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SENT: move to libfirmware

This commit is contained in:
Andrey Gusakov 2024-12-13 20:26:21 +03:00 committed by rusefillc
parent 475fc58b45
commit e846c8339c
6 changed files with 12 additions and 673 deletions
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1
firmware/common_libfirmware.mk
View File

@ -2,5 +2,6 @@
RUSEFI_LIB = $(PROJECT_DIR)/libfirmware
include $(RUSEFI_LIB)/util/util.mk
include $(RUSEFI_LIB)/pt2001/pt2001.mk
include $(RUSEFI_LIB)/sent/sent.mk
INCDIR += $(RUSEFI_LIB)/sent/include

544
firmware/hw_layer/drivers/sent/sent.cpp
View File

@ -9,550 +9,18 @@
* @author Andrey Gusakov <dron0gus@gmail.com>, (c) 2022
*/
#if EFI_PROD_CODE || EFI_UNIT_TEST
#include "pch.h"
#if EFI_PROD_CODE
#if EFI_SENT_SUPPORT
#include "sent.h"
#include "init.h"
#include "sent_logic.h"
#include "sent_constants.h"
#include "sent_decoder.h"
/*==========================================================================*/
/* Protocol definitions. */
/*==========================================================================*/
#define SENT_OFFSET_INTERVAL 12
#define SENT_SYNC_INTERVAL (56 - SENT_OFFSET_INTERVAL) // 56 ticks - 12
#define SENT_MAX_INTERVAL 15
#define SENT_CRC_SEED 0x05
/* Sync + Status + Signals + CRC: 9 pulses */
#define SENT_MSG_TOTAL (1 + SENT_MSG_PAYLOAD_SIZE)
/* use 3 full frames + one additional pulse for unit time calibration */
#define SENT_CALIBRATION_PULSES (1 + 3 * SENT_MSG_PAYLOAD_SIZE)
/*==========================================================================*/
/* Decoder configuration */
/*==========================================================================*/
/*==========================================================================*/
/* Decoder */
/*==========================================================================*/
/* Helpers for Msg manipulations */
/* nibbles order: status, sig0_MSN, sig0_MidN, sig0_LSN, sig1_MSN, sig1_MidN, sig1_LSN, CRC */
/* we shift rxReg left for 4 bits on each nibble received and put newest nibble
* in [3:0] bits of rxReg, so when full message is received:
* CRC is [3:0] - nibble 7
* status is [31:28] - nibble 0
* sig0 is [27:16], sig1 is [15:4] */
#define MsgGetNibble(msg, n) (((msg) >> (4 * (7 - (n)))) & 0xf)
#define MsgGetStat(msg) MsgGetNibble(msg, 0)
#define MsgGetSig0(msg) (((msg) >> (4 * 4)) & 0xfff)
#define MsgGetSig1(msg) (((msg) >> (1 * 4)) & 0xfff)
#define MsgGetCrc(msg) MsgGetNibble(msg, 7)
/* convert CPU ticks to float Us */
#define TicksToUs(ticks) ((float)(ticks) * 1000.0 * 1000.0 / CORE_CLOCK)
void sent_channel::restart() {
state = SENT_STATE_CALIB;
pulseCounter = 0;
currentStatePulseCounter = 0;
pausePulseReceived = false;
tickPerUnit = 0;
/* reset slow channels */
SlowChannelDecoderReset();
scMsgFlags = 0;
#if SENT_STATISTIC_COUNTERS
statistic.ShortIntervalErr = 0;
statistic.LongIntervalErr = 0;
statistic.SyncErr = 0;
statistic.CrcErrCnt = 0;
statistic.FrameCnt = 0;
statistic.PauseCnt = 0;
statistic.sc = 0;
statistic.scCrcErr = 0;
statistic.RestartCnt++;
#endif
}
void sent_channel::calcTickPerUnit(uint32_t clocks) {
/* int division with rounding */
tickPerUnit = (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
}
float sent_channel::getTickTime() {
return tickPerUnit;
}
bool sent_channel::isSyncPulse(uint32_t clocks)
{
/* check if pulse looks like sync with allowed +/-20% deviation */
uint32_t syncClocks = (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) * tickPerUnit;
if (((100 * clocks) >= (syncClocks * 80)) &&
((100 * clocks) <= (syncClocks * 120)))
return 1;
return 0;
}
int sent_channel::FastChannelDecoder(uint32_t clocks) {
pulseCounter++;
/* special case - tick time calculation */
if (state == SENT_STATE_CALIB) {
if ((tickPerUnit == 0) || (currentStatePulseCounter == 0)) {
/* invalid or not yet calculated tickPerUnit */
calcTickPerUnit(clocks);
/* lets assume this is sync pulse... */
currentStatePulseCounter = 1;
} else {
/* some tickPerUnit calculated...
* Check next 1 + 6 + 1 pulses if they are valid with current tickPerUnit */
criticalAssert(tickPerUnit != 0, "zero tickPerUnit", 0);
int checkInterval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL;
if ((checkInterval >= 0) && (checkInterval <= SENT_MAX_INTERVAL)) {
currentStatePulseCounter++;
/* Should end up with CRC pulse */
if (currentStatePulseCounter == (1 + SENT_MSG_PAYLOAD_SIZE)) {
pulseCounter = 0;
currentStatePulseCounter = 0;
state = SENT_STATE_INIT;
}
} else {
currentStatePulseCounter = 1;
calcTickPerUnit(clocks);
}
}
if (pulseCounter >= SENT_CALIBRATION_PULSES) {
/* failed to calculate valid tickPerUnit, restart */
restart();
}
return 0;
}
/* special case for out-of-sync state */
if (state == SENT_STATE_INIT) {
if (isSyncPulse(clocks)) {
/* adjust unit time */
calcTickPerUnit(clocks);
/* we get here from calibration phase. calibration phase end with CRC nibble
* if we had to skip ONE pulse before we get sync - that means device may send pause
* pulse in between of messages */
pausePulseReceived = false;
if (currentStatePulseCounter == 1) {
pausePulseReceived = true;
}
/* next state */
currentStatePulseCounter = 0;
state = SENT_STATE_STATUS;
} else {
currentStatePulseCounter++;
/* 3 frames skipped, no SYNC detected - recalibrate */
if (currentStatePulseCounter >= (SENT_MSG_TOTAL * 3)) {
restart();
}
}
/* done for this pulse */
return 0;
}
int interval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL;
if (interval < 0) {
#if SENT_STATISTIC_COUNTERS
statistic.ShortIntervalErr++;
#endif //SENT_STATISTIC_COUNTERS
state = SENT_STATE_INIT;
return -1;
}
switch(state)
{
case SENT_STATE_CALIB:
case SENT_STATE_INIT:
/* handled above, should not get in here */
return -1;
case SENT_STATE_SYNC:
if (isSyncPulse(clocks))
{
/* measured tick interval will be used until next sync pulse */
calcTickPerUnit(clocks);
rxReg = 0;
state = SENT_STATE_STATUS;
}
else
{
if (pausePulseReceived) {
#if SENT_STATISTIC_COUNTERS
// Increment sync interval err count
statistic.SyncErr++;
if (interval > SENT_SYNC_INTERVAL)
{
statistic.LongIntervalErr++;
}
else
{
statistic.ShortIntervalErr++;
}
#endif // SENT_STATISTIC_COUNTERS
/* wait for next sync and recalibrate tickPerUnit */
state = SENT_STATE_INIT;
return -1;
} else {
/* This is possibly pause pulse */
/* TODO: check:
* Minimum Length 12 ticks (equivalent to a nibble with 0 value) - this is already checked
* Maximum Length 768 ticks (3 * 256) */
#if SENT_STATISTIC_COUNTERS
statistic.PauseCnt++;
#endif // SENT_STATISTIC_COUNTERS
pausePulseReceived = true;
}
}
return 0;
case SENT_STATE_STATUS:
/* it is possible that pause pulse was threaded as sync and we are here with sync pulse */
if ((pausePulseReceived == false) && isSyncPulse(clocks)) {
#if SENT_STATISTIC_COUNTERS
statistic.PauseCnt++;
#endif // SENT_STATISTIC_COUNTERS
/* measured tick interval will be used until next sync pulse */
calcTickPerUnit(clocks);
return 0;
}
// fallthrough
case SENT_STATE_SIG1_DATA1:
case SENT_STATE_SIG1_DATA2:
case SENT_STATE_SIG1_DATA3:
case SENT_STATE_SIG2_DATA1:
case SENT_STATE_SIG2_DATA2:
case SENT_STATE_SIG2_DATA3:
case SENT_STATE_CRC:
if (interval > SENT_MAX_INTERVAL)
{
#if SENT_STATISTIC_COUNTERS
statistic.LongIntervalErr++;
#endif
state = SENT_STATE_INIT;
return -1;
}
rxReg = (rxReg << 4) | (uint32_t)interval;
if (state != SENT_STATE_CRC)
{
/* TODO: refactor */
state = (SENT_STATE_enum)((int)state + 1);
return 0;
}
#if SENT_STATISTIC_COUNTERS
statistic.FrameCnt++;
#endif // SENT_STATISTIC_COUNTERS
pausePulseReceived = false;
state = SENT_STATE_SYNC;
/* CRC check */
/* TODO: find correct way to calculate CRC */
if ((MsgGetCrc(rxReg) == crc4(rxReg)) ||
(MsgGetCrc(rxReg) == crc4_gm(rxReg)) ||
(MsgGetCrc(rxReg) == crc4_gm_v2(rxReg)))
{
/* Full packet with correct CRC has been received */
rxLast = rxReg;
hasValidFast = true;
/* TODO: add timestamp? */
return 1;
}
else
{
#if SENT_STATISTIC_COUNTERS
statistic.CrcErrCnt++;
#endif // SENT_STATISTIC_COUNTERS
return -1;
}
return 0;
}
return 0;
}
int sent_channel::Decoder(uint32_t clocks, uint8_t flags) {
int ret;
#if SENT_STATISTIC_COUNTERS
if (flags & SENT_FLAG_HW_OVERFLOW) {
statistic.hwOverflowCnt++;
}
#endif
/* TODO: handle flags */
(void)flags;
ret = FastChannelDecoder(clocks);
if (ret > 0) {
/* valid packet received, can process slow channels */
SlowChannelDecoder();
} else if (ret < 0) {
/* packet is incorrect, reset slow channel state machine */
SlowChannelDecoderReset();
}
return ret;
}
int sent_channel::GetMsg(uint32_t* rx) {
if (rx) {
*rx = rxLast;
}
if (!hasValidFast) {
return -1;
}
/* TODO: add check for time since last message received */
return 0;
}
int sent_channel::GetSignals(uint8_t *pStat, uint16_t *pSig0, uint16_t *pSig1) {
uint32_t rx;
int ret = GetMsg(&rx);
if (ret < 0) {
return ret;
}
/* NOTE different MSB packing for sig0 and sig1
* is it protocol-defined or device-specific?
* Also looks like some devices send 16 + 8 bit, not 12 + 12 */
if (pStat) {
*pStat = MsgGetStat(rx);
}
if (pSig0) {
uint16_t tmp = MsgGetSig0(rx);
*pSig0 = tmp;
}
if (pSig1) {
uint16_t tmp = MsgGetSig1(rx);
/* swap */
tmp = ((tmp >> 8) & 0x00f) |
((tmp << 8) & 0xf00) |
(tmp & 0x0f0);
*pSig1 = tmp;
}
return 0;
}
int sent_channel::StoreSlowChannelValue(uint8_t id, uint16_t data)
{
size_t i;
/* Update already allocated messagebox? */
for (i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
if ((scMsgFlags & BIT(i)) && (scMsg[i].id == id)) {
scMsg[i].data = data;
return 0;
}
}
/* New message? Allocate messagebox */
for (i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
if (!(scMsgFlags & BIT(i)))
{
scMsg[i].data = data;
scMsg[i].id = id;
scMsgFlags |= (1 << i);
return 0;
}
}
/* No free mailboxes for new ID */
return -1;
}
int sent_channel::GetSlowChannelValue(uint8_t id)
{
size_t i;
for (i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
if ((scMsgFlags & BIT(i)) && (scMsg[i].id == id)) {
return scMsg[i].data;
}
}
/* not found */
return -1;
}
int sent_channel::SlowChannelDecoder()
{
/* bit 2 and bit 3 from status nibble are used to transfer short messages */
bool b2 = !!(MsgGetStat(rxLast) & BIT(2));
bool b3 = !!(MsgGetStat(rxLast) & BIT(3));
/* shift in new data */
scShift2 = (scShift2 << 1) | b2;
scShift3 = (scShift3 << 1) | b3;
scCrcShift = (scCrcShift << 2) | ((uint32_t)b2 << 1) | b3;
if (1) {
/* Short Serial Message format */
/* 0b1000.0000.0000.0000? */
if ((scShift3 & 0xffff) == 0x8000) {
/* Done receiving */
/* TODO: add crc check */
uint8_t id = (scShift2 >> 12) & 0x0f;
uint16_t data = (scShift2 >> 4) & 0xff;
return StoreSlowChannelValue(id, data);
}
}
if (1) {
/* Enhanced Serial Message format */
/* 0b11.1111.0xxx.xx0x.xxx0 ? */
if ((scShift3 & 0x3f821) == 0x3f000) {
uint8_t id;
uint8_t crc = (scShift2 >> 12) & 0x3f;
#if SENT_STATISTIC_COUNTERS
statistic.sc++;
#endif
if (crc == crc6(scCrcShift)) {
/* C-flag: configuration bit is used to indicate 16 bit format */
bool sc16Bit = !!(scShift3 & (1 << 10));
if (!sc16Bit) {
/* 12 bit message, 8 bit ID */
id = ((scShift3 >> 1) & 0x0f) |
((scShift3 >> 2) & 0xf0);
uint16_t data = scShift2 & 0x0fff; /* 12 bit */
/* TODO: add crc check */
return StoreSlowChannelValue(id, data);
} else {
/* 16 bit message, 4 bit ID */
id = (scShift3 >> 6) & 0x0f;
uint16_t data = (scShift2 & 0x0fff) |
(((scShift3 >> 1) & 0x0f) << 12);
return StoreSlowChannelValue(id, data);
}
} else {
#if SENT_STATISTIC_COUNTERS
statistic.scCrcErr++;
#endif
}
}
}
return 0;
}
void sent_channel::SlowChannelDecoderReset()
{
/* packet is incorrect, reset slow channel state machine */
scShift2 = 0;
scShift3 = 0;
}
/* This is correct for Si7215 */
/* This CRC is calculated for WHOLE message expect last nibble (CRC) */
uint8_t sent_channel::crc4(uint32_t data)
{
size_t i;
uint8_t crc = SENT_CRC_SEED; // initialize checksum with seed "0101"
const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
for (i = 0; i < 7; i++) {
crc = crc ^ MsgGetNibble(data, i);
crc = CrcLookup[crc];
}
return crc;
}
/* TODO: double check two following and use same CRC routine? */
/* This is correct for GM throttle body */
/* This CRC is calculated for message expect status nibble and minus CRC nibble */
uint8_t sent_channel::crc4_gm(uint32_t data)
{
size_t i;
uint8_t crc = SENT_CRC_SEED; // initialize checksum with seed "0101"
const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
for (i = 1; i < 7; i++) {
crc = CrcLookup[crc];
crc = (crc ^ MsgGetNibble(data, i)) & 0xf;
}
return crc;
}
/* This is correct for GDI fuel pressure sensor */
/* This CRC is calculated for message expect status nibble and minus CRC nibble */
uint8_t sent_channel::crc4_gm_v2(uint32_t data)
{
size_t i;
uint8_t crc = SENT_CRC_SEED; // initialize checksum with seed "0101"
const uint8_t CrcLookup[16] = {0, 13, 7, 10, 14, 3, 9, 4, 1, 12, 6, 11, 15, 2, 8, 5};
for (i = 1; i < 7; i++) {
crc = CrcLookup[crc];
crc = (crc ^ MsgGetNibble(data, i)) & 0xf;
}
// One more round with 0 as input
crc = CrcLookup[crc];
return crc;
}
uint8_t sent_channel::crc6(uint32_t data)
{
size_t i;
/* Seed 0x15 (21) */
uint8_t crc = 0x15;
/* CRC table for poly = 0x59 (x^6 + x^4 + x^3 + 1) */
const uint8_t crc6_table[64] = {
0, 25, 50, 43, 61, 36, 15, 22, 35, 58, 17, 8, 30, 7, 44, 53,
31, 6, 45, 52, 34, 59, 16, 9, 60, 37, 14, 23, 1, 24, 51, 42,
62, 39, 12, 21, 3, 26, 49, 40, 29, 4, 47, 54, 32, 57, 18, 11,
33, 56, 19, 10, 28, 5, 46, 55, 2, 27, 48, 41, 63, 38, 13, 20 };
for (i = 0; i < 4; i++) {
uint8_t tmp = (data >> (24 - 6 * (i + 1))) & 0x3f;
crc = tmp ^ crc6_table[crc];
}
// Extra round with 0 input
crc = 0 ^ crc6_table[crc];
return crc;
}
#endif /* EFI_SENT_SUPPORT */
#endif // EFI_PROD_CODE || EFI_UNIT_TEST
#if EFI_PROD_CODE
#if EFI_SENT_SUPPORT
#ifndef SENT_CHANNELS_NUM
#define SENT_CHANNELS_NUM 4 // Number of sent channels
#endif
static sent_channel channels[SENT_CHANNELS_NUM];
@ -560,7 +28,7 @@ void sent_channel::Info() {
uint8_t stat;
uint16_t sig0, sig1;
efiPrintf("Unit time %lu CPU ticks %f uS", tickPerUnit, TicksToUs(getTickTime()));
efiPrintf("Unit time %lu timer ticks", tickPerUnit);
efiPrintf("Pause pulse detected %s", pausePulseReceived ? "Yes" : "No");
efiPrintf("Total pulses %lu", pulseCounter);

6
firmware/hw_layer/drivers/sent/sent.h
View File

@ -11,12 +11,12 @@
#if EFI_SENT_SUPPORT
#include "sent_decoder.h"
/* SENT decoder init */
void initSent();
#define SENT_FLAG_HW_OVERFLOW (1 << 0)
/* ISR hook */
/* decoder feed hook */
void SENT_ISR_Handler(uint8_t channels, uint16_t clocks, uint8_t flags);
/* Stop/Start for config update */

130
firmware/hw_layer/drivers/sent/sent_logic.h
View File

@ -1,130 +0,0 @@
/**
* sent_logic.h
*/
#pragma once
#ifndef SENT_CHANNELS_NUM
#define SENT_CHANNELS_NUM 4 // Number of sent channels
#endif
/* Maximum slow shannel mailboxes, DO NOT CHANGE */
#define SENT_SLOW_CHANNELS_MAX 16
/* collect statistic */
#define SENT_STATISTIC_COUNTERS 1
typedef enum
{
SENT_STATE_CALIB = 0,
SENT_STATE_INIT,
SENT_STATE_SYNC,
SENT_STATE_STATUS,
SENT_STATE_SIG1_DATA1,
SENT_STATE_SIG1_DATA2,
SENT_STATE_SIG1_DATA3,
SENT_STATE_SIG2_DATA1,
SENT_STATE_SIG2_DATA2,
SENT_STATE_SIG2_DATA3,
SENT_STATE_CRC,
} SENT_STATE_enum;
struct sent_channel_stat {
uint32_t hwOverflowCnt;
uint32_t ShortIntervalErr;
uint32_t LongIntervalErr;
uint32_t SyncErr;
uint32_t CrcErrCnt;
uint32_t FrameCnt;
uint32_t PauseCnt;
uint32_t RestartCnt;
/* Slow channel */
uint32_t sc;
uint32_t scCrcErr;
uint32_t getTotalError() {
return ShortIntervalErr + LongIntervalErr + SyncErr + CrcErrCnt;
}
float getErrorRate() {
return 1.0 * getTotalError() / (FrameCnt + getTotalError());
}
};
class sent_channel {
private:
SENT_STATE_enum state = SENT_STATE_CALIB;
/* Unit interval in timer clocks - adjusted on SYNC */
uint32_t tickPerUnit = 0;
uint32_t pulseCounter = 0;
/* pulses skipped in init or calibration state while waiting for SYNC */
uint32_t currentStatePulseCounter = 0;
bool pausePulseReceived = false;
/* fast channel shift register*/
uint32_t rxReg;
bool hasValidFast = false;
/* fast channel last received valid message */
uint32_t rxLast;
/* slow channel shift registers and flags */
uint16_t scMsgFlags;
uint32_t scShift2; /* shift register for bit 2 from status nibble */
uint32_t scShift3; /* shift register for bit 3 from status nibble */
uint32_t scCrcShift; /* shift register for special order for CRC6 calculation */
/* Slow channel decoder and helpers */
int StoreSlowChannelValue(uint8_t id, uint16_t data);
int FastChannelDecoder(uint32_t clocks);
int SlowChannelDecoder();
void SlowChannelDecoderReset();
/* CRC */
uint8_t crc4(uint32_t data);
uint8_t crc4_gm(uint32_t data);
uint8_t crc4_gm_v2(uint32_t data);
/* Slow channel CRC6 */
uint8_t crc6(uint32_t data);
/* calc unit tick time from sync pulse */
void calcTickPerUnit(uint32_t clocks);
/* check if current pulse looks like sync pulse */
bool isSyncPulse(uint32_t clocks);
void restart();
public:
/* slow channel data */
struct {
uint16_t data;
uint8_t id;
} scMsg[SENT_SLOW_CHANNELS_MAX];
/* Statistic counters */
#if SENT_STATISTIC_COUNTERS
sent_channel_stat statistic;
#endif // SENT_STATISTIC_COUNTERS
/* Decoder */
int Decoder(uint32_t clocks, uint8_t flags = 0);
/* Get last raw message */
int GetMsg(uint32_t* rx);
/* Unpack last valid message to status, signal0 and signal1
* Note:
* sig0 is nibbles 0 .. 2, where nibble 0 is MSB
* sig1 is nibbles 5 .. 3, where nibble 5 is MSB */
int GetSignals(uint8_t *pStat, uint16_t *pSig0, uint16_t *pSig1);
/* Get slow channel value for given ID 8*/
int GetSlowChannelValue(uint8_t id);
/* Current tick time in CPU/timer clocks */
float getTickTime();
/* Show status */
void Info();
};

2
firmware/libfirmware

@ -1 +1 @@
Subproject commit 63ffcdbe07015e46609248d88caf4f7d31bcd7db
Subproject commit 7eccf0fd408957f1c179af532c1995337424e222

2
unit_tests/tests/sent/test_sent.cpp
View File

@ -1,6 +1,6 @@
#include "pch.h"
#include "logicdata_csv_reader.h"
#include "sent_logic.h"
#include "sent_decoder.h"
// On STM32 we are running timer on 1/4 of cpu clock. Cpu clock is 168 MHz
#define CORE_CLOCK 168'000'000