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Merge remote-tracking branch 'origin/master' into master

This commit is contained in:
rusefillc 2021-03-25 16:28:36 -04:00
parent 983ecd3df9 33c97c490e
commit 271f7a373a
16 changed files with 102 additions and 57 deletions
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2
firmware/console/status_loop.cpp
View File

@ -595,7 +595,7 @@ void updateTunerStudioState(TunerStudioOutputChannels *tsOutputChannels DECLARE_
#if EFI_SHAFT_POSITION_INPUT
// 248
tsOutputChannels->vvtPosition = engine->triggerCentral.getVVTPosition();
tsOutputChannels->vvtPosition = engine->triggerCentral.getVVTPosition(0, 0);
#endif
// 252

19
firmware/controllers/actuators/vvt.cpp
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@ -27,9 +27,14 @@ static fsio8_Map3D_u8t vvtTable2("vvt#2");
static Logging *logger;
void VvtController::init(int index, const ValueProvider3D* targetMap) {
void VvtController::init(int index, int bankIndex, int camIndex, const ValueProvider3D* targetMap) {
this->index = index;
m_pid.initPidClass(&CONFIG(auxPid[index]));
m_bank = bankIndex;
m_cam = camIndex;
// Use the same settings for the Nth cam in every bank (ie, all exhaust cams use the same PID)
m_pid.initPidClass(&CONFIG(auxPid[camIndex]));
m_targetMap = targetMap;
}
@ -47,7 +52,7 @@ void VvtController::PeriodicTask() {
}
expected<angle_t> VvtController::observePlant() const {
return engine->triggerCentral.getVVTPosition();
return engine->triggerCentral.getVVTPosition(m_bank, m_cam);
}
expected<angle_t> VvtController::getSetpoint() const {
@ -138,10 +143,10 @@ void initAuxPid(Logging *sharedLogger) {
for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
INJECT_ENGINE_REFERENCE(&instances[i]);
// TODO: this is wrong for cams 3/4
int indexInBank = i % CAMS_PER_BANK;
auto targetMap = indexInBank == 0 ? &vvtTable1 : &vvtTable2;
instances[i].init(i, targetMap);
int camIndex = i % CAMS_PER_BANK;
int bankIndex = i / CAMS_PER_BANK;
auto targetMap = camIndex == 0 ? &vvtTable1 : &vvtTable2;
instances[i].init(i, bankIndex, camIndex, targetMap);
}
startVvtControlPins();

8
firmware/controllers/actuators/vvt.h
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@ -24,7 +24,7 @@ class VvtController : public PeriodicTimerController, public ClosedLoopControlle
public:
DECLARE_ENGINE_PTR;
void init(int index, const ValueProvider3D* targetMap);
void init(int index, int bankIndex, int camIndex, const ValueProvider3D* targetMap);
// PeriodicTimerController implementation
int getPeriodMs() override;
@ -43,6 +43,12 @@ private:
const ValueProvider3D* m_targetMap = nullptr;
int index = 0;
// Bank index, 0 or 1
uint8_t m_bank = 0;
// Cam index, 0 = intake, 1 = exhaust
uint8_t m_cam = 0;
public:
// todo: encapsulate or inject these
SimplePwm m_pwm;

2
firmware/controllers/can/can_verbose.cpp
View File

@ -120,7 +120,7 @@ struct Sensors2 {
static void populateFrame(Sensors2& msg) {
msg.afr = Sensor::get(SensorType::Lambda1).value_or(0) * 14.7f;
msg.oilPressure = Sensor::get(SensorType::OilPressure).value_or(-1);
msg.vvtPos = engine->triggerCentral.getVVTPosition();
msg.vvtPos = engine->triggerCentral.getVVTPosition(0, 0);
msg.vbatt = Sensor::get(SensorType::BatteryVoltage).value_or(0);
}

3
firmware/controllers/core/fsio_impl.cpp
View File

@ -138,8 +138,9 @@ FsioResult getEngineValue(le_action_e action DECLARE_ENGINE_PARAMETER_SUFFIX) {
return Sensor::get(SensorType::Map).value_or(0);
#if EFI_SHAFT_POSITION_INPUT
case LE_METHOD_INTAKE_VVT:
return engine->triggerCentral.getVVTPosition(0, 0);
case LE_METHOD_EXHAUST_VVT:
return engine->triggerCentral.getVVTPosition();
return engine->triggerCentral.getVVTPosition(0, 1);
#endif
case LE_METHOD_TIME_SINCE_TRIGGER_EVENT:
return engine->triggerCentral.getTimeSinceTriggerEvent(getTimeNowNt());

7
firmware/controllers/trigger/trigger_central.cpp
View File

@ -79,8 +79,8 @@ EXTERN_ENGINE;
static Logging *logger;
angle_t TriggerCentral::getVVTPosition() {
return vvtPosition[0][0];
angle_t TriggerCentral::getVVTPosition(uint8_t bankIndex, uint8_t camIndex) {
return vvtPosition[bankIndex][camIndex];
}
#define miataNbIndex (0)
@ -89,7 +89,8 @@ static bool vvtWithRealDecoder(vvt_mode_e vvtMode) {
return vvtMode == VVT_MIATA_NB2
|| vvtMode == VVT_BOSCH_QUICK_START
|| vvtMode == VVT_FORD_ST170
|| vvtMode == VVT_4_1;
|| vvtMode == VVT_4_1
|| vvtMode == VVT_BARRA_3_PLUS_1;
}
void hwHandleVvtCamSignal(trigger_value_e front, efitick_t nowNt, int index DECLARE_ENGINE_PARAMETER_SUFFIX) {

2
firmware/controllers/trigger/trigger_central.h
View File

@ -57,7 +57,7 @@ public:
TriggerNoiseFilter noiseFilter;
trigger_type_e vvtTriggerType[CAMS_PER_BANK];
angle_t getVVTPosition();
angle_t getVVTPosition(uint8_t bankIndex, uint8_t camIndex);
#if EFI_UNIT_TEST
// latest VVT event position (could be not synchronization event)

46
firmware/hw_layer/hardware.cpp
View File

@ -32,7 +32,7 @@
#include "serial_hw.h"
#include "mpu_util.h"
//#include "usb_msd.h"
#include "mmc_card.h"
#include "AdcConfiguration.h"
#include "idle_hardware.h"
@ -463,16 +463,16 @@ void showBor(void) {
scheduleMsg(sharedLogger, "BOR=%d", (int)BOR_Get());
}
void initHardware(Logging *l) {
// This function initializes hardware that can do so before configuration is loaded
void initHardwareNoConfig(Logging *l) {
efiAssertVoid(CUSTOM_IH_STACK, getCurrentRemainingStack() > EXPECTED_REMAINING_STACK, "init h");
sharedLogger = l;
efiAssertVoid(CUSTOM_EC_NULL, engineConfiguration!=NULL, "engineConfiguration");
printMsg(sharedLogger, "initHardware()");
// todo: enable protection. it's disabled because it takes
// 10 extra seconds to re-flash the chip
//flashProtect();
initPinRepository();
#if EFI_HISTOGRAMS
/**
@ -486,12 +486,27 @@ void initHardware(Logging *l) {
*/
initPrimaryPins(sharedLogger);
if (hasFirmwareError()) {
return;
}
// it's important to initialize this pretty early in the game before any scheduling usages
initSingleTimerExecutorHardware();
initRtc();
#if EFI_INTERNAL_FLASH
initFlash(sharedLogger);
#endif
#if EFI_SHAFT_POSITION_INPUT
// todo: figure out better startup logic
initTriggerCentral(sharedLogger);
#endif /* EFI_SHAFT_POSITION_INPUT */
#if EFI_FILE_LOGGING
initEarlyMmcCard();
#endif // EFI_FILE_LOGGING
}
void initHardware() {
#if EFI_INTERNAL_FLASH
#ifdef CONFIG_RESET_SWITCH_PORT
// this pin is not configurable at runtime so that we have a reliable way to reset configuration
#define SHOULD_IGNORE_FLASH() (palReadPad(CONFIG_RESET_SWITCH_PORT, CONFIG_RESET_SWITCH_PIN) == 0)
@ -503,7 +518,6 @@ void initHardware(Logging *l) {
palSetPadMode(CONFIG_RESET_SWITCH_PORT, CONFIG_RESET_SWITCH_PIN, PAL_MODE_INPUT_PULLUP);
#endif /* CONFIG_RESET_SWITCH_PORT */
initFlash(sharedLogger);
/**
* this call reads configuration from flash memory or sets default configuration
* if flash state does not look right.
@ -522,9 +536,6 @@ void initHardware(Logging *l) {
resetConfigurationExt(sharedLogger, engineConfiguration->engineType PASS_ENGINE_PARAMETER_SUFFIX);
#endif /* EFI_INTERNAL_FLASH */
// it's important to initialize this pretty early in the game before any scheduling usages
initSingleTimerExecutorHardware();
#if EFI_HD44780_LCD
lcd_HD44780_init(sharedLogger);
if (hasFirmwareError())
@ -549,8 +560,6 @@ void initHardware(Logging *l) {
initSoftwareKnock();
#endif /* EFI_SOFTWARE_KNOCK */
initRtc();
#if HAL_USE_SPI
initSpiModules(engineConfiguration);
#endif /* HAL_USE_SPI */
@ -582,11 +591,6 @@ void initHardware(Logging *l) {
// init_adc_mcp3208(&adcState, &SPID2);
// requestAdcValue(&adcState, 0);
#if EFI_SHAFT_POSITION_INPUT
// todo: figure out better startup logic
initTriggerCentral(sharedLogger);
#endif /* EFI_SHAFT_POSITION_INPUT */
turnOnHardware(sharedLogger);
#if EFI_HIP_9011
@ -596,15 +600,11 @@ void initHardware(Logging *l) {
#if EFI_MEMS
initAccelerometer(PASS_ENGINE_PARAMETER_SIGNATURE);
#endif
// initFixedLeds();
#if EFI_BOSCH_YAW
initBoschYawRateSensor();
#endif /* EFI_BOSCH_YAW */
// initBooleanInputs();
#if EFI_UART_GPS
initGps();
#endif

8
firmware/hw_layer/hardware.h
View File

@ -49,7 +49,13 @@ brain_pin_e getSckPin(spi_device_e device);
#include "debounce.h"
void applyNewHardwareSettings(void);
void initHardware(Logging *logging);
// Initialize hardware that doesn't require configuration to be loaded
void initHardwareNoConfig(Logging *l);
// Initialize hardware with configuration loaded
void initHardware();
#endif /* EFI_PROD_CODE */
void showBor(void);

9
firmware/hw_layer/mmc_card.cpp
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@ -534,19 +534,22 @@ bool isSdCardAlive(void) {
return fs_ready;
}
void initMmcCard(void) {
// Pre-config load init
void initEarlyMmcCard() {
logName[0] = 0;
#if HAL_USE_USB_MSD
chBSemObjectInit(&usbConnectedSemaphore, true);
#endif
chThdCreateStatic(mmcThreadStack, sizeof(mmcThreadStack), PRIO_MMC, (tfunc_t)(void*) MMCmonThread, NULL);
addConsoleAction("sdinfo", sdStatistics);
addConsoleActionS("ls", listDirectory);
addConsoleActionS("del", removeFile);
addConsoleAction("incfilename", incLogFileName);
}
void initMmcCard() {
chThdCreateStatic(mmcThreadStack, sizeof(mmcThreadStack), PRIO_MMC, (tfunc_t)(void*) MMCmonThread, NULL);
}
#endif /* EFI_FILE_LOGGING */

3
firmware/hw_layer/mmc_card.h
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@ -15,7 +15,8 @@
#define DOT_MLG ".mlg"
bool isLogFile(const char *fileName);
void initMmcCard(void);
void initEarlyMmcCard();
void initMmcCard();
bool isSdCardAlive(void);
void readLogFileContent(char *buffer, short fileId, short offset, short length);

7
firmware/rusefi.cpp
View File

@ -192,10 +192,7 @@ void runRusEfi(void) {
*/
initDataStructures(PASS_ENGINE_PARAMETER_SIGNATURE);
/**
* First data structure keeps track of which hardware I/O pins are used by whom
*/
initPinRepository();
initHardwareNoConfig(&sharedLogger);
#if EFI_INTERNAL_FLASH
#if IGNORE_FLASH_CONFIGURATION
@ -234,7 +231,7 @@ void runRusEfi(void) {
/**
* Initialize hardware drivers
*/
initHardware(&sharedLogger);
initHardware();
#if HW_CHECK_ALWAYS_STIMULATE
// we need a special binary for final assembly check. We cannot afford to require too much software or too many steps

25
firmware/setup_linux_environment.sh Normal file
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@ -0,0 +1,25 @@
#!/bin/bash
# This script will download and install all dependencies require to develop rusEFI on Linux.
# After running this script, executing `make` in the firmware folder is expected to produce a functional firmware binary.
# Update package lists
sudo apt-get update
# install dependencies
sudo apt-get install -y build-essential gcc make openjdk-8-jdk-headless ant mtools
# delete any old tools, create a new folder, and go there
rm -rf ~/.rusefi-tools
mkdir ~/.rusefi-tools
cd ~/.rusefi-tools
# Download and extract GCC compiler
curl -L -o arm-none-eabi-gcc.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2020q2/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2
tar -xjvf arm-none-eabi-gcc.tar.bz2
# Delete downloaded image
rm arm-none-eabi-gcc.tar.bz2
# Add the compiler to your path
echo 'export PATH=$PATH:$HOME/.rusefi-tools/gcc-arm-none-eabi-9-2020-q2-update/bin' >> ~/.profile

4
unit_tests/tests/test_vvt.cpp
View File

@ -19,7 +19,7 @@ TEST(Vvt, setpoint) {
VvtController dut;
INJECT_ENGINE_REFERENCE(&dut);
dut.init(0, &targetMap);
dut.init(0, 0, 0, &targetMap);
// Test dut
EXPECT_EQ(20, dut.getSetpoint().value_or(0));
@ -32,7 +32,7 @@ TEST(Vvt, observePlant) {
VvtController dut;
INJECT_ENGINE_REFERENCE(&dut);
dut.init(0, nullptr);
dut.init(0, 0, 0, nullptr);
EXPECT_EQ(23, dut.observePlant().value_or(0));
}

6
unit_tests/tests/trigger/test_cam_vvt_input.cpp
View File

@ -114,7 +114,7 @@ TEST(trigger, testCamInput) {
// asserting that error code has cleared
ASSERT_EQ(0, unitTestWarningCodeState.recentWarnings.getCount()) << "warningCounter#testCamInput #3";
ASSERT_NEAR(720 - 181, engine->triggerCentral.getVVTPosition(), EPS3D);
ASSERT_NEAR(720 - 181, engine->triggerCentral.getVVTPosition(0, 0), EPS3D);
}
TEST(sensors, testNB2CamInput) {
@ -153,14 +153,14 @@ TEST(sensors, testNB2CamInput) {
// this second important front would give us first real VVT gap duration
hwHandleVvtCamSignal(TV_RISE, getTimeNowNt(), 0 PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_FLOAT_EQ(0, engine->triggerCentral.getVVTPosition());
ASSERT_FLOAT_EQ(0, engine->triggerCentral.getVVTPosition(0, 0));
ASSERT_EQ(totalRevolutionCountBeforeVvtSync, engine->triggerCentral.triggerState.getTotalRevolutionCounter());
eth.moveTimeForwardUs(MS2US(130));
// this third important front would give us first comparison between two real gaps
hwHandleVvtCamSignal(TV_RISE, getTimeNowNt(), 0 PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_NEAR(-67.6 - 720 - 720, engine->triggerCentral.getVVTPosition(), EPS3D);
ASSERT_NEAR(-67.6 - 720 - 720, engine->triggerCentral.getVVTPosition(0, 0), EPS3D);
// actually position based on VVT!
ASSERT_EQ(totalRevolutionCountBeforeVvtSync + 2, engine->triggerCentral.triggerState.getTotalRevolutionCounter());
}

8
unit_tests/tests/trigger/test_quad_cam.cpp
View File

@ -53,14 +53,14 @@ TEST(trigger, testQuadCam) {
// this second important front would give us first real VVT gap duration
hwHandleVvtCamSignal(TV_RISE, getTimeNowNt(), secondCam PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_FLOAT_EQ(0, engine->triggerCentral.getVVTPosition());
ASSERT_FLOAT_EQ(0, engine->triggerCentral.getVVTPosition(0, 0));
ASSERT_EQ(totalRevolutionCountBeforeVvtSync, engine->triggerCentral.triggerState.getTotalRevolutionCounter());
eth.moveTimeForwardUs(MS2US(130 / d));
// this third important front would give us first comparison between two real gaps
hwHandleVvtCamSignal(TV_RISE, getTimeNowNt(), secondCam PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_NEAR(-67.6 - 720 - 720 + 160.2, engine->triggerCentral.vvtPosition[0][secondCam], EPS3D);
ASSERT_NEAR(-67.6 - 720 - 720 + 160.2, engine->triggerCentral.getVVTPosition(0, 1), EPS3D);
// actually position based on VVT!
ASSERT_EQ(totalRevolutionCountBeforeVvtSync, engine->triggerCentral.triggerState.getTotalRevolutionCounter());
@ -78,14 +78,14 @@ TEST(trigger, testQuadCam) {
// this second important front would give us first real VVT gap duration
hwHandleVvtCamSignal(TV_RISE, getTimeNowNt(), secondCamSecondBank PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_FLOAT_EQ(0, engine->triggerCentral.getVVTPosition());
ASSERT_FLOAT_EQ(0, engine->triggerCentral.getVVTPosition(0, 0));
ASSERT_EQ(totalRevolutionCountBeforeVvtSync, engine->triggerCentral.triggerState.getTotalRevolutionCounter());
eth.moveTimeForwardUs(MS2US(130 / d));
// this third important front would give us first comparison between two real gaps
hwHandleVvtCamSignal(TV_RISE, getTimeNowNt(), secondCamSecondBank PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_NEAR(-2571.4, engine->triggerCentral.vvtPosition[secondBank][secondCam], EPS3D);
ASSERT_NEAR(-2571.4, engine->triggerCentral.getVVTPosition(secondBank, secondCam), EPS3D);
// actually position based on VVT!
ASSERT_EQ(totalRevolutionCountBeforeVvtSync, engine->triggerCentral.triggerState.getTotalRevolutionCounter());