Make toyota 3 tooth decoder more robust #382

This commit is contained in:
Matthew Kennedy 2024-03-19 15:08:06 -07:00
parent 255623335f
commit 3a4bce217c
4 changed files with 159 additions and 47 deletions

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@ -302,10 +302,20 @@ void hwHandleVvtCamSignal(bool isRising, efitick_t nowNt, int index) {
return;
}
auto vvtPosition = engineConfiguration->vvtOffsets[bankIndex * CAMS_PER_BANK + camIndex] - currentPosition;
switch(engineConfiguration->vvtMode[camIndex]) {
case VVT_TOYOTA_3_TOOTH: {
// Consider the tooth in the first 1/3 of the engine phase
bool inRange = angleFromPrimarySyncPoint > 0 && angleFromPrimarySyncPoint < (720 / 3);
// Only consider teeth with a sensible VVT angle - this is guaranteed to work so long
// as the range we check is < 120 deg
// Wrap to +-180 deg
vvtPosition = wrapVvt(vvtPosition, 360);
// Check whether the position is
// - within range (no resync, just report VVT position)
// - within range but 360 deg out (engine needs resync)
bool inRange = vvtPosition > -37 && vvtPosition < 80;
if (!inRange) {
return;
@ -319,8 +329,6 @@ void hwHandleVvtCamSignal(bool isRising, efitick_t nowNt, int index) {
tc->triggerState.vvtCounter++;
auto vvtPosition = engineConfiguration->vvtOffsets[bankIndex * CAMS_PER_BANK + camIndex] - currentPosition;
// Only do engine sync using one cam, other cams just provide VVT position.
if (index == engineConfiguration->engineSyncCam) {
angle_t crankOffset = adjustCrankPhase(camIndex);
@ -333,6 +341,8 @@ void hwHandleVvtCamSignal(bool isRising, efitick_t nowNt, int index) {
switch(engineConfiguration->vvtMode[camIndex]) {
case VVT_HONDA_K_INTAKE:
// honda K has four tooth in VVT intake trigger, so we just wrap each of those to 720 / 4
case VVT_TOYOTA_3_TOOTH:
// Toyota 3 tooth vvt angle comes pre-wrapped, so ensure the crankOffset doesn't break it
vvtPosition = wrapVvt(vvtPosition, 180);
break;
default:

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@ -20,7 +20,7 @@ TESTS_SRC_CPP = \
tests/trigger/test_real_gm_24x.cpp \
tests/trigger/test_real_k24a2.cpp \
tests/trigger/test_real_k20.cpp \
tests/trigger/test_real_toyota_3_tooth_cam.cpp \
tests/trigger/test_toyota_3_tooth_cam.cpp \
tests/trigger/test_map_cam.cpp \
tests/trigger/test_rpm_multiplier.cpp \
tests/trigger/test_quad_cam.cpp \

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@ -1,42 +0,0 @@
#include "pch.h"
#include "logicdata_csv_reader.h"
TEST(realToyota3ToothCam, running) {
CsvReader reader(1, /* vvtCount */ 1);
reader.open("tests/trigger/resources/toyota_3_tooth_cam.csv");
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
engineConfiguration->isFasterEngineSpinUpEnabled = true;
engineConfiguration->alwaysInstantRpm = true;
engineConfiguration->vvtMode[0] = VVT_TOYOTA_3_TOOTH;
engineConfiguration->vvtOffsets[0] = 152.583f;
engineConfiguration->trigger.customTotalToothCount = 36;
engineConfiguration->trigger.customSkippedToothCount = 2;
eth.setTriggerType(trigger_type_e::TT_TOOTHED_WHEEL);
bool hasSeenFirstVvt = false;
while (reader.haveMore()) {
reader.processLine(&eth);
float vvt1 = engine->triggerCentral.getVVTPosition(/*bankIndex*/0, /*camIndex*/0);
if (vvt1 != 0) {
if (!hasSeenFirstVvt) {
EXPECT_NEAR(vvt1, 0, /*precision*/1);
hasSeenFirstVvt = true;
}
// cam position should never be reported outside of correct range
EXPECT_TRUE(vvt1 > -3 && vvt1 < 3);
}
}
EXPECT_NEAR(engine->triggerCentral.getVVTPosition(/*bankIndex*/0, /*camIndex*/0), 0, 1);
ASSERT_EQ(3078, round(Sensor::getOrZero(SensorType::Rpm)));
// TODO: why warnings?
ASSERT_EQ(1, eth.recentWarnings()->getCount());
ASSERT_EQ(ObdCode::CUSTOM_PRIMARY_TOO_MANY_TEETH, eth.recentWarnings()->get(0).Code);
}

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@ -0,0 +1,144 @@
#include "pch.h"
#include "logicdata_csv_reader.h"
TEST(Toyota3ToothCam, RealEngineRunning) {
CsvReader reader(1, /* vvtCount */ 1);
reader.open("tests/trigger/resources/toyota_3_tooth_cam.csv");
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
engineConfiguration->isFasterEngineSpinUpEnabled = true;
engineConfiguration->alwaysInstantRpm = true;
engineConfiguration->vvtMode[0] = VVT_TOYOTA_3_TOOTH;
engineConfiguration->vvtOffsets[0] = 152.58;
engineConfiguration->trigger.customTotalToothCount = 36;
engineConfiguration->trigger.customSkippedToothCount = 2;
eth.setTriggerType(trigger_type_e::TT_TOOTHED_WHEEL);
bool hasSeenFirstVvt = false;
while (reader.haveMore()) {
reader.processLine(&eth);
float vvt1 = engine->triggerCentral.getVVTPosition(/*bankIndex*/0, /*camIndex*/0);
if (vvt1 != 0) {
if (!hasSeenFirstVvt) {
EXPECT_NEAR(vvt1, 0, /*precision*/1);
hasSeenFirstVvt = true;
}
// cam position should never be reported outside of correct range
EXPECT_TRUE(vvt1 > -3 && vvt1 < 3);
}
}
EXPECT_EQ(getTriggerCentral()->triggerState.camResyncCounter, 0);
EXPECT_NEAR(engine->triggerCentral.getVVTPosition(/*bankIndex*/0, /*camIndex*/0), 0, 1);
ASSERT_EQ(3078, round(Sensor::getOrZero(SensorType::Rpm)));
// TODO: why warnings?
ASSERT_EQ(1, eth.recentWarnings()->getCount());
ASSERT_EQ(ObdCode::CUSTOM_PRIMARY_TOO_MANY_TEETH, eth.recentWarnings()->get(0).Code);
}
static void test3tooth(size_t revsBeforeVvt, size_t teethBeforeVvt, bool expectSync, int expectCamResyncCounter) {
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
engineConfiguration->vvtMode[0] = VVT_TOYOTA_3_TOOTH;
engineConfiguration->skippedWheelOnCam = false;
engineConfiguration->trigger.customTotalToothCount = 12;
engineConfiguration->trigger.customSkippedToothCount = 1;
eth.setTriggerType(trigger_type_e::TT_TOOTHED_WHEEL);
engineConfiguration->vvtOffsets[0] = 35;
ASSERT_EQ(0, round(Sensor::getOrZero(SensorType::Rpm)));
// Get the crank sync'd
for (int i = 0; i < 4; i++) {
eth.fireFall(1);
eth.fireRise(9);
}
ASSERT_EQ(0, round(Sensor::getOrZero(SensorType::Rpm)));
// skipped tooth - should sync here
eth.fireFall(1);
eth.fireRise(19);
ASSERT_EQ(500, round(Sensor::getOrZero(SensorType::Rpm)));
// We should be at TDC
ASSERT_EQ(0, getTriggerCentral()->currentEngineDecodedPhase);
// Do some number of revolutions before firing the cam tooth
for (size_t i = 0; i < revsBeforeVvt; i++) {
for (size_t j = 0; i < 10; i++)
{
eth.fireFall(1);
eth.fireRise(9);
}
eth.fireFall(1);
eth.fireRise(19);
}
// Bump ahead by some more teeth
for (size_t i = 0; i < teethBeforeVvt; i++) {
eth.fireFall(1);
eth.fireRise(9);
}
auto expectedPhase = 360 * revsBeforeVvt + 30 * teethBeforeVvt;
ASSERT_EQ(expectedPhase, getTriggerCentral()->currentEngineDecodedPhase);
// No full sync yet, no VVT has arrived
EXPECT_EQ(false, getTriggerCentral()->triggerState.hasSynchronizedPhase());
// Now fire a cam tooth - this shouldn't change engine phase,
// should set VVT position
hwHandleVvtCamSignal(true, getTimeNowNt(), 0);
EXPECT_EQ(expectCamResyncCounter, getTriggerCentral()->triggerState.camResyncCounter);
EXPECT_EQ(expectSync, getTriggerCentral()->triggerState.hasSynchronizedPhase());
if (expectSync) {
EXPECT_EQ(5, getTriggerCentral()->getVVTPosition(0, 0));
// Bump ahead by one tooth
eth.fireFall(1);
eth.fireRise(9);
ASSERT_EQ(60, getTriggerCentral()->currentEngineDecodedPhase);
} else {
EXPECT_EQ(0, getTriggerCentral()->getVVTPosition(0, 0));
}
}
// The cam has 3 teeth, which could arrive at one of 6 possible crank phases.
// 0 revs or 1 revs
// +0, +120, or +240 deg
// Test all 6 cases!
TEST(Toyota3ToothCam, TestFirstToothInPhase) {
test3tooth(0, 1, true, 0);
}
TEST(Toyota3ToothCam, TestFirstToothOutOfPhase) {
test3tooth(1, 1, true, 1);
}
TEST(Toyota3ToothCam, TestSecondToothInPhase) {
test3tooth(0, 5, false, 0);
}
TEST(Toyota3ToothCam, TestSecondToothOutOfPhase) {
test3tooth(1, 5, false, 0);
}
TEST(Toyota3ToothCam, TestThirdToothInPhase) {
test3tooth(0, 9, false, 0);
}
TEST(Toyota3ToothCam, TestThirdToothOutOfPhase) {
test3tooth(1, 9, false, 0);
}