fome-fw/firmware/controllers/algo/engine.cpp

/**
 * @file	engine.cpp
 *
 *
 * This might be a http://en.wikipedia.org/wiki/God_object but that's best way I can
 * express myself in C/C++. I am open for suggestions :)
 *
 * @date May 21, 2014
 * @author Andrey Belomutskiy, (c) 2012-2020
 */

#include "pch.h"

#include "trigger_central.h"
#include "fuel_math.h"
#include "advance_map.h"
#include "speed_density.h"
#include "advance_map.h"

#include "aux_valves.h"
#include "map_averaging.h"
#include "perf_trace.h"
#include "backup_ram.h"
#include "idle_thread.h"
#include "idle_hardware.h"
#include "gppwm.h"
#include "tachometer.h"
#include "dynoview.h"
#include "boost_control.h"
#include "fan_control.h"
#include "ac_control.h"
#include "vr_pwm.h"
#if EFI_MC33816
 #include "mc33816.h"
#endif // EFI_MC33816

#if EFI_PROD_CODE
#include "trigger_emulator_algo.h"
#include "bench_test.h"
#else
#define isRunningBenchTest() true
#endif /* EFI_PROD_CODE */

#if (BOARD_TLE8888_COUNT > 0)
#include "gpio/tle8888.h"
#endif

#if EFI_ENGINE_SNIFFER
#include "engine_sniffer.h"
extern int waveChartUsedSize;
extern WaveChart waveChart;
#endif /* EFI_ENGINE_SNIFFER */

void Engine::resetEngineSnifferIfInTestMode() {
#if EFI_ENGINE_SNIFFER
	if (isFunctionalTestMode) {
		// TODO: what is the exact reasoning for the exact engine sniffer pause time I wonder
		waveChart.pauseEngineSnifferUntilNt = getTimeNowNt() + MS2NT(300);
		waveChart.reset();
	}
#endif /* EFI_ENGINE_SNIFFER */
}

/**
 * VVT decoding delegates to universal trigger decoder. Here we map vvt_mode_e into corresponding trigger_type_e
 */
trigger_type_e getVvtTriggerType(vvt_mode_e vvtMode) {
	switch (vvtMode) {
	case VVT_INACTIVE:
		return TT_ONE;
	case VVT_2JZ:
		return TT_VVT_JZ;
	case VVT_MIATA_NB:
		return TT_VVT_MIATA_NB;
	case VVT_BOSCH_QUICK_START:
		return TT_VVT_BOSCH_QUICK_START;
	case VVT_HONDA_K:
	case VVT_FIRST_HALF:
	case VVT_SECOND_HALF:
	case VVT_MAP_V_TWIN:
		return TT_ONE;
	case VVT_FORD_ST170:
		return TT_FORD_ST170;
	case VVT_BARRA_3_PLUS_1:
		return TT_VVT_BARRA_3_PLUS_1;
	case VVT_MAZDA_SKYACTIV:
	    return TT_VVT_MAZDA_SKYACTIV;
	case VVT_NISSAN_VQ:
		return TT_VVT_NISSAN_VQ35;
	case VVT_TOYOTA_4_1:
		return TT_VVT_TOYOTA_4_1;
	case VVT_MITSUBISHI_3A92:
		return TT_VVT_MITSUBISHI_3A92;
	case VVT_MITSUBISHI_6G75:
	case VVT_NISSAN_MR:
		return TT_NISSAN_MR18_CAM_VVT;
	default:
		firmwareError(OBD_PCM_Processor_Fault, "getVvtTriggerType for %s", getVvt_mode_e(vvtMode));
		return TT_ONE; // we have to return something for the sake of -Werror=return-type
	}
}

static void initVvtShape(TriggerWaveform& shape, const TriggerConfiguration& config, TriggerDecoderBase &initState) {
	shape.initializeTriggerWaveform(FOUR_STROKE_CAM_SENSOR, config);

	shape.initializeSyncPoint(initState, config);
}

void Engine::updateTriggerWaveform() {
	static TriggerDecoderBase initState("init");

	// Re-read config in case it's changed
	triggerCentral.primaryTriggerConfiguration.update();
	for (int camIndex = 0;camIndex < CAMS_PER_BANK;camIndex++) {
		triggerCentral.vvtTriggerConfiguration[camIndex].update();
	}

#if EFI_ENGINE_CONTROL && EFI_SHAFT_POSITION_INPUT
	// we have a confusing threading model so some synchronization would not hurt
	chibios_rt::CriticalSectionLocker csl;

	triggerCentral.triggerShape.initializeTriggerWaveform(lookupOperationMode(), triggerCentral.primaryTriggerConfiguration);

	/**
	 * this is only useful while troubleshooting a new trigger shape in the field
	 * in very VERY rare circumstances
	 */
	if (engineConfiguration->overrideTriggerGaps) {
		int gapIndex = 0;

		// copy however many the user wants
		for (; gapIndex < engineConfiguration->gapTrackingLengthOverride; gapIndex++) {
			float gapOverrideFrom = engineConfiguration->triggerGapOverrideFrom[gapIndex];
			float gapOverrideTo = engineConfiguration->triggerGapOverrideTo[gapIndex];
			TRIGGER_WAVEFORM(setTriggerSynchronizationGap3(/*gapIndex*/gapIndex, gapOverrideFrom, gapOverrideTo));
		}

		// fill the remainder with the default gaps
		for (; gapIndex < GAP_TRACKING_LENGTH; gapIndex++) {
			engine->triggerCentral.triggerShape.syncronizationRatioFrom[gapIndex] = NAN;
			engine->triggerCentral.triggerShape.syncronizationRatioTo[gapIndex] = NAN;
		}
	}

	if (!TRIGGER_WAVEFORM(shapeDefinitionError)) {
		/**
	 	 * 'initState' instance of TriggerDecoderBase is used only to initialize 'this' TriggerWaveform instance
	 	 * #192 BUG real hardware trigger events could be coming even while we are initializing trigger
	 	 */
		calculateTriggerSynchPoint(engine->triggerCentral.triggerShape,
				initState);

		engine->engineCycleEventCount = TRIGGER_WAVEFORM(getLength());
	}

	for (int camIndex = 0; camIndex < CAMS_PER_BANK; camIndex++) {
		// todo: should 'vvtWithRealDecoder' be used here?
		if (engineConfiguration->vvtMode[camIndex] != VVT_INACTIVE) {
			initVvtShape(
				triggerCentral.vvtShape[camIndex],
				triggerCentral.vvtTriggerConfiguration[camIndex],
				initState
			);
		}
	}

	// This is not the right place for this, but further refactoring has to happen before it can get moved.
	engine->triggerCentral.triggerState.setNeedsDisambiguation(engine->triggerCentral.triggerShape.needsDisambiguation());

	if (!TRIGGER_WAVEFORM(shapeDefinitionError)) {
		prepareOutputSignals();
	}
#endif /* EFI_ENGINE_CONTROL && EFI_SHAFT_POSITION_INPUT */
}

#if ANALOG_HW_CHECK_MODE
static void assertCloseTo(const char* msg, float actual, float expected) {
	if (actual < 0.95f * expected || actual > 1.05f * expected) {
		firmwareError(OBD_PCM_Processor_Fault, "%s validation failed actual=%f vs expected=%f", msg, actual, expected);
	}
}
#endif // ANALOG_HW_CHECK_MODE

void Engine::periodicSlowCallback() {
	ScopePerf perf(PE::EnginePeriodicSlowCallback);

	// Re-read config in case it's changed
	triggerCentral.primaryTriggerConfiguration.update();
	for (int camIndex = 0;camIndex < CAMS_PER_BANK;camIndex++) {
		triggerCentral.vvtTriggerConfiguration[camIndex].update();
	}

	efiWatchdog();
	updateSlowSensors();
	checkShutdown();

	tpsAccelEnrichment.onNewValue(Sensor::getOrZero(SensorType::Tps1));

	updateVrPwm();

	enginePins.o2heater.setValue(engineConfiguration->forceO2Heating || engine->rpmCalculator.isRunning());
	enginePins.starterRelayDisable.setValue(Sensor::getOrZero(SensorType::Rpm) < engineConfiguration->cranking.rpm);

	updateGppwm();

	engine->engineModules.apply_all([](auto & m) { m.onSlowCallback(); });

	updateFans(module<AcController>().unmock().isAcEnabled());

#if EFI_BOOST_CONTROL
	updateBoostControl();
#endif // EFI_BOOST_CONTROL

#if (BOARD_TLE8888_COUNT > 0)
	tle8888startup();
#endif

#if EFI_DYNO_VIEW
	updateDynoView();
#endif

	slowCallBackWasInvoked = true;

#if EFI_PROD_CODE
	void baroLps25Update();
	baroLps25Update();
#endif // EFI_PROD_CODE

#if ANALOG_HW_CHECK_MODE
	efiAssertVoid(OBD_PCM_Processor_Fault, isAdcChannelValid(engineConfiguration->clt.adcChannel), "No CLT setting");
	efitimesec_t secondsNow = getTimeNowS();

#if ! HW_CHECK_ALWAYS_STIMULATE
	fail("HW_CHECK_ALWAYS_STIMULATE required to have self-stimulation")
#endif

	if (secondsNow > 2 && secondsNow < 180) {
		assertCloseTo("RPM", Sensor::get(SensorType::Rpm).Value, HW_CHECK_RPM);
	} else if (!hasFirmwareError() && secondsNow > 180) {
		static bool isHappyTest = false;
		if (!isHappyTest) {
			setTriggerEmulatorRPM(5 * HW_CHECK_RPM);
			efiPrintf("TEST PASSED");
			isHappyTest = true;
		}
	}

	assertCloseTo("clt", Sensor::getRaw(SensorType::Clt), 1.351f);
	assertCloseTo("iat", Sensor::getRaw(SensorType::Iat), 2.245f);
	assertCloseTo("aut1", Sensor::getRaw(SensorType::AuxTemp1), 2.750f);
	assertCloseTo("aut2", Sensor::getRaw(SensorType::AuxTemp2), 3.176f);
#endif // ANALOG_HW_CHECK_MODE
}

/**
 * We are executing these heavy (logarithm) methods from outside the trigger callbacks for performance reasons.
 * See also periodicFastCallback
 */
void Engine::updateSlowSensors() {
	updateSwitchInputs();

#if EFI_ENGINE_CONTROL
	int rpm = Sensor::getOrZero(SensorType::Rpm);
	triggerCentral.isEngineSnifferEnabled = rpm < engineConfiguration->engineSnifferRpmThreshold;
	sensorChartMode = rpm < engineConfiguration->sensorSnifferRpmThreshold ? engineConfiguration->sensorChartMode : SC_OFF;

	engineState.updateSlowSensors();
#endif
}

#if EFI_GPIO_HARDWARE
static bool getClutchUpState() {
	if (isBrainPinValid(engineConfiguration->clutchUpPin)) {
		return engineConfiguration->clutchUpPinInverted ^ efiReadPin(engineConfiguration->clutchUpPin);
	}
	return engine->engineState.lua.clutchUpState;
}

static bool getBrakePedalState() {
	if (isBrainPinValid(engineConfiguration->brakePedalPin)) {
		return efiReadPin(engineConfiguration->brakePedalPin);
	}
	return engine->engineState.lua.brakePedalState;
}
#endif // EFI_GPIO_HARDWARE

void Engine::updateSwitchInputs() {
#if EFI_GPIO_HARDWARE
	// this value is not used yet
	if (isBrainPinValid(engineConfiguration->clutchDownPin)) {
		engine->engineState.clutchDownState = engineConfiguration->clutchDownPinInverted ^ efiReadPin(engineConfiguration->clutchDownPin);
	}
	{
		bool currentState;
		if (hasAcToggle()) {
			currentState = getAcToggle();
		} else {
			currentState = engine->engineState.lua.acRequestState;
		}
		AcController & acController = engine->module<AcController>().unmock();
		if (acController.acButtonState != currentState) {
			acController.acButtonState = currentState;
			acController.acSwitchLastChangeTimeMs = US2MS(getTimeNowUs());
		}
	}
	engine->engineState.clutchUpState = getClutchUpState();

	if (isBrainPinValid(engineConfiguration->throttlePedalUpPin)) {
		engine->module<IdleController>().unmock().throttlePedalUpState = efiReadPin(engineConfiguration->throttlePedalUpPin);
	}

	engine->engineState.brakePedalState = getBrakePedalState();

#endif // EFI_GPIO_HARDWARE
}

void Engine::onTriggerSignalEvent() {
	isSpinning = true;
}

Engine::Engine() {
	reset();
}

int Engine::getGlobalConfigurationVersion(void) const {
	return globalConfigurationVersion;
}

void Engine::reset() {
	/**
	 * it's important for fixAngle() that engineCycle field never has zero
	 */
	engineState.engineCycle = getEngineCycle(FOUR_STROKE_CRANK_SENSOR);
	memset(&ignitionPin, 0, sizeof(ignitionPin));
	resetLua();
}

void Engine::resetLua() {
	// todo: https://github.com/rusefi/rusefi/issues/4308
	engineState.lua = {};
	engineState.lua.fuelMult = 1;
#if EFI_BOOST_CONTROL
	boostController.resetLua();
#endif // EFI_BOOST_CONTROL
	ignitionState.luaTimingAdd = 0;
	ignitionState.luaTimingMult = 1;
	module<IdleController>().unmock().luaAdd = 0;
}

/**
 * Here we have a bunch of stuff which should invoked after configuration change
 * so that we can prepare some helper structures
 */
void Engine::preCalculate() {
#if EFI_TUNER_STUDIO
	// we take 2 bytes of crc32, no idea if it's right to call it crc16 or not
	// we have a hack here - we rely on the fact that engineMake is the first of three relevant fields
	engine->outputChannels.engineMakeCodeNameCrc16 = crc32(engineConfiguration->engineMake, 3 * VEHICLE_INFO_SIZE);

	// we need and can empty warning message for CRC purposes
	memset(config->warning_message, 0, sizeof(error_message_t));
	engine->outputChannels.tuneCrc16 = crc32(config, sizeof(persistent_config_s));
#endif /* EFI_TUNER_STUDIO */
}

#if EFI_SHAFT_POSITION_INPUT
void Engine::OnTriggerStateProperState(efitick_t nowNt) {
	rpmCalculator.setSpinningUp(nowNt);
}

void Engine::OnTriggerSynchronizationLost() {
	// Needed for early instant-RPM detection
	rpmCalculator.setStopSpinning();

	triggerCentral.triggerState.resetTriggerState();

	for (size_t i = 0; i < efi::size(triggerCentral.vvtState); i++) {
		for (size_t j = 0; j < efi::size(triggerCentral.vvtState[0]); j++) {
			triggerCentral.vvtState[i][j].resetTriggerState();
		}
	}
}

void Engine::OnTriggerSyncronization(bool wasSynchronized, bool isDecodingError) {
	// TODO: this logic probably shouldn't be part of engine.cpp

	// We only care about trigger shape once we have synchronized trigger. Anything could happen
	// during first revolution and it's fine
	if (wasSynchronized) {
		enginePins.triggerDecoderErrorPin.setValue(isDecodingError);

		// 'triggerStateListener is not null' means we are running a real engine and now just preparing trigger shape
		// that's a bit of a hack, a sweet OOP solution would be a real callback or at least 'needDecodingErrorLogic' method?
		if (isDecodingError) {
#if EFI_PROD_CODE
			if (engineConfiguration->verboseTriggerSynchDetails || (triggerCentral.triggerState.someSortOfTriggerError() && !engineConfiguration->silentTriggerError)) {
				efiPrintf("error: synchronizationPoint @ index %d expected %d/%d got %d/%d",
						triggerCentral.triggerState.currentCycle.current_index,
						TRIGGER_WAVEFORM(getExpectedEventCount(TriggerWheel::T_PRIMARY)),
						TRIGGER_WAVEFORM(getExpectedEventCount(TriggerWheel::T_SECONDARY)),
						triggerCentral.triggerState.currentCycle.eventCount[0],
						triggerCentral.triggerState.currentCycle.eventCount[1]);
			}
#endif /* EFI_PROD_CODE */
		}

		engine->triggerErrorDetection.add(isDecodingError);
	}

}
#endif

void Engine::injectEngineReferences() {
	triggerCentral.primaryTriggerConfiguration.update();
	for (int camIndex = 0;camIndex < CAMS_PER_BANK;camIndex++) {
		triggerCentral.vvtTriggerConfiguration[camIndex].update();
	}
}

void Engine::setConfig() {
	efi::clear(config);

	injectEngineReferences();
}

void Engine::efiWatchdog() {
#if EFI_ENGINE_CONTROL
	if (isRunningPwmTest)
		return;

	if (module<PrimeController>()->isPriming()) {
		return;
	}

	static efitimems_t mostRecentMs = 0;
	efitimems_t msNow = getTimeNowMs();
	if (engineConfiguration->tempBooleanForVerySpecialLogic && engine->configBurnTimer.hasElapsedSec(5)) {

		if (mostRecentMs != 0) {
			efitimems_t gapInMs = msNow - mostRecentMs;
			if (gapInMs > 500) {
				firmwareError(WATCH_DOG_SECONDS, "gap in time: now=%d mS, was %d mS, gap=%dmS",
					msNow, mostRecentMs, gapInMs);
			}
		}
	}
	mostRecentMs = msNow;

	if (!isSpinning) {
		if (!isRunningBenchTest() && enginePins.stopPins()) {
			// todo: make this a firmwareError assuming functional tests would run
			warning(CUSTOM_ERR_2ND_WATCHDOG, "Some pins were turned off by 2nd pass watchdog");
		}
		return;
	}

	/**
	 * todo: better watch dog implementation should be implemented - see
	 * http://sourceforge.net/p/rusefi/tickets/96/
	 */
	if (engine->triggerCentral.engineMovedRecently()) {
		// Engine moved recently, no need to safe pins.
		return;
	}
	isSpinning = false;
	ignitionEvents.isReady = false;
#if EFI_PROD_CODE || EFI_SIMULATOR
	efiPrintf("engine has STOPPED");
	triggerInfo();
#endif

	enginePins.stopPins();
#endif
}

void Engine::checkShutdown() {
#if EFI_MAIN_RELAY_CONTROL
	// if we are already in the "ignition_on" mode, then do nothing
	if (ignitionOnTimeNt > 0) {
		return;
	}

	// here we are in the shutdown (the ignition is off) or initial mode (after the firmware fresh start)
	const efitick_t engineStopWaitTimeoutUs = 500000LL;	// 0.5 sec
	// in shutdown mode, we need a small cooldown time between the ignition off and on
/* this needs work or tests
	if (stopEngineRequestTimeNt == 0 || (getTimeNowNt() - stopEngineRequestTimeNt) > US2NT(engineStopWaitTimeoutUs)) {
		// if the ignition key is turned on again,
		// we cancel the shutdown mode, but only if all shutdown procedures are complete
		const float vBattThresholdOn = 8.0f;
		// we fallback into zero instead of VBAT_FALLBACK_VALUE because it's not safe to false-trigger the "ignition on" event,
		// and we want to turn on the main relay only when 100% sure.
		if ((Sensor::get(SensorType::BatteryVoltage).value_or(0) > vBattThresholdOn) && !isInShutdownMode()) {
			ignitionOnTimeNt = getTimeNowNt();
			efiPrintf("Ignition voltage detected!");
			if (stopEngineRequestTimeNt != 0) {
				efiPrintf("Cancel the engine shutdown!");
				stopEngineRequestTimeNt = 0;
			}
		}
	}
*/
#endif /* EFI_MAIN_RELAY_CONTROL */
}

bool Engine::isInMainRelayBench() {
	if (mainRelayBenchStartNt == 0) {
		return false;
	}
	return (getTimeNowNt() - mainRelayBenchStartNt) < NT_PER_SECOND;
}

bool Engine::isInShutdownMode() const {
	// TODO: this logic is currently broken
#if 0 && EFI_MAIN_RELAY_CONTROL && EFI_PROD_CODE
	// if we are in "ignition_on" mode and not in shutdown mode
	if (stopEngineRequestTimeNt == 0 && ignitionOnTimeNt > 0) {
		const float vBattThresholdOff = 5.0f;
		// start the shutdown process if the ignition voltage dropped low
		if (Sensor::get(SensorType::BatteryVoltage).value_or(VBAT_FALLBACK_VALUE) <= vBattThresholdOff) {
			scheduleStopEngine();
		}
	}

	// we are not in the shutdown mode?
	if (stopEngineRequestTimeNt == 0) {
		return false;
	}

	const efitick_t turnOffWaitTimeoutNt = NT_PER_SECOND;
	// We don't want any transients to step in, so we wait at least 1 second whatever happens.
	// Also it's good to give the stepper motor some time to start moving to the initial position (or parking)
	if ((getTimeNowNt() - stopEngineRequestTimeNt) < turnOffWaitTimeoutNt)
		return true;

	const efitick_t engineSpinningWaitTimeoutNt = 5 * NT_PER_SECOND;
	// The engine is still spinning! Give it some time to stop (but wait no more than 5 secs)
	if (isSpinning && (getTimeNowNt() - stopEngineRequestTimeNt) < engineSpinningWaitTimeoutNt)
		return true;

	// The idle motor valve is still moving! Give it some time to park (but wait no more than 10 secs)
	// Usually it can move to the initial 'cranking' position or zero 'parking' position.
	const efitick_t idleMotorWaitTimeoutNt = 10 * NT_PER_SECOND;
	if (isIdleMotorBusy() && (getTimeNowNt() - stopEngineRequestTimeNt) < idleMotorWaitTimeoutNt)
		return true;
#endif /* EFI_MAIN_RELAY_CONTROL */
	return false;
}

bool Engine::isMainRelayEnabled() const {
#if EFI_MAIN_RELAY_CONTROL
	return enginePins.mainRelay.getLogicValue();
#else
	// if no main relay control, we assume it's always turned on
	return true;
#endif /* EFI_MAIN_RELAY_CONTROL */
}

injection_mode_e getCurrentInjectionMode() {
	return getEngineRotationState()->isCranking() ? engineConfiguration->crankingInjectionMode : engineConfiguration->injectionMode;
}

/**
 * The idea of this method is to execute all heavy calculations in a lower-priority thread,
 * so that trigger event handler/IO scheduler tasks are faster.
 */
void Engine::periodicFastCallback() {
	ScopePerf pc(PE::EnginePeriodicFastCallback);

#if EFI_MAP_AVERAGING
	refreshMapAveragingPreCalc();
#endif

	engineState.periodicFastCallback();

	tachSignalCallback();

	engine->engineModules.apply_all([](auto & m) { m.onFastCallback(); });
}

void doScheduleStopEngine() {
	efiPrintf("Starting doScheduleStopEngine");
	engine->limpManager.stopEngine();
	engine->ignitionOnTimeNt = 0;
	// todo: initiate stepper motor parking
	// make sure we have stored all the info
#if EFI_PROD_CODE
	//todo: FIX kinetis build with this line
	//backupRamFlush();
#endif // EFI_PROD_CODE
}

EngineRotationState * getEngineRotationState() {
	return &engine->rpmCalculator;
}

EngineState * getEngineState() {
	return &engine->engineState;
}

TunerStudioOutputChannels *getTunerStudioOutputChannels() {
	return &engine->outputChannels;
}

ExecutorInterface *getExecutorInterface() {
	return &engine->executor;
}

TriggerCentral * getTriggerCentral() {
	return &engine->triggerCentral;
}

LimpManager * getLimpManager() {
	return &engine->limpManager;
}