andreika-git
/
rusefi
mirror of https://github.com/andreika-git/rusefi.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
rusefi/firmware/hw_layer/drivers/sent/sent.cpp

650 lines
16 KiB
C++
Raw Blame History

/*
* sent.cpp
*
* SENT protocol decoder
*
* TODO support MAF sensors like 04E906051 see https://github.com/rusefi/rusefi-hardware/issues/146
*
* @date Oct 01, 2022
* @author Andrey Gusakov <dron0gus@gmail.com>, (c) 2022
*/
#if EFI_PROD_CODE || EFI_UNIT_TEST
#include "pch.h"
#include "sent.h"
#include "sent_logic.h"
/*==========================================================================*/
/* Protocol definitions. */
/*==========================================================================*/
#define SENT_OFFSET_INTERVAL 12
#define SENT_SYNC_INTERVAL (56 - SENT_OFFSET_INTERVAL) // 56 ticks - 12
#define SENT_MIN_INTERVAL 12
#define SENT_MAX_INTERVAL 15
#define SENT_CRC_SEED 0x05
#define SENT_MSG_DATA_SIZE 6
/* Status + two 12-bit signals + CRC */
#define SENT_MSG_PAYLOAD_SIZE (1 + SENT_MSG_DATA_SIZE + 1) // Size of payload
/* 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 neable 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;
hasPausePulse = false;
tickPerUnit = 0;
/* reset slow channels */
scMsgFlags = 0;
scShift2 = 0;
scShift3 = 0;
#if SENT_STATISTIC_COUNTERS
statistic.ShortIntervalErr = 0;
statistic.LongIntervalErr = 0;
statistic.SyncErr = 0;
statistic.CrcErrCnt = 0;
statistic.FrameCnt = 0;
statistic.sc = 0;
statistic.scCrcErr = 0;
statistic.RestartCnt++;
#endif
}
uint32_t sent_channel::calcTickPerUnit(uint32_t clocks) {
/* int division with rounding */
return (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
}
float sent_channel::getTickTime() {
return tickPerUnit;
}
int sent_channel::Decoder(uint16_t clocks) {
int ret = 0;
int interval;
pulseCounter++;
/* special case - tick time calculation */
if (state == SENT_STATE_CALIB) {
if (tickPerUnit == 0) {
/* no tickPerUnit calculated yet
* lets assume this is sync pulse... */
tickPerUnit = calcTickPerUnit(clocks);
} else {
/* some tickPerUnit calculated...
* Check next 1 + 6 + 1 pulses if they are valid with current tickPerUnit */
interval = (clocks + tickPerUnit / 2) / tickPerUnit - SENT_OFFSET_INTERVAL;
if ((interval >= 0) && (interval <= SENT_MAX_INTERVAL)) {
currentStatePulseCounter++;
if (currentStatePulseCounter == SENT_MSG_PAYLOAD_SIZE) {
pulseCounter = 0;
currentStatePulseCounter = 0;
state = SENT_STATE_INIT;
}
} else {
currentStatePulseCounter = 0;
tickPerUnit = 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) {
/* check if pulse looks like sync with allowed +/-20% deviation */
int syncClocks = (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) * tickPerUnit;
if (((100 * clocks) >= (syncClocks * 80)) &&
((100 * clocks) <= (syncClocks * 120))) {
/* adjust unit time */
tickPerUnit = 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 sends pause
* pulses in between of messages */
if (currentStatePulseCounter == 1) {
hasPausePulse = true;
}
/* next state */
currentStatePulseCounter = 0;
state = SENT_STATE_STATUS;
} else {
currentStatePulseCounter++;
/* 3 frames skipped, no SYNC detected - recalibrate */
if (currentStatePulseCounter >= (9 * 3)) {
restart();
}
}
/* done for this pulse */
return 0;
}
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 */
ret = -1;
break;
case SENT_STATE_SYNC:
if (interval == SENT_SYNC_INTERVAL)
{// sync interval - 56 ticks
/* measured tick interval will be used until next sync pulse */
tickPerUnit = calcTickPerUnit(clocks);
rxReg = 0;
state = SENT_STATE_STATUS;
}
else
{
#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;
}
break;
case SENT_STATE_STATUS:
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)
{
rxReg = (rxReg << 4) | (uint32_t)interval;
if (state != SENT_STATE_CRC)
{
/* TODO: refactor */
state = (SENT_STATE_enum)((int)state + 1);
}
else
{
#if SENT_STATISTIC_COUNTERS
statistic.FrameCnt++;
#endif // SENT_STATISTIC_COUNTERS
/* 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? */
ret = 1;
}
else
{
#if SENT_STATISTIC_COUNTERS
statistic.CrcErrCnt++;
#endif // SENT_STATISTIC_COUNTERS
ret = -1;
}
state = hasPausePulse ? SENT_STATE_PAUSE : SENT_STATE_SYNC;
}
}
else
{
#if SENT_STATISTIC_COUNTERS
statistic.LongIntervalErr++;
#endif
state = SENT_STATE_INIT;
ret = -1;
}
break;
case SENT_STATE_PAUSE:
state = SENT_STATE_SYNC;
break;
}
if (ret > 0) {
/* valid packet received, can process slow channels */
SlowChannelDecoder();
} else if (ret < 0) {
/* packet is incorrect, reset slow channel state machine */
scShift2 = 0;
scShift3 = 0;
/* TODO: add error counter and restart from CALIB state? */
}
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;
}
/* 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_PROD_CODE || EFI_UNIT_TEST
#if EFI_PROD_CODE
static sent_channel channels[SENT_CHANNELS_NUM];
void sent_channel::Info() {
uint8_t stat;
uint16_t sig0, sig1;
efiPrintf("Unit time %lu CPU ticks %f uS", tickPerUnit, TicksToUs(getTickTime()));
efiPrintf("Total pulses %lu", pulseCounter);
if (GetSignals(&stat, &sig0, &sig1) == 0) {
efiPrintf("Last valid fast msg Status 0x%01x Sig0 0x%03x Sig1 0x%03x", stat, sig0, sig1);
}
if (scMsgFlags) {
efiPrintf("Slow channels:");
for (int i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
if (scMsgFlags & BIT(i)) {
efiPrintf(" ID %d: %d", scMsg[i].id, scMsg[i].data);
}
}
}
#if SENT_STATISTIC_COUNTERS
efiPrintf("Restarts %lu", statistic.RestartCnt);
efiPrintf("Interval errors %lu short, %lu long", statistic.ShortIntervalErr, statistic.LongIntervalErr);
efiPrintf("Total frames %lu with CRC error %lu (%f%%)", statistic.FrameCnt, statistic.CrcErrCnt, statistic.CrcErrCnt * 100.0 / statistic.FrameCnt);
efiPrintf("Total slow channel messages %lu with crc6 errors %lu (%f%%)", statistic.sc, statistic.scCrcErr, statistic.scCrcErr * 100.0 / statistic.sc);
efiPrintf("Sync errors %lu", statistic.SyncErr);
#endif
}
/*==========================================================================*/
/* Decoder thread settings. */
/*==========================================================================*/
/* 4 per channel should be enough */
#define SENT_MB_SIZE (4 * SENT_CHANNELS_NUM)
static msg_t sent_mb_buffer[SENT_MB_SIZE];
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) {
/* encode to fit msg_t */
msg_t msg = (channel << 16) | clocks;
/* called from ISR */
chSysLockFromISR();
chMBPostI(&sent_mb, msg);
chSysUnlockFromISR();
}
static void SentDecoderThread(void*) {
while (true) {
msg_t ret;
msg_t msg;
ret = chMBFetchTimeout(&sent_mb, &msg, TIME_INFINITE);
if (ret == MSG_OK) {
uint16_t tick = msg & 0xffff;
uint8_t n = (msg >> 16) & 0xff;
if (n < SENT_CHANNELS_NUM) {
sent_channel &channel = channels[n];
if (channel.Decoder(tick) > 0) {
uint16_t sig0, sig1;
channel.GetSignals(NULL, &sig0, &sig1);
engine->sent_state.value0 = sig0;
engine->sent_state.value1 = sig1;
#if SENT_STATISTIC_COUNTERS
engine->sent_state.errorRate = channel.statistic.getErrorRate();
#endif // SENT_STATISTIC_COUNTERS
/* Call high level decoder from here */
sentTpsDecode();
}
}
}
}
}
static void printSentInfo() {
#if EFI_SENT_SUPPORT
for (int i = 0; i < SENT_CHANNELS_NUM; i++) {
sent_channel &channel = channels[i];
const char * pinName = getBoardSpecificPinName(engineConfiguration->sentInputPins[i]);
efiPrintf("---- SENT ch %d ---- on %s", i, pinName);
channel.Info();
efiPrintf("--------------------");
}
#endif // EFI_SENT_SUPPORT
}
/* Don't be confused: this actually returns throttle body position */
/* TODO: remove, replace with getSentValues() */
float getSentValue(size_t index) {
if (index < SENT_CHANNELS_NUM) {
uint16_t sig0, sig1;
sent_channel &channel = channels[index];
if (channel.GetSignals(NULL, &sig0, &sig1) == 0) {
// GM sig0 + sig1 == 0xfff but Ford does not
/* scale to 0.0 .. 1.0 */
return sig0;
}
}
return NAN;
}
int getSentValues(size_t index, uint16_t *sig0, uint16_t *sig1) {
if (index < SENT_CHANNELS_NUM) {
sent_channel &channel = channels[index];
return channel.GetSignals(NULL, sig0, sig1);
}
/* invalid channel */
return -1;
}
/* Should be called once */
void initSent(void) {
/* init interval mailbox */
chMBObjectInit(&sent_mb, sent_mb_buffer, SENT_MB_SIZE);
chThdCreateStatic(waSentDecoderThread, sizeof(waSentDecoderThread), NORMALPRIO, SentDecoderThread, nullptr);
/* Start HW layer */
startSent();
addConsoleAction("sentinfo", &printSentInfo);
}
#endif /* EFI_PROD_CODE */
Reference in New Issue View Git Blame Copy Permalink