SENT: count HW timer overcapture events

Currently only count.
TODO: handle

firmware/hw_layer/drivers/sent/sent.cpp

@@ -291,9 +291,18 @@ int sent_channel::FastChannelDecoder(uint32_t clocks) {
 	return 0;
 }
 
-int sent_channel::Decoder(uint32_t clocks) {
+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 */
@@ -569,6 +578,8 @@ void sent_channel::Info() {
 	}
 
 	#if SENT_STATISTIC_COUNTERS
+		efiPrintf("HW overflows %lu\n", statistic.hwOverflowCnt);
+
 		efiPrintf("Pause pulses %lu\n", statistic.PauseCnt);
 		efiPrintf("Restarts %lu", statistic.RestartCnt);
 		efiPrintf("Interval errors %lu short, %lu long", statistic.ShortIntervalErr, statistic.LongIntervalErr);
@@ -590,9 +601,9 @@ static MAILBOX_DECL(sent_mb, sent_mb_buffer, SENT_MB_SIZE);
 
 static THD_WORKING_AREA(waSentDecoderThread, 256);
 
-void SENT_ISR_Handler(uint8_t channel, uint16_t clocks) {
+void SENT_ISR_Handler(uint8_t channel, uint16_t clocks, uint8_t flags) {
 	/* encode to fit msg_t */
-	msg_t msg = (channel << 16) | clocks;
+	msg_t msg = (flags << 24) | (channel << 16) | clocks;
 
 	/* called from ISR */
 	chSysLockFromISR();
@@ -610,11 +621,12 @@ static void SentDecoderThread(void*) {
 		if (ret == MSG_OK) {
 			uint16_t tick = msg & 0xffff;
 			uint8_t n = (msg >> 16) & 0xff;
+			uint8_t flags = (msg >> 24) & 0xff;
 
 			if (n < SENT_CHANNELS_NUM) {
 				sent_channel &channel = channels[n];
 
-				if (channel.Decoder(tick) > 0) {
+				if (channel.Decoder(tick, flags) > 0) {
 					/* report only for first channel */
 					if (n == 0) {
 						uint16_t sig0, sig1;

firmware/hw_layer/drivers/sent/sent.h

@@ -14,8 +14,10 @@
 /* SENT decoder init */
 void initSent();
 
+#define SENT_FLAG_HW_OVERFLOW	(1 << 0)
+
 /* ISR hook */
-void SENT_ISR_Handler(uint8_t ch, uint16_t val_res);
+void SENT_ISR_Handler(uint8_t channels, uint16_t clocks, uint8_t flags);
 
 /* Stop/Start for config update */
 void startSent();

firmware/hw_layer/drivers/sent/sent_hw_icu.cpp

@@ -22,32 +22,46 @@
 /* This SENT HW driver is based on ChibiOS ICU driver */
 #if (HAL_USE_ICU == TRUE)
 
+/* TODO: do we care about scaling abstract timer ticks to some time base? */
 /* TODO: get at runtime */
 /* Max timer clock for most timers on STM32 is CPU clock / 2 */
 #define SENT_TIMER_CLOCK_DIV	2
 #define SENT_ICU_FREQ			(CORE_CLOCK / SENT_TIMER_CLOCK_DIV) // == CPU freq / 2
 
 static uint16_t lastPulse[SENT_INPUT_COUNT];
+static bool overcapture[SENT_INPUT_COUNT];
 
 static void icuperiodcb(ICUDriver *icup, size_t index)
 {
+	uint16_t clocks;
+	uint8_t flags = 0;
 	const ICUConfig *icucfg = icup->config;
 
 	if ((icucfg->channel == ICU_CHANNEL_1) || (icucfg->channel == ICU_CHANNEL_2)) {
 		/* channel 1 and channel 2 supports period measurements */
-		SENT_ISR_Handler(index, icuGetPeriodX(icup) * SENT_TIMER_CLOCK_DIV);
+		clocks = icuGetPeriodX(icup);
 	} else {
 		/* this is freerunnig timer and we need to calculate period using just captured timer value and previous one */
 		/* TODO: support 32 bit timers too? */
 		uint16_t val = icuGetWidthX(icup);
 
 		/* can overflow */
-		uint16_t clocks = val - lastPulse[index];
-
-		SENT_ISR_Handler(index, clocks /* * SENT_TIMER_CLOCK_DIV */);
+		clocks = val - lastPulse[index];
 
 		lastPulse[index] = val;
 	}
+
+	if (overcapture[index]) {
+		flags |= SENT_FLAG_HW_OVERFLOW;
+		overcapture[index] = false;
+	}
+
+	SENT_ISR_Handler(index, clocks, flags);
+}
+
+static void icuovercapture(ICUDriver *icup, size_t index)
+{
+	overcapture[index] = true;
 }
 
 /* ICU callbacks */
@@ -56,6 +70,11 @@ static void icuperiodcb_in1(ICUDriver *icup)
 	icuperiodcb(icup, 0);
 }
 
+static void icuovercapture_in1(ICUDriver *icup)
+{
+	icuovercapture(icup, 0);
+}
+
 /* ICU configs */
 static ICUConfig icucfg[SENT_INPUT_COUNT] =
 {
@@ -68,6 +87,7 @@ static ICUConfig icucfg[SENT_INPUT_COUNT] =
 		.channel = ICU_CHANNEL_1,	/* will be overwriten on startSent() */
 		.dier = 0U,
 		.arr = 0xFFFFFFFFU,
+		.overcapture_cb = icuovercapture_in1,
 	}
 };
 

firmware/hw_layer/drivers/sent/sent_logic.h

@@ -30,6 +30,8 @@ typedef enum
 } SENT_STATE_enum;
 
 struct sent_channel_stat {
+	uint32_t hwOverflowCnt;
+
 	uint32_t ShortIntervalErr;
 	uint32_t LongIntervalErr;
 	uint32_t SyncErr;
@@ -107,7 +109,7 @@ public:
 #endif // SENT_STATISTIC_COUNTERS
 
 	/* Decoder */
-	int Decoder(uint32_t clocks);
+	int Decoder(uint32_t clocks, uint8_t flags = 0);
 
 	/* Get last raw message */
 	int GetMsg(uint32_t* rx);