engine_controller.cpp

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/**
 * @file    engine_controller.cpp
 * @brief   Controllers package entry point code
 *
 *
 *
 * @date Feb 7, 2013
 * @author Andrey Belomutskiy, (c) 2012-2020
 *
 * This file is part of rusEfi - see http://rusefi.com
 *
 * rusEfi is free software; you can redistribute it and/or modify it under the terms of
 * the GNU General Public License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 *
 * rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
 * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with this program.
 * If not, see <http://www.gnu.org/licenses/>.
 */
 
#include "pch.h"
 
 
#include "trigger_central.h"
#include "script_impl.h"
#include "idle_thread.h"
#include "hardware.h"
#include "advance_map.h"
#include "main_trigger_callback.h"
#include "flash_main.h"
#include "bench_test.h"
#include "mmc_card.h"
#include "electronic_throttle.h"
#include "trigger_emulator_algo.h"
#include "map_averaging.h"
#include "high_pressure_fuel_pump.h"
#include "malfunction_central.h"
#include "malfunction_indicator.h"
#include "speed_density.h"
#include "local_version_holder.h"
#include "alternator_controller.h"
#include "can_bench_test.h"
#include "engine_emulator.h"
#include "fuel_math.h"
#include "spark_logic.h"
#include "status_loop.h"
#include "aux_valves.h"
#include "accelerometer.h"
#include "vvt.h"
#include "boost_control.h"
#include "launch_control.h"
#include "tachometer.h"
#include "speedometer.h"
#include "gppwm.h"
#include "date_stamp.h"
#include "rusefi_lua.h"
#include "buttonshift.h"
#include "start_stop.h"
#include "dynoview.h"
#include "vr_pwm.h"
#include "adc_subscription.h"
#include "gc_generic.h"
 
#if EFI_SENSOR_CHART
#include "sensor_chart.h"
#endif /* EFI_SENSOR_CHART */
 
#if EFI_TUNER_STUDIO
#include "tunerstudio.h"
#endif /* EFI_TUNER_STUDIO */
 
#if EFI_LOGIC_ANALYZER
#include "logic_analyzer.h"
#endif /* EFI_LOGIC_ANALYZER */
 
#if HAL_USE_ADC
#include "AdcConfiguration.h"
#endif /* HAL_USE_ADC */
 
#if defined(EFI_BOOTLOADER_INCLUDE_CODE)
#include "bootloader/bootloader.h"
#endif /* EFI_BOOTLOADER_INCLUDE_CODE */
 
#include "periodic_task.h"
 
 
#if ! EFI_UNIT_TEST
#include "init.h"
#include "mpu_util.h"
#endif /* EFI_UNIT_TEST */
 
#if EFI_PROD_CODE
#include "pwm_tester.h"
#endif /* EFI_PROD_CODE */
 
#if !EFI_UNIT_TEST
 
/**
 * Would love to pass reference to configuration object into constructor but C++ does allow attributes after parenthesized initializer
 */
Engine ___engine CCM_OPTIONAL;
 
#else // EFI_UNIT_TEST
 
Engine * engine;
 
#endif /* EFI_UNIT_TEST */
 
 
void initDataStructures() {
#if EFI_ENGINE_CONTROL
    initFuelMap();
    initSpeedDensity();
    IgnitionEventList &events = engine->ignitionEvents;
    for (size_t i=0;i<efi::size(events.elements);i++) {
      // above-zero value helps distinguish events
      events.elements[i].sparkCounter = 1;
    }
  // above-zero value helps distinguish events
    engine->engineState.globalSparkCounter = 1;
#endif // EFI_ENGINE_CONTROL
}
 
#if !EFI_UNIT_TEST
 
static void doPeriodicSlowCallback();
 
class PeriodicFastController : public PeriodicTimerController {
    void PeriodicTask() override {
        engine->periodicFastCallback();
    }
 
    int getPeriodMs() override {
        return FAST_CALLBACK_PERIOD_MS;
    }
};
 
class PeriodicSlowController : public PeriodicTimerController {
    void PeriodicTask() override {
        doPeriodicSlowCallback();
    }
 
    int getPeriodMs() override {
        // no reason to have this configurable, looks like everyone is happy with 20Hz
        return SLOW_CALLBACK_PERIOD_MS;
    }
};
 
static PeriodicFastController fastController;
static PeriodicSlowController slowController;
 
class EngineStateBlinkingTask : public PeriodicTimerController {
    int getPeriodMs() override {
        return 50;
    }
 
    void PeriodicTask() override {
#if EFI_SHAFT_POSITION_INPUT
        bool is_running = engine->rpmCalculator.isRunning();
#else
        bool is_running = false;
#endif /* EFI_SHAFT_POSITION_INPUT */
 
        if (is_running) {
            // blink in running mode
            enginePins.runningLedPin.toggle();
        } else {
            int is_cranking = engine->rpmCalculator.isCranking();
            enginePins.runningLedPin.setValue(is_cranking);
        }
    }
};
 
static EngineStateBlinkingTask engineStateBlinkingTask;
 
static void resetAccel() {
    engine->tpsAccelEnrichment.resetAE();
#if EFI_ENGINE_CONTROL
    for (size_t i = 0; i < efi::size(engine->injectionEvents.elements); i++)
    {
        engine->injectionEvents.elements[i].getWallFuel().resetWF();
    }
#endif // EFI_ENGINE_CONTROL
}
 
static void doPeriodicSlowCallback() {
#if EFI_SHAFT_POSITION_INPUT
    efiAssertVoid(ObdCode::CUSTOM_ERR_6661, getCurrentRemainingStack() > 64, "lowStckOnEv");
 
    slowStartStopButtonCallback();
 
    engine->rpmCalculator.onSlowCallback();
    if (engine->rpmCalculator.isStopped()) {
        resetAccel();
    }
 
    if (engine->versionForConfigurationListeners.isOld(engine->getGlobalConfigurationVersion())) {
        updateAccelParameters();
    }
#endif /* EFI_SHAFT_POSITION_INPUT */
 
    engine->periodicSlowCallback();
 
#if EFI_SHAFT_POSITION_INPUT
    if (engine->triggerCentral.directSelfStimulation || engine->rpmCalculator.isStopped()) {
        /**
         * rusEfi usually runs on hardware which halts execution while writing to internal flash, so we
         * postpone writes to until engine is stopped. Writes in case of self-stimulation are fine.
         *
         * todo: allow writing if 2nd bank of flash is used
         */
#if (EFI_STORAGE_INT_FLASH == TRUE) || (EFI_STORAGE_MFS == TRUE)
        writeToFlashIfPending();
#endif /* (EFI_STORAGE_INT_FLASH == TRUE) || (EFI_STORAGE_MFS == TRUE) */
    }
#else /* if EFI_SHAFT_POSITION_INPUT */
    #if (EFI_STORAGE_INT_FLASH == TRUE) || (EFI_STORAGE_MFS == TRUE)
        writeToFlashIfPending();
    #endif /* (EFI_STORAGE_INT_FLASH == TRUE) || (EFI_STORAGE_MFS == TRUE) */
#endif /* EFI_SHAFT_POSITION_INPUT */
 
#if EFI_TCU
    if (engineConfiguration->tcuEnabled && engineConfiguration->gearControllerMode != GearControllerMode::None) {
        if (engine->gearController == NULL) {
            initGearController();
        } else if (engine->gearController->getMode() != engineConfiguration->gearControllerMode) {
            initGearController();
        }
        engine->gearController->update();
    }
#endif // EFI_TCU
 
    tryResetWatchdog();
}
 
void initPeriodicEvents() {
    slowController.start();
    fastController.start();
}
 
char * getPinNameByAdcChannel(const char *msg, adc_channel_e hwChannel, char *buffer) {
#if HAL_USE_ADC
    if (!isAdcChannelValid(hwChannel)) {
        strcpy(buffer, "NONE");
    } else {
        strcpy(buffer, portname(getAdcChannelPort(msg, hwChannel)));
        itoa10(&buffer[2], getAdcChannelPin(hwChannel));
    }
#else
    strcpy(buffer, "NONE");
#endif /* HAL_USE_ADC */
    return buffer;
}
 
#if HAL_USE_ADC
extern AdcDevice fastAdc;
#endif /* HAL_USE_ADC */
 
#if EFI_PROD_CODE
static void printSensorInfo() {
#if HAL_USE_ADC
    // Print info about analog mappings
    AdcSubscription::PrintInfo();
#endif // HAL_USE_ADC
 
    // Print info about all sensors
    Sensor::showAllSensorInfo();
}
#endif // EFI_PROD_CODE
 
#define isOutOfBounds(offset) ((offset<0) || (offset) >= (int) sizeof(engine_configuration_s))
 
static void getShort(int offset) {
    if (isOutOfBounds(offset))
        return;
    uint16_t *ptr = (uint16_t *) (&((char *) engineConfiguration)[offset]);
    uint16_t value = *ptr;
    /**
     * this response is part of rusEfi console API
     */
    efiPrintf("short%s%d is %d", CONSOLE_DATA_PROTOCOL_TAG, offset, value);
}
 
static void getByte(int offset) {
    if (isOutOfBounds(offset))
        return;
    uint8_t *ptr = (uint8_t *) (&((char *) engineConfiguration)[offset]);
    uint8_t value = *ptr;
    /**
     * this response is part of rusEfi console API
     */
    efiPrintf("byte%s%d is %d", CONSOLE_DATA_PROTOCOL_TAG, offset, value);
}
 
static void setBit(const char *offsetStr, const char *bitStr, const char *valueStr) {
    int offset = atoi(offsetStr);
    if (absI(offset) == absI(ATOI_ERROR_CODE)) {
        efiPrintf("invalid offset [%s]", offsetStr);
        return;
    }
    if (isOutOfBounds(offset)) {
        return;
    }
    int bit = atoi(bitStr);
    if (absI(bit) == absI(ATOI_ERROR_CODE)) {
        efiPrintf("invalid bit [%s]", bitStr);
        return;
    }
    int value = atoi(valueStr);
    if (absI(value) == absI(ATOI_ERROR_CODE)) {
        efiPrintf("invalid value [%s]", valueStr);
        return;
    }
    int *ptr = (int *) (&((char *) engineConfiguration)[offset]);
    *ptr ^= (-value ^ *ptr) & (1 << bit);
    /**
     * this response is part of rusEfi console API
     */
    efiPrintf("bit%s%d/%d is %d", CONSOLE_DATA_PROTOCOL_TAG, offset, bit, value);
    incrementGlobalConfigurationVersion("setBit");
}
 
static void setShort(const int offset, const int value) {
    if (isOutOfBounds(offset))
        return;
    uint16_t *ptr = (uint16_t *) (&((char *) engineConfiguration)[offset]);
    *ptr = (uint16_t) value;
    getShort(offset);
    incrementGlobalConfigurationVersion("setShort");
}
 
static void setByte(const int offset, const int value) {
    if (isOutOfBounds(offset))
        return;
    uint8_t *ptr = (uint8_t *) (&((char *) engineConfiguration)[offset]);
    *ptr = (uint8_t) value;
    getByte(offset);
    incrementGlobalConfigurationVersion("setByte");
}
 
static void getBit(int offset, int bit) {
    if (isOutOfBounds(offset))
        return;
    int *ptr = (int *) (&((char *) engineConfiguration)[offset]);
    int value = (*ptr >> bit) & 1;
    /**
     * this response is part of rusEfi console API
     */
    efiPrintf("bit%s%d/%d is %d", CONSOLE_DATA_PROTOCOL_TAG, offset, bit, value);
}
 
static void getInt(int offset) {
    if (isOutOfBounds(offset))
        return;
    int *ptr = (int *) (&((char *) engineConfiguration)[offset]);
    int value = *ptr;
    /**
     * this response is part of rusEfi console API
     */
    efiPrintf("int%s%d is %d", CONSOLE_DATA_PROTOCOL_TAG, offset, value);
}
 
static void setInt(const int offset, const int value) {
    if (isOutOfBounds(offset))
        return;
    int *ptr = (int *) (&((char *) engineConfiguration)[offset]);
    *ptr = value;
    getInt(offset);
    incrementGlobalConfigurationVersion("setInt");
}
 
static void getFloat(int offset) {
    if (isOutOfBounds(offset))
        return;
    float *ptr = (float *) (&((char *) engineConfiguration)[offset]);
    float value = *ptr;
    /**
     * this response is part of rusEfi console API
     */
    efiPrintf("float%s%d is %.5f", CONSOLE_DATA_PROTOCOL_TAG, offset, value);
}
 
static void setFloat(const char *offsetStr, const char *valueStr) {
    int offset = atoi(offsetStr);
    if (absI(offset) == absI(ATOI_ERROR_CODE)) {
        efiPrintf("invalid offset [%s]", offsetStr);
        return;
    }
    if (isOutOfBounds(offset))
        return;
    float value = atoff(valueStr);
    if (cisnan(value)) {
        efiPrintf("invalid value [%s]", valueStr);
        return;
    }
    float *ptr = (float *) (&((char *) engineConfiguration)[offset]);
    *ptr = value;
    getFloat(offset);
    incrementGlobalConfigurationVersion("setFloat");
}
 
static void initConfigActions() {
    addConsoleActionSS("set_float", (VoidCharPtrCharPtr) setFloat);
    addConsoleActionII("set_int", (VoidIntInt) setInt);
    addConsoleActionII("set_short", (VoidIntInt) setShort);
    addConsoleActionII("set_byte", (VoidIntInt) setByte);
    addConsoleActionSSS("set_bit", setBit);
 
    addConsoleActionI("get_float", getFloat);
    addConsoleActionI("get_int", getInt);
    addConsoleActionI("get_short", getShort);
    addConsoleActionI("get_byte", getByte);
    addConsoleActionII("get_bit", getBit);
}
#endif /* EFI_UNIT_TEST */
 
// one-time start-up
// this method is used by real firmware and simulator and unit test
void commonInitEngineController() {
#if EFI_PROD_CODE
    addConsoleAction("sensorinfo", printSensorInfo);
    addConsoleAction("reset_accel", resetAccel);
#endif /* EFI_PROD_CODE */
 
    initInterpolation();
 
#if EFI_SIMULATOR || EFI_UNIT_TEST
    printf("commonInitEngineController\n");
#endif
 
#if !EFI_UNIT_TEST
    initConfigActions();
#endif /* EFI_UNIT_TEST */
 
#if EFI_ENGINE_CONTROL
    /**
     * This has to go after 'enginePins.startPins()' in order to
     * properly detect un-assigned output pins
     */
    prepareOutputSignals();
 
    engine->injectionEvents.addFuelEvents();
#endif // EFI_ENGINE_CONTROL
 
#if EFI_SENSOR_CHART
    initSensorChart();
#endif /* EFI_SENSOR_CHART */
 
#if EFI_PROD_CODE || EFI_SIMULATOR
    initSettings();
 
    if (hasFirmwareError()) {
        return;
    }
#endif
 
#if ! EFI_UNIT_TEST && EFI_ENGINE_CONTROL
    initBenchTest();
#endif /* ! EFI_UNIT_TEST && EFI_ENGINE_CONTROL */
 
#if EFI_ALTERNATOR_CONTROL
    initAlternatorCtrl();
#endif /* EFI_ALTERNATOR_CONTROL */
 
#if EFI_VVT_PID
    initVvtActuators();
#endif /* EFI_VVT_PID */
 
#if EFI_MALFUNCTION_INDICATOR
    initMalfunctionIndicator();
#endif /* EFI_MALFUNCTION_INDICATOR */
 
#if !EFI_UNIT_TEST
    // This is tested independently - don't configure sensors for tests.
    // This lets us selectively mock them for each test.
    initNewSensors();
#endif /* EFI_UNIT_TEST */
 
    initSensors();
 
    initAccelEnrichment();
 
    initScriptImpl();
 
    initGpPwm();
 
#if EFI_IDLE_CONTROL
    startIdleThread();
#endif /* EFI_IDLE_CONTROL */
 
#if EFI_TCU
    initGearController();
#endif
 
    initButtonDebounce();
 
#if EFI_ELECTRONIC_THROTTLE_BODY
    initElectronicThrottle();
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 
#if EFI_MAP_AVERAGING
    if (engineConfiguration->isMapAveragingEnabled) {
        initMapAveraging();
    }
#endif /* EFI_MAP_AVERAGING */
 
#if EFI_BOOST_CONTROL
    initBoostCtrl();
#endif /* EFI_BOOST_CONTROL */
 
#if EFI_LAUNCH_CONTROL
    initLaunchControl();
#endif
 
  initIgnitionAdvanceControl();
 
#if EFI_UNIT_TEST
    engine->rpmCalculator.Register();
#endif /* EFI_UNIT_TEST */
 
#if (EFI_ENGINE_CONTROL && EFI_SHAFT_POSITION_INPUT) || EFI_SIMULATOR || EFI_UNIT_TEST
    initAuxValves();
#endif /* EFI_ENGINE_CONTROL */
 
    initTachometer();
    initSpeedometer();
}
 
// Returns false if there's an obvious problem with the loaded configuration
bool validateConfig() {
    if (engineConfiguration->cylindersCount > MAX_CYLINDER_COUNT) {
        criticalError("Invalid cylinder count: %d", engineConfiguration->cylindersCount);
        return false;
    }
 
    ensureArrayIsAscending("Batt Lag", engineConfiguration->injector.battLagCorrBins);
 
#if EFI_ENGINE_CONTROL
    // Fueling
    {
        ensureArrayIsAscending("VE load", config->veLoadBins);
        ensureArrayIsAscending("VE RPM", config->veRpmBins);
 
        ensureArrayIsAscending("Lambda/AFR load", config->lambdaLoadBins);
        ensureArrayIsAscending("Lambda/AFR RPM", config->lambdaRpmBins);
 
        ensureArrayIsAscending("Fuel CLT mult", config->cltFuelCorrBins);
        ensureArrayIsAscending("Fuel IAT mult", config->iatFuelCorrBins);
 
        ensureArrayIsAscending("Injection phase load", config->injPhaseLoadBins);
        ensureArrayIsAscending("Injection phase RPM", config->injPhaseRpmBins);
 
        ensureArrayIsAscendingOrDefault("Fuel Level Sensor", config->fuelLevelBins);
        ensureArrayIsAscendingOrDefault("Fuel Trim Rpm", config->fuelTrimRpmBins);
        ensureArrayIsAscendingOrDefault("Fuel Trim Load", config->fuelTrimLoadBins);
 
        ensureArrayIsAscendingOrDefault("TC slip", engineConfiguration->tractionControlSlipBins);
        ensureArrayIsAscendingOrDefault("TC speed", engineConfiguration->tractionControlSpeedBins);
 
        ensureArrayIsAscending("TPS/TPS AE from", config->tpsTpsAccelFromRpmBins);
        ensureArrayIsAscending("TPS/TPS AE to", config->tpsTpsAccelToRpmBins);
 
        ensureArrayIsAscendingOrDefault("TPS TPS RPM correction", config->tpsTspCorrValuesBins);
 
        ensureArrayIsAscendingOrDefault("Staging Load", config->injectorStagingLoadBins);
        ensureArrayIsAscendingOrDefault("Staging RPM", config->injectorStagingRpmBins);
    }
 
    // Ignition
    {
        ensureArrayIsAscending("Dwell RPM", config->sparkDwellRpmBins);
 
        ensureArrayIsAscending("Ignition load", config->ignitionLoadBins);
        ensureArrayIsAscending("Ignition RPM", config->ignitionRpmBins);
        ensureArrayIsAscendingOrDefault("Ign Trim Rpm", config->ignTrimRpmBins);
        ensureArrayIsAscendingOrDefault("Ign Trim Load", config->ignTrimLoadBins);
 
        ensureArrayIsAscending("Ignition CLT corr", config->cltTimingBins);
 
        ensureArrayIsAscending("Ignition IAT corr IAT", config->ignitionIatCorrTempBins);
        ensureArrayIsAscending("Ignition IAT corr Load", config->ignitionIatCorrLoadBins);
    }
 
    ensureArrayIsAscendingOrDefault("Map estimate TPS", config->mapEstimateTpsBins);
    ensureArrayIsAscendingOrDefault("Map estimate RPM", config->mapEstimateRpmBins);
#endif // EFI_ENGINE_CONTROL
 
    ensureArrayIsAscendingOrDefault("Script Curve 1", config->scriptCurve1Bins);
    ensureArrayIsAscendingOrDefault("Script Curve 2", config->scriptCurve2Bins);
    ensureArrayIsAscendingOrDefault("Script Curve 3", config->scriptCurve3Bins);
    ensureArrayIsAscendingOrDefault("Script Curve 4", config->scriptCurve4Bins);
    ensureArrayIsAscendingOrDefault("Script Curve 5", config->scriptCurve5Bins);
    ensureArrayIsAscendingOrDefault("Script Curve 6", config->scriptCurve6Bins);
 
// todo: huh? why does this not work on CI? ensureArrayIsAscendingOrDefault("Dwell Correction Voltage", engineConfiguration->dwellVoltageCorrVoltBins);
 
    ensureArrayIsAscending("MAF decoding", config->mafDecodingBins);
 
    // Cranking tables
    ensureArrayIsAscending("Cranking fuel mult", config->crankingFuelBins);
    ensureArrayIsAscending("Cranking duration", config->crankingCycleBins);
    ensureArrayIsAscending("Cranking TPS", config->crankingTpsBins);
 
    // Idle tables
    ensureArrayIsAscending("Idle target RPM", config->cltIdleRpmBins);
    ensureArrayIsAscending("Idle warmup mult", config->cltIdleCorrBins);
    ensureArrayIsAscendingOrDefault("Idle coasting RPM", config->iacCoastingRpmBins);
    ensureArrayIsAscendingOrDefault("Idle VE RPM", config->idleVeRpmBins);
    ensureArrayIsAscendingOrDefault("Idle VE Load", config->idleVeLoadBins);
    ensureArrayIsAscendingOrDefault("Idle timing", config->idleAdvanceBins);
 
    for (size_t index = 0; index < efi::size(engineConfiguration->vrThreshold); index++) {
        auto& cfg = engineConfiguration->vrThreshold[index];
 
        if (cfg.pin == Gpio::Unassigned) {
            continue;
        }
        ensureArrayIsAscending("VR Bins", cfg.rpmBins);
    }
 
#if EFI_BOOST_CONTROL
    // Boost
    ensureArrayIsAscending("Boost control TPS", config->boostTpsBins);
    ensureArrayIsAscending("Boost control RPM", config->boostRpmBins);
#endif // EFI_BOOST_CONTROL
 
#if EFI_ANTILAG_SYSTEM
    // ALS
    ensureArrayIsAscendingOrDefault("ign ALS TPS", config->alsIgnRetardLoadBins);
    ensureArrayIsAscendingOrDefault("ign ALS RPM", config->alsIgnRetardrpmBins);
    ensureArrayIsAscendingOrDefault("fuel ALS TPS", config->alsFuelAdjustmentLoadBins);
    ensureArrayIsAscendingOrDefault("fuel ALS RPM", config->alsFuelAdjustmentrpmBins);
#endif // EFI_ANTILAG_SYSTEM
 
#if EFI_ELECTRONIC_THROTTLE_BODY
    // ETB
    ensureArrayIsAscending("Pedal map pedal", config->pedalToTpsPedalBins);
    ensureArrayIsAscending("Pedal map RPM", config->pedalToTpsRpmBins);
#endif // EFI_ELECTRONIC_THROTTLE_BODY
 
    if (isGdiEngine()) {
        ensureArrayIsAscending("HPFP compensation", config->hpfpCompensationRpmBins);
        ensureArrayIsAscending("HPFP deadtime", config->hpfpDeadtimeVoltsBins);
        ensureArrayIsAscending("HPFP lobe profile", config->hpfpLobeProfileQuantityBins);
        ensureArrayIsAscending("HPFP target rpm", config->hpfpTargetRpmBins);
        ensureArrayIsAscending("HPFP target load", config->hpfpTargetLoadBins);
    }
 
    // VVT
    if (isBrainPinValid(engineConfiguration->camInputs[0])) {
        ensureArrayIsAscending("VVT intake load", config->vvtTable1LoadBins);
        ensureArrayIsAscending("VVT intake RPM", config->vvtTable1RpmBins);
    }
 
#if CAM_INPUTS_COUNT != 1
    if (isBrainPinValid(engineConfiguration->camInputs[1])) {
        ensureArrayIsAscending("VVT exhaust load", config->vvtTable2LoadBins);
        ensureArrayIsAscending("VVT exhaust RPM", config->vvtTable2RpmBins);
    }
#endif
 
    return true;
}
 
#if !EFI_UNIT_TEST
 
void commonEarlyInit() {
    // Start this early - it will start LED blinking and such
    startStatusThreads();
 
#if EFI_SHAFT_POSITION_INPUT
    // todo: figure out better startup logic
    initTriggerCentral();
#endif /* EFI_SHAFT_POSITION_INPUT */
 
    /**
     * Initialize hardware drivers
     */
    initHardware();
 
    initQcBenchControls();
 
#if EFI_FILE_LOGGING
    initMmcCard();
#endif /* EFI_FILE_LOGGING */
 
#if EFI_ENGINE_EMULATOR
    initEngineEmulator();
#endif
 
#if EFI_LUA
    startLua();
#endif // EFI_LUA
 
#if EFI_CAN_SERIAL
    // needs to be called after initCan() inside initHardware()
    startCanConsole();
#endif /* EFI_CAN_SERIAL */
 
#if HW_CHECK_ALWAYS_STIMULATE
    // we need a special binary for final assembly check. We cannot afford to require too much software or too many steps
    // to be executed at the place of assembly
    enableTriggerStimulator(/*incGlobalConfiguration*/false);
#endif // HW_CHECK_ALWAYS_STIMULATE
}
 
// one-time start-up
void initRealHardwareEngineController() {
    commonInitEngineController();
    initWarningRunningPins();
 
#if EFI_LOGIC_ANALYZER
    if (engineConfiguration->isWaveAnalyzerEnabled) {
        initWaveAnalyzer();
    }
#endif /* EFI_LOGIC_ANALYZER */
 
    if (hasFirmwareError()) {
        return;
    }
 
    engineStateBlinkingTask.start();
 
    initVrThresholdPwm();
 
#if EFI_PWM_TESTER
    initPwmTester();
#endif /* EFI_PWM_TESTER */
 
}
 
/**
 * these two variables are here only to let us know how much RAM is available, also these
 * help to notice when RAM usage goes up - if a code change adds to RAM usage these variables would fail
 * linking process which is the way to raise the alarm
 *
 * You get "cannot move location counter backwards" linker error when you run out of RAM. When you run out of RAM you shall reduce these
 * UNUSED_SIZE constants.
 */
#ifndef RAM_UNUSED_SIZE
#define RAM_UNUSED_SIZE 30000
#endif
#ifndef CCM_UNUSED_SIZE
#define CCM_UNUSED_SIZE 512
#endif
static volatile char UNUSED_RAM_SIZE[RAM_UNUSED_SIZE];
static volatile char UNUSED_CCM_SIZE[CCM_UNUSED_SIZE] CCM_OPTIONAL;
 
/**
 * See also VCS_VERSION
 */
int getRusEfiVersion(void) {
    if (UNUSED_RAM_SIZE[0] != 0)
        return 123; // this is here to make the compiler happy about the unused array
    if (UNUSED_CCM_SIZE[0] * 0 != 0)
        return 3211; // this is here to make the compiler happy about the unused array
#if defined(EFI_BOOTLOADER_INCLUDE_CODE)
    // make bootloader code happy too
    if (initBootloader() != 0)
        return 123;
#endif /* EFI_BOOTLOADER_INCLUDE_CODE */
    return VCS_DATE;
}
#endif /* EFI_UNIT_TEST */