fome-fw/firmware/controllers/trigger/trigger_decoder.cpp

/**
 * @file	trigger_decoder.cpp
 *
 * @date Dec 24, 2013
 * @author Andrey Belomutskiy, (c) 2012-2015
 *
 * 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 "main.h"

#if EFI_SHAFT_POSITION_INPUT || defined(__DOXYGEN__)

#include "obd_error_codes.h"
#include "trigger_decoder.h"
#include "cyclic_buffer.h"
#include "trigger_mazda.h"
#include "trigger_chrysler.h"
#include "trigger_gm.h"
#include "trigger_bmw.h"
#include "trigger_mitsubishi.h"
#include "trigger_subaru.h"
#include "auto_generated_enums.h"
#include "trigger_structure.h"
#include "efiGpio.h"
#include "engine.h"

static OutputPin triggerDecoderErrorPin;

EXTERN_ENGINE
;

// todo: better name for this constant
#define HELPER_PERIOD 720000

static cyclic_buffer<int> errorDetection;

#if ! EFI_PROD_CODE || defined(__DOXYGEN__)
bool printTriggerDebug = false;
float actualSynchGap;
#endif /* ! EFI_PROD_CODE */

static Logging * logger;

efitick_t lastDecodingErrorTime = US2NT(-10000000LL);

/**
 * @return TRUE is something is wrong with trigger decoding
 */
bool_t isTriggerDecoderError(void) {
	return errorDetection.sum(6) > 4;
}

float TriggerState::getTriggerDutyCycle(int index) {
	float time = prevTotalTime[index];

	return 100 * time / prevCycleDuration;
}

static trigger_wheel_e eventIndex[6] = { T_PRIMARY, T_PRIMARY, T_SECONDARY, T_SECONDARY, T_CHANNEL_3, T_CHANNEL_3 };
//static trigger_value_e eventType[6] = { TV_LOW, TV_HIGH, TV_LOW, TV_HIGH, TV_LOW, TV_HIGH };

#define getCurrentGapDuration(nowNt) \
	(isFirstEvent ? 0 : (nowNt) - toothed_previous_time)

#define nextTriggerEvent() \
 { \
	uint32_t prevTime = currentCycle.timeOfPreviousEventNt[triggerWheel]; \
	if (prevTime != 0) { \
		/* even event - apply the value*/ \
		currentCycle.totalTimeNt[triggerWheel] += (nowNt - prevTime); \
		currentCycle.timeOfPreviousEventNt[triggerWheel] = 0; \
	} else { \
		/* odd event - start accumulation */ \
		currentCycle.timeOfPreviousEventNt[triggerWheel] = nowNt; \
	} \
	if (engineConfiguration->useOnlyFrontForTrigger) {currentCycle.current_index++;} \
	currentCycle.current_index++; \
}

#define nextRevolution() { \
	if (cycleCallback != NULL) { \
		cycleCallback(this); \
	} \
	memcpy(prevTotalTime, currentCycle.totalTimeNt, sizeof(prevTotalTime)); \
	prevCycleDuration = nowNt - startOfCycleNt; \
	startOfCycleNt = nowNt; \
	resetCurrentCycleState(); \
	totalRevolutionCounter++; \
	runningRevolutionCounter++; \
	totalEventCountBase += TRIGGER_SHAPE(size); \
}

/**
 * @brief Trigger decoding happens here
 * This method is invoked every time we have a fall or rise on one of the trigger sensors.
 * This method changes the state of trigger_state_s data structure according to the trigger event
 * @param signal type of event which just happened
 * @param nowNt current time
 */
void TriggerState::decodeTriggerEvent(trigger_event_e const signal, efitime_t nowNt DECLARE_ENGINE_PARAMETER_S) {
	efiAssertVoid(signal <= SHAFT_3RD_UP, "unexpected signal");

	trigger_wheel_e triggerWheel = eventIndex[signal];

	if (!engineConfiguration->useOnlyFrontForTrigger && curSignal == prevSignal) {
		orderingErrorCounter++;
	}

	prevSignal = curSignal;
	curSignal = signal;

	currentCycle.eventCount[triggerWheel]++;

	efitime_t currentDurationLong = getCurrentGapDuration(nowNt);

	/**
	 * For performance reasons, we want to work with 32 bit values. If there has been more then
	 * 10 seconds since previous trigger event we do not really care.
	 */
	currentDuration =
			currentDurationLong > 10 * US2NT(US_PER_SECOND_LL) ? 10 * US2NT(US_PER_SECOND_LL) : currentDurationLong;

	bool_t isPrimary = triggerWheel == T_PRIMARY;

	if (isLessImportant(signal)) {
#if EFI_UNIT_TEST
		if (printTriggerDebug) {
			printf("%s isLessImportant %s\r\n",
					getTrigger_type_e(engineConfiguration->trigger.type),
					getTrigger_event_e(signal));
		}
#endif

		/**
		 * For less important events we simply increment the index.
		 */
		nextTriggerEvent()
		;
		if (TRIGGER_SHAPE(gapBothDirections) && considerEventForGap()) {
			isFirstEvent = false;
			durationBeforePrevious = toothed_previous_duration;
			toothed_previous_duration = currentDuration;
			toothed_previous_time = nowNt;
		}
		return;
	}

	isFirstEvent = false;
// todo: skip a number of signal from the beginning

#if EFI_PROD_CODE
//	scheduleMsg(&logger, "from %f to %f %d %d", triggerConfig->syncRatioFrom, triggerConfig->syncRatioTo, currentDuration, shaftPositionState->toothed_previous_duration);
//	scheduleMsg(&logger, "ratio %f", 1.0 * currentDuration/ shaftPositionState->toothed_previous_duration);
#else
	if (toothed_previous_duration != 0) {
//		printf("ratio %f: cur=%d pref=%d\r\n", 1.0 * currentDuration / shaftPositionState->toothed_previous_duration,
//				currentDuration, shaftPositionState->toothed_previous_duration);
	}
#endif

	bool_t isSynchronizationPoint;

	if (TRIGGER_SHAPE(isSynchronizationNeeded)) {
		/**
		 * Here I prefer to have two multiplications instead of one division, that's a micro-optimization
		 */
		isSynchronizationPoint = currentDuration > toothed_previous_duration * TRIGGER_SHAPE(syncRatioFrom) &&
				currentDuration < toothed_previous_duration * TRIGGER_SHAPE(syncRatioTo) &&
				toothed_previous_duration > durationBeforePrevious * TRIGGER_SHAPE(secondSyncRatioFrom) &&
				toothed_previous_duration < durationBeforePrevious * TRIGGER_SHAPE(secondSyncRatioTo)
				;

#if EFI_PROD_CODE || defined(__DOXYGEN__)
		if (engineConfiguration->isPrintTriggerSynchDetails) {
#else
		if (printTriggerDebug) {
#endif /* EFI_PROD_CODE */
			float gap = 1.0 * currentDuration / toothed_previous_duration;
#if EFI_PROD_CODE || defined(__DOXYGEN__)
			scheduleMsg(logger, "gap=%f @ %d", gap, currentCycle.current_index);
#else
			actualSynchGap = gap;
			float prevGap = 1.0 * toothed_previous_duration / durationBeforePrevious;
			print("current gap %f/%f c=%d prev=%d\r\n", gap, prevGap, currentDuration, toothed_previous_duration);
#endif /* EFI_PROD_CODE */
		}

	} else {
		/**
		 * in case of noise the counter could be above the expected number of events
		 */
		int d = engineConfiguration->useOnlyFrontForTrigger ? 2 : 1;
		isSynchronizationPoint = !shaft_is_synchronized || (currentCycle.current_index >= TRIGGER_SHAPE(size) - d);

	}

#if EFI_UNIT_TEST
		if (printTriggerDebug) {
			printf("%s isSynchronizationPoint=%d index=%d %s\r\n",
					getTrigger_type_e(engineConfiguration->trigger.type),
					isSynchronizationPoint, currentCycle.current_index,
					getTrigger_event_e(signal));
		}
#endif

	if (isSynchronizationPoint) {

		/**
		 * We can check if things are fine by comparing the number of events in a cycle with the expected number of event.
		 */
		bool isDecodingError = currentCycle.eventCount[0] != TRIGGER_SHAPE(expectedEventCount[0])
				|| currentCycle.eventCount[1] != TRIGGER_SHAPE(expectedEventCount[1])
				|| currentCycle.eventCount[2] != TRIGGER_SHAPE(expectedEventCount[2]);

		triggerDecoderErrorPin.setValue(isDecodingError);
		if (isDecodingError) {
			lastDecodingErrorTime = getTimeNowNt();
			totalTriggerErrorCounter++;
			if (engineConfiguration->isPrintTriggerSynchDetails) {
#if EFI_PROD_CODE
				scheduleMsg(logger, "error: synchronizationPoint @ index %d expected %d/%d/%d got %d/%d/%d", currentCycle.current_index,
						TRIGGER_SHAPE(expectedEventCount[0]), TRIGGER_SHAPE(expectedEventCount[1]),
						TRIGGER_SHAPE(expectedEventCount[2]), currentCycle.eventCount[0], currentCycle.eventCount[1], currentCycle.eventCount[2]);
#endif /* EFI_PROD_CODE */
			}
		}

		errorDetection.add(isDecodingError);

		if (isTriggerDecoderError()) {
			warning(OBD_PCM_Processor_Fault, "trigger decoding issue. expected %d/%d/%d got %d/%d/%d",
					TRIGGER_SHAPE(expectedEventCount[0]), TRIGGER_SHAPE(expectedEventCount[1]),
					TRIGGER_SHAPE(expectedEventCount[2]), currentCycle.eventCount[0], currentCycle.eventCount[1], currentCycle.eventCount[2]);
		}

		shaft_is_synchronized = true;
		// this call would update duty cycle values
		nextTriggerEvent()
		;

		nextRevolution();
	} else {
		nextTriggerEvent()
		;
	}

	durationBeforePrevious = toothed_previous_duration;
	toothed_previous_duration = currentDuration;
	toothed_previous_time = nowNt;
}

float getEngineCycle(operation_mode_e operationMode) {
	return operationMode == TWO_STROKE ? 360 : 720;
}

void addSkippedToothTriggerEvents(trigger_wheel_e wheel, TriggerShape *s,
		int totalTeethCount, int skippedCount,
		float toothWidth,
		float offset, float engineCycle, float filterLeft, float filterRight) {
	efiAssertVoid(totalTeethCount > 0, "total count");
	efiAssertVoid(skippedCount >= 0, "skipped count");

	for (int i = 0; i < totalTeethCount - skippedCount - 1; i++) {
		float angleDown = engineCycle / totalTeethCount * (i + (1 - toothWidth));
		float angleUp = engineCycle / totalTeethCount * (i + 1);
		s->addEvent(offset + angleDown, wheel, TV_HIGH, filterLeft, filterRight);
		s->addEvent(offset + angleUp, wheel, TV_LOW, filterLeft, filterRight);
	}

	float angleDown = engineCycle / totalTeethCount * (totalTeethCount - skippedCount - 1 + (1 - toothWidth) );
	s->addEvent(offset + angleDown, wheel, TV_HIGH, filterLeft, filterRight);
	s->addEvent(offset + engineCycle, wheel, TV_LOW, filterLeft, filterRight);
}

void initializeSkippedToothTriggerShapeExt(TriggerShape *s, int totalTeethCount, int skippedCount,
		operation_mode_e operationMode) {
	efiAssertVoid(totalTeethCount > 0, "totalTeethCount is zero");

	s->totalToothCount = totalTeethCount;
	s->skippedToothCount = skippedCount;

	s->setTriggerSynchronizationGap(skippedCount + 1);
	s->isSynchronizationNeeded = (skippedCount != 0);

	efiAssertVoid(s != NULL, "TriggerShape is NULL");
	s->reset(operationMode, false);

	addSkippedToothTriggerEvents(T_PRIMARY, s, totalTeethCount, skippedCount, 0.5, 0, getEngineCycle(operationMode),
			NO_LEFT_FILTER, NO_RIGHT_FILTER);
}

static void configureOnePlusOne(TriggerShape *s, operation_mode_e operationMode) {
	float engineCycle = getEngineCycle(operationMode);

	s->reset(FOUR_STROKE_CAM_SENSOR, true);

	s->addEvent(180, T_PRIMARY, TV_HIGH);
	s->addEvent(360, T_PRIMARY, TV_LOW);

	s->addEvent(540, T_SECONDARY, TV_HIGH);
	s->addEvent(720, T_SECONDARY, TV_LOW);

	s->isSynchronizationNeeded = false;
}

static void configureOnePlus60_2(TriggerShape *s, operation_mode_e operationMode) {
	s->reset(FOUR_STROKE_CAM_SENSOR, true);

	int totalTeethCount = 60;
	int skippedCount = 2;

	s->addEvent(2, T_PRIMARY, TV_HIGH);
	addSkippedToothTriggerEvents(T_SECONDARY, s, totalTeethCount, skippedCount, 0.5, 0, 360, 2, 20);
	s->addEvent(20, T_PRIMARY, TV_LOW);
	addSkippedToothTriggerEvents(T_SECONDARY, s, totalTeethCount, skippedCount, 0.5, 0, 360, 20, NO_RIGHT_FILTER);

	addSkippedToothTriggerEvents(T_SECONDARY, s, totalTeethCount, skippedCount, 0.5, 360, 360, NO_LEFT_FILTER,
			NO_RIGHT_FILTER);

	s->isSynchronizationNeeded = false;
}

/**
 * External logger is needed because at this point our logger is not yet initialized
 */
void TriggerShape::initializeTriggerShape(Logging *logger DECLARE_ENGINE_PARAMETER_S) {
	TriggerShape *triggerShape = this;

#if EFI_PROD_CODE
	scheduleMsg(logger, "initializeTriggerShape()");
#endif
	const trigger_config_s *triggerConfig = &engineConfiguration->trigger;

	clear();

	switch (triggerConfig->type) {

	case TT_TOOTHED_WHEEL:
		initializeSkippedToothTriggerShapeExt(triggerShape, triggerConfig->customTotalToothCount,
				triggerConfig->customSkippedToothCount, engineConfiguration->operationMode);
		break;

	case TT_MAZDA_MIATA_NA:
		initializeMazdaMiataNaShape(triggerShape);
		break;

	case TT_MAZDA_MIATA_NB:
		initializeMazdaMiataNbShape(triggerShape);
		break;

	case TT_DODGE_NEON_1995:
		configureNeon1995TriggerShape(triggerShape);
		break;

	case TT_DODGE_STRATUS:
		configureDodgeStratusTriggerShape(triggerShape);
		break;

	case TT_DODGE_NEON_2003:
		configureNeon2003TriggerShape(triggerShape);
		break;

	case TT_FORD_ASPIRE:
		configureFordAspireTriggerShape(triggerShape);
		break;

	case TT_GM_7X:
		// todo: fix this configureGmTriggerShape(triggerShape);
		configureFordAspireTriggerShape(triggerShape);
		break;

	case TT_MAZDA_DOHC_1_4:
		configureMazdaProtegeLx(triggerShape);
		break;

	case TT_ONE_PLUS_ONE:
		configureOnePlusOne(triggerShape, engineConfiguration->operationMode);
		break;

	case TT_ONE_PLUS_TOOTHED_WHEEL_60_2:
		configureOnePlus60_2(triggerShape, engineConfiguration->operationMode);
		break;

	case TT_ONE:
		setToothedWheelConfiguration(triggerShape, 1, 0, engineConfiguration->operationMode);
		break;

	case TT_MAZDA_SOHC_4:
		configureMazdaProtegeSOHC(triggerShape);
		break;

	case TT_MINI_COOPER_R50:
		configureMiniCooperTriggerShape(triggerShape);
		break;

	case TT_TOOTHED_WHEEL_60_2:
		setToothedWheelConfiguration(triggerShape, 60, 2, engineConfiguration->operationMode);
		break;

	case TT_60_2_VW:
		setVwConfiguration(triggerShape);
		break;

	case TT_TOOTHED_WHEEL_36_1:
		setToothedWheelConfiguration(triggerShape, 36, 1, engineConfiguration->operationMode);
		break;

	case TT_HONDA_ACCORD_CD_TWO_WIRES:
		configureHondaAccordCD(triggerShape, false, true, T_CHANNEL_3, T_PRIMARY, 0);
		break;

	case TT_HONDA_ACCORD_CD:
		configureHondaAccordCD(triggerShape, true, true, T_CHANNEL_3, T_PRIMARY, 0);
		break;

	case TT_HONDA_ACCORD_1_24:
		configureHondaAccordCD(triggerShape, true, false, T_PRIMARY, T_PRIMARY, 10);
		break;

	case TT_HONDA_ACCORD_CD_DIP:
		configureHondaAccordCDDip(triggerShape);
		break;

	case TT_MITSU:
		initializeMitsubishi4g18(triggerShape);
		break;

	case TT_DODGE_RAM:
		initDodgeRam(triggerShape);
		break;

	case TT_36_2_2_2:
		initialize36_2_2_2(triggerShape);
		break;

	default:
		firmwareError("initializeTriggerShape() not implemented: %d", triggerConfig->type);
		;
		return;
	}
	wave.checkSwitchTimes(getSize());
	calculateTriggerSynchPoint(PASS_ENGINE_PARAMETER_F);
}

TriggerStimulatorHelper::TriggerStimulatorHelper() {
}

void TriggerStimulatorHelper::nextStep(TriggerState *state, TriggerShape * shape, int i,
		trigger_config_s const*triggerConfig DECLARE_ENGINE_PARAMETER_S) {
	int stateIndex = i % shape->getSize();
	int prevIndex = (stateIndex + shape->getSize() - 1 ) % shape->getSize();


	int loopIndex = i / shape->getSize();

	int time = (int) (HELPER_PERIOD * (loopIndex + shape->wave.getSwitchTime(stateIndex)));

	bool_t primaryWheelState = shape->wave.getChannelState(0, prevIndex);
	bool_t newPrimaryWheelState = shape->wave.getChannelState(0, stateIndex);

	bool_t secondaryWheelState = shape->wave.getChannelState(1, prevIndex);
	bool_t newSecondaryWheelState = shape->wave.getChannelState(1, stateIndex);

	bool_t thirdWheelState = shape->wave.getChannelState(2, prevIndex);
	bool_t new3rdWheelState = shape->wave.getChannelState(2, stateIndex);

	if (primaryWheelState != newPrimaryWheelState) {
		primaryWheelState = newPrimaryWheelState;
		trigger_event_e s = primaryWheelState ? SHAFT_PRIMARY_UP : SHAFT_PRIMARY_DOWN;
		state->decodeTriggerEvent(s, time PASS_ENGINE_PARAMETER);
	}

	if (secondaryWheelState != newSecondaryWheelState) {
		secondaryWheelState = newSecondaryWheelState;
		trigger_event_e s = secondaryWheelState ? SHAFT_SECONDARY_UP : SHAFT_SECONDARY_DOWN;
		state->decodeTriggerEvent(s, time PASS_ENGINE_PARAMETER);
	}

	if (thirdWheelState != new3rdWheelState) {
		thirdWheelState = new3rdWheelState;
		trigger_event_e s = thirdWheelState ? SHAFT_3RD_UP : SHAFT_3RD_DOWN;
		state->decodeTriggerEvent(s, time PASS_ENGINE_PARAMETER);
	}
}

static void onFindIndex(TriggerState *state) {
	for (int i = 0; i < PWM_PHASE_MAX_WAVE_PER_PWM; i++) {
		// todo: that's not the best place for this intermediate data storage, fix it!
		state->expectedTotalTime[i] = state->currentCycle.totalTimeNt[i];
	}
}

static uint32_t doFindTrigger(TriggerStimulatorHelper *helper, TriggerShape * shape,
		trigger_config_s const*triggerConfig, TriggerState *state DECLARE_ENGINE_PARAMETER_S) {
	for (int i = 0; i < 4 * PWM_PHASE_MAX_COUNT; i++) {
		helper->nextStep(state, shape, i, triggerConfig PASS_ENGINE_PARAMETER);

		if (state->shaft_is_synchronized)
			return i;
	}
	firmwareError("findTriggerZeroEventIndex() failed");
	return EFI_ERROR_CODE;
}

/**
 * Trigger shape is defined in a way which is convenient for trigger shape definition
 * On the other hand, trigger decoder indexing begins from synchronization event.
 *
 * This function finds the index of synchronization event within TriggerShape
 */
uint32_t findTriggerZeroEventIndex(TriggerShape * shape, trigger_config_s const*triggerConfig
DECLARE_ENGINE_PARAMETER_S) {

	// todo: should this variable be declared 'static' to reduce stack usage?
	TriggerState state;
	errorDetection.clear();

	// todo: should this variable be declared 'static' to reduce stack usage?
	TriggerStimulatorHelper helper;

	uint32_t index = doFindTrigger(&helper, shape, triggerConfig, &state PASS_ENGINE_PARAMETER);
	if (index == EFI_ERROR_CODE) {
		return index;
	}
	efiAssert(state.getTotalRevolutionCounter() == 1, "totalRevolutionCounter", EFI_ERROR_CODE);

	/**
	 * Now that we have just located the synch point, we can simulate the whole cycle
	 * in order to calculate expected duty cycle
	 *
	 * todo: add a comment why are we doing '2 * shape->getSize()' here?
	 */
	state.cycleCallback = onFindIndex;

	int startIndex = engineConfiguration->useOnlyFrontForTrigger ? index + 2 : index + 1;

	for (uint32_t i = startIndex; i <= index + 2 * shape->getSize(); i++) {
		helper.nextStep(&state, shape, i, triggerConfig PASS_ENGINE_PARAMETER);
		if (engineConfiguration->useOnlyFrontForTrigger)
			i++;
	}
	efiAssert(state.getTotalRevolutionCounter() == 3, "totalRevolutionCounter2 expected 3", EFI_ERROR_CODE);

	for (int i = 0; i < PWM_PHASE_MAX_WAVE_PER_PWM; i++) {
		shape->dutyCycle[i] = 1.0 * state.expectedTotalTime[i] / HELPER_PERIOD;
	}

	return index % shape->getSize();
}

void initTriggerDecoderLogger(Logging *sharedLogger) {
	logger = sharedLogger;
}

void initTriggerDecoder(void) {
#if (EFI_PROD_CODE || EFI_SIMULATOR)
	outputPinRegisterExt2("trg_err", &triggerDecoderErrorPin, boardConfiguration->triggerErrorPin, &boardConfiguration->triggerErrorPinMode);
#endif
}

#endif /* EFI_SHAFT_POSITION_INPUT */