rusefi
parent
41b5d5de06
commit
a88e142df0
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@ -179,9 +179,9 @@ static void timerValidationCallback(void *arg) {
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testSchedulingHappened = true;
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efitimems_t actualTimeSinceScheduling = (currentTimeMillis() - testSchedulingStart);
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if (absI(actualTimeSinceScheduling - TEST_CALLBACK_DELAY) > TEST_CALLBACK_DELAY * TIMER_PRECISION_THRESHOLD) {
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firmwareError(CUSTOM_ERR_TIMER_TEST_CALLBACK_WRONG_TIME, "hwTimer broken precision");
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firmwareError(CUSTOM_ERR_TIMER_TEST_CALLBACK_WRONG_TIME, "hwTimer broken precision: %ld ms", actualTimeSinceScheduling);
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}
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}
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@ -0,0 +1,453 @@
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/**
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* @file trigger_input_adc.cpp
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* @brief Position sensor hardware layer, Using ADC and software comparator
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*
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* @date Jan 27, 2020
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* @author andreika <prometheus.pcb@gmail.com>
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#include "global.h"
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#if (EFI_SHAFT_POSITION_INPUT && HAL_TRIGGER_USE_ADC && HAL_USE_ADC) || defined(__DOXYGEN__)
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#include "trigger_input.h"
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#include "digital_input_exti.h"
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#include "adc_inputs.h"
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//!!!!!!!!!!!!!!!
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extern "C" void toggleLed(int led, int mode);
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#define BOARD_MOD1_PORT GPIOD
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#define BOARD_MOD1_PIN 5
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extern bool hasFirmwareErrorFlag;
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EXTERN_ENGINE
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;
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static Logging *logger;
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#if 0
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static volatile int centeredDacValue = 127;
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static volatile int toothCnt = 0;
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static volatile int dacHysteresisMin = 1; // = 5V * 1/256 (8-bit DAC) = ~20mV
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static volatile int dacHysteresisMax = 15; // = ~300mV
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static volatile int dacHysteresisDelta = dacHysteresisMin;
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static volatile int hystUpdatePeriodNumEvents = 116; // every ~1 turn of 60-2 wheel
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static volatile efitick_t prevNt = 0;
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// VR-sensor saturation stuff
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static volatile float curVrFreqNt = 0, saturatedVrFreqNt = 0;
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#endif
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static const adcsample_t adcDefaultThreshold = (ADC_MAX_VALUE / 2);
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static const adcsample_t adcMinThreshold = adcDefaultThreshold - 200;
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static const adcsample_t adcMaxThreshold = adcDefaultThreshold + 200;
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static float triggerAdcITermCoef = 1600.0f;
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static float triggerAdcITermMin = 3.125e-8f; // corresponds to rpm=25
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static int transitionCooldown = 5;
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#define DELTA_THRESHOLD_CNT_LOW (GPT_FREQ_FAST / GPT_PERIOD_FAST / 32) // ~1/32 second?
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#define DELTA_THRESHOLD_CNT_HIGH (GPT_FREQ_FAST / GPT_PERIOD_FAST / 4) // ~1/4 second?
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/*static */triggerAdcMode_t curAdcMode = TRIGGER_NONE;
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/*static*/ float adcThreshold = adcDefaultThreshold;
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static float triggerAdcITerm = triggerAdcITermMin;
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// these thresholds allow to switch from ADC mode (low-rpm) to EXTI mode (fast-rpm), indicating the clamping of the signal
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static adcsample_t switchingThresholdLow = 0, switchingThresholdHigh = 0;
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static efitick_t minDeltaTimeForStableAdcDetectionNt = 0;
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static efitick_t stampCorrectionForAdc = 0;
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static int switchingCnt = 0, switchingTeethCnt = 0;
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static int prevValue = 0; // not set
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static efitick_t prevStamp = 0;
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// we need to distinguish between weak and strong signals because of different SNR and thresholds.
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static bool isSignalWeak = true;
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static int zeroThreshold = 0;
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// the 'center' of the signal is variable, so we need to adjust the thresholds.
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static int minDeltaThresholdWeakSignal = 0, minDeltaThresholdStrongSignal = 0;
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// this is the number of measurements while we store the counter before we reset to 'isSignalWeak'
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static int minDeltaThresholdCntPos = 0, minDeltaThresholdCntNeg = 0;
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static int integralSum = 0;
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static int transitionCooldownCnt = 0;
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// used for fast pin mode switching between ADC and EXTINT
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static ioportid_t triggerInputPort;
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static ioportmask_t triggerInputPin;
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#if 0
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// We want to interpolate between min and max depending on the signal level (adaptive hysteresis).
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// But we don't want to measure the signal amplitude directly, so we estimate it by measuring the signal frequency:
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// for VR sensors, the amplitude is inversely proportional to the tooth's 'time-width'.
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// We find it by dividing the total time by the teeth count, and use the reciprocal value as signal frequency!
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static void setHysteresis(int sign) {
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// update the hysteresis threshold, but not for every tooth
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#ifdef EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS
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if (toothCnt++ > hystUpdatePeriodNumEvents) {
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efitick_t nowNt = getTimeNowNt();
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curVrFreqNt = (float)toothCnt / (float)(nowNt - prevNt);
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dacHysteresisDelta = (int)efiRound(interpolateClamped(0.0f, dacHysteresisMin, saturatedVrFreqNt, dacHysteresisMax, curVrFreqNt), 1.0f);
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toothCnt = 0;
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prevNt = nowNt;
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#ifdef TRIGGER_COMP_EXTREME_LOGGING
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scheduleMsg(logger, "* f=%f d=%d", curVrFreqNt * 1000.0f, dacHysteresisDelta);
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#endif /* TRIGGER_COMP_EXTREME_LOGGING */
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}
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#endif /* EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS */
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//comp_lld_set_dac_value(comp, centeredDacValue + dacHysteresisDelta * sign);
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}
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#endif
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static void setTriggerAdcMode(triggerAdcMode_t adcMode) {
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palSetPadMode(triggerInputPort, triggerInputPin,
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(adcMode == TRIGGER_ADC) ? PAL_MODE_INPUT_ANALOG : PAL_MODE_ALTERNATE(PAL_MODE_ALTERNATIVE_EXTINT));
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curAdcMode = adcMode;
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}
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static void onTriggerChanged(efitick_t stamp, bool isPrimary, bool isRising) {
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//!!!!!!!!!
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palWritePad(BOARD_MOD1_PORT, BOARD_MOD1_PIN, isRising ? 1 : 0);
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//toggleLed(2, (curAdcMode == TRIGGER_ADC) ? 0 : -1);
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//toggleLed(3, (curAdcMode == TRIGGER_EXTI) ? 0 : -1);
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#if 1
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// todo: support for 3rd trigger input channel
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// todo: start using real event time from HW event, not just software timer?
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if (hasFirmwareErrorFlag)
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return;
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if (!isPrimary && !TRIGGER_WAVEFORM(needSecondTriggerInput)) {
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return;
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}
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trigger_event_e signal;
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if (isRising) {
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signal = isPrimary ? (engineConfiguration->invertPrimaryTriggerSignal ? SHAFT_PRIMARY_FALLING : SHAFT_PRIMARY_RISING) :
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(engineConfiguration->invertSecondaryTriggerSignal ? SHAFT_SECONDARY_FALLING : SHAFT_SECONDARY_RISING);
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}
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else {
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signal = isPrimary ? (engineConfiguration->invertPrimaryTriggerSignal ? SHAFT_PRIMARY_RISING : SHAFT_PRIMARY_FALLING) :
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(engineConfiguration->invertSecondaryTriggerSignal ? SHAFT_SECONDARY_RISING : SHAFT_SECONDARY_FALLING);
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}
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// call the main trigger handler
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hwHandleShaftSignal(signal, stamp);
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#endif
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}
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static void shaft_callback(void *arg) {
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if (curAdcMode != TRIGGER_EXTI) {
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return;
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}
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// do the time sensitive things as early as possible!
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efitick_t stamp = getTimeNowNt();
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ioline_t pal_line = (ioline_t)arg;
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bool rise = (palReadLine(pal_line) == PAL_HIGH);
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onTriggerChanged(stamp, true, rise);
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if ((stamp - prevStamp) > minDeltaTimeForStableAdcDetectionNt) {
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switchingCnt++;
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} else {
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switchingCnt = 0;
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switchingTeethCnt = 0;
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}
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if (switchingCnt > 4) {
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switchingCnt = 0;
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// we need at least 3 wide teeth to be certain!
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// we don't want to confuse them with a sync.gap
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if (switchingTeethCnt++ > 3) {
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switchingTeethCnt = 0;
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prevValue = rise ? 1: -1;
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setTriggerAdcMode(TRIGGER_ADC);
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}
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}
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prevStamp = stamp;
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}
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static void cam_callback(void *) {
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}
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// todo: add cam support?
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#if 0
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static void comp_cam_callback(COMPDriver *comp) {
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efitick_t stamp = getTimeNowNt();
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if (isRising) {
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hwHandleVvtCamSignal(TV_RISE, stamp);
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} else {
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hwHandleVvtCamSignal(TV_FALL, stamp);
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}
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}
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#endif
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void turnOnTriggerInputPins(Logging *sharedLogger) {
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logger = sharedLogger;
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applyNewTriggerInputPins();
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}
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#if 0
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static int getDacValue(uint8_t voltage DECLARE_ENGINE_PARAMETER_SUFFIX) {
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constexpr float maxDacValue = 255.0f; // 8-bit DAC
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return (int)efiRound(maxDacValue * (float)voltage * VOLTAGE_1_BYTE_PACKING_DIV / CONFIG(adcVcc), 1.0f);
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}
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#endif
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static void resetTriggerDetector() {
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// todo: move some of these to config
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// we need to make at least minNumAdcMeasurementsPerTooth for 1 tooth (i.e. between two consequent events)
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const int minNumAdcMeasurementsPerTooth = 20;
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minDeltaTimeForStableAdcDetectionNt = US2NT(US_PER_SECOND_LL * minNumAdcMeasurementsPerTooth * GPT_PERIOD_FAST / GPT_FREQ_FAST);
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// we assume that the transition occurs somewhere in the middle of the measurement period, so we take the half of it
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stampCorrectionForAdc = US2NT(US_PER_SECOND_LL * GPT_PERIOD_FAST / GPT_FREQ_FAST / 2);
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// these thresholds allow to switch from ADC mode to EXTI mode, indicating the clamping of the signal
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switchingThresholdLow = voltsToAdc(1.0f);
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switchingThresholdHigh = voltsToAdc(4.0f);
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switchingCnt = 0;
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switchingTeethCnt = 0;
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// used to filter out low signals
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minDeltaThresholdWeakSignal = voltsToAdc(0.05f); // 50mV
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// we need to shift the default threshold even for strong signals because of the possible loss of the first tooth (after the sync)
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minDeltaThresholdStrongSignal = voltsToAdc(0.04f); // 5mV
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// when the strong signal becomes weak, we want to ignore the increased noise
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// so we create a dead-zone between the pos. and neg. thresholds
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zeroThreshold = minDeltaThresholdWeakSignal / 2;
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triggerAdcITerm = triggerAdcITermMin;
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adcThreshold = adcDefaultThreshold;
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isSignalWeak = true;
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integralSum = 0;
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transitionCooldownCnt = 0;
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prevValue = 0; // not set
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prevStamp = 0;
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minDeltaThresholdCntPos = 0;
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minDeltaThresholdCntNeg = 0;
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}
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static int turnOnTriggerInputPin(const char *msg, int index, bool isTriggerShaft) {
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brain_pin_e brainPin = isTriggerShaft ?
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CONFIG(triggerInputPins)[index] : engineConfiguration->camInputs[index];
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if (brainPin == GPIO_UNASSIGNED)
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return 0;
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#if 0
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centeredDacValue = getDacValue(CONFIG(triggerCompCenterVolt) PASS_ENGINE_PARAMETER_SUFFIX); // usually 2.5V resistor divider
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dacHysteresisMin = getDacValue(CONFIG(triggerCompHystMin) PASS_ENGINE_PARAMETER_SUFFIX); // usually ~20mV
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dacHysteresisMax = getDacValue(CONFIG(triggerCompHystMax) PASS_ENGINE_PARAMETER_SUFFIX); // usually ~300mV
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dacHysteresisDelta = dacHysteresisMin;
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// 20 rpm (60_2) = 1000*60/((2*60)*20) = 25 ms for 1 tooth event
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float satRpm = CONFIG(triggerCompSensorSatRpm) * RPM_1_BYTE_PACKING_MULT;
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hystUpdatePeriodNumEvents = ENGINE(triggerCentral.triggerShape).getSize(); // = 116 for "60-2" trigger wheel
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float saturatedToothDurationUs = 60.0f * US_PER_SECOND_F / satRpm / hystUpdatePeriodNumEvents;
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saturatedVrFreqNt = 1.0f / US2NT(saturatedToothDurationUs);
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scheduleMsg(logger, "startTIPins(): cDac=%d hystMin=%d hystMax=%d satRpm=%.0f satFreq*1k=%f period=%d",
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centeredDacValue, dacHysteresisMin, dacHysteresisMax, satRpm, saturatedVrFreqNt * 1000.0f, hystUpdatePeriodNumEvents);
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#endif
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resetTriggerDetector();
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triggerInputPort = getHwPort("trg", brainPin);
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triggerInputPin = getHwPin("trg", brainPin);
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ioline_t pal_line = PAL_LINE(triggerInputPort, triggerInputPin);
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scheduleMsg(logger, "turnOnTriggerInputPin %s l=%d", hwPortname(brainPin), pal_line);
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efiExtiEnablePin(msg, brainPin, PAL_EVENT_MODE_BOTH_EDGES, isTriggerShaft ? shaft_callback : cam_callback, (void *)pal_line);
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// ADC mode is default, because we don't know if the wheel is already spinning
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setTriggerAdcMode(TRIGGER_ADC);
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return 0;
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}
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void startTriggerInputPins(void) {
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for (int i = 0; i < TRIGGER_SUPPORTED_CHANNELS; i++) {
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if (isConfigurationChanged(triggerInputPins[i])) {
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const char * msg = (i == 0 ? "trigger#1" : (i == 1 ? "trigger#2" : "trigger#3"));
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turnOnTriggerInputPin(msg, i, true);
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}
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}
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}
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void stopTriggerInputPins(void) {
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scheduleMsg(logger, "stopTIPins();");
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#if 0
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for (int i = 0; i < TRIGGER_SUPPORTED_CHANNELS; i++) {
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if (isConfigurationChanged(bc.triggerInputPins[i])) {
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turnOffTriggerInputPin(activeConfiguration.bc.triggerInputPins[i]);
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}
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}
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if (isConfigurationChanged(camInput)) {
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turnOffTriggerInputPin(activeConfiguration.camInput);
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}
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#endif
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}
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adc_channel_e getAdcChannelForTrigger(void) {
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// todo: add other trigger or cam channels?
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brain_pin_e brainPin = CONFIG(triggerInputPins)[0];
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if (brainPin == GPIO_UNASSIGNED)
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return EFI_ADC_NONE;
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return getAdcChannel(brainPin);
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}
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void addAdcChannelForTrigger(void) {
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adc_channel_e ch = getAdcChannelForTrigger();
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if (ch != EFI_ADC_NONE) {
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addChannel("TRIG", ch, ADC_FAST);
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}
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}
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void triggerAdcCallback(adcsample_t value) {
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if (curAdcMode != TRIGGER_ADC) {
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return;
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}
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efitick_t stamp = getTimeNowNt();
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// <1V or >4V?
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if (value >= switchingThresholdHigh || value <= switchingThresholdLow) {
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switchingCnt++;
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} else {
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switchingCnt = 0;
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switchingTeethCnt = 0;
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}
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int delta = value - adcThreshold;
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int aDelta = absI(delta);
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if (isSignalWeak) {
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// todo: detect if the sensor is disconnected (where the signal is always near 'ADC_MAX_VALUE')
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// filter out low signals (noise)
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if (delta >= minDeltaThresholdWeakSignal) {
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minDeltaThresholdCntPos++;
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}
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if (delta <= -minDeltaThresholdWeakSignal) {
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minDeltaThresholdCntNeg++;
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}
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} else {
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// we just had a strong signal, let's reset the counter
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if (delta >= minDeltaThresholdWeakSignal) {
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minDeltaThresholdCntPos = DELTA_THRESHOLD_CNT_HIGH;
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}
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if (delta <= -minDeltaThresholdWeakSignal) {
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minDeltaThresholdCntNeg = DELTA_THRESHOLD_CNT_HIGH;
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}
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minDeltaThresholdCntPos--;
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minDeltaThresholdCntNeg--;
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// we haven't seen the strong signal (pos or neg) for too long, maybe it's lost or too weak?
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if (minDeltaThresholdCntPos <= 0 || minDeltaThresholdCntNeg <= 0) {
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// reset to the weak signal mode
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resetTriggerDetector();
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return;
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}
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}
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// the threshold should always correspond to the averaged signal.
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integralSum += delta;
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// we need some limits for the integral sum
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// we use a simple I-regulator to move the threshold
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adcThreshold += (float)integralSum * triggerAdcITerm;
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// limit the threshold for safety
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adcThreshold = maxF(minF(adcThreshold, adcMaxThreshold), adcMinThreshold);
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// now to the transition part... First, we need a cooldown to pre-filter the transition noise
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if (transitionCooldownCnt-- < 0)
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transitionCooldownCnt = 0;
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// we need at least 2 different measurements to detect a transition
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if (prevValue == 0) {
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// we can take the measurement only from outside the dead-zone
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if (aDelta > minDeltaThresholdWeakSignal) {
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prevValue = (delta > 0) ? 1 : -1;
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} else {
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return;
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}
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}
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// detect the edge
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int transition = 0;
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if (delta > zeroThreshold && prevValue == -1) {
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// a rising transition found!
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transition = 1;
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}
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else if (delta <= -zeroThreshold && prevValue == 1) {
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// a falling transition found!
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transition = -1;
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}
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else {
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//!!!!!!!!!!
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toggleLed(2, 0);
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return; // both are positive/negative/zero: not interested!
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}
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//!!!!!!!!!!
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toggleLed(2, -1);
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//!!!!!!!!!!
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toggleLed(3, 0);
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if (isSignalWeak) {
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if (minDeltaThresholdCntPos >= DELTA_THRESHOLD_CNT_LOW && minDeltaThresholdCntNeg >= DELTA_THRESHOLD_CNT_LOW) {
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// ok, now we have a legit strong signal, let's restore the threshold
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isSignalWeak = false;
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integralSum = 0;
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zeroThreshold = minDeltaThresholdStrongSignal;
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} else {
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// we cannot trust the weak signal!
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return;
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}
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}
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if (transitionCooldownCnt <= 0) {
|
||||
onTriggerChanged(stamp - stampCorrectionForAdc, true, transition == 1);
|
||||
// let's skip some nearest possible measurements:
|
||||
// the transition cannot be SO fast, but the jitter can!
|
||||
transitionCooldownCnt = transitionCooldown;
|
||||
|
||||
// it should not accumulate too much
|
||||
integralSum = 0;
|
||||
|
||||
// update triggerAdcITerm
|
||||
efitime_t deltaTimeUs = NT2US(stamp - prevStamp);
|
||||
if (deltaTimeUs > 200) { // 200 us = ~2500 RPM (we don't need this correction for large RPM)
|
||||
triggerAdcITerm = 1.0f / (triggerAdcITermCoef * deltaTimeUs);
|
||||
triggerAdcITerm = maxF(triggerAdcITerm, triggerAdcITermMin);
|
||||
}
|
||||
}
|
||||
|
||||
if (switchingCnt > 4) {
|
||||
switchingCnt = 0;
|
||||
// we need at least 3 high-signal teeth to be certain!
|
||||
if (switchingTeethCnt++ > 3) {
|
||||
switchingTeethCnt = 0;
|
||||
setTriggerAdcMode(TRIGGER_EXTI);
|
||||
// we don't want to loose the signal on return
|
||||
minDeltaThresholdCntPos = DELTA_THRESHOLD_CNT_HIGH;
|
||||
minDeltaThresholdCntNeg = DELTA_THRESHOLD_CNT_HIGH;
|
||||
// we want to reset the thresholds on return
|
||||
zeroThreshold = minDeltaThresholdStrongSignal;
|
||||
adcThreshold = adcDefaultThreshold;
|
||||
integralSum = 0;
|
||||
transitionCooldownCnt = 0;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
prevValue = transition;
|
||||
prevStamp = stamp;
|
||||
|
||||
}
|
||||
|
||||
#endif /* EFI_SHAFT_POSITION_INPUT && HAL_TRIGGER_USE_ADC && HAL_USE_ADC */
|
||||
Loading…
Reference in New Issue