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rusefi/firmware/controllers/can/can_bench_test.cpp

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#include "pch.h"
#include "bench_test.h"
#include "board_id.h"
#include "can_bench_test.h"
#include "can_msg_tx.h"
#include "can_common.h"
#include "frequency_sensor.h"
#include "settings.h"
#include "gpio/gpio_ext.h"
#ifdef HW_HELLEN
#include "hellen_meta.h"
#endif // HW_HELLEN
extern PinRepository pinRepository;
// todo: WHAT?! document why do we manually truncate higher bits?
#define TRUNCATE_TO_BYTE(i) ((i) & 0xff)
// raw values are 0..5V, convert it to 8-bit (0..255)
#define RAW_TO_BYTE(v) TRUNCATE_TO_BYTE((int)(v * 255.0 / 5.0))
#if EFI_PROD_CODE
/**
* QC direct output control API is used by https://github.com/rusefi/stim test device
* quite different from bench testing user functionality: QC direct should never be engaged on a real vehicle
* Once QC direct control mode is activated the only way out is to reboot the unit!
*/
static bool qcDirectPinControlMode = false;
#endif
/*board public API*/bool isHwQcMode() {
#if EFI_PROD_CODE
return qcDirectPinControlMode;
#else
return false;
#endif // EFI_PROD_CODE
}
void setHwQcMode() {
#if EFI_PROD_CODE
qcDirectPinControlMode = true;
#if HW_HELLEN
if (!getHellenBoardEnabled()) {
hellenEnableEn("HW QC");
}
#endif // HW_HELLEN
#endif // EFI_PROD_CODE
}
#if EFI_CAN_SUPPORT
static void directWritePad(Gpio pin, int value) {
if (!isBrainPinValid(pin)) {
criticalError("QC of invalid pin %d", (int)pin);
return;
}
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
if (brain_pin_is_onchip(pin)) {
palWritePad(getHwPort("can_write", pin), getHwPin("can_write", pin), value);
} else {
#if (BOARD_EXT_GPIOCHIPS > 0)
gpiochips_writePad(pin, value);
#endif
}
#endif // EFI_GPIO_HARDWARE && EFI_PROD_CODE
}
static void qcSetEtbState(uint8_t dcIndex, uint8_t direction) {
setHwQcMode();
const dc_io *io = &engineConfiguration->etbIo[dcIndex];
Gpio controlPin = io->controlPin;
directWritePad(controlPin, 1);
if (engineConfiguration->etb_use_two_wires) {
// TLE7209 and L6205
// let's force proper pin mode to work around potentially uninitialized subsystem
efiSetPadModeWithoutOwnershipAcquisition("QC_ETB_1", io->directionPin1, PAL_MODE_OUTPUT_PUSHPULL);
efiSetPadModeWithoutOwnershipAcquisition("QC_ETB_2", io->directionPin2, PAL_MODE_OUTPUT_PUSHPULL);
directWritePad(io->directionPin1, direction);
directWritePad(io->directionPin2, !direction);
} else {
// TLE9201 and VNH2SP30
efiSetPadModeWithoutOwnershipAcquisition("QC_ETB", controlPin, PAL_MODE_OUTPUT_PUSHPULL);
directWritePad(io->directionPin1, direction);
directWritePad(io->disablePin, 0); // disable pin is inverted - here we ENABLE. direct pin access due to qcDirectPinControlMode
}
}
static void setPin(const CANRxFrame& frame, int value) {
int outputIndex = frame.data8[2];
if (outputIndex >= getBoardMetaOutputsCount()) {
criticalError("QC pin index %d out of range", outputIndex);
return;
}
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
Gpio* boardOutputs = getBoardMetaOutputs();
criticalAssertVoid(boardOutputs != nullptr, "outputs not defined");
Gpio pin = boardOutputs[outputIndex];
int hwIndex = brainPin_to_index(pin);
if (pinRepository.getBrainUsedPin(hwIndex) == nullptr) {
// if pin is assigned we better configure it
efiSetPadModeWithoutOwnershipAcquisition("QC_SET", pin, PAL_MODE_OUTPUT_PUSHPULL);
}
directWritePad(pin, value);
#endif // EFI_GPIO_HARDWARE && EFI_PROD_CODE
}
void sendQcBenchEventCounters() {
#if EFI_SHAFT_POSITION_INPUT
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::EVENT_COUNTERS, 8, /*bus*/0, /*isExtended*/true);
int primaryFall = engine->triggerCentral.getHwEventCounter((int)SHAFT_PRIMARY_FALLING);
int primaryRise = engine->triggerCentral.getHwEventCounter((int)SHAFT_PRIMARY_RISING);
int secondaryFall = engine->triggerCentral.getHwEventCounter((int)SHAFT_SECONDARY_FALLING);
int secondaryRise = engine->triggerCentral.getHwEventCounter((int)SHAFT_SECONDARY_RISING);
msg[0] = TRUNCATE_TO_BYTE(primaryRise + primaryFall);
msg[1] = TRUNCATE_TO_BYTE(secondaryRise + secondaryFall);
for (int camIdx = 0; camIdx < 4; camIdx++) {
int vvtRise = 0, vvtFall = 0;
if (camIdx < CAM_INPUTS_COUNT) {
vvtRise = engine->triggerCentral.vvtEventRiseCounter[camIdx];
vvtFall = engine->triggerCentral.vvtEventFallCounter[camIdx];
}
msg[2 + camIdx] = TRUNCATE_TO_BYTE(vvtRise + vvtFall);
}
extern FrequencySensor vehicleSpeedSensor;
msg[6] = TRUNCATE_TO_BYTE(vehicleSpeedSensor.eventCounter);
#endif // EFI_SHAFT_POSITION_INPUT
}
void sendQcBenchButtonCounters() {
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::BUTTON_COUNTERS, 8, /*bus*/0, /*isExtended*/true);
msg[0] = TRUNCATE_TO_BYTE(engine->brakePedalSwitchedState.getCounter());
msg[1] = TRUNCATE_TO_BYTE(engine->clutchUpSwitchedState.getCounter());
msg[2] = TRUNCATE_TO_BYTE(engine->acButtonSwitchedState.getCounter());
// todo: start button
}
void sendQcBenchAuxDigitalCounters() {
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::BUTTON_COUNTERS, 8, /*bus*/0, /*isExtended*/true);
for (int i =0;i<LUA_DIGITAL_INPUT_COUNT;i++) {
msg[i] = TRUNCATE_TO_BYTE(engine->luaDigitalInputState[i].state.getCounter());
}
}
void sendQcBenchRawAnalogValues() {
const float values_1[] = {
Sensor::getRaw(SensorType::Tps1Primary),
Sensor::getRaw(SensorType::Tps1Secondary),
Sensor::getRaw(SensorType::AcceleratorPedalPrimary),
Sensor::getRaw(SensorType::AcceleratorPedalSecondary),
Sensor::getRaw(SensorType::MapSlow),
Sensor::getRaw(SensorType::Clt),
Sensor::getRaw(SensorType::Iat),
Sensor::getRaw(SensorType::BatteryVoltage),
};
const float values_2[] = {
Sensor::getRaw(SensorType::Tps2Primary),
Sensor::getRaw(SensorType::Tps2Secondary),
Sensor::getRaw(SensorType::AuxLinear1),
Sensor::getRaw(SensorType::AuxLinear2),
Sensor::getRaw(SensorType::OilPressure),
Sensor::getRaw(SensorType::FuelPressureLow),
Sensor::getRaw(SensorType::FuelPressureHigh),
Sensor::getRaw(SensorType::AuxTemp1),
};
static_assert(efi::size(values_1) <= 8);
static_assert(efi::size(values_2) <= 8);
// send the first packet
{
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::RAW_ANALOG_1, 8, /*bus*/0, /*isExtended*/true);
for (size_t valueIdx = 0; valueIdx < efi::size(values_1); valueIdx++) {
msg[valueIdx] = RAW_TO_BYTE(values_1[valueIdx]);
}
}
{
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::RAW_ANALOG_2, 8, /*bus*/0, /*isExtended*/true);
for (size_t valueIdx = 0; valueIdx < efi::size(values_2); valueIdx++) {
msg[valueIdx] = RAW_TO_BYTE(values_2[valueIdx]);
}
}
}
static void sendOutBoardMeta() {
#if EFI_PROD_CODE
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::IO_META_INFO, 8, /*bus*/0, /*isExtended*/true);
msg[0] = (int)bench_test_magic_numbers_e::BENCH_HEADER;
msg[1] = 0;
msg[2] = getBoardMetaOutputsCount();
msg[3] = getBoardMetaLowSideOutputsCount();
msg[4] = getBoardMetaDcOutputsCount();
#endif // EFI_PROD_CODE
}
void sendQcBenchBoardStatus() {
#if EFI_PROD_CODE
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::BOARD_STATUS, 8, /*bus*/0, /*isExtended*/true);
int boardId = getBoardId();
msg[0] = TRUNCATE_TO_BYTE(boardId >> 8);
msg[1] = TRUNCATE_TO_BYTE(boardId);
int numSecondsSinceReset = getTimeNowS();
msg[2] = TRUNCATE_TO_BYTE(numSecondsSinceReset >> 16);
msg[3] = TRUNCATE_TO_BYTE(numSecondsSinceReset >> 8);
msg[4] = TRUNCATE_TO_BYTE(numSecondsSinceReset);
int engineType = (int) engineConfiguration->engineType;
msg[5] = engineType >> 8;
msg[6] = engineType;
sendOutBoardMeta();
#endif // EFI_PROD_CODE
}
#if EFI_PROD_CODE
static void sendManualPinTest(int id) {
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::MANUAL_PIN_TEST, 8, /*bus*/0, /*isExtended*/true);
msg[0] = id;
}
#endif // EFI_PROD_CODE
static void sendPinStatePackets(int pinToggleCounter, uint32_t durationsInStateMs[2]) {
CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::PIN_STATE, 8, /*bus*/0, /*isExtended*/true);
msg[0] = TRUNCATE_TO_BYTE(pinToggleCounter >> 8);
msg[1] = TRUNCATE_TO_BYTE(pinToggleCounter);
for (int i = 0, mIdx = 2; i < 2; i++) {
msg[mIdx++] = TRUNCATE_TO_BYTE(durationsInStateMs[i] >> 16);
msg[mIdx++] = TRUNCATE_TO_BYTE(durationsInStateMs[i] >> 8);
msg[mIdx++] = TRUNCATE_TO_BYTE(durationsInStateMs[i]);
}
}
// bench test fuel pump pin #5603
static void sendPinStatePackets(bench_mode_e benchModePinIdx) {
OutputPin *pin = enginePins.getOutputPinForBenchMode(benchModePinIdx);
if (pin == nullptr)
return;
#if EFI_SIMULATOR
sendPinStatePackets(pin->pinToggleCounter, pin->durationsInStateMs);
#endif // EFI_SIMULATOR
}
static void sendSavedBenchStatePackets() {
uint32_t savedDurationsInStateMs[2];
int savedPinToggleCounter = getSavedBenchTestPinStates(savedDurationsInStateMs);
sendPinStatePackets(savedPinToggleCounter, savedDurationsInStateMs);
}
static void resetPinStats(bench_mode_e benchModePinIdx) {
OutputPin *pin = enginePins.getOutputPinForBenchMode(benchModePinIdx);
if (pin == nullptr)
return;
#if EFI_SIMULATOR
pin->resetToggleStats();
#endif // EFI_SIMULATOR
}
void processCanQcBenchTest(const CANRxFrame& frame) {
if (CAN_EID(frame) != (int)bench_test_packet_ids_e::IO_CONTROL) {
return;
}
if (frame.data8[0] != (int)bench_test_magic_numbers_e::BENCH_HEADER) {
return;
}
setHwQcMode();
bench_test_io_control_e command = (bench_test_io_control_e)frame.data8[1];
if (command == bench_test_io_control_e::CAN_BENCH_GET_COUNT) {
sendOutBoardMeta();
} else if (command == bench_test_io_control_e::CAN_QC_OUTPUT_CONTROL_SET) {
// see also "bench_setpin" console command
setPin(frame, 1);
} else if (command == bench_test_io_control_e::CAN_QC_OUTPUT_CONTROL_CLEAR) {
setPin(frame, 0);
} else if (command == bench_test_io_control_e::CAN_QC_ETB) {
uint8_t dcIndex = frame.data8[2];
uint8_t direction = frame.data8[3];
qcSetEtbState(dcIndex, direction);
} else if (command == bench_test_io_control_e::CAN_BENCH_SET_ENGINE_TYPE) {
int eType = frame.data8[2];
// todo: fix firmware for 'false' to be possible - i.e. more of properties should be applied on the fly
setEngineType(eType, true);
#if EFI_PROD_CODE
scheduleReboot();
#endif // EFI_PROD_CODE
} else if (command == bench_test_io_control_e::CAN_BENCH_START_PIN_TEST) {
bench_mode_e benchModePinIdx = (bench_mode_e)frame.data8[2];
// ignore previous pin state and stats
resetPinStats(benchModePinIdx);
} else if (command == bench_test_io_control_e::CAN_BENCH_END_PIN_TEST) {
sendSavedBenchStatePackets();
} else if (command == bench_test_io_control_e::CAN_BENCH_EXECUTE_BENCH_TEST) {
int benchCommandIdx = frame.data8[2];
handleBenchCategory(benchCommandIdx);
} else if (command == bench_test_io_control_e::CAN_BENCH_QUERY_PIN_STATE) {
bench_mode_e benchModePinIdx = (bench_mode_e)frame.data8[2];
sendPinStatePackets(benchModePinIdx);
}
}
#endif // EFI_CAN_SUPPORT
void initQcBenchControls() {
#if EFI_CAN_SUPPORT && EFI_PROD_CODE
addConsoleActionII("qc_etb", [](int index, int direction) {
qcSetEtbState(index, direction);
});
addConsoleActionI("qc_output", [](int index) {
Gpio* boardOutputs = getBoardMetaOutputs();
criticalAssertVoid(boardOutputs != nullptr, "outputs not defined");
Gpio pin = boardOutputs[index];
efiSetPadModeWithoutOwnershipAcquisition("qc_output", pin, PAL_MODE_OUTPUT_PUSHPULL);
int physicalValue = palReadPad(getHwPort("read", pin), getHwPin("read", pin));
efiPrintf("original pin %s value %d", hwPortname(pin), physicalValue);
palWritePad(getHwPort("write", pin), getHwPin("write", pin), 1 - physicalValue);
sendManualPinTest(index);
});
#endif // EFI_PROD_CODE
}
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