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Native SENT TPS input #5079

This commit is contained in:
rusefillc 2023-02-20 11:38:20 -05:00
parent 99e9443b08
commit 530824ecae
3 changed files with 31 additions and 28 deletions
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3
firmware/controllers/sensors/sent_state.txt
View File

@ -1,4 +1,5 @@
struct sent_state_s struct sent_state_s
uint16_t value1 uint16_t value0;"ETB: SENT value0";"value", 1,0, 0,3, 0,@@GAUGE_CATEGORY_ETB@@
uint16_t value1;"ETB: SENT value1";"value", 1,0, 0,3, 0,@@GAUGE_CATEGORY_ETB@@
float errorRate;"ETB: SENT error rate";"ratio", 1,0, 0,3, 2,@@GAUGE_CATEGORY_ETB@@ float errorRate;"ETB: SENT error rate";"ratio", 1,0, 0,3, 2,@@GAUGE_CATEGORY_ETB@@
end_struct end_struct

48
firmware/hw_layer/drivers/sent/sent.cpp
View File

@ -57,8 +57,7 @@
/* convert CPU ticks to float Us */ /* convert CPU ticks to float Us */
#define TicksToUs(ticks) ((float)(ticks) * 1000.0 * 1000.0 / CORE_CLOCK) #define TicksToUs(ticks) ((float)(ticks) * 1000.0 * 1000.0 / CORE_CLOCK)
void sent_channel::restart(void) void sent_channel::restart(void) {
{
state = SENT_STATE_CALIB; state = SENT_STATE_CALIB;
pulseCounter = 0; pulseCounter = 0;
currentStatePulseCounter = 0; currentStatePulseCounter = 0;
@ -82,20 +81,17 @@ void sent_channel::restart(void)
#endif #endif
} }
uint32_t sent_channel::calcTickPerUnit(uint32_t clocks) uint32_t sent_channel::calcTickPerUnit(uint32_t clocks) {
{
/* int division with rounding */ /* int division with rounding */
return (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) / return (clocks + (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL) / 2) /
(SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL); (SENT_SYNC_INTERVAL + SENT_OFFSET_INTERVAL);
} }
float sent_channel::getTickTime(void) float sent_channel::getTickTime(void) {
{
return tickPerUnit; return tickPerUnit;
} }
int sent_channel::Decoder(uint16_t clocks) int sent_channel::Decoder(uint16_t clocks) {
{
int ret = 0; int ret = 0;
int interval; int interval;
@ -275,8 +271,7 @@ int sent_channel::Decoder(uint16_t clocks)
return ret; return ret;
} }
int sent_channel::GetMsg(uint32_t* rx) int sent_channel::GetMsg(uint32_t* rx) {
{
if (rx) { if (rx) {
*rx = rxLast; *rx = rxLast;
} }
@ -507,10 +502,7 @@ uint8_t sent_channel::crc6(uint32_t data)
static sent_channel channels[SENT_CHANNELS_NUM]; static sent_channel channels[SENT_CHANNELS_NUM];
void sent_channel::Info(void) void sent_channel::Info(void) {
{
int i;
uint8_t stat; uint8_t stat;
uint16_t sig0, sig1; uint16_t sig0, sig1;
@ -523,7 +515,7 @@ void sent_channel::Info(void)
if (scMsgFlags) { if (scMsgFlags) {
efiPrintf("Slow channels:"); efiPrintf("Slow channels:");
for (i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) { for (int i = 0; i < SENT_SLOW_CHANNELS_MAX; i++) {
if (scMsgFlags & BIT(i)) { if (scMsgFlags & BIT(i)) {
efiPrintf(" ID %d: %d", scMsg[i].id, scMsg[i].data); efiPrintf(" ID %d: %d", scMsg[i].id, scMsg[i].data);
} }
@ -551,8 +543,7 @@ static MAILBOX_DECL(sent_mb, sent_mb_buffer, SENT_MB_SIZE);
static THD_WORKING_AREA(waSentDecoderThread, 256); static THD_WORKING_AREA(waSentDecoderThread, 256);
void SENT_ISR_Handler(uint8_t ch, uint16_t clocks) void SENT_ISR_Handler(uint8_t ch, uint16_t clocks) {
{
/* encode to fit msg_t */ /* encode to fit msg_t */
msg_t msg = (ch << 16) | clocks; msg_t msg = (ch << 16) | clocks;
@ -562,12 +553,10 @@ void SENT_ISR_Handler(uint8_t ch, uint16_t clocks)
chSysUnlockFromISR(); chSysUnlockFromISR();
} }
static void SentDecoderThread(void*) static void SentDecoderThread(void*) {
{ while (true) {
msg_t msg;
while(true)
{
msg_t ret; msg_t ret;
msg_t msg;
ret = chMBFetchTimeout(&sent_mb, &msg, TIME_INFINITE); ret = chMBFetchTimeout(&sent_mb, &msg, TIME_INFINITE);
@ -579,6 +568,14 @@ static void SentDecoderThread(void*)
sent_channel &ch = channels[n]; sent_channel &ch = channels[n];
if (ch.Decoder(tick) > 0) { if (ch.Decoder(tick) > 0) {
uint16_t sig0, sig1;
ch.GetSignals(NULL, &sig0, &sig1);
engine->sent_state.value0 = sig0;
engine->sent_state.value1 = sig1;
engine->sent_state.errorRate = ch.getErrorRate();
/* Call high level decoder from here */ /* Call high level decoder from here */
} }
} }
@ -586,11 +583,8 @@ static void SentDecoderThread(void*)
} }
} }
static void printSentInfo() static void printSentInfo() {
{ for (int i = 0; i < SENT_CHANNELS_NUM; i++) {
int i;
for (i = 0; i < SENT_CHANNELS_NUM; i++) {
sent_channel &ch = channels[i]; sent_channel &ch = channels[i];
efiPrintf("---- SENT ch %d ----", i); efiPrintf("---- SENT ch %d ----", i);

8
firmware/hw_layer/drivers/sent/sent_logic.h
View File

@ -41,6 +41,14 @@ struct sent_channel_stat {
/* Slow channel */ /* Slow channel */
uint32_t sc; uint32_t sc;
uint32_t scCrcErr; uint32_t scCrcErr;
uint32_t getTotalError() {
return ShortIntervalErr + LongIntervalErr + SyncErr + CrcErrCnt;
}
float getErrorRate() {
return getTotalError() * 1.0 / FrameCnt;
}
}; };
class sent_channel { class sent_channel {