560 lines
13 KiB
C++
560 lines
13 KiB
C++
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/*
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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
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#include "pch.h"
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#include "sent.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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/*==========================================================================*/
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/* Decoder configuration */
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/*==========================================================================*/
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#ifndef SENT_CHANNELS_NUM
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#define SENT_CHANNELS_NUM 4 // Number of sent channels
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#endif
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/* collect statistic */
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#define SENT_STATISTIC_COUNTERS 1
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/* Maximum slow shannel mailboxes, DO NOT CHANGE */
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#define SENT_SLOW_CHANNELS_MAX 16
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/*==========================================================================*/
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/* Decoder */
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/*==========================================================================*/
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typedef enum
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{
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SENT_STATE_CALIB = 0,
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SENT_STATE_INIT,
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SENT_STATE_SYNC,
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SENT_STATE_STATUS,
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SENT_STATE_SIG1_DATA1,
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SENT_STATE_SIG1_DATA2,
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SENT_STATE_SIG1_DATA3,
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SENT_STATE_SIG2_DATA1,
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SENT_STATE_SIG2_DATA2,
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SENT_STATE_SIG2_DATA3,
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SENT_STATE_CRC,
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} SENT_STATE_enum;
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struct sent_channel_stat {
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uint32_t ShortIntervalErr;
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uint32_t LongIntervalErr;
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uint32_t SyncErr;
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uint32_t CrcErrCnt;
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uint32_t FrameCnt;
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uint32_t RestartCnt;
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};
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class sent_channel {
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private:
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SENT_STATE_enum state = SENT_STATE_CALIB;
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/* Unit interval in timer clocks - adjusted on SYNC */
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uint32_t tickPerUnit;
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uint32_t pulseCounter;
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/* pulses skipped in init state while waiting for SYNC */
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uint32_t initStatePulseCounter;
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/* fast channel nibbles.
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* TODO: rewrite with uint32_t shift register */
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uint8_t nibbles[SENT_MSG_PAYLOAD_SIZE];
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/* slow channel shift registers and flags */
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uint16_t scMsgFlags;
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uint32_t scShift2; /* shift register for bit 2 from status nibble */
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uint32_t scShift3; /* shift register for bit 3 from status nibble */
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/* Slow channel decoder */
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int SlowChannelStore(uint8_t id, uint16_t data);
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int SlowChannelDecoder(void);
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/* CRC */
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uint8_t crc4(uint8_t* pdata, uint16_t ndata);
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uint8_t crc4_gm(uint8_t* pdata, uint16_t ndata);
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void restart(void);
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public:
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/* fast channel data */
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int32_t sig0;
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int32_t sig1;
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int8_t stat;
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/* slow channel data */
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struct {
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uint16_t data;
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uint8_t id;
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} scMsg[16];
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/* Statistic counters */
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#if SENT_STATISTIC_COUNTERS
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sent_channel_stat statistic;
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#endif // SENT_STATISTIC_COUNTERS
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/* Decoder */
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int Decoder(uint16_t clocks);
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/* get latest valid signal0 and signal1
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* Note:
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* sig0 is nibbles 0 .. 2, where nibble 0 is MSB
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* sig1 is niblles 5 .. 3, where niblle 5 is MSB */
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int GetSignals(uint16_t *pSig0, uint16_t *pSig1);
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/* Show status */
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void Info(void);
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};
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static sent_channel channels[SENT_CHANNELS_NUM];
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void sent_channel::restart(void)
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{
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state = SENT_STATE_CALIB;
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pulseCounter = 0;
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initStatePulseCounter = 0;
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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.RestartCnt++;
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#endif
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}
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int sent_channel::Decoder(uint16_t clocks)
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{
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int ret = 0;
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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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/* Find longes pulse ... */
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if (clocks > tickPerUnit) {
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tickPerUnit = clocks;
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}
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/* ... of 9 pulses */
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if (pulseCounter >= (SENT_MSG_PAYLOAD_SIZE + 1)) {
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tickPerUnit = (tickPerUnit + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
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(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
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pulseCounter = 0;
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state = SENT_STATE_INIT;
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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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initStatePulseCounter = 0;
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/* adjust unit time */
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tickPerUnit = (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
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(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
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/* next state */
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state = SENT_STATE_STATUS;
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} else {
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initStatePulseCounter++;
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/* 3 frames skipped, no SYNC detected - recalibrate */
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if (initStatePulseCounter >= (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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int 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 = (clocks + 56 / 2) / (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
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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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nibbles[state - SENT_STATE_STATUS] = 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 ((nibbles[7] == crc4(nibbles, 7)) ||
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(nibbles[7] == crc4_gm(nibbles + 1, 6)))
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{
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/* Full packet with correct CRC has been received
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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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* looks like some devices send 16 + 8 bit, not 12 + 12 */
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sig0 =
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(nibbles[1 + 0] << 8) |
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(nibbles[1 + 1] << 4) |
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(nibbles[1 + 2] << 0);
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sig1 =
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(nibbles[1 + 3] << 0) |
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(nibbles[1 + 4] << 4) |
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(nibbles[1 + 5] << 8);
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stat =
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nibbles[0];
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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 = 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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}
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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::GetSignals(uint16_t *pSig0, uint16_t *pSig1)
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{
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if (pSig0) {
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*pSig0 = sig0;
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}
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if (pSig1) {
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*pSig1 = sig1;
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}
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return 0;
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}
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int sent_channel::SlowChannelStore(uint8_t id, uint16_t data)
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{
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int 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::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 = !!(nibbles[0] & (1 << 2));
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bool b3 = !!(nibbles[0] & (1 << 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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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 SlowChannelStore(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;
|
||
|
|
|
||
|
|
/* C-flag: configuration bit is used to indicate 16 bit format */
|
||
|
|
bool sc16Bit = !!(scShift3 & (1 << 10));
|
||
|
|
if (!sc16Bit) {
|
||
|
|
/* 12 bit message, 8 bit ID */
|
||
|
|
|
||
|
|
/* TODO: add crc check */
|
||
|
|
|
||
|
|
id = ((scShift3 >> 1) & 0x0f) |
|
||
|
|
((scShift3 >> 2) & 0xf0);
|
||
|
|
uint16_t data = scShift2 & 0x0fff; /* 12 bit */
|
||
|
|
|
||
|
|
/* TODO: add crc check */
|
||
|
|
return SlowChannelStore(id, data);
|
||
|
|
} else {
|
||
|
|
/* 16 bit message, 4 bit ID */
|
||
|
|
|
||
|
|
/* TODO: add crc check */
|
||
|
|
|
||
|
|
id = (scShift3 >> 6) & 0x0f;
|
||
|
|
uint16_t data = (scShift2 & 0x0fff) |
|
||
|
|
(((scShift3 >> 1) & 0x0f) << 12);
|
||
|
|
|
||
|
|
return SlowChannelStore(id, data);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* This CRC works for Si7215 for WHOLE message expect last nibble (CRC) */
|
||
|
|
uint8_t sent_channel::crc4(uint8_t* pdata, uint16_t ndata)
|
||
|
|
{
|
||
|
|
size_t i;
|
||
|
|
uint8_t crc = SENT_CRC_SEED; // initialize checksum with seed "0101"
|
||
|
|
const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
|
||
|
|
|
||
|
|
for (i = 0; i < ndata; i++)
|
||
|
|
{
|
||
|
|
crc = crc ^ pdata[i];
|
||
|
|
crc = CrcLookup[crc];
|
||
|
|
}
|
||
|
|
|
||
|
|
return crc;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* This CRC works for GM pressure sensor for message minus status nibble and minus CRC nibble */
|
||
|
|
/* TODO: double check and use same CRC routine? */
|
||
|
|
uint8_t sent_channel::crc4_gm(uint8_t* pdata, uint16_t ndata)
|
||
|
|
{
|
||
|
|
const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
|
||
|
|
uint8_t calculatedCRC, i;
|
||
|
|
|
||
|
|
calculatedCRC = SENT_CRC_SEED; // initialize checksum with seed "0101"
|
||
|
|
|
||
|
|
for (i = 0; i < ndata; i++)
|
||
|
|
{
|
||
|
|
calculatedCRC = CrcLookup[calculatedCRC];
|
||
|
|
calculatedCRC = (calculatedCRC ^ pdata[i]) & 0x0F;
|
||
|
|
}
|
||
|
|
// One more round with 0 as input
|
||
|
|
calculatedCRC = CrcLookup[calculatedCRC];
|
||
|
|
|
||
|
|
return calculatedCRC;
|
||
|
|
}
|
||
|
|
|
||
|
|
void sent_channel::Info(void)
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
|
||
|
|
efiPrintf("Unit time %d timer ticks", tickPerUnit);
|
||
|
|
efiPrintf("Total pulses %d", pulseCounter);
|
||
|
|
efiPrintf("Last fast msg Status 0x%01x Sig0 0x%03x Sig1 0x%03x", stat, sig0, sig1);
|
||
|
|
|
||
|
|
efiPrintf("Slow channels:");
|
||
|
|
for (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 %d", statistic.RestartCnt);
|
||
|
|
efiPrintf("Interval errors %d short, %d long", statistic.ShortIntervalErr, statistic.LongIntervalErr);
|
||
|
|
efiPrintf("Total frames %d with crc erorr %d", statistic.FrameCnt, statistic.CrcErrCnt);
|
||
|
|
efiPrintf("Sync errors %d", 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 ch, uint16_t clocks)
|
||
|
|
{
|
||
|
|
/* encode to fit msg_t */
|
||
|
|
msg_t msg = (ch << 16) | clocks;
|
||
|
|
|
||
|
|
/* called from ISR */
|
||
|
|
chSysLockFromISR();
|
||
|
|
chMBPostI(&sent_mb, msg);
|
||
|
|
chSysUnlockFromISR();
|
||
|
|
}
|
||
|
|
|
||
|
|
static void SentDecoderThread(void*)
|
||
|
|
{
|
||
|
|
msg_t msg;
|
||
|
|
while(true)
|
||
|
|
{
|
||
|
|
msg_t ret;
|
||
|
|
|
||
|
|
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 &ch = channels[n];
|
||
|
|
|
||
|
|
if (ch.Decoder(tick) > 0) {
|
||
|
|
/* Call high level decoder from here */
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static void printSentInfo()
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
|
||
|
|
for (i = 0; i < SENT_CHANNELS_NUM; i++) {
|
||
|
|
sent_channel &ch = channels[i];
|
||
|
|
|
||
|
|
efiPrintf("---- SENT ch %d ----", i);
|
||
|
|
ch.Info();
|
||
|
|
efiPrintf("--------------------");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/* 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 */
|