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

firmware/console/status_loop.cpp

@@ -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

firmware/controllers/actuators/vvt.cpp

@@ -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 camIndex = i % CAMS_PER_BANK;
-		int indexInBank = i % CAMS_PER_BANK;
+		int bankIndex = i / CAMS_PER_BANK;
-		auto targetMap = indexInBank == 0 ? &vvtTable1 : &vvtTable2;
+		auto targetMap = camIndex == 0 ? &vvtTable1 : &vvtTable2;
-		instances[i].init(i, targetMap);
+		instances[i].init(i, bankIndex, camIndex, targetMap);
 	}
 
 	startVvtControlPins();

firmware/controllers/actuators/vvt.h

@@ -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;

firmware/controllers/can/can_verbose.cpp

@@ -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);
 }
 

firmware/controllers/core/fsio_impl.cpp

@@ -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());

firmware/controllers/trigger/trigger_central.cpp

@@ -79,8 +79,8 @@ EXTERN_ENGINE;
 
 static Logging *logger;
 
-angle_t TriggerCentral::getVVTPosition() {
+angle_t TriggerCentral::getVVTPosition(uint8_t bankIndex, uint8_t camIndex) {
-	return vvtPosition[0][0];
+	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) {

firmware/controllers/trigger/trigger_central.h

@@ -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)

firmware/hw_layer/hardware.cpp

@@ -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
+	initPinRepository();
-	//flashProtect();
 
 #if EFI_HISTOGRAMS
 	/**
@@ -486,12 +486,27 @@ void initHardware(Logging *l) {
 	 */
 	initPrimaryPins(sharedLogger);
 
-	if (hasFirmwareError()) {
+	// it's important to initialize this pretty early in the game before any scheduling usages
-		return;
+	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

firmware/hw_layer/hardware.h

@@ -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);

firmware/hw_layer/mmc_card.cpp

@@ -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 */

firmware/hw_layer/mmc_card.h

@@ -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);

firmware/rusefi.cpp

@@ -192,10 +192,7 @@ void runRusEfi(void) {
 	 */
 	initDataStructures(PASS_ENGINE_PARAMETER_SIGNATURE);
 
-	/**
+	initHardwareNoConfig(&sharedLogger);
-	 * First data structure keeps track of which hardware I/O pins are used by whom
-	 */
-	initPinRepository();
 
 #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

firmware/setup_linux_environment.sh

@@ -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

unit_tests/tests/test_vvt.cpp

@@ -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));
 }

unit_tests/tests/trigger/test_cam_vvt_input.cpp

@@ -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());
 }

unit_tests/tests/trigger/test_quad_cam.cpp

@@ -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());