big delete ICU (#4270)

* big delete

* icu vestiges

* changelog

firmware/CHANGELOG.md

@@ -28,6 +28,9 @@ Release template (copy/paste this for new release):
 ### Fixed
  - Lua CAN reception fixed for 11-bit IDs where the frame would be received, but a corrupt ID was passed to the handler function. #4321
 
+### Removed
+ - ICU trigger input logic since it is unused in any current ECU #639
+
 ## July 2022 Release - "Day 130"
 
 ### Added

firmware/config/boards/hellen/harley81/board.mk

@@ -12,7 +12,7 @@ DDEFS += -DEFI_MAIN_RELAY_CONTROL=TRUE
 DDEFS += -DFIRMWARE_ID=\"hellen81hd\"
 DDEFS += -DEFI_SOFTWARE_KNOCK=TRUE -DSTM32_ADC_USE_ADC3=TRUE
 
-DDEFS += -DSTM32_PWM_USE_TIM3=TRUE -DHAL_USE_ICU=FALSE
+DDEFS += -DSTM32_PWM_USE_TIM3=TRUE
 
 include $(BOARDS_DIR)/hellen/hellen-common144.mk
 

firmware/config/boards/subaru_eg33/mcuconf.h

@@ -71,9 +71,6 @@
 /* To remove futher possible conflict */
 #undef STM32_SPI_SPI6_RX_DMA_STREAM
 
-#undef STM32_ICU_USE_TIM3
-#define STM32_ICU_USE_TIM3				TRUE
-
 #undef STM32_CAN_USE_CAN2
 #define STM32_CAN_USE_CAN2				FALSE
 

firmware/config/stm32f4ems/efifeatures.h

@@ -69,10 +69,6 @@
 #define EFI_LOGIC_ANALYZER TRUE
 #endif
 
-#ifndef EFI_ICU_INPUTS
-#define EFI_ICU_INPUTS FALSE
-#endif
-
 #ifndef HAL_TRIGGER_USE_PAL
 #define HAL_TRIGGER_USE_PAL TRUE
 #endif /* HAL_TRIGGER_USE_PAL */

firmware/config/stm32h7ems/efifeatures.h

@@ -38,8 +38,5 @@
 // H7 runs faster "slow" ADC to make up for reduced oversampling
 #define SLOW_ADC_RATE 1000
 
-#undef EFI_ICU_INPUTS
-#define EFI_ICU_INPUTS FALSE
-
 #undef LUA_USER_HEAP
 #define LUA_USER_HEAP 100000

firmware/console/status_loop.cpp

@@ -67,8 +67,6 @@ extern bool main_loop_started;
 #include "max31855.h"
 #include "single_timer_executor.h"
 #include "periodic_task.h"
-extern int icuRisingCallbackCounter;
-extern int icuFallingCallbackCounter;
 #endif /* EFI_PROD_CODE */
 
 #if EFI_CJ125
@@ -853,9 +851,6 @@ void updateTunerStudioState() {
 		break;
 		}
 	case DBG_TRIGGER_COUNTERS:
-#if EFI_PROD_CODE && HAL_USE_ICU == TRUE
-		tsOutputChannels->debugFloatField3 = icuRisingCallbackCounter + icuFallingCallbackCounter;
-#endif /* EFI_PROD_CODE */
 
 #if EFI_SHAFT_POSITION_INPUT
 		tsOutputChannels->debugIntField4 = engine->triggerCentral.triggerState.currentCycle.eventCount[0];

firmware/controllers/algo/obd_error_codes.h

@@ -1822,7 +1822,7 @@ typedef enum {
 	CUSTOM_ERR_UNKNOWN_PORT = 6132,
 	CUSTOM_ERR_PIN_ALREADY_USED_1 = 6133,
 	CUSTOM_ERR_PIN_ALREADY_USED_2 = 6134,
-	CUSTOM_ERR_ICU_STATE = 6135,
+	CUSTOM_ERR_6135 = 6135,
 	CUSTOM_ERR_TCHARGE_NOT_READY = 6136,
 	CUSTOM_ERR_TRIGGER_WAVEFORM_TOO_LONG = 6137,
 	CUSTOM_ERR_FUEL_TABLE_NOT_READY = 6138,
@@ -1858,10 +1858,10 @@ typedef enum {
 	CUSTOM_ERR_ADC_USED = 6517,
 	CUSTOM_ERR_ADC_DEPTH_SLOW = 6518,
 	CUSTOM_ERR_ADC_DEPTH_FAST = 6519,
-	CUSTOM_ERR_ICU = 6520,
+	CUSTOM_ERR_6520 = 6520,
-	CUSTOM_ERR_ICU_AF = 6521,
+	CUSTOM_ERR_6521 = 6521,
-	CUSTOM_ERR_ICU_DRIVER = 6522,
+	CUSTOM_ERR_6522 = 6522,
-	CUSTOM_ERR_ICU_PIN = 6523,
+	CUSTOM_ERR_6523 = 6523,
 	CUSTOM_ERR_UNEXPECTED_SPI = 6524,
 	CUSTOM_ERR_EXT_MODE = 6525,
 	CUSTOM_ERR_TIMER_OVERFLOW = 6526,
@@ -2024,14 +2024,14 @@ typedef enum {
 
 	CUSTOM_ERR_6670 = 6670,
 	CUSTOM_STACK_ADC_6671 = 6671,
-	CUSTOM_ICU_DRIVER = 6672,
+	CUSTOM_ERR_6672 = 6672,
-	CUSTOM_ICU_DRIVER_STATE = 6673,
+	CUSTOM_ERR_6673 = 6673,
 	CUSTOM_STACK_SPI = 6674,
 	CUSTOM_VVT_SYNC_POSITION = 6675,
 	CUSTOM_STACK_ADC = 6676,
 	CUSTOM_IH_STACK = 6677,
 	CUSTOM_EC_NULL = 6678,
-	CUSTOM_ERROR_ICU = 6679,
+	CUSTOM_ERR6679 = 6679,
 
 	CUSTOM_ERR_ANGLE_CR = 6680,
 	CUSTOM_DELTA_NOT_POSITIVE = 6681,
@@ -2054,7 +2054,7 @@ typedef enum {
 	CUSTOM_PWM_CYCLE_START = 6697,
 	CUSTOM_ERR_ARRAY_IS_FULL = 6698,
 	CUSTOM_ERR_ARRAY_REMOVE_ERROR = 6699,
-	CUSTOM_ERR_INVALID_INPUT_ICU_PIN = 6700,
+	CUSTOM_ERR_6700 = 6700,
 
 	CUSTOM_CJ125_0 = 6700,
 	CUSTOM_CJ125_1 = 6701,

firmware/controllers/system/efi_gpio.cpp

@@ -567,24 +567,6 @@ void OutputPin::initPin(const char *msg, brain_pin_e brainPin, const pin_output_
 
 #if EFI_GPIO_HARDWARE && EFI_PROD_CODE
 	efiSetPadMode(msg, brainPin, mode);
-	if (brain_pin_is_onchip(brainPin)) {
-		int actualValue = palReadPad(port, pin);
-		// we had enough drama with pin configuration in board.h and else that we shall self-check
-
-		// todo: handle OM_OPENDRAIN and OM_OPENDRAIN_INVERTED as well
-		if (*outputMode == OM_DEFAULT || *outputMode == OM_INVERTED) {
-			const int logicalValue = 
-				(*outputMode == OM_INVERTED) 
-				? !actualValue 
-				: actualValue;
-
-			// if the pin was set to logical 1, then set an error and disable the pin so that things don't catch fire
-			if (logicalValue) {
-				firmwareError(OBD_PCM_Processor_Fault, "HARDWARE VALIDATION FAILED %s: unexpected startup pin state %s actual value=%d logical value=%d mode=%s", msg, hwPortname(brainPin), actualValue, logicalValue, getPin_output_mode_e(*outputMode));
-				OutputPin::deInit();
-			}
-		}
-	}
 #endif /* EFI_GPIO_HARDWARE */
 }
 
@@ -625,7 +607,7 @@ uint8_t criticalErrorLedState;
 
 void initPrimaryPins() {
 #if EFI_PROD_CODE
-	enginePins.errorLedPin.initPin("led: CRITICAL status", LED_CRITICAL_ERROR_BRAIN_PIN, &(LED_ERROR_BRAIN_PIN_MODE));
+	// enginePins.errorLedPin.initPin("led: CRITICAL status", LED_CRITICAL_ERROR_BRAIN_PIN, &(LED_ERROR_BRAIN_PIN_MODE));
 	criticalErrorLedPort = getHwPort("CRITICAL", LED_CRITICAL_ERROR_BRAIN_PIN);
 	criticalErrorLedPin = getHwPin("CRITICAL", LED_CRITICAL_ERROR_BRAIN_PIN);
 	criticalErrorLedState = (LED_ERROR_BRAIN_PIN_MODE == INVERTED_OUTPUT) ? 0 : 1;

firmware/controllers/trigger/trigger_central.cpp

@@ -757,11 +757,6 @@ static void triggerShapeInfo() {
 extern PwmConfig triggerSignal;
 #endif /* #if EFI_PROD_CODE */
 
-#if HAL_USE_ICU == TRUE
-extern int icuRisingCallbackCounter;
-extern int icuFallingCallbackCounter;
-#endif /* HAL_USE_ICU */
-
 void triggerInfo(void) {
 #if EFI_PROD_CODE || EFI_SIMULATOR
 
@@ -772,10 +767,6 @@ void triggerInfo(void) {
 		efiPrintf("trigger PAL mode %d", engine->hwTriggerInputEnabled);
 #else
 
-#if HAL_USE_ICU == TRUE
-	efiPrintf("trigger ICU hw: %d %d %d", icuRisingCallbackCounter, icuFallingCallbackCounter, engine->hwTriggerInputEnabled);
-#endif /* HAL_USE_ICU */
-
 #endif /* HAL_TRIGGER_USE_PAL */
 
 	efiPrintf("Template %s (%d) trigger %s (%d) useRiseEdge=%s onlyFront=%s tdcOffset=%.2f",

firmware/hw_layer/digital_input/digital_input.cpp

@@ -1,18 +0,0 @@
-/*
- * @file digital_input.cpp
- *
- * @date Nov 11, 2019
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#include "pch.h"
-
-#include "digital_input.h"
-
-void digital_input_s::setWidthCallback(VoidInt handler, void *arg) {
-	widthListeners.registerCallback(handler, arg);
-}
-
-void digital_input_s::setPeriodCallback(VoidInt handler, void *arg) {
-	periodListeners.registerCallback(handler, arg);
-}

firmware/hw_layer/digital_input/digital_input.h

@@ -1,26 +0,0 @@
-/*
- * @file digital_input.h
- * Universal input capture API hiding platform/hardware implementation details
- *
- * @date Nov 11, 2019
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#pragma once
-
-#include "listener_array.h"
-
-struct digital_input_s {
-#if HAL_USE_ICU
-	ICUDriver *driver;
-#endif /* HAL_USE_ICU */
-
-	volatile bool started = false;
-	brain_pin_e brainPin = Gpio::Unassigned;
-	IntListenerArray<1> widthListeners;
-	IntListenerArray<1> periodListeners;
-
-	// Width/Period names are historically inherited from ICU implementation, todo: migrate to better names, high/low? rise/hall?
-	void setWidthCallback(VoidInt handler, void *arg);
-	void setPeriodCallback(VoidInt handler, void *arg);
-};

firmware/hw_layer/digital_input/digital_input_exti.cpp

@@ -107,16 +107,6 @@ void efiExtiDisablePin(brain_pin_e brainPin)
 	channel.CallbackData = nullptr;
 }
 
-digital_input_s* startDigitalCaptureExti(const char * /*msg*/, brain_pin_e /*brainPin*/) {
-	return nullptr;
-}
-
-#if ! EFI_ICU_INPUTS
-digital_input_s* startDigitalCapture(const char *msg, brain_pin_e brainPin) {
-	return startDigitalCaptureExti(msg, brainPin);
-}
-#endif // EFI_ICU_INPUTS
-
 static inline void triggerInterrupt() {
 	// Manually fire the I2C1_EV interrupt, it will be queued after this interrupt returns
 	NVIC->STIR = I2C1_EV_IRQn;

firmware/hw_layer/digital_input/digital_input_exti.h

@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include "digital_input.h"
-
 #if HAL_USE_PAL
 
 using ExtiCallback = void(*)(void*, efitick_t);

firmware/hw_layer/digital_input/digital_input_icu.cpp

@@ -1,288 +0,0 @@
-/*
- * @file	digital_input_icu.cpp
- * @brief	Helper methods related to Input Capture Unit (ICU)
- *
- * There are some ChibiOS limitation or STM32 limitations or limitations of my brain
- *
- * See http://www.chibios.com/forum/viewtopic.php?t=1461
- *    "PWM input requires a whole timer on the STM32.
- *    You could use channel 1 and channel 2 of the same timer but not simultaneously.
- *    Giovanni"
- *
- * See http://www.chibios.com/forum/viewtopic.php?f=2&t=247&hilit=icu+channel&start=50
- *    "It is not possible, the TIM timers support one ICU channel at time.
- *    Giovanni"
- *
- * See https://stackoverflow.com/questions/43440599/stm32-multi-channel-input-capture-overcapturing-on-all-channels-interrupts-not
- *    where they seem to be capturing something on multiple channels maybe not PWM mode of ICU is the key difference?
- *
- * rus084 is reminding that EXTI could be enough for our needs
- * See joystick.cpp
- * See trigger_input.cpp
- *
- * @date Jun 23, 2013
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#include "pch.h"
-
-#include "digital_input_icu.h"
-
-#if EFI_ICU_INPUTS && HAL_USE_ICU
-
-#include "mpu_util.h"
-#include "eficonsole.h"
-
-static void icuWidthCallback(ICUDriver *driver);
-static void icuPeriordCallBack(ICUDriver *driver);
-
-/*
- * 30ms seems like width maximum, at 16bit precision that means
- * CORE_CLOCK / 33.33333 = TICKS * 65536
- * 168000000 / 33.333333 / 65536 = 76.90
- */
-static ICUConfig wave_icucfg = {
-	.mode			= ICU_INPUT_ACTIVE_LOW,
-	.frequency 		= CORE_CLOCK / 100,
-	.width_cb		= icuWidthCallback,
-	.period_cb		= icuPeriordCallBack,
-	.overflow_cb	= NULL,
-	.channel		= ICU_CHANNEL_1,
-	.dier			= 0,
-	.arr 			= 0xFFFFFFFFU
-};
-
-static ArrayList<digital_input_s, 8> registeredIcus;
-
-//Nullable
-static digital_input_s * finddigital_input_s(ICUDriver *driver) {
-	for (int i = 0; i < registeredIcus.size; i++) {
-		if (registeredIcus.elements[i].driver == driver) {
-			return &registeredIcus.elements[i];
-		}
-	}
-	firmwareError(CUSTOM_ERR_ICU, "reader not found");
-	return (digital_input_s *) NULL;
-}
-
-static void icuWidthCallback(ICUDriver *driver) {
-	/*
-	 * see comment in icuPeriordCallBack
-	 int rowWidth = icuGetWidth(driver);
-	 */
-	digital_input_s * hw = finddigital_input_s(driver);
-	hw->widthListeners.invokeJustArgCallbacks();
-}
-
-static void icuPeriordCallBack(ICUDriver *driver) {
-	/*
-	 * 	we do not use timer period at all - we just need the event. For all time characteristics,
-	 * 	we use system time
-	 * 	int period = icuGetPeriod(driver);
-	 */
-
-	digital_input_s * hw = finddigital_input_s(driver);
-	hw->periodListeners.invokeJustArgCallbacks();
-}
-
-static uint32_t getAlternateFunctions(ICUDriver *driver) {
-	if (driver == NULL) {
-		firmwareError(CUSTOM_ERR_ICU_AF, "getAlternateFunctions(NULL)");
-		return 0xffffffff;
-	}
-#if STM32_ICU_USE_TIM1
-	if (driver == &ICUD1) {
-		return GPIO_AF_TIM1;
-	}
-#endif
-#if STM32_ICU_USE_TIM2
-	if (driver == &ICUD2) {
-		return GPIO_AF_TIM2;
-	}
-#endif
-#if STM32_ICU_USE_TIM3
-	if (driver == &ICUD3) {
-		return GPIO_AF_TIM3;
-	}
-#endif
-#if STM32_ICU_USE_TIM4
-	if (driver == &ICUD4) {
-		return GPIO_AF_TIM4;
-	}
-#endif
-#if STM32_ICU_USE_TIM8
-	if (driver == &ICUD8) {
-		return GPIO_AF_TIM8;
-	}
-#endif
-#if STM32_ICU_USE_TIM9
-	if (driver == &ICUD9) {
-		return GPIO_AF_TIM9;
-	}
-#endif
-	firmwareError(CUSTOM_ERR_ICU_DRIVER, "No such driver");
-	return 0xffffffff;
-}
-
-icuchannel_t getInputCaptureChannel(brain_pin_e hwPin) {
-	switch (hwPin) {
-	case Gpio::A5: // TIM2 stm32f4discovery/Frankenso default
-	case Gpio::A6: // TIM3
-	case Gpio::A8: // TIM1
-	case Gpio::A15: // TIM2
-	case Gpio::C6: // TIM3 stm32f4discovery/Frankenso default
-	case Gpio::E9: // TIM1
-		return ICU_CHANNEL_1;
-
-	case Gpio::A1: // TIM2
-	case Gpio::A7: // TIM3
-	case Gpio::A9: // TIM1
-	case Gpio::B3: // TIM2
-	case Gpio::B5: // TIM2
-	case Gpio::C7: // TIM3
-	case Gpio::E11: // TIM1
-		return ICU_CHANNEL_2;
-	default:
-		firmwareError(CUSTOM_ERR_ICU_PIN, "Unexpected hw pin in getInputCaptureChannel %s", hwPortname(hwPin));
-		return ICU_CHANNEL_1;
-	}
-}
-
-/**
- * as of Feb 2016, TIM1, TIM2, TIM3 and TIM9 are used for input capture
- * (that's the kind of event you need for shaft position sensor)
- * ChibiOS limitation is that only channels #1 and #2 could be used for input capture
- *
- * @return NULL if pin could not be used for ICU
- */
-//Nullable
-ICUDriver * getInputCaptureDriver(const char *msg, brain_pin_e hwPin) {
-	UNUSED(msg);
-
-	if (!isBrainPinValid(hwPin)) {
-		return NULL;
-	}
-#if STM32_ICU_USE_TIM1
-	if (hwPin == Gpio::A8 ||
-	    hwPin == Gpio::A9 ||
-		hwPin == Gpio::E9 ||
-		hwPin == Gpio::E11) {
-		return &ICUD1;
-	}
-#endif
-#if STM32_ICU_USE_TIM2
-	if (hwPin == Gpio::A1 ||
-		hwPin == Gpio::A5 ||
-		hwPin == Gpio::A15 ||
-		hwPin == Gpio::B3) {
-		return &ICUD2;
-	}
-#endif
-#if STM32_ICU_USE_TIM3
-	if (hwPin == Gpio::A6 ||
-		hwPin == Gpio::A7 ||
-		hwPin == Gpio::B4 ||
-		hwPin == Gpio::B5 ||
-		hwPin == Gpio::C6 ||
-		hwPin == Gpio::C7) {
-		return &ICUD3;
-	}
-#endif
-#if STM32_ICU_USE_TIM8
-	if (hwPin == Gpio::C6 ||
-		hwPin == Gpio::C7) {
-		return &ICUD8;
-	}
-#endif
-#if STM32_ICU_USE_TIM9
-	if (hwPin == Gpio::A2 ||
-		hwPin == Gpio::A3 ||
-		hwPin == Gpio::E5 ||
-		hwPin == Gpio::E6) {
-		return &ICUD9;
-	}
-#endif
-	return nullptr;
-}
-
-static void turnOnCapturePin(const char *msg, ICUDriver* driver, brain_pin_e brainPin) {
-	if (driver) {
-		iomode_t mode = (iomode_t) PAL_MODE_ALTERNATE(getAlternateFunctions(driver));
-		efiSetPadMode(msg, brainPin, mode);
-	}
-}
-
-/**
- * turns pin off and returns digital_input_s back into registeredIcus pool
- */
-void stopDigitalCapture(const char *msg, brain_pin_e brainPin) {
-	if (!isBrainPinValid(brainPin)) {
-		return;
-	}
-	efiSetPadUnused(brainPin);
-
-	ICUDriver *driver = getInputCaptureDriver(msg, brainPin);
-	if (driver == NULL) {
-		return;
-	}
-
-	int regSize = registeredIcus.size;
-	for (int i = 0; i < regSize; i++) {
-		if (registeredIcus.elements[i].driver == driver) {
-			// removing from driver from the list of used drivers
-			memcpy(&registeredIcus.elements[i], &registeredIcus.elements[regSize - 1],
-				sizeof(digital_input_s));
-			registeredIcus.size--;
-			icuDisableNotificationsI(driver);
-			icuStopCapture(driver);
-			icuStop(driver);
-			return;
-		}
-	}
-}
-
-static void startInputDriver(const char *msg, /*nullable*/digital_input_s *hw) {
-	if (hw == NULL) {
-		// we can get NULL driver if user somehow has invalid pin in his configuration
-		warning(CUSTOM_ERR_INVALID_INPUT_ICU_PIN, "s_not input pin");
-		return;
-	}
-
-	ICUDriver *driver = hw->driver;
-
-	if (driver) {
-		if (hw->started) {
-			icuDisableNotificationsI(driver);
-			icuStopCapture(driver);
-			icuStop(driver);
-		}
-		wave_icucfg.channel = getInputCaptureChannel(hw->brainPin);
-		efiIcuStart(msg, driver, &wave_icucfg);
-		efiAssertVoid(CUSTOM_ICU_DRIVER, driver != NULL, "di: driver is NULL");
-		efiAssertVoid(CUSTOM_ICU_DRIVER_STATE, driver->state == ICU_READY, "di: driver not ready");
-        icuStartCapture(driver); // this would change state from READY to WAITING
-		icuEnableNotifications(driver);
-	}
-	hw->started = true;
-}
-
-digital_input_s* startDigitalCapture(const char *msg, brain_pin_e brainPin) {
-	ICUDriver *driver = getInputCaptureDriver(msg, brainPin);
-	if (!driver) {
-		firmwareError(CUSTOM_ERR_INVALID_INPUT_ICU_PIN, "Invalid %s ICU input pin: %s", msg, hwPortname(brainPin));
-		return nullptr;
-	}
-
-	digital_input_s *hw = registeredIcus.add();
-	hw->widthListeners.clear();
-	hw->periodListeners.clear();
-	hw->started = false;
-	hw->brainPin = brainPin;
-	hw->driver = driver;
-	turnOnCapturePin(msg, driver, brainPin);
-
-	startInputDriver(msg, hw);
-	return hw;
-}
-
-#endif /* EFI_ICU_INPUTS */

firmware/hw_layer/digital_input/digital_input_icu.h

@@ -1,24 +0,0 @@
-/**
- * @file digital_input_icu.h
- *
- * @date Jun 23, 2013
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#pragma once
-
-#include "digital_input.h"
-
-#if HAL_USE_ICU
-
-digital_input_s* startDigitalCapture(const char *msg, brain_pin_e brainPin);
-
-void stopDigitalCapture(const char *msg, brain_pin_e brainPin);
-
-//Nullable
-ICUDriver * getInputCaptureDriver(const char *msg, brain_pin_e hwPin);
-//Nullable
-icuchannel_t getInputCaptureChannel(brain_pin_e hwPin);
-
-#endif /* HAL_USE_ICU */
-

firmware/hw_layer/digital_input/trigger/trigger_input.cpp

@@ -14,23 +14,7 @@
 
 #if (EFI_SHAFT_POSITION_INPUT) || defined(__DOXYGEN__)
 
-#if (HAL_USE_ICU == TRUE) || (HAL_TRIGGER_USE_PAL == TRUE) || (HAL_TRIGGER_USE_ADC == TRUE)
+#if (HAL_TRIGGER_USE_PAL == TRUE) || (HAL_TRIGGER_USE_ADC == TRUE)
-
-#if (HAL_USE_ICU == TRUE)
-	void icuTriggerTurnOnInputPins();
-	int  icuTriggerTurnOnInputPin(const char *msg, int index, bool isTriggerShaft);
-	void icuTriggerTurnOffInputPin(brain_pin_e brainPin);
-#else
-	#define icuTriggerTurnOnInputPins() ((void)0)
-	int  icuTriggerTurnOnInputPin(const char *msg, int index, bool isTriggerShaft) {
-		UNUSED(msg);
-		UNUSED(index);
-		UNUSED(isTriggerShaft);
-
-		return -2;
-	}
-	#define icuTriggerTurnOffInputPin(brainPin) ((void)0)
-#endif
 
 #if (HAL_TRIGGER_USE_PAL == TRUE)
 	void extiTriggerTurnOnInputPins();
@@ -66,7 +50,6 @@
 
 enum triggerType {
 	TRIGGER_NONE,
-	TRIGGER_ICU,
 	TRIGGER_EXTI,
 	TRIGGER_ADC,
 };
@@ -88,18 +71,6 @@ static int turnOnTriggerInputPin(const char *msg, int index, bool isTriggerShaft
 		return 0;
 	}
 
-	/* try ICU first */
-#if EFI_ICU_INPUTS
-	if (icuTriggerTurnOnInputPin(msg, index, isTriggerShaft) >= 0) {
-		if (isTriggerShaft) {
-			shaftTriggerType[index] = TRIGGER_ICU;
-		} else {
-			camTriggerType[index] = TRIGGER_ICU;
-		}
-		return 0;
-	}
-#endif
-
 	/* ... then ADC */
 #if HAL_TRIGGER_USE_ADC
 	if (adcTriggerTurnOnInputPin(msg, index, isTriggerShaft) >= 0) {
@@ -132,11 +103,6 @@ static void turnOffTriggerInputPin(int index, bool isTriggerShaft) {
 		activeConfiguration.triggerInputPins[index] : activeConfiguration.camInputs[index];
 
 	if (isTriggerShaft) {
-#if EFI_ICU_INPUTS
-		if (shaftTriggerType[index] == TRIGGER_ICU) {
-			icuTriggerTurnOffInputPin(brainPin);
-		}
-#endif /* EFI_ICU_INPUTS */
 		if (shaftTriggerType[index] == TRIGGER_ADC) {
 			adcTriggerTurnOffInputPin(brainPin);
 		}
@@ -147,11 +113,6 @@ static void turnOffTriggerInputPin(int index, bool isTriggerShaft) {
 
 		shaftTriggerType[index] = TRIGGER_NONE;
 	} else {
-#if EFI_ICU_INPUTS
-		if (camTriggerType[index] == TRIGGER_ICU) {
-			icuTriggerTurnOffInputPin(brainPin);
-		}
-#endif /* EFI_ICU_INPUTS */
 		if (camTriggerType[index] == TRIGGER_ADC) {
 			adcTriggerTurnOffInputPin(brainPin);
 		}
@@ -200,13 +161,12 @@ void startTriggerInputPins() {
 
 void turnOnTriggerInputPins() {
 	/* init all trigger HW available */
-	icuTriggerTurnOnInputPins();
 	extiTriggerTurnOnInputPins();
 
 	applyNewTriggerInputPins();
 }
 
-#endif /* (HAL_USE_ICU == TRUE) || (HAL_TRIGGER_USE_PAL == TRUE) || (HAL_TRIGGER_USE_ADC == TRUE) */
+#endif /* (HAL_TRIGGER_USE_PAL == TRUE) || (HAL_TRIGGER_USE_ADC == TRUE) */
 
 
 void stopTriggerDebugPins() {

firmware/hw_layer/digital_input/trigger/trigger_input_comp.cpp

@@ -14,7 +14,6 @@
 #include "hal_comp.h"
 
 #include "trigger_input.h"
-#include "digital_input_icu.h"
 
 static volatile int centeredDacValue = 127;
 static volatile int toothCnt = 0;

firmware/hw_layer/digital_input/trigger/trigger_input_icu.cpp

@@ -1,109 +0,0 @@
-/**
- * @file	trigger_input_icu.cpp
- * @brief	Position sensor hardware layer - ICU version
- *
- * todo: code reuse with digital_input_icu.cpp was never finished
- * todo: at the moment due to half-done code reuse we already depend on EFI_ICU_INPUTS but still have custom code
- * todo: VVT implementation is a nasty copy-paste :(
- *
- * see digital_input_icu.cpp
- *
- * @date Dec 30, 2012
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#include "pch.h"
-
-int icuRisingCallbackCounter = 0;
-int icuFallingCallbackCounter = 0;
-
-#if EFI_SHAFT_POSITION_INPUT && (HAL_USE_ICU == TRUE)
-
-#include "trigger_input.h"
-#include "digital_input_icu.h"
-#include "tooth_logger.h"
-
-static void vvtRisingCallback(void *arg) {
-	efitick_t now = getTimeNowNt();
-
-	int index = (int)arg;
-
-#if EFI_TOOTH_LOGGER
-	if (!engineConfiguration->displayLogicLevelsInEngineSniffer) {
-		// real physical fronts go into engine sniffer
-		LogTriggerTooth(SHAFT_SECONDARY_RISING, now);
-	}
-#endif /* EFI_TOOTH_LOGGER */
-	hwHandleVvtCamSignal(engineConfiguration->invertCamVVTSignal ? TV_FALL : TV_RISE, now, index);
-}
-
-static void vvtFallingCallback(void * arg) {
-	efitick_t now = getTimeNowNt();
-
-	int index = (int)arg;
-#if EFI_TOOTH_LOGGER
-	if (!engineConfiguration->displayLogicLevelsInEngineSniffer) {
-		LogTriggerTooth(SHAFT_SECONDARY_FALLING, now);
-	}
-#endif /* EFI_TOOTH_LOGGER */
-	hwHandleVvtCamSignal(engineConfiguration->invertCamVVTSignal ? TV_RISE : TV_FALL, now, index);
-}
-
-/**
- * that's hardware timer input capture IRQ entry point
- */
-static void shaftRisingCallback(bool isPrimary) {
-	efitick_t stamp = getTimeNowNt();
-
-	icuRisingCallbackCounter++;
-
-	//	icucnt_t last_width = icuGetWidth(icup); so far we are fine with system time
-
-	hwHandleShaftSignal(isPrimary ? 0 : 1, true, stamp);
-}
-
-static void shaftFallingCallback(bool isPrimary) {
-	efitick_t stamp = getTimeNowNt();
-
-	icuFallingCallbackCounter++;
-
-	hwHandleShaftSignal(isPrimary ? 0 : 1, false, stamp);
-}
-
-/*==========================================================================*/
-/* Exported functions.														*/
-/*==========================================================================*/
-
-int icuTriggerTurnOnInputPin(const char *msg, int index, bool isTriggerShaft) {
-	(void)msg;
-	brain_pin_e brainPin = isTriggerShaft ? engineConfiguration->triggerInputPins[index] : engineConfiguration->camInputs[index];
-	if (!isBrainPinValid(brainPin)) {
-		return -1;
-	}
-
-	digital_input_s* input = startDigitalCapture(msg, brainPin);
-	if (input == NULL) {
-		/* error already reported */
-		return -1;
-	}
-
-	if (isTriggerShaft) {
-		void * arg = (void*) (index == 0);
-		input->setWidthCallback((VoidInt)(void*)shaftRisingCallback, arg);
-		input->setPeriodCallback((VoidInt)(void*)shaftFallingCallback, arg);
-	} else {
-		void * arg = (void *)index;
-		input->setWidthCallback((VoidInt)(void*)vvtRisingCallback, arg);
-		input->setPeriodCallback((VoidInt)(void*)vvtFallingCallback, arg);
-	}
-
-	return 0;
-}
-
-void icuTriggerTurnOffInputPin(brain_pin_e brainPin) {
-	stopDigitalCapture("trigger", brainPin);
-}
-
-void icuTriggerTurnOnInputPins() {
-}
-#endif /* (EFI_SHAFT_POSITION_INPUT && (HAL_USE_ICU == TRUE)) */

firmware/hw_layer/hw_layer.mk

@@ -10,11 +10,8 @@ HW_INC = hw_layer/$(CPU_HWLAYER) \
 HW_LAYER_EMS_CPP = \
 	$(PROJECT_DIR)/hw_layer/pin_repository.cpp \
 	$(PROJECT_DIR)/hw_layer/microsecond_timer/microsecond_timer.cpp \
-	$(PROJECT_DIR)/hw_layer/digital_input/digital_input.cpp \
-	$(PROJECT_DIR)/hw_layer/digital_input/digital_input_icu.cpp \
 	$(PROJECT_DIR)/hw_layer/digital_input/digital_input_exti.cpp \
 	$(PROJECT_DIR)/hw_layer/digital_input/trigger/trigger_input.cpp \
-	$(PROJECT_DIR)/hw_layer/digital_input/trigger/trigger_input_icu.cpp \
 	$(PROJECT_DIR)/hw_layer/digital_input/trigger/trigger_input_exti.cpp \
 	$(PROJECT_DIR)/hw_layer/digital_input/trigger/trigger_input_adc.cpp \
 	$(PROJECT_DIR)/hw_layer/hardware.cpp \

firmware/hw_layer/io_pins.cpp

@@ -112,19 +112,6 @@ iomode_t getInputMode(pin_input_mode_e mode) {
 	}
 }
 
-#if HAL_USE_ICU
-static char icuError[30];
-
-void efiIcuStart(const char *msg, ICUDriver *icup, const ICUConfig *config) {
-	if (icup->state != ICU_STOP && icup->state != ICU_READY) {
-		chsnprintf(icuError, sizeof(icuError), "ICU already used %s", msg);
-		firmwareError(CUSTOM_ERROR_ICU, icuError);
-		return;
-	}
-	icuStart(icup, config);
-}
-#endif /* HAL_USE_ICU */
-
 void writePad(const char *msg, brain_pin_e pin, int bit) {
 	palWritePad(getHwPort(msg, pin), getHwPin(msg, pin), bit);
 }

firmware/hw_layer/io_pins.h

@@ -36,9 +36,6 @@ EXTERNC void efiSetPadUnused(brain_pin_e brainPin);
 EXTERNC bool efiReadPin(brain_pin_e pin);
 
 EXTERNC iomode_t getInputMode(pin_input_mode_e mode);
-#if HAL_USE_ICU
-EXTERNC void efiIcuStart(const char *msg, ICUDriver *icup, const ICUConfig *config);
-#endif /* HAL_USE_ICU */
 
 #endif /* EFI_GPIO_HARDWARE */
 

firmware/hw_layer/ports/stm32/mcuconf_common_f4_f7.h

@@ -177,9 +177,9 @@
 /*
  * ICU driver system settings.
  */
-#define STM32_ICU_USE_TIM1                  TRUE
+#define STM32_ICU_USE_TIM1                  FALSE
-#define STM32_ICU_USE_TIM2                  TRUE
+#define STM32_ICU_USE_TIM2                  FALSE
-#define STM32_ICU_USE_TIM3                  TRUE
+#define STM32_ICU_USE_TIM3                  FALSE
 #define STM32_ICU_USE_TIM4                  FALSE
 #define STM32_ICU_USE_TIM5                  FALSE
 #define STM32_ICU_USE_TIM8                  FALSE

firmware/hw_layer/ports/stm32/stm32f4/cfg/halconf.h

@@ -73,7 +73,7 @@
  * @brief   Enables the ICU subsystem.
  */
 #if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
-#define HAL_USE_ICU                 TRUE
+#define HAL_USE_ICU                 FALSE
 #endif
 
 /**

firmware/hw_layer/ports/stm32/stm32f7/cfg/halconf.h

@@ -71,7 +71,7 @@
  * @brief   Enables the ICU subsystem.
  */
 #if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
-#define HAL_USE_ICU                 TRUE
+#define HAL_USE_ICU                 FALSE
 #endif
 
 /**

simulator/simulator/efifeatures.h

@@ -105,7 +105,6 @@
 
 #define EFI_ELECTRONIC_THROTTLE_BODY TRUE
 #define EFI_AUX_PID TRUE
-#define EFI_ICU_INPUTS FALSE
 
 #ifndef HAL_TRIGGER_USE_PAL
 #define HAL_TRIGGER_USE_PAL FALSE