Adds Engine Synchronization

.github/workflows/test.yml

@@ -0,0 +1,40 @@
+name: Unit Tests
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y \
+          build-essential \
+          cmake \
+          gcc \
+          g++ \
+          ninja-build
+
+    - name: Run tests
+      run: |
+        chmod +x run_tests.sh
+        ./run_tests.sh
+
+    - name: Upload test results
+      if: always()
+      uses: actions/upload-artifact@v4
+      with:
+        name: test-results
+        path: test/build/Testing/
+        if-no-files-found: ignore

CMakeLists.txt

@@ -7,6 +7,12 @@ cmake_minimum_required(VERSION 3.22)
 # User is free to modify the file as much as necessary
 #
 
+# Include toolchain file before project() if not already set
+# (CMake presets will set this automatically)
+if(NOT CMAKE_TOOLCHAIN_FILE)
+    set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_SOURCE_DIR}/cmake/gcc-arm-none-eabi.cmake")
+endif()
+
 # Setup compiler settings
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -21,18 +27,15 @@ endif()
 # Set the project name
 set(CMAKE_PROJECT_NAME CustomECU)
 
-# Include toolchain file
-include("cmake/gcc-arm-none-eabi.cmake")
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+message("Build type: " ${CMAKE_BUILD_TYPE})
 
 # Enable compile command to ease indexing with e.g. clangd
 set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 
-# Enable CMake support for ASM and C languages
-enable_language(C ASM)
-
-# Core project settings
-project(${CMAKE_PROJECT_NAME})
-message("Build type: " ${CMAKE_BUILD_TYPE})
+# Enable CMake support for ASM language (after project)
+enable_language(ASM)
 
 # Create an executable object type
 add_executable(${CMAKE_PROJECT_NAME})
@@ -48,10 +51,10 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user sources here
-    Core/Src/tasks.c
     Core/Src/us_timer.c
     Core/Src/ulog.c
-    Core/Src/sampling.c
+    Core/Src/sampling.cpp
+    Core/Src/engine.cpp
 )
 
 # Add include paths

Core/Inc/tasks.h → Core/Inc/engine.h

@@ -1,5 +1,10 @@
-#ifndef __TASKS_H
-#define __TASKS_H
+#ifndef __ENGINE_H
+#define __ENGINE_H
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
 
 // Function Prototypes
 
@@ -9,9 +14,12 @@
  * spark and fuel injection events.
  *
  * This task is critical for engine operation and should run at a high priority.
- * @param argument: Not used
- * @retval None
+ * @param argument: Not used.
+ * @retval None.
  */
 void criticalEngineTask(void *argument);
 
+#ifdef __cplusplus
+}
 #endif
+#endif /* __ENGINE_H */

Core/Inc/sampling.hpp

@@ -0,0 +1,84 @@
+#ifndef __SAMPLING_H
+#define __SAMPLING_H
+#include <stdbool.h>
+#include <stdint.h>
+
+/**
+ * @brief  Callback for when a cam tooth is detected.
+ * @param  None
+ * @retval None
+ */
+void on_cam_tooth();
+
+/**
+ * @brief  Callback for when a crank tooth is detected.
+ * @param  None
+ * @retval None
+ */
+void on_crank_tooth();
+
+/**
+ * @brief  Get the current fraction of tooth passed since last crank tooth.
+ * @param  None
+ * @retval Fraction of tooth passed (0.0 to 1.0)
+ */
+float get_current_fraction_of_tooth();
+
+/**
+ * @brief  Get the current engine angle in degrees.
+ * @param  None
+ * @retval Current engine angle in degrees (0.0 to 720.0)
+ */
+float get_current_engine_angle();
+
+
+/**
+ * @brief Handles synchronization detection with cam and crank signals.
+ * Specifically for the Honda CBR600CC engine with 12 equally-spaced
+ * crank teeth and 3 cam teeth, with one offset 30deg.
+ *
+ * Updates synced bool in SyncState struct.
+ *
+ * @param None.
+ * @retval None.
+ */
+void detectSync(void);
+
+// General Engine Synchronization State.
+struct SyncState {
+  // Whether we have locked synchronization or not.
+  bool synced;
+
+  // Crank index.
+  volatile uint8_t crank_index = 0;
+
+  // Monotonic crank counter.
+  volatile uint64_t crank_counter = 0;
+
+  // Monotonic cam crank counter.
+  volatile uint64_t cam_crank_counter = 0;
+
+  // Monotonic cam crank counter for last cam seen.
+  volatile uint64_t last_cam_crank_counter = 0;
+
+  // Last time in micros when we saw a crank tooth.
+  volatile uint32_t last_crank_time_us = 0;
+
+  // Last time in micros when we saw a cam tooth.
+  volatile uint32_t last_cam_time_us = 0;
+
+  // Instantaneous period between crank teeth (in microseconds).
+  volatile double tooth_period_us = 0.0;
+
+  // Engine phase (0 = 0-360, 1 = 360-720).
+  bool engine_phase;
+
+  // Gets the delta in crank teeth between the last two cam teeth.
+  inline uint8_t get_cam_delta() {
+    return cam_crank_counter - last_cam_crank_counter;
+  };
+};
+
+extern struct SyncState syncState;
+
+#endif

Core/Inc/stm32f4xx_it.h

@@ -22,7 +22,7 @@
 #define __STM32F4xx_IT_H
 
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Private includes ----------------------------------------------------------*/

Core/Inc/us_timer.h

@@ -1,5 +1,9 @@
 #ifndef __US_TIMER_H
 #define __US_TIMER_H
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include <stdint.h>
 
 /**
@@ -14,4 +18,7 @@ void init_us_timer(void);
  */
 uint32_t get_micros(void);
 
+#ifdef __cplusplus
+}
 #endif
+#endif /* __US_TIMER_H */

Core/Src/engine.cpp

@@ -0,0 +1,41 @@
+#include <cmsis_os2.h>
+#include <stdint.h>
+
+#include "engine.h"
+#include "sampling.hpp"
+#include "ulog.h"
+#include "us_timer.h"
+
+uint32_t last_time = 0;
+uint32_t time = 0;
+
+void criticalEngineTask(void *argument) {
+  (void)argument; // Unused parameter
+
+  ULOG_INFO("Engine task started - waiting for sync...");
+
+  for (;;) {
+    // Wait for sync to be acquired by cam tooth interrupts
+    if (!syncState.synced) {
+      // Sleep briefly to avoid busy-waiting
+      osDelay(1);
+      continue;
+    }
+
+    // We're synced - perform engine control operations
+    float current_angle = get_current_engine_angle();
+
+    // TODO: Schedule fuel injection events
+    // TODO: Schedule ignition events
+
+    // ULOG_INFO("EngAngle: %.2f", current_angle);
+
+    if (!syncState.synced) {
+      ULOG_WARNING("Lost sync! Re-acquiring...");
+      continue;
+    }
+
+    // Sleep briefly - actual timing is interrupt-driven
+    osDelay(1);
+  }
+}

Core/Src/freertos.c

@@ -25,9 +25,10 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "us_timer.h"
-#include "tasks.h"
+#include "engine.h"
 #include "ulog.h"
+#include "us_timer.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/

Core/Src/main.c

@@ -96,9 +96,7 @@ int main(void)
   /* USER CODE END 2 */
 
   /* Init scheduler */
-  osKernelInitialize();
-
-  /* Call init function for freertos objects (in cmsis_os2.c) */
+  osKernelInitialize();  /* Call init function for freertos objects (in cmsis_os2.c) */
   MX_FREERTOS_Init();
 
   /* Start scheduler */
@@ -180,7 +178,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   /* USER CODE BEGIN Callback 0 */
 
   /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM1) {
+  if (htim->Instance == TIM1)
+  {
     HAL_IncTick();
   }
   /* USER CODE BEGIN Callback 1 */
@@ -199,8 +198,7 @@ void Error_Handler(void)
 
   /* USER CODE END Error_Handler_Debug */
 }
-
-#ifdef  USE_FULL_ASSERT
+#ifdef USE_FULL_ASSERT
 /**
   * @brief  Reports the name of the source file and the source line number
   *         where the assert_param error has occurred.