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proper trigger_input_adc (already in master) (#3648) 

Co-authored-by: Andrei <andreikagit@users.noreply.github.com>
This commit is contained in:
Andreika 2021-12-03 17:56:14 +02:00 committed by GitHub
parent 1ee878d49d
commit 4e37c844a7
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2 changed files with 87 additions and 20 deletions
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100
firmware/hw_layer/digital_input/trigger/trigger_input_adc.cpp
View File

@ -8,23 +8,35 @@
*/
#include "global.h"
#include "trigger_input_adc.h"
/*static*/ TriggerAdcDetector trigAdcState;
#define DELTA_THRESHOLD_CNT_LOW (GPT_FREQ_FAST / GPT_PERIOD_FAST / 32) // ~1/32 second?
#define DELTA_THRESHOLD_CNT_HIGH (GPT_FREQ_FAST / GPT_PERIOD_FAST / 4) // ~1/4 second?
#define triggerVoltsToAdcDivided(volts) (voltsToAdc(volts) / trigAdcState.triggerInputDividerCoefficient)
// hardware-dependent part
#if (EFI_SHAFT_POSITION_INPUT && HAL_TRIGGER_USE_ADC && HAL_USE_ADC) || defined(__DOXYGEN__)
#include "digital_input_exti.h"
#include "adc_inputs.h"
//!!!!!!!!!!
#define TRIGGER_ADC_DEBUG_LED TRUE
//#define DEBUG_OUTPUT_IGN1 TRUE
//#define TRIGGER_ADC_DUMP_BUF TRUE
#ifdef TRIGGER_ADC_DEBUG_LED
#define TRIGGER_ADC_DEBUG_LED1_PORT GPIOH
#define TRIGGER_ADC_DEBUG_LED1_PIN 9
//#define DEBUG_OUTPUT_IGN1
#ifdef TRIGGER_ADC_DUMP_BUF
static const int dumpBufNum = 100;
static triggerAdcSample_t dumpBuf[dumpBufNum];
static int dumpBufCnt = 0;
#endif /* TRIGGER_ADC_DUMP_BUF */
void toggleLed(int led, int mode) {
#if 1
@ -55,9 +67,11 @@ static ioportmask_t triggerInputPin;
#endif /* PAL_MODE_EXTINT */
void setTriggerAdcMode(triggerAdcMode_t adcMode) {
palSetPadMode(triggerInputPort, triggerInputPin,
(adcMode == TRIGGER_ADC_ADC) ? PAL_MODE_INPUT_ANALOG : PAL_MODE_EXTINT);
trigAdcState.curAdcMode = adcMode;
trigAdcState.modeSwitchCnt++;
palSetPadMode(triggerInputPort, triggerInputPin,
(adcMode == TRIGGER_ADC_ADC) ? PAL_MODE_INPUT_ANALOG : PAL_MODE_EXTINT);
}
static void shaft_callback(void *arg, efitick_t stamp) {
@ -77,8 +91,19 @@ void triggerAdcCallback(triggerAdcSample_t value) {
trigAdcState.analogCallback(stamp, value);
}
#ifdef TRIGGER_ADC_DUMP_BUF
static void printDumpBuf(void) {
efiPrintf("------");
for (int i = 0; i < dumpBufNum; i++) {
int pos = (dumpBufCnt - i - 1 + dumpBufNum) % dumpBufNum;
triggerAdcSample_t v = dumpBuf[pos];
efiPrintf("[%d] %d", i, v);
}
}
#endif /* TRIGGER_ADC_DUMP_BUF */
static int turnOnTriggerInputPin(const char *msg, int index, bool isTriggerShaft) {
int adcTriggerTurnOnInputPin(const char *msg, int index, bool isTriggerShaft) {
brain_pin_e brainPin = isTriggerShaft ?
engineConfiguration->triggerInputPins[index] : engineConfiguration->camInputs[index];
@ -92,9 +117,9 @@ static int turnOnTriggerInputPin(const char *msg, int index, bool isTriggerShaft
ioline_t pal_line = PAL_LINE(triggerInputPort, triggerInputPin);
efiPrintf("turnOnTriggerInputPin %s l=%d", hwPortname(brainPin), pal_line);
efiExtiEnablePin(msg, brainPin, PAL_EVENT_MODE_BOTH_EDGES, isTriggerShaft ? shaft_callback : cam_callback, (void *)pal_line);
// ADC mode is default, because we don't know if the wheel is already spinning
setTriggerAdcMode(TRIGGER_ADC_ADC);
@ -105,6 +130,10 @@ static int turnOnTriggerInputPin(const char *msg, int index, bool isTriggerShaft
#endif
#endif /* TRIGGER_ADC_DEBUG_LED */
#ifdef TRIGGER_ADC_DUMP_BUF
addConsoleAction("trigger_adc_dump", printDumpBuf);
#endif /* TRIGGER_ADC_DUMP_BUF */
return 0;
}
@ -152,26 +181,35 @@ void TriggerAdcDetector::init() {
// todo: move some of these to config
// 4.7k||5.1k + 4.7k
triggerInputDividerCoefficient = 1.52f; // = analogInputDividerCoefficient
// we need to make at least minNumAdcMeasurementsPerTooth for 1 tooth (i.e. between two consequent events)
const int minNumAdcMeasurementsPerTooth = 20;
const int minNumAdcMeasurementsPerTooth = 10; // for 60-2 wheel: 1/(10*2*60/10000/60) = 500 RPM
minDeltaTimeForStableAdcDetectionNt = US2NT(US_PER_SECOND_LL * minNumAdcMeasurementsPerTooth * GPT_PERIOD_FAST / GPT_FREQ_FAST);
// we assume that the transition occurs somewhere in the middle of the measurement period, so we take the half of it
stampCorrectionForAdc = US2NT(US_PER_SECOND_LL * GPT_PERIOD_FAST / GPT_FREQ_FAST / 2);
// these thresholds allow to switch from ADC mode to EXTI mode, indicating the clamping of the signal
switchingThresholdLow = voltsToAdcDivided(1.0f);
switchingThresholdHigh = voltsToAdcDivided(4.0f);
analogToDigitalTransitionCnt = 4;
digitalToAnalogTransitionCnt = 4;
// used to filter out low signals
minDeltaThresholdWeakSignal = voltsToAdcDivided(0.05f); // 50mV
minDeltaThresholdWeakSignal = triggerVoltsToAdcDivided(0.05f); // 50mV
// we need to shift the default threshold even for strong signals because of the possible loss of the first tooth (after the sync)
minDeltaThresholdStrongSignal = voltsToAdcDivided(0.04f); // 5mV
minDeltaThresholdStrongSignal = triggerVoltsToAdcDivided(0.04f); // 5mV
const triggerAdcSample_t adcDeltaThreshold = voltsToAdcDivided(0.25f);
adcDefaultThreshold = voltsToAdcDivided(3.4f); // this corresponds to VREF1 on Hellen boards
const triggerAdcSample_t adcDeltaThreshold = triggerVoltsToAdcDivided(0.25f);
adcDefaultThreshold = triggerVoltsToAdcDivided(2.5f); // this corresponds to VREF1 on Hellen boards
adcMinThreshold = adcDefaultThreshold - adcDeltaThreshold;
adcMaxThreshold = adcDefaultThreshold - adcDeltaThreshold;
// these thresholds allow to switch from ADC mode to EXTI mode, indicating the clamping of the signal
// they should exceed the MCU schmitt trigger thresholds (usually 0.3*Vdd and 0.7*Vdd)
switchingThresholdLow = triggerVoltsToAdcDivided(1.0f); // = 0.2*Vdd (<0.3*Vdd)
switchingThresholdHigh = triggerVoltsToAdcDivided(4.0f); // = 0.8*Vdd (>0.7*Vdd)
modeSwitchCnt = 0;
reset();
#endif // EFI_SIMULATOR
}
@ -209,7 +247,7 @@ void TriggerAdcDetector::digitalCallback(efitick_t stamp, bool isPrimary, bool r
switchingTeethCnt = 0;
}
if (switchingCnt > 4) {
if (switchingCnt >= digitalToAnalogTransitionCnt) {
switchingCnt = 0;
// we need at least 3 wide teeth to be certain!
// we don't want to confuse them with a sync.gap
@ -229,12 +267,17 @@ void TriggerAdcDetector::analogCallback(efitick_t stamp, triggerAdcSample_t valu
return;
}
#ifdef TRIGGER_ADC_DUMP_BUF
dumpBuf[dumpBufCnt] = value;
dumpBufCnt = (dumpBufCnt + 1) % dumpBufNum;
#endif /* TRIGGER_ADC_DUMP_BUF */
// <1V or >4V?
if (value >= switchingThresholdHigh || value <= switchingThresholdLow) {
switchingCnt++;
} else {
switchingCnt = 0;
switchingTeethCnt = 0;
//switchingCnt = 0;
switchingCnt = maxI(switchingCnt - 1, 0);
}
int delta = value - adcThreshold;
@ -323,16 +366,17 @@ void TriggerAdcDetector::analogCallback(efitick_t stamp, triggerAdcSample_t valu
// it should not accumulate too much
integralSum = 0;
#if 0
// update triggerAdcITerm
efitime_t deltaTimeUs = NT2US(stamp - prevStamp);
if (deltaTimeUs > 200) { // 200 us = ~2500 RPM (we don't need this correction for large RPM)
triggerAdcITerm = 1.0f / (triggerAdcITermCoef * deltaTimeUs);
triggerAdcITerm = maxF(triggerAdcITerm, triggerAdcITermMin);
}
#endif
}
if (switchingCnt > 4) {
if (switchingCnt >= analogToDigitalTransitionCnt) {
switchingCnt = 0;
// we need at least 3 high-signal teeth to be certain!
if (switchingTeethCnt++ > 3) {
@ -344,10 +388,15 @@ void TriggerAdcDetector::analogCallback(efitick_t stamp, triggerAdcSample_t valu
// we want to reset the thresholds on return
zeroThreshold = minDeltaThresholdStrongSignal;
adcThreshold = adcDefaultThreshold;
// reset integrator
triggerAdcITerm = triggerAdcITermMin;
integralSum = 0;
transitionCooldownCnt = 0;
return;
}
} else {
// we don't see "big teeth" anymore
switchingTeethCnt = 0;
}
prevValue = transition;
@ -355,3 +404,14 @@ void TriggerAdcDetector::analogCallback(efitick_t stamp, triggerAdcSample_t valu
#endif // EFI_SIMULATOR
}
triggerAdcMode_t getTriggerAdcMode(void) {
return trigAdcState.curAdcMode;
}
float getTriggerAdcThreshold(void) {
return trigAdcState.adcThreshold;
}
int getTriggerAdcModeCnt(void) {
return trigAdcState.modeSwitchCnt;
}

7
firmware/hw_layer/digital_input/trigger/trigger_input_adc.h
View File

@ -29,11 +29,16 @@ public:
triggerAdcSample_t adcMinThreshold;
triggerAdcSample_t adcMaxThreshold;
float triggerInputDividerCoefficient;
float triggerAdcITermCoef = 1600.0f;
float triggerAdcITermMin = 3.125e-8f; // corresponds to rpm=25
int transitionCooldown = 5;
int analogToDigitalTransitionCnt;
int digitalToAnalogTransitionCnt;
triggerAdcMode_t curAdcMode = TRIGGER_ADC_NONE;
float adcThreshold = adcDefaultThreshold;
float triggerAdcITerm = triggerAdcITermMin;
@ -57,4 +62,6 @@ public:
int minDeltaThresholdCntPos = 0, minDeltaThresholdCntNeg = 0;
int integralSum = 0;
int transitionCooldownCnt = 0;
int modeSwitchCnt = 0;
};