prototype overcurrent protected driver (#4029)

* stub passthrough protected driver

* plumbing

* include the thing

* signature

* dead

* tdg pdm build task

* s

* pdm pins

* tdg

* init properly

* remove gaps

* board doesn't fatal on start

.vscode/tasks.json

@@ -131,6 +131,22 @@
 				"isDefault": true
 			}
 		},
+		{
+			"label": "Build Firmware (TDG PDM8)",
+			"type": "shell",
+			"command": "make -j12 PROJECT_BOARD=tdg-pdm8",
+			"windows": {
+				"command": "wsl bash -lc 'make -j12 PROJECT_BOARD=tdg-pdm8'"
+			},
+			"options": {
+				"cwd": "${workspaceRoot}/firmware"
+			},
+			"problemMatcher": [],
+			"group": {
+				"kind": "build",
+				"isDefault": true
+			}
+		},
 		{
 			"label": "Build Unit Tests",
 			"type": "shell",

firmware/config/boards/tdg-pdm8/board.mk

@@ -5,6 +5,12 @@ PROJECT_CPU = ARCH_STM32F4
 
 DDEFS += -DLED_CRITICAL_ERROR_BRAIN_PIN=Gpio::C11
 
+# No serial ports for now
+DDEFS += -DTS_NO_PRIMARY=TRUE -DTS_NO_SECONDARY=TRUE
+
+# No USB
+DDEFS += -DEFI_USB_SERIAL=FALSE
+
 # We're running on TDG PDM hardware!
 DDEFS += -DHW_TDG_PDM8=1
 

firmware/config/boards/tdg-pdm8/board_configuration.cpp

@@ -1,5 +1,7 @@
 #include "pch.h"
 
+#include "protected_gpio.h"
+
 void setSdCardConfigurationOverrides() {
 }
 
@@ -14,3 +16,25 @@ void setBoardConfigOverrides() {
 	engineConfiguration->canTxPin = Gpio::A12;
 	engineConfiguration->canRxPin = Gpio::A11;
 }
+
+// TODO: these are made up values
+static constexpr float AmpsPerVolt = 10;
+
+// instantaneous limit is 100A
+// long-term limit is 20A
+static constexpr float MaxCurrent = 100;
+
+static const ProtectedGpioConfig cfgs[] = {
+	{ Gpio::A0,  EFI_ADC_10, AmpsPerVolt, MaxCurrent },
+	{ Gpio::A1,  EFI_ADC_11, AmpsPerVolt, MaxCurrent },
+	{ Gpio::A2,  EFI_ADC_12, AmpsPerVolt, MaxCurrent },
+	{ Gpio::A3,  EFI_ADC_13, AmpsPerVolt, MaxCurrent },
+	{ Gpio::C9,  EFI_ADC_14, AmpsPerVolt, MaxCurrent },
+	{ Gpio::A8,  EFI_ADC_15, AmpsPerVolt, MaxCurrent },
+	{ Gpio::A9,  EFI_ADC_8,  AmpsPerVolt, MaxCurrent },
+	{ Gpio::A10, EFI_ADC_9,  AmpsPerVolt, MaxCurrent },
+};
+
+void boardInitHardware() {
+	protectedGpio_add(Gpio::PROTECTED_PIN_0, cfgs);
+}

firmware/config/boards/tdg-pdm8/connectors/main.yaml

@@ -7,56 +7,56 @@ pins:
     ts_name: Battery Sense
 
   - pin: 3/13
-    id: A10
+    id: PROTECTED_PIN_7
     class: outputs
     function: High Side Output
     type: hs
     ts_name: Out 8
 
   - pin: 4/14
-    id: A9
+    id: PROTECTED_PIN_6
     class: outputs
     function: High Side Output
     type: hs
     ts_name: Out 7
 
   - pin: 5/15
-    id: A8
+    id: PROTECTED_PIN_5
     class: outputs
     function: High Side Output
     type: hs
     ts_name: Out 6
 
   - pin: 6/16
-    id: C9
+    id: PROTECTED_PIN_4
     class: outputs
     function: High Side Output
     type: hs
     ts_name: Out 5
 
   - pin: 7/17
-    id: A3
+    id: PROTECTED_PIN_3
     class: outputs
     function: High Side Output
     type: hs
     ts_name: Out 4
 
   - pin: 8/18
-    id: A2
+    id: PROTECTED_PIN_2
     class: outputs
     function: High Side Output
     type: hs
     ts_name: Out 3
 
   - pin: 9/19
-    id: A1
+    id: PROTECTED_PIN_1
     class: outputs
     function: High Side Output
     type: hs
     ts_name: Out 2
 
   - pin: 10/20
-    id: A0
+    id: PROTECTED_PIN_0
     class: outputs
     function: High Side Output
     type: hs

firmware/controllers/algo/rusefi_hw_enums.h

@@ -270,42 +270,37 @@ enum class Gpio : uint16_t {
 	L9779_OUT_MRD = 247,
 	L9779_PIN_KEY = 248,
 
-	CAN_PIN_0 = 250,
-	CAN_PIN_1 = 251,
-	CAN_PIN_2 = 252,
-	CAN_PIN_3 = 253,
-	CAN_PIN_4 = 254,
-	CAN_PIN_5 = 255,
-	CAN_PIN_6 = 256,
-	CAN_PIN_7 = 257,
+	CAN_PIN_0 = 249,
+	CAN_PIN_1 = 250,
+	CAN_PIN_2 = 251,
+	CAN_PIN_3 = 252,
+	CAN_PIN_4 = 253,
+	CAN_PIN_5 = 254,
+	CAN_PIN_6 = 255,
+	CAN_PIN_7 = 256,
 
-	PROTECTED_PIN_0 = 290,
-	PROTECTED_PIN_1 = 291,
-	PROTECTED_PIN_2 = 292,
-	PROTECTED_PIN_3 = 293,
-	PROTECTED_PIN_4 = 294,
-	PROTECTED_PIN_5 = 295,
-	PROTECTED_PIN_6 = 296,
-	PROTECTED_PIN_7 = 297,
-	PROTECTED_PIN_8 = 298,
-	PROTECTED_PIN_9 = 299,
-	PROTECTED_PIN_10 = 300,
-	PROTECTED_PIN_11 = 301,
-	PROTECTED_PIN_12 = 302,
-	PROTECTED_PIN_13 = 303,
-	PROTECTED_PIN_14 = 304,
-	PROTECTED_PIN_15 = 305,
-	PROTECTED_PIN_16 = 306,
-	PROTECTED_PIN_17 = 307,
+	PROTECTED_PIN_0  = 257,
+	PROTECTED_PIN_1  = 258,
+	PROTECTED_PIN_2  = 259,
+	PROTECTED_PIN_3  = 260,
+	PROTECTED_PIN_4  = 261,
+	PROTECTED_PIN_5  = 262,
+	PROTECTED_PIN_6  = 263,
+	PROTECTED_PIN_7  = 264,
+	PROTECTED_PIN_8  = 265,
+	PROTECTED_PIN_9  = 266,
+	PROTECTED_PIN_10 = 267,
+	PROTECTED_PIN_11 = 268,
+	PROTECTED_PIN_12 = 269,
+	PROTECTED_PIN_13 = 270,
+	PROTECTED_PIN_14 = 271,
+	PROTECTED_PIN_15 = 272,
 };
 
 /* Please keep updating these defines */
-#ifndef BRAIN_PIN_ONCHIP_LAST
 #define BRAIN_PIN_ONCHIP_LAST	Gpio::I15
-#endif
-
 #define BRAIN_PIN_ONCHIP_PINS	(BRAIN_PIN_ONCHIP_LAST - Gpio::A0 + 1)
-#define BRAIN_PIN_LAST 			Gpio::L9779_PIN_KEY
+#define BRAIN_PIN_LAST 			Gpio::PROTECTED_PIN_15
 #define BRAIN_PIN_TOTAL_PINS	(BRAIN_PIN_LAST - Gpio::A0 + 1)
 
 /**

firmware/hw_layer/adc/adc_inputs.cpp

@@ -28,6 +28,7 @@
 #include "AdcConfiguration.h"
 #include "mpu_util.h"
 #include "periodic_thread_controller.h"
+#include "protected_gpio.h"
 
 /* Depth of the conversion buffer, channels are sampled X times each.*/
 #ifndef ADC_BUF_DEPTH_FAST
@@ -387,6 +388,8 @@ public:
 			slowAdcCounter++;
 
 			AdcSubscription::UpdateSubscribers(nowNt);
+
+			protectedGpio_check(nowNt);
 		}
 	}
 };

firmware/hw_layer/drivers/drivers.mk

@@ -26,4 +26,5 @@ HW_LAYER_DRIVERS_CPP = \
 	$(DRIVERS_DIR)/gpio/mc33810.cpp \
 	$(DRIVERS_DIR)/gpio/drv8860.cpp \
 	$(DRIVERS_DIR)/gpio/l9779.cpp \
+	$(DRIVERS_DIR)/gpio/protected_gpio.cpp \
 	$(DRIVERS_DIR)/lcd/HD44780.cpp \

firmware/hw_layer/drivers/gpio/protected_gpio.cpp

@@ -0,0 +1,152 @@
+
+#include "pch.h"
+
+#include "protected_gpio.h"
+#include "gpio/gpio_ext.h"
+
+#define PROTECTED_CHANNEL_COUNT 8
+
+class ProtectedGpio {
+public:
+	int setPadMode(iomode_t mode);
+	int set(bool value);
+	int get() const;
+	brain_pin_diag_e getDiag() const;
+
+	void configure(const ProtectedGpioConfig& config);
+	void check(efitick_t nowNt);
+
+private:
+	OutputPin m_output;
+
+	const ProtectedGpioConfig* m_config;
+};
+
+void ProtectedGpio::configure(const ProtectedGpioConfig& config) {
+	m_config = &config;
+}
+
+int ProtectedGpio::setPadMode(iomode_t mode) {
+	if (mode == PAL_MODE_OUTPUT_PUSHPULL) {
+		m_output.initPin("protected", m_config->Pin);
+	} else {
+		m_output.deInit();
+	}
+
+	return 0;
+}
+
+int ProtectedGpio::set(bool value) {
+	if (!m_config) {
+		return -1;
+	}
+
+	// TODO: operate state machine to handle overcurrent
+	m_output.setValue(value);
+
+	return 0;
+}
+
+int ProtectedGpio::get() const {
+	return m_output.getLogicValue();
+}
+
+void ProtectedGpio::check(efitick_t /*nowNt*/) {
+	if (!m_config) {
+		return;
+	}
+
+	float senseVolts = getVoltage("protected", m_config->SenseChannel);
+	float amps = senseVolts * m_config->AmpsPerVolt;
+
+	// TODO: smarter state machine
+	if (amps > m_config->MaximumAllowedCurrent) {
+		m_output.setValue(false);
+	}
+}
+
+brain_pin_diag_e ProtectedGpio::getDiag() const {
+	// TODO: return PIN_OVERLOAD if there's a problem
+	return PIN_OK;
+}
+
+class ProtectedGpios : public GpioChip {
+public:
+	int init() override { return 0; }
+	int setPadMode(size_t pin, iomode_t mode) override;
+	int writePad(size_t pin, int value) override;
+	int readPad(size_t pin) override;
+
+	brain_pin_diag_e getDiag(size_t pin) override;
+
+	void configure(const ProtectedGpioConfig* const configs);
+	void check(efitick_t nowNt);
+
+private:
+	ProtectedGpio m_channels[PROTECTED_CHANNEL_COUNT];
+};
+
+int ProtectedGpios::setPadMode(size_t pin, iomode_t mode) {
+	if (pin >= PROTECTED_CHANNEL_COUNT) {
+		return -1;
+	}
+
+	return m_channels[pin].setPadMode(mode);
+}
+
+int ProtectedGpios::writePad(size_t pin, int value) {
+	if (pin >= PROTECTED_CHANNEL_COUNT) {
+		return -1;
+	}
+
+	return m_channels[pin].set(value);
+}
+
+int ProtectedGpios::readPad(size_t pin) {
+	if (pin >= PROTECTED_CHANNEL_COUNT) {
+		return -1;
+	}
+
+	return m_channels[pin].get();
+}
+
+brain_pin_diag_e ProtectedGpios::getDiag(size_t pin) {
+	if (pin >= PROTECTED_CHANNEL_COUNT) {
+		return PIN_INVALID;
+	}
+
+	return m_channels[pin].getDiag();
+}
+
+void ProtectedGpios::configure(const ProtectedGpioConfig* const configs) {
+	for (size_t i = 0; i < efi::size(m_channels); i++) {
+		m_channels[i].configure(configs[i]);
+	}
+}
+
+void ProtectedGpios::check(efitick_t nowNt) {
+	for (size_t i = 0; i < efi::size(m_channels); i++) {
+		m_channels[i].check(nowNt);
+	}
+}
+
+static ProtectedGpios protectedGpios;
+static bool didInit = false;
+
+int protectedGpio_add(brain_pin_e base, const ProtectedGpioConfig* const configs) {
+	protectedGpios.configure(configs);
+
+	int result = gpiochip_register(base, "protected", protectedGpios, PROTECTED_CHANNEL_COUNT);
+
+	if (result == static_cast<int>(base)) {
+		didInit = true;
+	}
+
+	return result;
+}
+
+void protectedGpio_check(efitick_t nowNt) {
+	if (didInit) {
+		protectedGpios.check(nowNt);
+	}
+}

firmware/hw_layer/drivers/gpio/protected_gpio.h

@@ -0,0 +1,16 @@
+#pragma once
+
+struct ProtectedGpioConfig {
+	// Output config
+	brain_pin_e Pin;
+
+	// Sense config
+	adc_channel_e SenseChannel;
+	float AmpsPerVolt;
+
+	// Instantaneous trip current
+	float MaximumAllowedCurrent;
+};
+
+int protectedGpio_add(brain_pin_e base, const ProtectedGpioConfig* const configs);
+void protectedGpio_check(efitick_t nowNt);