SENT updates (#4774)
* SENT: simplify * SENT: add crc6 routine, check crc for slow channels enhanced messages * SENT: helper to get Slow Channel values * SENT: getTickTime() report tick unit time * unit_tests: SENT: update tests
This commit is contained in:
Andrey G
GitHub
parent
3def9396de
commit
27166f4b23
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@ -54,6 +54,9 @@
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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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{
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state = SENT_STATE_CALIB;
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@ -73,10 +76,24 @@ void sent_channel::restart(void)
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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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{
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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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{
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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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{
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int ret = 0;
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@ -89,8 +106,7 @@ int sent_channel::Decoder(uint16_t clocks)
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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 = (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
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(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
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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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@ -104,8 +120,7 @@ int sent_channel::Decoder(uint16_t clocks)
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}
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} else {
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currentStatePulseCounter = 0;
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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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tickPerUnit = calcTickPerUnit(clocks);
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}
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}
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if (pulseCounter >= SENT_CALIBRATION_PULSES) {
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@ -123,8 +138,7 @@ int sent_channel::Decoder(uint16_t clocks)
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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 = (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
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(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
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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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@ -167,8 +181,7 @@ int sent_channel::Decoder(uint16_t clocks)
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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 + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
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(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
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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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@ -306,9 +319,9 @@ int sent_channel::GetSignals(uint8_t *pStat, uint16_t *pSig0, uint16_t *pSig1)
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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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int sent_channel::StoreSlowChannelValue(uint8_t id, uint16_t data)
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{
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int i;
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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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@ -333,6 +346,20 @@ int sent_channel::SlowChannelStore(uint8_t id, uint16_t data)
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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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@ -342,6 +369,7 @@ int sent_channel::SlowChannelDecoder()
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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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@ -355,7 +383,7 @@ int sent_channel::SlowChannelDecoder()
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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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return StoreSlowChannelValue(id, data);
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}
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}
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if (1) {
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@ -365,29 +393,33 @@ int sent_channel::SlowChannelDecoder()
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if ((scShift3 & 0x3f821) == 0x3f000) {
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uint8_t id;
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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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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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/* 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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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 SlowChannelStore(id, data);
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return StoreSlowChannelValue(id, data);
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}
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} else {
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/* 16 bit message, 4 bit ID */
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/* TODO: add crc check */
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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 SlowChannelStore(id, data);
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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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@ -447,15 +479,34 @@ uint8_t sent_channel::crc4_gm_v2(uint32_t data)
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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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/* 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::Info(void)
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{
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int i;
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@ -463,7 +514,7 @@ 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 %d CPU ticks %f uS", tickPerUnit, TicksToUs(tickPerUnit));
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efiPrintf("Unit time %d CPU ticks %f uS", tickPerUnit, TicksToUs(getTickTime()));
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efiPrintf("Total pulses %d", pulseCounter);
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if (GetSignals(&stat, &sig0, &sig1) == 0) {
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@ -483,6 +534,7 @@ void sent_channel::Info(void)
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efiPrintf("Restarts %d", statistic.RestartCnt);
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efiPrintf("Interval errors %d short, %d long", statistic.ShortIntervalErr, statistic.LongIntervalErr);
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efiPrintf("Total frames %d with CRC error %d (%f%%)", statistic.FrameCnt, statistic.CrcErrCnt, statistic.CrcErrCnt * 100.0 / statistic.FrameCnt);
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efiPrintf("Total slow channel messages %d with crc6 errors %d (%f%%)", statistic.sc, statistic.scCrcErr, statistic.scCrcErr * 100.0 / statistic.sc);
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efiPrintf("Sync errors %d", statistic.SyncErr);
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#endif
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}
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@ -37,6 +37,10 @@ struct sent_channel_stat {
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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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/* Slow channel */
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uint32_t sc;
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uint32_t scCrcErr;
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};
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class sent_channel {
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@ -59,14 +63,20 @@ private:
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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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uint32_t scCrcShift; /* shift regiter for special order for CRC6 calculation */
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/* Slow channel decoder and helpers */
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int StoreSlowChannelValue(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(uint32_t data);
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uint8_t crc4_gm(uint32_t data);
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uint8_t crc4_gm_v2(uint32_t data);
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/* Slow channel CRC6 */
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uint8_t crc6(uint32_t data);
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/* calc unit tick time from sync pulse */
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uint32_t calcTickPerUnit(uint32_t clocks);
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void restart(void);
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@ -93,6 +103,12 @@ public:
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* sig1 is niblles 5 .. 3, where niblle 5 is MSB */
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int GetSignals(uint8_t *pStat, uint16_t *pSig0, uint16_t *pSig1);
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/* Get slow channel value for given ID 8*/
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int GetSlowChannelValue(uint8_t id);
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/* Current tick time in CPU/timer clocks */
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float getTickTime(void);
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/* Show status */
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void Info(void);
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};
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@ -2,6 +2,11 @@
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#include "logicdata_csv_reader.h"
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#include "sent_logic.h"
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// On STM32 we are running timer on 1/4 of cpu clock. Cpu clock is 168 MHz
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#define CORE_CLOCK 168'000'000
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#define TIMER_CLOCK (CORE_CLOCK / 4)
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#define TicksToUs(ticks) ((float)(ticks) * 1000.0 * 1000.0 / TIMER_CLOCK)
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static int sentTest_feedWithFile(sent_channel &channel, const char *file)
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{
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int lineCount = 0;
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@ -26,8 +31,7 @@ static int sentTest_feedWithFile(sent_channel &channel, const char *file)
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if (value < 0.5) {
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double diff = stamp - prevTimeStamp;
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// On STM32 we are running timer on 1/4 of cpu clock. Cpu clock is 168 MHz
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channel.Decoder(diff * 168'000'000 / 4);
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channel.Decoder(diff * TIMER_CLOCK);
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prevTimeStamp = stamp;
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}
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@ -43,21 +47,25 @@ static int sentTest_feedWithFile(sent_channel &channel, const char *file)
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}
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}
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}
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printf("testFordIdle: Got %d lines\n", lineCount);
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if (printDebug) {
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uint8_t stat;
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uint16_t sig0, sig1;
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printf("Unit time %f uS\n", TicksToUs(channel.getTickTime()));
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if (channel.GetSignals(&stat, &sig0, &sig1) == 0) {
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printf("Last valid fast msg Status 0x%01x Sig0 0x%03x Sig1 0x%03x\n", stat, sig0, sig1);
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}
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printf("Slow channels:\n");
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for (int i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
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//if (scMsgFlags & BIT(i)) {
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printf(" ID %d: %d\n", channel.scMsg[i].id, channel.scMsg[i].data);
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//}
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/* run for all possible slow channel IDs (8 bit) */
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for (int i = 0; i < 256; i++) {
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int value;
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value = channel.GetSlowChannelValue(i);
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if (value < 0)
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continue;
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printf(" ID %d: %d\n", i, value);
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}
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#if SENT_STATISTIC_COUNTERS
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@ -65,6 +73,7 @@ static int sentTest_feedWithFile(sent_channel &channel, const char *file)
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printf("Restarts %d\n", statistic.RestartCnt);
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printf("Interval errors %d short, %d long\n", statistic.ShortIntervalErr, statistic.LongIntervalErr);
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printf("Total frames %d with CRC error %d (%f%%)\n", statistic.FrameCnt, statistic.CrcErrCnt, statistic.CrcErrCnt * 100.0 / statistic.FrameCnt);
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printf("Total slow channel messages %d with crc6 errors %d (%f%%)\n", statistic.sc, statistic.scCrcErr, statistic.scCrcErr * 100.0 / statistic.sc);
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printf("Sync errors %d\n", statistic.SyncErr);
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#endif
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}
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