineTempEnrichmentTablePercentLocation, SmallTables4::filler, SmallTables3::filler, SmallTables2::filler, SmallTables1::filler, fillerA2Location, fillerALocation, fillerB2Location, fillerBLocation, fillerC2Location, fillerCLocation, fillerD2Location, fillerDLocation, SmallTables1::injectorDeadTimeTable, injectorDeadTimeTable2Location, injectorDeadTimeTableLocation, SmallTables2::perCylinderFuelTrims, perCylinderFuelTrims2Location, perCylinderFuelTrimsLocation, SmallTables1::postStartEnrichmentTable, postStartEnrichmentTable2Location, postStartEnrichmentTableLocation, SmallTables1::primingVolumeTable, primingVolumeTable2Location, primingVolumeTableLocation, SmallTablesAFlash, SmallTablesAFlash2, SmallTablesAFlash2Location, SmallTablesAFlashLocation, SmallTablesBFlash, SmallTablesBFlash2, SmallTablesBFlash2Location, SmallTablesBFlashLocation, SmallTablesCFlash, SmallTablesCFlash2, SmallTablesCFlash2Location, SmallTablesCFlashLocation, SmallTablesDFlash, SmallTablesDFlash2, SmallTablesDFlash2Location, and SmallTablesDFlashLocation.

Referenced by initAllPagedAddresses().

                           {
    /* Setup addresses within the page to avoid warnings */
    SmallTablesAFlashLocation   = (void*)&SmallTablesAFlash;
    SmallTablesBFlashLocation   = (void*)&SmallTablesBFlash;
    SmallTablesCFlashLocation   = (void*)&SmallTablesCFlash;
    SmallTablesDFlashLocation   = (void*)&SmallTablesDFlash;
    SmallTablesAFlash2Location  = (void*)&SmallTablesAFlash2;
    SmallTablesBFlash2Location  = (void*)&SmallTablesBFlash2;
    SmallTablesCFlash2Location  = (void*)&SmallTablesCFlash2;
    SmallTablesDFlash2Location  = (void*)&SmallTablesDFlash2;

    /* TablesA */
    dwellDesiredVersusVoltageTableLocation    = (void*)&SmallTablesAFlash.dwellDesiredVersusVoltageTable;
    dwellDesiredVersusVoltageTable2Location   = (void*)&SmallTablesAFlash2.dwellDesiredVersusVoltageTable;
    injectorDeadTimeTableLocation             = (void*)&SmallTablesAFlash.injectorDeadTimeTable;
    injectorDeadTimeTable2Location            = (void*)&SmallTablesAFlash2.injectorDeadTimeTable;
    postStartEnrichmentTableLocation          = (void*)&SmallTablesAFlash.postStartEnrichmentTable;
    postStartEnrichmentTable2Location         = (void*)&SmallTablesAFlash2.postStartEnrichmentTable;
    engineTempEnrichmentTableFixedLocation    = (void*)&SmallTablesAFlash.engineTempEnrichmentTableFixed;
    engineTempEnrichmentTableFixed2Location   = (void*)&SmallTablesAFlash2.engineTempEnrichmentTableFixed;
    primingVolumeTableLocation                = (void*)&SmallTablesAFlash.primingVolumeTable;
    primingVolumeTable2Location               = (void*)&SmallTablesAFlash2.primingVolumeTable;
    engineTempEnrichmentTablePercentLocation  = (void*)&SmallTablesAFlash.engineTempEnrichmentTablePercent;
    engineTempEnrichmentTablePercent2Location = (void*)&SmallTablesAFlash2.engineTempEnrichmentTablePercent;
    dwellMaxVersusRPMTableLocation            = (void*)&SmallTablesAFlash.dwellMaxVersusRPMTable;
    dwellMaxVersusRPMTable2Location           = (void*)&SmallTablesAFlash2.dwellMaxVersusRPMTable;

    /* TablesB */
    perCylinderFuelTrimsLocation  = (void*)&SmallTablesBFlash.perCylinderFuelTrims;
    perCylinderFuelTrims2Location = (void*)&SmallTablesBFlash2.perCylinderFuelTrims;

    /* TablesC */
    // TODO

    /* TablesD */
    // TODO

    /* filler defs */
    fillerALocation  = (void*)&SmallTablesAFlash.filler;
    fillerA2Location = (void*)&SmallTablesAFlash2.filler;
    fillerBLocation  = (void*)&SmallTablesBFlash.filler;
    fillerB2Location = (void*)&SmallTablesBFlash2.filler;
    fillerCLocation  = (void*)&SmallTablesCFlash.filler;
    fillerC2Location = (void*)&SmallTablesCFlash2.filler;
    fillerDLocation  = (void*)&SmallTablesDFlash.filler;
    fillerD2Location = (void*)&SmallTablesDFlash2.filler;
}

void initVariables

(

)

Definition at line 442 of file init.c.

References ADCArrays, ADCArrays0, ADCArrays1, ADCArraysRecord, asyncADCArrays, asyncADCArrays0, asyncADCArrays1, asyncADCArraysRecord, configuredBasicDatalogLength, CoreVars, CoreVars0, currentDwell0, currentDwell1, currentDwellMath, currentDwellRealtime, DerivedVars, DerivedVars0, injectorMainControlRegisters, injectorMainPulseWidths0, injectorMainPulseWidths1, injectorMainPulseWidthsMath, injectorMainPulseWidthsRealtime, injectorMainTimeRegisters, injectorStagedPulseWidths0, injectorStagedPulseWidths1, injectorStagedPulseWidthsMath, injectorStagedPulseWidthsRealtime, ISRLatencyVars, mathSampleTimeStamp, ISRLatencyVar::mathSampleTimeStamp0, ISRLatencyVar::mathSampleTimeStamp1, mathSampleTimeStampRecord, maxBasicDatalogLength, RPM, RPM0, RPM1, RPMRecord, TC2_ADDR, TC3_ADDR, TC4_ADDR, TC5_ADDR, TC6_ADDR, TC7_ADDR, TCTL1_ADDR, and TCTL2_ADDR.

Referenced by init().

                    {
    /* And the opposite for the other halves */
    CoreVars = &CoreVars0;
    DerivedVars = &DerivedVars0;
    ADCArrays = &ADCArrays0;
    ADCArraysRecord = &ADCArrays1;
    asyncADCArrays = &asyncADCArrays0;
    asyncADCArraysRecord = &asyncADCArrays1;
    currentDwellMath = &currentDwell0;
    currentDwellRealtime = &currentDwell1;

    injectorMainPulseWidthsMath = injectorMainPulseWidths0;
    injectorMainPulseWidthsRealtime = injectorMainPulseWidths1;
    injectorStagedPulseWidthsMath = injectorStagedPulseWidths0;
    injectorStagedPulseWidthsRealtime = injectorStagedPulseWidths1;

    mathSampleTimeStamp = &ISRLatencyVars.mathSampleTimeStamp0; // TODO temp, remove
    mathSampleTimeStampRecord = &ISRLatencyVars.mathSampleTimeStamp1; // TODO temp, remove
    RPM = &RPM0; // TODO temp, remove
    RPMRecord = &RPM1; // TODO temp, remove

    /* Setup the pointers to the registers for fueling use, this does NOT work if done in global.c, I still don't know why. */
    injectorMainTimeRegisters[0] = TC2_ADDR;
    injectorMainTimeRegisters[1] = TC3_ADDR;
    injectorMainTimeRegisters[2] = TC4_ADDR;
    injectorMainTimeRegisters[3] = TC5_ADDR;
    injectorMainTimeRegisters[4] = TC6_ADDR;
    injectorMainTimeRegisters[5] = TC7_ADDR;
    injectorMainControlRegisters[0] = TCTL2_ADDR;
    injectorMainControlRegisters[1] = TCTL2_ADDR;
    injectorMainControlRegisters[2] = TCTL1_ADDR;
    injectorMainControlRegisters[3] = TCTL1_ADDR;
    injectorMainControlRegisters[4] = TCTL1_ADDR;
    injectorMainControlRegisters[5] = TCTL1_ADDR;

    configuredBasicDatalogLength = maxBasicDatalogLength;

    // TODO perhaps read from the ds1302 once at start up and init the values or different ones with the actual time and date then update them in RTI
}

void initXgate

(

)

Xgate module setup.

Configure XGATE setup registers and prepare XGATE code to be run by copying it from flash hcs12mem can write to to flash XGATE can read from.

Author:

Sean Keys and Fred Cooke

Note:

A thanks goes out to Edward Karpicz for helping me get xgate configured properly.

Warning:

If executing from RAM you must copy the code from Flash to RAM before starting Xgate

Definition at line 529 of file init.c.

References compare(), eraseSector(), INT_CFADDR, INT_CFDATA0, INT_CFDATA1, PPAGE, RPAGE, writeSector(), xgateIntVectorTable, XGMCTL, and XGVBR.

Referenced by init().

                {
    /* route interrupt to xgate */
    INT_CFADDR = (0x72 & 0xF0); /* vector address = channel_id * 2 */
    INT_CFDATA0 = 0x01;         /* RQST = 1 */
    INT_CFDATA1 = 0x81;     /* PRIO = 1 */

    /* HCS12mem currently limits us to half of the available flash, hence this copy code. */
    /* XGATE sees flash starting at paged address 0xE0, 0x8800 */

    // Reuse variables across multiple blocks of unreachable code copying code
    unsigned short * xgateDataDestination;
    unsigned char destinationPage;
    // Save old flash page value
    unsigned char OldPPAGE = PPAGE;

    // Copy the XGATE vector table into the visible region only if it differs from what is already there (save on flash burns for now)
    xgateDataDestination = (unsigned short *)0x8800;
    destinationPage = 0xE0;
    // Copy to ram first as only one paged flash block at a time is visible
    memcpy((void*)&TXBuffer, (void*)&xgateIntVectorTable, sizeof(xgateIntVectorTable));
    // Switch to destination page for comparison
    PPAGE = destinationPage;
    // Do the check, from the copy in RAM to the destination.
    if(compare((unsigned char*)&TXBuffer, (unsigned char*)xgateDataDestination, sizeof(xgateIntVectorTable))){
        eraseSector(destinationPage, xgateDataDestination);
        writeSector(RPAGE, (unsigned short*)&TXBuffer, destinationPage, xgateDataDestination);
    }

    // Copy xgatethread0 code into the visible region only if it differs from what is already there (save on flash burns for now)
    xgateDataDestination = (unsigned short *)0x9000;
    destinationPage = 0xE1;
    unsigned short xgateThread0Size = (void*)&xgateThread0End - (void*)&xgateThread0;
    // Copy to ram first as only one paged flash block at a time is visible
    memcpy((void*)&TXBuffer, (void*)&xgateThread0, xgateThread0Size);
    // Switch to destination page for comparison
    PPAGE = destinationPage;
    // Do the check, from the copy in RAM to the destination.
    if(compare((unsigned char*)&TXBuffer, (unsigned char*)xgateDataDestination, xgateThread0Size)){
        eraseSector(destinationPage, xgateDataDestination);
        writeSector(RPAGE, (unsigned short*)&TXBuffer, destinationPage, xgateDataDestination);
    }

    // Switch the page back to how it was
    PPAGE = OldPPAGE;

    // XGATE threads execute from flash at the moment

    // Set the XGVBR register to its start address in flash (page 0xE0 after 2K register space)
    XGVBR = (unsigned short )0x0800;

    // Enable XGate and XGate interrupts
    XGMCTL= (unsigned short)0x8181;
}

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