mirror of https://github.com/FOME-Tech/fome-fw.git
638 lines
16 KiB
C++
638 lines
16 KiB
C++
/*
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* sent.cpp
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*
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* SENT protocol decoder
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*
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* @date Oct 01, 2022
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* @author Andrey Gusakov <dron0gus@gmail.com>, (c) 2022
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*/
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#if EFI_PROD_CODE || EFI_UNIT_TEST
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#include "pch.h"
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#include "sent.h"
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#include "sent_logic.h"
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/*==========================================================================*/
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/* Protocol definitions. */
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/*==========================================================================*/
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#define SENT_OFFSET_INTERVAL 12
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#define SENT_SYNC_INTERVAL (56 - SENT_OFFSET_INTERVAL) // 56 ticks - 12
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#define SENT_MIN_INTERVAL 12
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#define SENT_MAX_INTERVAL 15
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#define SENT_CRC_SEED 0x05
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#define SENT_MSG_DATA_SIZE 6
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/* Status + two 12-bit signals + CRC */
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#define SENT_MSG_PAYLOAD_SIZE (1 + SENT_MSG_DATA_SIZE + 1) // Size of payload
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/* use 3 full frames + one additional pulse for unit time calibration */
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#define SENT_CALIBRATION_PULSES (1 + 3 * SENT_MSG_PAYLOAD_SIZE)
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/*==========================================================================*/
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/* Decoder configuration */
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/*==========================================================================*/
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/*==========================================================================*/
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/* Decoder */
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/*==========================================================================*/
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/* Helpers for Msg manipulations */
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/* nibbles order: status, sig0_MSN, sig0_MidN, sig0_LSN, sig1_MSN, sig1_MidN, sig1_LSN, CRC */
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/* we shift rxReg left for 4 bits on each neable received and put newest nibble
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* in [3:0] bits of rxReg, so when full message is received:
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* CRC is [3:0] - nibble 7
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* status is [31:28] - nibble 0
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* sig0 is [27:16], sig1 is [15:4] */
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#define MsgGetNibble(msg, n) (((msg) >> (4 * (7 - (n)))) & 0xf)
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#define MsgGetStat(msg) MsgGetNibble(msg, 0)
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#define MsgGetSig0(msg) (((msg) >> (4 * 4)) & 0xfff)
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#define MsgGetSig1(msg) (((msg) >> (1 * 4)) & 0xfff)
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#define MsgGetCrc(msg) MsgGetNibble(msg, 7)
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/* convert CPU ticks to float Us */
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#define TicksToUs(ticks) ((float)(ticks) * 1000.0 * 1000.0 / CORE_CLOCK)
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void sent_channel::restart(void) {
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state = SENT_STATE_CALIB;
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pulseCounter = 0;
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currentStatePulseCounter = 0;
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hasPausePulse = false;
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tickPerUnit = 0;
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/* reset slow channels */
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scMsgFlags = 0;
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scShift2 = 0;
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scShift3 = 0;
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#if SENT_STATISTIC_COUNTERS
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statistic.ShortIntervalErr = 0;
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statistic.LongIntervalErr = 0;
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statistic.SyncErr = 0;
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statistic.CrcErrCnt = 0;
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statistic.FrameCnt = 0;
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statistic.sc = 0;
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statistic.scCrcErr = 0;
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statistic.RestartCnt++;
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#endif
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}
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uint32_t sent_channel::calcTickPerUnit(uint32_t clocks) {
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/* int division with rounding */
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return (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
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(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
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}
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float sent_channel::getTickTime(void) {
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return tickPerUnit;
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}
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int sent_channel::Decoder(uint16_t clocks) {
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int ret = 0;
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int interval;
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pulseCounter++;
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/* special case - tick time calculation */
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if (state == SENT_STATE_CALIB) {
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if (tickPerUnit == 0) {
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/* no tickPerUnit calculated yet
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* lets assume this is sync pulse... */
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tickPerUnit = calcTickPerUnit(clocks);
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} else {
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/* some tickPerUnit calculated...
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* Check next 1 + 6 + 1 pulses if they are valid with current tickPerUnit */
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interval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL;
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if ((interval >= 0) && (interval <= SENT_MAX_INTERVAL)) {
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currentStatePulseCounter++;
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if (currentStatePulseCounter == SENT_MSG_PAYLOAD_SIZE) {
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pulseCounter = 0;
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currentStatePulseCounter = 0;
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state = SENT_STATE_INIT;
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}
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} else {
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currentStatePulseCounter = 0;
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tickPerUnit = calcTickPerUnit(clocks);
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}
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}
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if (pulseCounter >= SENT_CALIBRATION_PULSES) {
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/* failed to calculate valid tickPerUnit, restart */
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restart();
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}
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return 0;
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}
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/* special case for out-of-sync state */
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if (state == SENT_STATE_INIT) {
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/* check if pulse looks like sync with allowed +/-20% deviation */
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int syncClocks = (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) * tickPerUnit;
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if (((100 * clocks) >= (syncClocks * 80)) &&
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((100 * clocks) <= (syncClocks * 120))) {
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/* adjust unit time */
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tickPerUnit = calcTickPerUnit(clocks);
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/* we get here from calibration phase. calibration phase end with CRC nibble
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* if we had to skip ONE pulse before we get sync - that means device sends pause
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* pulses in between of messages */
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if (currentStatePulseCounter == 1) {
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hasPausePulse = true;
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}
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/* next state */
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currentStatePulseCounter = 0;
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state = SENT_STATE_STATUS;
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} else {
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currentStatePulseCounter++;
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/* 3 frames skipped, no SYNC detected - recalibrate */
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if (currentStatePulseCounter >= (9 * 3)) {
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restart();
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}
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}
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/* done for this pulse */
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return 0;
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}
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interval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL;
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if (interval < 0) {
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#if SENT_STATISTIC_COUNTERS
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statistic.ShortIntervalErr++;
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#endif //SENT_STATISTIC_COUNTERS
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state = SENT_STATE_INIT;
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return -1;
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}
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switch(state)
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{
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case SENT_STATE_CALIB:
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case SENT_STATE_INIT:
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/* handled above, should not get in here */
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ret = -1;
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break;
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case SENT_STATE_SYNC:
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if (interval == SENT_SYNC_INTERVAL)
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{// sync interval - 56 ticks
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/* measured tick interval will be used until next sync pulse */
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tickPerUnit = calcTickPerUnit(clocks);
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rxReg = 0;
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state = SENT_STATE_STATUS;
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}
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else
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{
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#if SENT_STATISTIC_COUNTERS
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// Increment sync interval err count
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statistic.SyncErr++;
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if (interval > SENT_SYNC_INTERVAL)
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{
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statistic.LongIntervalErr++;
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}
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else
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{
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statistic.ShortIntervalErr++;
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}
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#endif // SENT_STATISTIC_COUNTERS
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/* wait for next sync and recalibrate tickPerUnit */
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state = SENT_STATE_INIT;
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}
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break;
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case SENT_STATE_STATUS:
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case SENT_STATE_SIG1_DATA1:
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case SENT_STATE_SIG1_DATA2:
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case SENT_STATE_SIG1_DATA3:
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case SENT_STATE_SIG2_DATA1:
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case SENT_STATE_SIG2_DATA2:
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case SENT_STATE_SIG2_DATA3:
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case SENT_STATE_CRC:
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if(interval <= SENT_MAX_INTERVAL)
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{
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rxReg = (rxReg << 4) | (uint32_t)interval;
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if (state != SENT_STATE_CRC)
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{
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/* TODO: refactor */
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state = (SENT_STATE_enum)((int)state + 1);
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}
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else
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{
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#if SENT_STATISTIC_COUNTERS
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statistic.FrameCnt++;
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#endif // SENT_STATISTIC_COUNTERS
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/* CRC check */
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/* TODO: find correct way to calculate CRC */
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if ((MsgGetCrc(rxReg) == crc4(rxReg)) ||
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(MsgGetCrc(rxReg) == crc4_gm(rxReg)) ||
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(MsgGetCrc(rxReg) == crc4_gm_v2(rxReg)))
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{
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/* Full packet with correct CRC has been received */
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rxLast = rxReg;
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/* TODO: add timestamp? */
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ret = 1;
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}
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else
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{
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#if SENT_STATISTIC_COUNTERS
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statistic.CrcErrCnt++;
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#endif // SENT_STATISTIC_COUNTERS
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ret = -1;
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}
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state = hasPausePulse ? SENT_STATE_PAUSE : SENT_STATE_SYNC;
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}
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}
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else
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{
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#if SENT_STATISTIC_COUNTERS
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statistic.LongIntervalErr++;
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#endif
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state = SENT_STATE_INIT;
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ret = -1;
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}
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break;
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case SENT_STATE_PAUSE:
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state = SENT_STATE_SYNC;
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break;
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}
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if (ret > 0) {
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/* valid packet received, can process slow channels */
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SlowChannelDecoder();
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} else if (ret < 0) {
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/* packet is incorrect, reset slow channel state machine */
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scShift2 = 0;
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scShift3 = 0;
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/* TODO: add error counter and restart from CALIB state? */
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}
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return ret;
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}
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int sent_channel::GetMsg(uint32_t* rx) {
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if (rx) {
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*rx = rxLast;
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}
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/* TODO: add check if any packet was received */
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/* TODO: add check for time since last message reseived */
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return 0;
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}
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int sent_channel::GetSignals(uint8_t *pStat, uint16_t *pSig0, uint16_t *pSig1)
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{
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uint32_t rx;
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int ret = GetMsg(&rx);
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if (ret < 0) {
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return ret;
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}
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/* NOTE different MSB packing for sig0 and sig1
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* is it protocol-defined or device-specific?
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* Also looks like some devices send 16 + 8 bit, not 12 + 12 */
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if (pStat) {
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*pStat = MsgGetStat(rx);
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}
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if (pSig0) {
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uint16_t tmp = MsgGetSig0(rx);
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*pSig0 = tmp;
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}
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if (pSig1) {
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uint16_t tmp = MsgGetSig1(rx);
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/* swap */
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tmp = ((tmp >> 8) & 0x00f) |
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((tmp << 8) & 0xf00) |
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(tmp & 0x0f0);
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*pSig1 = tmp;
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}
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return 0;
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}
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int sent_channel::StoreSlowChannelValue(uint8_t id, uint16_t data)
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{
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size_t i;
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/* Update already allocated messagebox? */
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for (i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
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if ((scMsgFlags & BIT(i)) && (scMsg[i].id == id)) {
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scMsg[i].data = data;
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return 0;
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}
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}
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/* New message? Allocate messagebox */
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for (i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
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if (!(scMsgFlags & BIT(i)))
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{
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scMsg[i].data = data;
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scMsg[i].id = id;
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scMsgFlags |= (1 << i);
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return 0;
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}
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}
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/* No free mailboxes for new ID */
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return -1;
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}
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int sent_channel::GetSlowChannelValue(uint8_t id)
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{
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size_t i;
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for (i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
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if ((scMsgFlags & BIT(i)) && (scMsg[i].id == id)) {
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return scMsg[i].data;
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}
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}
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/* not found */
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return -1;
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}
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int sent_channel::SlowChannelDecoder()
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{
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/* bit 2 and bit 3 from status nibble are used to transfer short messages */
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bool b2 = !!(MsgGetStat(rxLast) & BIT(2));
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bool b3 = !!(MsgGetStat(rxLast) & BIT(3));
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/* shift in new data */
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scShift2 = (scShift2 << 1) | b2;
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scShift3 = (scShift3 << 1) | b3;
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scCrcShift = (scCrcShift << 2) | ((uint32_t)b2 << 1) | b3;
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if (1) {
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/* Short Serial Message format */
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/* 0b1000.0000.0000.0000? */
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if ((scShift3 & 0xffff) == 0x8000) {
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/* Done receiving */
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/* TODO: add crc check */
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uint8_t id = (scShift2 >> 12) & 0x0f;
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uint16_t data = (scShift2 >> 4) & 0xff;
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return StoreSlowChannelValue(id, data);
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}
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}
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if (1) {
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/* Enhanced Serial Message format */
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/* 0b11.1111.0xxx.xx0x.xxx0 ? */
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if ((scShift3 & 0x3f821) == 0x3f000) {
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uint8_t id;
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uint8_t crc = (scShift2 >> 12) & 0x3f;
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#if SENT_STATISTIC_COUNTERS
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statistic.sc++;
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#endif
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if (crc == crc6(scCrcShift)) {
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/* C-flag: configuration bit is used to indicate 16 bit format */
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bool sc16Bit = !!(scShift3 & (1 << 10));
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if (!sc16Bit) {
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/* 12 bit message, 8 bit ID */
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id = ((scShift3 >> 1) & 0x0f) |
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((scShift3 >> 2) & 0xf0);
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uint16_t data = scShift2 & 0x0fff; /* 12 bit */
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/* TODO: add crc check */
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return StoreSlowChannelValue(id, data);
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} else {
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/* 16 bit message, 4 bit ID */
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id = (scShift3 >> 6) & 0x0f;
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uint16_t data = (scShift2 & 0x0fff) |
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(((scShift3 >> 1) & 0x0f) << 12);
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return StoreSlowChannelValue(id, data);
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}
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} else {
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#if SENT_STATISTIC_COUNTERS
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statistic.scCrcErr++;
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#endif
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}
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}
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}
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return 0;
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}
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/* This is correct for Si7215 */
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/* This CRC is calculated for WHOLE message expect last nibble (CRC) */
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uint8_t sent_channel::crc4(uint32_t data)
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{
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size_t i;
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uint8_t crc = SENT_CRC_SEED; // initialize checksum with seed "0101"
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const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
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for (i = 0; i < 7; i++) {
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crc = crc ^ MsgGetNibble(data, i);
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crc = CrcLookup[crc];
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}
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return crc;
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}
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/* TODO: double check two following and use same CRC routine? */
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/* This is correct for GM throttle body */
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/* This CRC is calculated for message expect status nibble and minus CRC nibble */
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uint8_t sent_channel::crc4_gm(uint32_t data)
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{
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size_t i;
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uint8_t crc = SENT_CRC_SEED; // initialize checksum with seed "0101"
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const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
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for (i = 1; i < 7; i++) {
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crc = CrcLookup[crc];
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crc = (crc ^ MsgGetNibble(data, i)) & 0xf;
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}
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return crc;
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}
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/* This is correct for GDI fuel pressure sensor */
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/* This CRC is calculated for message expect status nibble and minus CRC nibble */
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uint8_t sent_channel::crc4_gm_v2(uint32_t data)
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{
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size_t i;
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uint8_t crc = SENT_CRC_SEED; // initialize checksum with seed "0101"
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const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
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for (i = 1; i < 7; i++) {
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crc = CrcLookup[crc];
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crc = (crc ^ MsgGetNibble(data, i)) & 0xf;
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}
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// One more round with 0 as input
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crc = CrcLookup[crc];
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return crc;
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}
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uint8_t sent_channel::crc6(uint32_t data)
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{
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size_t i;
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/* Seed 0x15 (21) */
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uint8_t crc = 0x15;
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/* CRC table for poly = 0x59 (x^6 + x^4 + x^3 + 1) */
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const uint8_t crc6_table[64] = {
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0, 25, 50, 43, 61, 36, 15, 22, 35, 58, 17, 8, 30, 7, 44, 53,
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31, 6, 45, 52, 34, 59, 16, 9, 60, 37, 14, 23, 1, 24, 51, 42,
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62, 39, 12, 21, 3, 26, 49, 40, 29, 4, 47, 54, 32, 57, 18, 11,
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33, 56, 19, 10, 28, 5, 46, 55, 2, 27, 48, 41, 63, 38, 13, 20 };
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for (i = 0; i < 4; i++) {
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uint8_t tmp = (data >> (24 - 6 * (i + 1))) & 0x3f;
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crc = tmp ^ crc6_table[crc];
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}
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// Extra cound with 0 input
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crc = 0 ^ crc6_table[crc];
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return crc;
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}
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#endif // EFI_PROD_CODE || EFI_UNIT_TEST
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#if EFI_PROD_CODE
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static sent_channel channels[SENT_CHANNELS_NUM];
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void sent_channel::Info(void) {
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uint8_t stat;
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uint16_t sig0, sig1;
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efiPrintf("Unit time %lu CPU ticks %f uS", tickPerUnit, TicksToUs(getTickTime()));
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efiPrintf("Total pulses %lu", pulseCounter);
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if (GetSignals(&stat, &sig0, &sig1) == 0) {
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efiPrintf("Last valid fast msg Status 0x%01x Sig0 0x%03x Sig1 0x%03x", stat, sig0, sig1);
|
|
}
|
|
|
|
if (scMsgFlags) {
|
|
efiPrintf("Slow channels:");
|
|
for (int i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
|
|
if (scMsgFlags & BIT(i)) {
|
|
efiPrintf(" ID %d: %d", scMsg[i].id, scMsg[i].data);
|
|
}
|
|
}
|
|
}
|
|
|
|
#if SENT_STATISTIC_COUNTERS
|
|
efiPrintf("Restarts %lu", statistic.RestartCnt);
|
|
efiPrintf("Interval errors %lu short, %lu long", statistic.ShortIntervalErr, statistic.LongIntervalErr);
|
|
efiPrintf("Total frames %lu with CRC error %lu (%f%%)", statistic.FrameCnt, statistic.CrcErrCnt, statistic.CrcErrCnt * 100.0 / statistic.FrameCnt);
|
|
efiPrintf("Total slow channel messages %lu with crc6 errors %lu (%f%%)", statistic.sc, statistic.scCrcErr, statistic.scCrcErr * 100.0 / statistic.sc);
|
|
efiPrintf("Sync errors %lu", statistic.SyncErr);
|
|
#endif
|
|
}
|
|
|
|
/*==========================================================================*/
|
|
/* Decoder thread settings. */
|
|
/*==========================================================================*/
|
|
|
|
/* 4 per channel should be enougth */
|
|
#define SENT_MB_SIZE (4 * SENT_CHANNELS_NUM)
|
|
|
|
static msg_t sent_mb_buffer[SENT_MB_SIZE];
|
|
static MAILBOX_DECL(sent_mb, sent_mb_buffer, SENT_MB_SIZE);
|
|
|
|
static THD_WORKING_AREA(waSentDecoderThread, 256);
|
|
|
|
void SENT_ISR_Handler(uint8_t channel, uint16_t clocks) {
|
|
/* encode to fit msg_t */
|
|
msg_t msg = (channel << 16) | clocks;
|
|
|
|
/* called from ISR */
|
|
chSysLockFromISR();
|
|
chMBPostI(&sent_mb, msg);
|
|
chSysUnlockFromISR();
|
|
}
|
|
|
|
static void SentDecoderThread(void*) {
|
|
while (true) {
|
|
msg_t ret;
|
|
msg_t msg;
|
|
|
|
ret = chMBFetchTimeout(&sent_mb, &msg, TIME_INFINITE);
|
|
|
|
if (ret == MSG_OK) {
|
|
uint16_t tick = msg & 0xffff;
|
|
uint8_t n = (msg >> 16) & 0xff;
|
|
|
|
if (n < SENT_CHANNELS_NUM) {
|
|
sent_channel &channel = channels[n];
|
|
|
|
if (channel.Decoder(tick) > 0) {
|
|
|
|
uint16_t sig0, sig1;
|
|
channel.GetSignals(NULL, &sig0, &sig1);
|
|
engine->sent_state.value0 = sig0;
|
|
engine->sent_state.value1 = sig1;
|
|
|
|
#if SENT_STATISTIC_COUNTERS
|
|
engine->sent_state.errorRate = channel.statistic.getErrorRate();
|
|
#endif // SENT_STATISTIC_COUNTERS
|
|
|
|
|
|
/* Call high level decoder from here */
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
static void printSentInfo() {
|
|
for (int i = 0; i < SENT_CHANNELS_NUM; i++) {
|
|
efiPrintf("---- SENT ch %d ----", i);
|
|
channels[i].Info();
|
|
efiPrintf("--------------------");
|
|
}
|
|
}
|
|
|
|
/* Don't be confused: this actually returns throttle body position */
|
|
/* TODO: remove, replace with getSentValues() */
|
|
float getSentValue(size_t index) {
|
|
if (index < SENT_CHANNELS_NUM) {
|
|
uint16_t sig0, sig1;
|
|
|
|
if (channels[index].GetSignals(NULL, &sig0, &sig1) == 0) {
|
|
|
|
// GM sig0 + sig1 == 0xfff but Ford does not
|
|
/* scale to 0.0 .. 1.0 */
|
|
return sig0;
|
|
}
|
|
}
|
|
|
|
return NAN;
|
|
}
|
|
|
|
int getSentValues(size_t index, uint16_t *sig0, uint16_t *sig1) {
|
|
if (index < SENT_CHANNELS_NUM) {
|
|
return channels[index].GetSignals(NULL, sig0, sig1);
|
|
}
|
|
|
|
/* invalid channel */
|
|
return -1;
|
|
}
|
|
|
|
/* Should be called once */
|
|
void initSent(void)
|
|
{
|
|
/* init interval mailbox */
|
|
chMBObjectInit(&sent_mb, sent_mb_buffer, SENT_MB_SIZE);
|
|
|
|
chThdCreateStatic(waSentDecoderThread, sizeof(waSentDecoderThread), NORMALPRIO, SentDecoderThread, nullptr);
|
|
|
|
/* Start HW layer */
|
|
startSent();
|
|
|
|
addConsoleAction("sentinfo", &printSentInfo);
|
|
}
|
|
|
|
#endif /* EFI_PROD_CODE */
|