From 9b0fa7ec435cd5c8f0f18280bb34a1c50bc65fba Mon Sep 17 00:00:00 2001 From: Andrey G Date: Sat, 12 Nov 2022 01:25:02 +0300 Subject: [PATCH] SENT unit tests (#4769) * unit_tests: sent: zero-init * sent: SENT_SLOW_CHANNELS_MAX to header * unit_tests: sent: clock, falling edges * SENT: support and autodetect if device sends pause pulse Also rework tick time calculation * unit_tests: SENT: verbose debug on request * unit_tests: SENT: actual checks * unit_tests: SENT: extract common code for reuse * unit_test: SENT: add test with fuel pressue captured data * unit_test: SENT: add test with Ford ETB CLOSED captured data --- firmware/hw_layer/drivers/sent/sent.cpp | 61 +- firmware/hw_layer/drivers/sent/sent_logic.h | 11 +- .../sent/resources/SENT-fuel-pressure.csv | 38104 ++++++++++++++++ .../tests/sent/resources/ford-sent-closed.csv | 23169 ++++++++++ unit_tests/tests/sent/test_sent.cpp | 92 +- 5 files changed, 61403 insertions(+), 34 deletions(-) create mode 100644 unit_tests/tests/sent/resources/SENT-fuel-pressure.csv create mode 100644 unit_tests/tests/sent/resources/ford-sent-closed.csv diff --git a/firmware/hw_layer/drivers/sent/sent.cpp b/firmware/hw_layer/drivers/sent/sent.cpp index 37e37d2ead..20f8c919d8 100644 --- a/firmware/hw_layer/drivers/sent/sent.cpp +++ b/firmware/hw_layer/drivers/sent/sent.cpp @@ -37,10 +37,6 @@ /* Decoder configuration */ /*==========================================================================*/ - -/* Maximum slow shannel mailboxes, DO NOT CHANGE */ -#define SENT_SLOW_CHANNELS_MAX 16 - /*==========================================================================*/ /* Decoder */ /*==========================================================================*/ @@ -62,7 +58,8 @@ void sent_channel::restart(void) { state = SENT_STATE_CALIB; pulseCounter = 0; - initStatePulseCounter = 0; + currentStatePulseCounter = 0; + hasPausePulse = false; tickPerUnit = 0; /* reset slow channels */ @@ -83,22 +80,37 @@ void sent_channel::restart(void) int sent_channel::Decoder(uint16_t clocks) { int ret = 0; + int interval; pulseCounter++; /* special case - tick time calculation */ if (state == SENT_STATE_CALIB) { - /* Find longes pulse */ - if (clocks > tickPerUnit) { - tickPerUnit = clocks; - } - /* ...this should be SYNC pulse */ - if (pulseCounter >= SENT_CALIBRATION_PULSES) { - /* calculate Unit time from SYNC pulse */ - tickPerUnit = (tickPerUnit + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) / + if (tickPerUnit == 0) { + /* no tickPerUnit calculated yet + * lets assume this is sync pulse... */ + tickPerUnit = (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) / (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL); - pulseCounter = 0; - state = SENT_STATE_INIT; + } else { + /* some tickPerUnit calculated... + * Check next 1 + 6 + 1 pulses if they are valid with current tickPerUnit */ + interval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL; + if ((interval >= 0) && (interval <= SENT_MAX_INTERVAL)) { + currentStatePulseCounter++; + if (currentStatePulseCounter == SENT_MSG_PAYLOAD_SIZE) { + pulseCounter = 0; + currentStatePulseCounter = 0; + state = SENT_STATE_INIT; + } + } else { + currentStatePulseCounter = 0; + tickPerUnit = (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) / + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL); + } + } + if (pulseCounter >= SENT_CALIBRATION_PULSES) { + /* failed to calculate valid tickPerUnit, restart */ + restart(); } return 0; } @@ -110,16 +122,22 @@ int sent_channel::Decoder(uint16_t clocks) if (((100 * clocks) >= (syncClocks * 80)) && ((100 * clocks) <= (syncClocks * 120))) { - initStatePulseCounter = 0; /* adjust unit time */ tickPerUnit = (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) / (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL); + /* we get here from calibration phase. calibration phase end with CRC nibble + * if we had to skip ONE pulse before we get sync - that means device sends pause + * pulses in between of messages */ + if (currentStatePulseCounter == 1) { + hasPausePulse = true; + } /* next state */ + currentStatePulseCounter = 0; state = SENT_STATE_STATUS; } else { - initStatePulseCounter++; + currentStatePulseCounter++; /* 3 frames skipped, no SYNC detected - recalibrate */ - if (initStatePulseCounter >= (9 * 3)) { + if (currentStatePulseCounter >= (9 * 3)) { restart(); } } @@ -127,7 +145,7 @@ int sent_channel::Decoder(uint16_t clocks) return 0; } - int interval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL; + interval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL; if (interval < 0) { #if SENT_STATISTIC_COUNTERS @@ -213,7 +231,7 @@ int sent_channel::Decoder(uint16_t clocks) #endif // SENT_STATISTIC_COUNTERS ret = -1; } - state = SENT_STATE_SYNC; + state = hasPausePulse ? SENT_STATE_PAUSE : SENT_STATE_SYNC; } } else @@ -226,6 +244,9 @@ int sent_channel::Decoder(uint16_t clocks) ret = -1; } break; + case SENT_STATE_PAUSE: + state = SENT_STATE_SYNC; + break; } if (ret > 0) { diff --git a/firmware/hw_layer/drivers/sent/sent_logic.h b/firmware/hw_layer/drivers/sent/sent_logic.h index b230857462..13eadd10c9 100644 --- a/firmware/hw_layer/drivers/sent/sent_logic.h +++ b/firmware/hw_layer/drivers/sent/sent_logic.h @@ -8,6 +8,9 @@ #define SENT_CHANNELS_NUM 4 // Number of sent channels #endif +/* Maximum slow shannel mailboxes, DO NOT CHANGE */ +#define SENT_SLOW_CHANNELS_MAX 16 + /* collect statistic */ #define SENT_STATISTIC_COUNTERS 1 @@ -24,6 +27,7 @@ typedef enum SENT_STATE_SIG2_DATA2, SENT_STATE_SIG2_DATA3, SENT_STATE_CRC, + SENT_STATE_PAUSE, } SENT_STATE_enum; struct sent_channel_stat { @@ -42,8 +46,9 @@ private: /* Unit interval in timer clocks - adjusted on SYNC */ uint32_t tickPerUnit = 0; uint32_t pulseCounter = 0; - /* pulses skipped in init state while waiting for SYNC */ - uint32_t initStatePulseCounter = 0; + /* pulses skipped in init or calibration state while waiting for SYNC */ + uint32_t currentStatePulseCounter = 0; + bool hasPausePulse = false; /* fast channel shift register*/ uint32_t rxReg; @@ -70,7 +75,7 @@ public: struct { uint16_t data; uint8_t id; - } scMsg[16]; + } scMsg[SENT_SLOW_CHANNELS_MAX]; /* Statistic counters */ #if SENT_STATISTIC_COUNTERS diff --git a/unit_tests/tests/sent/resources/SENT-fuel-pressure.csv b/unit_tests/tests/sent/resources/SENT-fuel-pressure.csv new file mode 100644 index 0000000000..1a1118b53f --- /dev/null +++ b/unit_tests/tests/sent/resources/SENT-fuel-pressure.csv @@ -0,0 +1,38104 @@ +Time[s], Channel 0 +0.000000000000000, 1 +0.000043875000000, 0 +0.000054250000000, 1 +0.000105062500000, 0 +0.000115437500000, 1 +0.000135625000000, 0 +0.000146000000000, 1 +0.000194250000000, 0 +0.000204625000000, 1 +0.000263062500000, 0 +0.000273437500000, 1 +0.000298687500000, 0 +0.000309125000000, 1 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0; CsvReader reader(1, 0); - reader.open("tests/sent/resources/ford-sent-idle.csv"); - - sent_channel channel; - - int lineCount = 0; + reader.open(file); double prevTimeStamp; @@ -19,18 +18,89 @@ TEST(sent, testFordIdle) { lineCount++; if (lineCount == 1) { + // get first timestamp prevTimeStamp = stamp; continue; } - double diff = stamp - prevTimeStamp; + // we care only about falling edges + if (value < 0.5) { + double diff = stamp - prevTimeStamp; - // todo: proper mult - channel.Decoder(diff * 10'000'000); + // On STM32 we are running timer on 1/4 of cpu clock. Cpu clock is 168 MHz + channel.Decoder(diff * 168'000'000 / 4); - prevTimeStamp = stamp; + prevTimeStamp = stamp; + } + if (((lineCount % 100) == 0) && (printDebug)) { + int ret; + uint8_t stat; + uint16_t sig0, sig1; + + ret = channel.GetSignals(&stat, &sig0, &sig1); + if (ret == 0) { + printf("SENT status 0x%01x, signals: 0x%03x, 0x%03x\n", stat, sig0, sig1); + } + } } printf("testFordIdle: Got %d lines\n", lineCount); - ASSERT_TRUE(lineCount > 100); + if (printDebug) { + uint8_t stat; + uint16_t sig0, sig1; + + if (channel.GetSignals(&stat, &sig0, &sig1) == 0) { + printf("Last valid fast msg Status 0x%01x Sig0 0x%03x Sig1 0x%03x\n", stat, sig0, sig1); + } + + printf("Slow channels:\n"); + for (int i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) { + //if (scMsgFlags & BIT(i)) { + printf(" ID %d: %d\n", channel.scMsg[i].id, channel.scMsg[i].data); + //} + } + + #if SENT_STATISTIC_COUNTERS + sent_channel_stat &statistic = channel.statistic; + printf("Restarts %d\n", statistic.RestartCnt); + printf("Interval errors %d short, %d long\n", statistic.ShortIntervalErr, statistic.LongIntervalErr); + printf("Total frames %d with CRC error %d (%f%%)\n", statistic.FrameCnt, statistic.CrcErrCnt, statistic.CrcErrCnt * 100.0 / statistic.FrameCnt); + printf("Sync errors %d\n", statistic.SyncErr); + #endif + } + + return lineCount; } + +TEST(sent, testFordIdle) { + static sent_channel channel; + int lineCount = sentTest_feedWithFile(channel, "tests/sent/resources/ford-sent-idle.csv"); + ASSERT_TRUE(lineCount > 100); + #if SENT_STATISTIC_COUNTERS + sent_channel_stat &statistic = channel.statistic; + ASSERT_TRUE(statistic.RestartCnt == 0); + #endif +} + +TEST(sent, testFordClosed) { + static sent_channel channel; + int lineCount = sentTest_feedWithFile(channel, "tests/sent/resources/ford-sent-closed.csv"); + ASSERT_TRUE(lineCount > 100); + #if SENT_STATISTIC_COUNTERS + sent_channel_stat &statistic = channel.statistic; + /* TODO: bad captured data or real problem? */ + ASSERT_TRUE(statistic.RestartCnt <= 1); + #endif +} + +TEST(sent, testFuelPressure) { + static sent_channel channel; + int lineCount = sentTest_feedWithFile(channel, "tests/sent/resources/SENT-fuel-pressure.csv"); + ASSERT_TRUE(lineCount > 100); + #if SENT_STATISTIC_COUNTERS + sent_channel_stat &statistic = channel.statistic; + ASSERT_TRUE(statistic.RestartCnt == 0); + /* TODO: add more checks? Check data? */ + #endif +} +