auto-sync

firmware/controllers/algo/engine_configuration.cpp

@@ -458,6 +458,7 @@ void setDefaultConfiguration(engine_configuration_s *engineConfiguration, board_
 	boardConfiguration->logicAnalyzerPins[2] = GPIO_UNASSIGNED;
 	boardConfiguration->logicAnalyzerPins[3] = GPIO_UNASSIGNED;
 	engineConfiguration->vehicleSpeedSensorInputPin = GPIO_UNASSIGNED;
+	engineConfiguration->vehicleSpeedCoef = 100;
 
 	boardConfiguration->logicAnalyzerMode[0] = false;
 	boardConfiguration->logicAnalyzerMode[1] = false;

firmware/controllers/algo/engine_configuration.h

@@ -409,7 +409,12 @@ typedef struct {
 
 	brain_pin_e vehicleSpeedSensorInputPin;
 
-	int unused964;
+	/**
+	 * This coefficient translates vehicle speed input frequency (in Hz) into vehicle speed
+	 * (in km/h)
+	 * offset 964
+	 */
+	float vehicleSpeedCoef;
 	// offset 968
 	can_nbc_e canNbcType;
 	// offset 972

firmware/emulation/wave_analyzer.cpp

@@ -114,10 +114,6 @@ static void setWaveModeSilent(int index, int mode) {
 static void initWave(const char *name, int index) {
 	brain_pin_e brainPin = boardConfiguration->logicAnalyzerPins[index];
 
-	ioportid_t port = getHwPort(brainPin);
-	ioportmask_t pin = getHwPin(brainPin);
-	ICUDriver *driver = getInputCaptureDriver(brainPin);
-
 	bool mode = boardConfiguration->logicAnalyzerMode[index];
 
 	waveReaderCount++;
@@ -131,7 +127,7 @@ static void initWave(const char *name, int index) {
 
 	registerCallback(&hw->periodListeners, (IntListener) waIcuPeriodCallback, (void*) reader);
 
-	initWaveAnalyzerDriver(hw, driver, port, pin);
+	initWaveAnalyzerDriver(hw, brainPin);
 
 	print("wave%d input on %s%d\r\n", index, portname(reader->hw.port), reader->hw.pin);
 	setWaveReaderMode(hw, mode);

firmware/hw_layer/trigger_input.cpp

@@ -25,14 +25,6 @@ extern engine_configuration_s *engineConfiguration;
 extern engine_configuration2_s *engineConfiguration2;
 extern board_configuration_s *boardConfiguration;
 
-static inline ICUDriver *getPrimaryInputCaptureDriver(void) {
-	return getInputCaptureDriver(boardConfiguration->triggerInputPins[0]);
-}
-
-static inline ICUDriver *getSecondaryInputCaptureDriver(void) {
-	return getInputCaptureDriver(boardConfiguration->triggerInputPins[1]);
-}
-
 /**
  * that's hardware timer input capture IRQ entry point
  * 'width' events happens before the 'period' event
@@ -40,7 +32,7 @@ static inline ICUDriver *getSecondaryInputCaptureDriver(void) {
 static void shaft_icu_width_callback(ICUDriver *icup) {
 // todo: support for 3rd trigger input channel
 // todo: start using real event time from HW event, not just software timer?
-	int isPrimary = icup == getPrimaryInputCaptureDriver();
+	int isPrimary = icup == primaryCrankInput.driver;
 	if (!isPrimary && !engineConfiguration->needSecondTriggerInput) {
 		return;
 	}
@@ -52,7 +44,7 @@ static void shaft_icu_width_callback(ICUDriver *icup) {
 }
 
 static void shaft_icu_period_callback(ICUDriver *icup) {
-	int isPrimary = icup == getPrimaryInputCaptureDriver();
+	int isPrimary = icup == primaryCrankInput.driver;
 	if (!isPrimary && !engineConfiguration->needSecondTriggerInput) {
 		return;
 	}
@@ -77,14 +69,14 @@ void initShaftPositionInputCapture(void) {
 
 	// todo: extract method!
 	// initialize primary Input Capture Unit pin
-	initWaveAnalyzerDriver(&primaryCrankInput, driver, getHwPort(boardConfiguration->triggerInputPins[0]),
+	initWaveAnalyzerDriver(&primaryCrankInput, boardConfiguration->triggerInputPins[0]);
-			getHwPin(boardConfiguration->triggerInputPins[0]));
 	/**
 	 * Start primary Input Capture Unit using given configuration
 	 * @see shaft_icucfg for callback entry points
 	 */
 	shaft_icucfg.channel = ICU_CHANNEL_1;
 	print("initShaftPositionInputCapture 1 %s\r\n", hwPortname(boardConfiguration->triggerInputPins[0]));
+	// todo: reuse 'setWaveReaderMode' method here?
 	if (driver != NULL) {
 		icuStart(driver, &shaft_icucfg);
 		icuEnable(driver);
@@ -92,8 +84,7 @@ void initShaftPositionInputCapture(void) {
 
 	driver = getInputCaptureDriver(boardConfiguration->triggerInputPins[1]);
 	// initialize secondary Input Capture Unit pin
-	initWaveAnalyzerDriver(&secondaryCrankInput, getSecondaryInputCaptureDriver(),
+	initWaveAnalyzerDriver(&secondaryCrankInput, boardConfiguration->triggerInputPins[1]);
-			getHwPort(boardConfiguration->triggerInputPins[1]), getHwPin(boardConfiguration->triggerInputPins[1]));
 	shaft_icucfg.channel = ICU_CHANNEL_1;
 	print("initShaftPositionInputCapture 2 %s\r\n", hwPortname(boardConfiguration->triggerInputPins[1]));
 	if (driver != NULL) {

firmware/hw_layer/wave_analyzer_hw.c

@@ -139,7 +139,12 @@ ICUDriver * getInputCaptureDriver(brain_pin_e hwPin) {
 	return (ICUDriver *) NULL;
 }
 
-void initWaveAnalyzerDriver(WaveReaderHw *hw, ICUDriver *driver, ioportid_t port, ioportmask_t pin) {
+void initWaveAnalyzerDriver(WaveReaderHw *hw, brain_pin_e brainPin) {
+	ioportid_t port = getHwPort(brainPin);
+	ioportmask_t pin = getHwPin(brainPin);
+
+	ICUDriver *driver = getInputCaptureDriver(brainPin);
+
 	hw->driver = driver;
 	hw->port = port;
 	hw->pin = pin;
@@ -170,7 +175,7 @@ void setWaveReaderMode(WaveReaderHw *hw, bool mode) {
 		icuStart(driver, &wave_icucfg);
 		icuEnable(driver);
 	}
-	hw->started = TRUE;
+	hw->started = true;
 }
 
 #endif

firmware/hw_layer/wave_analyzer_hw.h

@@ -21,6 +21,8 @@ typedef struct {
 	int activeMode; // 0 for ICU_INPUT_ACTIVE_LOW, 1 for ICU_INPUT_ACTIVE_HIGH
 	volatile int started;
 
+	// todo: make this a template & reduce number of listeners?
+	// todo: would one listener be enough?
 	IntListenerArray widthListeners;
 	IntListenerArray periodListeners;
 } WaveReaderHw;
@@ -30,8 +32,7 @@ extern "C"
 {
 #endif /* __cplusplus */
 
-void initWaveAnalyzerDriver(WaveReaderHw *hw, ICUDriver *driver,
+void initWaveAnalyzerDriver(WaveReaderHw *hw, brain_pin_e brainPin);
-		ioportid_t port, ioportmask_t pin);
 void setWaveReaderMode(WaveReaderHw *hw, bool mode);
 ICUDriver * getInputCaptureDriver(brain_pin_e hwPin);