main_loop.cpp

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//
// Created by FDSoftware on 21/04/25.
//
 
#include "pch.h"
#include "thread_priority.h"
#include "main_loop.h"
#include "main_loop_controller.h"
 
MainLoop::MainLoop()
    : PeriodicController("MainLoop", PRIO_MAIN_LOOP, MAIN_LOOP_RATE)
{
}
 
template <LoopPeriod TFlag>
LoopPeriod MainLoop::makePeriodFlag() const {
    if (m_cycleCounter % loopCounts<TFlag>() == 0) {
        return TFlag;
    } else {
        return LoopPeriod::None;
    }
}
 
LoopPeriod MainLoop::makePeriodFlags() {
    if (m_cycleCounter >= MAIN_LOOP_RATE) {
        m_cycleCounter = 0;
    }
 
    LoopPeriod lp = LoopPeriod::None;
    lp |= makePeriodFlag<LoopPeriod::Period1000hz>();
    lp |= makePeriodFlag<LoopPeriod::Period500hz>();
    lp |= makePeriodFlag<LoopPeriod::Period250hz>();
    lp |= makePeriodFlag<LoopPeriod::Period200hz>();
    lp |= makePeriodFlag<LoopPeriod::Period20hz>();
 
    m_cycleCounter++;
 
    return lp;
}
 
void MainLoop::PeriodicTask(efitick_t nowNt) {
    ScopePerf perf(PE::MainLoop);
 
    LoopPeriod currentLoopPeriod = makePeriodFlags();
 
#if HAL_USE_ADC
    if (currentLoopPeriod & ADC_UPDATE_RATE) {
        adcInputsUpdateSubscribers(nowNt);
    }
#endif // HAL_USE_ADC
 
#if EFI_ELECTRONIC_THROTTLE_BODY
    if (currentLoopPeriod & ETB_UPDATE_RATE) {
        // TODO: main_loop etb callback
    }
#endif // EFI_ELECTRONIC_THROTTLE_BODY
 
    if (currentLoopPeriod & SLOW_CALLBACK_RATE) {
        //TODO: main_loop slow callback
    }
 
    if (currentLoopPeriod & FAST_CALLBACK_RATE) {
       //TODO: main_loop fast callback
    }
}
 
void initMainLoop() {
    // see test_periodic_thread_controller.cpp for explanation
#if ! EFI_UNIT_TEST
    mainLoop.start();
#endif
}