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don't rely on triggerStateListener to detect trigger errors (#4164) 

* Write proper TriggerDecoder tests

* Improve logic around sync loss

* these tests I understand

* these I sort of understand....

* the one error in the noiseless decoder is gone!
This commit is contained in:
Matthew Kennedy 2022-05-13 15:48:26 -07:00 committed by GitHub
parent ce1e54fd67
commit ae91b2aea8
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 47 additions and 47 deletions
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53
firmware/controllers/trigger/trigger_decoder.cpp
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@ -422,20 +422,18 @@ void PrimaryTriggerDecoder::onTriggerError() {
bool TriggerDecoderBase::validateEventCounters(const TriggerWaveform& triggerShape) const {
// We can check if things are fine by comparing the number of events in a cycle with the expected number of event.
bool isDecodingError = false;
for (int i = 0;i < PWM_PHASE_MAX_WAVE_PER_PWM;i++) {
isDecodingError |= (currentCycle.eventCount[i] != triggerShape.getExpectedEventCount(i));
}
#if EFI_UNIT_TEST
printf("sync point: isDecodingError=%d\r\n", isDecodingError);
if (isDecodingError) {
for (int i = 0;i < PWM_PHASE_MAX_WAVE_PER_PWM;i++) {
printf("count: cur=%d exp=%d\r\n", currentCycle.eventCount[i], triggerShape.getExpectedEventCount(i));
}
}
printf("validateEventCounters: isDecodingError=%d\n", isDecodingError);
if (isDecodingError) {
for (int i = 0;i < PWM_PHASE_MAX_WAVE_PER_PWM;i++) {
printf("count: cur=%d exp=%d\n", currentCycle.eventCount[i], triggerShape.getExpectedEventCount(i));
}
}
#endif /* EFI_UNIT_TEST */
return isDecodingError;
@ -670,22 +668,32 @@ void TriggerDecoderBase::decodeTriggerEvent(
#endif /* EFI_UNIT_TEST */
if (isSynchronizationPoint) {
bool isDecodingError = validateEventCounters(triggerShape);
if (triggerStateListener) {
bool isDecodingError = validateEventCounters(triggerShape);
triggerStateListener->OnTriggerSyncronization(wasSynchronized, isDecodingError);
// If we got a sync point, but the wrong number of events since the last sync point
if (wasSynchronized && isDecodingError) {
setTriggerErrorState();
totalTriggerErrorCounter++;
// This is a decoding error
onTriggerError();
}
}
setShaftSynchronized(true);
// If we got a sync point, but the wrong number of events since the last sync point
// One of two things has happened:
// - We missed a tooth, and this is the real sync point
// - Due to some mistake in timing, we found what looks like a sync point but actually isn't
// In either case, we should wait for another sync point before doing anything to try and run an engine,
// so we clear the synchronized flag.
if (wasSynchronized && isDecodingError) {
setTriggerErrorState();
totalTriggerErrorCounter++;
// Something wrong, no longer synchronized
setShaftSynchronized(false);
// This is a decoding error
onTriggerError();
} else {
// If this was the first sync point OR no decode error, we're synchronized!
setShaftSynchronized(true);
}
// this call would update duty cycle values
nextTriggerEvent()
;
@ -703,8 +711,7 @@ void TriggerDecoderBase::decodeTriggerEvent(
toothed_previous_time = nowNt;
}
// TODO: should we include triggerStateListener here? That seems vestigial from when it called a listener, but it changes the behavior to remove it.
if (getShaftSynchronized() && !isValidIndex(triggerShape) && triggerStateListener) {
if (getShaftSynchronized() && !isValidIndex(triggerShape)) {
// We've had too many events since the last sync point, we should have seen a sync point by now.
// This is a trigger error.
@ -718,6 +725,8 @@ void TriggerDecoderBase::decodeTriggerEvent(
onTriggerError();
setShaftSynchronized(false);
return;
}

11
unit_tests/tests/trigger/test_cam_vvt_input.cpp
View File

@ -53,9 +53,8 @@ TEST(trigger, testNoStartUpWarnings) {
eth.fireRise(50);
eth.fireFall(150);
}
ASSERT_EQ( 2, unitTestWarningCodeState.recentWarnings.getCount()) << "warningCounter#testNoStartUpWarnings CUSTOM_SYNC_COUNT_MISMATCH expected";
ASSERT_EQ(CUSTOM_SYNC_ERROR, unitTestWarningCodeState.recentWarnings.get(0));
ASSERT_EQ(CUSTOM_SYNC_COUNT_MISMATCH, unitTestWarningCodeState.recentWarnings.get(1));
EXPECT_EQ( 1, unitTestWarningCodeState.recentWarnings.getCount()) << "warningCounter#testNoStartUpWarnings CUSTOM_SYNC_COUNT_MISMATCH expected";
EXPECT_EQ(CUSTOM_SYNC_ERROR, unitTestWarningCodeState.recentWarnings.get(0));
}
TEST(trigger, testNoisyInput) {
@ -141,8 +140,8 @@ TEST(trigger, testNB2CamInput) {
int totalRevolutionCountBeforeVvtSync = 5;
// need to be out of VVT sync to see VVT sync in action
eth.fireRise(25);
eth.fireRise(25);
eth.fireRise(25 * 70 / 180);
eth.fireRise(25 * 110 / 180);
ASSERT_EQ(totalRevolutionCountBeforeVvtSync, engine->triggerCentral.triggerState.getTotalRevolutionCounter());
ASSERT_TRUE((totalRevolutionCountBeforeVvtSync % SYMMETRICAL_CRANK_SENSOR_DIVIDER) != 0);
@ -174,7 +173,7 @@ TEST(trigger, testNB2CamInput) {
eth.moveTimeForwardUs(MS2US( 30));
hwHandleVvtCamSignal(TV_RISE, getTimeNowNt(), 0);
EXPECT_NEAR(93.000f, engine->triggerCentral.getVVTPosition(0, 0), EPS2D);
EXPECT_NEAR(288.0f, engine->triggerCentral.getVVTPosition(0, 0), EPS2D);
// actually position based on VVT!
ASSERT_EQ(totalRevolutionCountBeforeVvtSync + 3, engine->triggerCentral.triggerState.getTotalRevolutionCounter());

2
unit_tests/tests/trigger/test_real_cranking_nissan_vq40.cpp
View File

@ -23,7 +23,7 @@ TEST(realCrankingVQ40, normalCranking) {
float vvt1 = engine->triggerCentral.getVVTPosition(/*bankIndex*/0, /*camIndex*/0);
if (vvt1 != 0 && !hasSeenFirstVvt) {
EXPECT_NEAR(vvt1, 24.91, 1);
EXPECT_NEAR(vvt1, -33.204, 1);
hasSeenFirstVvt = true;
}
}

10
unit_tests/tests/trigger/test_real_nb2_cranking.cpp
View File

@ -24,14 +24,14 @@ TEST(realCrankingNB2, normalCranking) {
// Check the number of times VVT information was used to adjust crank phase
// This should happen exactly once: once we sync, we shouldn't lose it.
EXPECT_EQ(engine->triggerCentral.triggerState.vvtSyncCounter, 1);
EXPECT_EQ(engine->triggerCentral.triggerState.vvtSyncCounter, 2);
ASSERT_EQ(942, round(Sensor::getOrZero(SensorType::Rpm)));
ASSERT_EQ(3, eth.recentWarnings()->getCount());
ASSERT_EQ(CUSTOM_OUT_OF_ORDER_COIL, eth.recentWarnings()->get(0));
ASSERT_EQ(CUSTOM_SYNC_COUNT_MISMATCH, eth.recentWarnings()->get(1));
ASSERT_EQ(CUSTOM_SYNC_ERROR, eth.recentWarnings()->get(2));
ASSERT_EQ(CUSTOM_SYNC_ERROR, eth.recentWarnings()->get(1));
ASSERT_EQ(CUSTOM_SYNC_COUNT_MISMATCH, eth.recentWarnings()->get(2));
}
TEST(realCrankingNB2, crankingMissingInjector) {
@ -52,6 +52,6 @@ TEST(realCrankingNB2, crankingMissingInjector) {
ASSERT_EQ(3, eth.recentWarnings()->getCount());
ASSERT_EQ(CUSTOM_OUT_OF_ORDER_COIL, eth.recentWarnings()->get(0));
ASSERT_EQ(CUSTOM_SYNC_COUNT_MISMATCH, eth.recentWarnings()->get(1));
ASSERT_EQ(CUSTOM_SYNC_ERROR, eth.recentWarnings()->get(2));
ASSERT_EQ(CUSTOM_SYNC_ERROR, eth.recentWarnings()->get(1));
ASSERT_EQ(CUSTOM_SYNC_COUNT_MISMATCH, eth.recentWarnings()->get(2));
}

12
unit_tests/tests/trigger/test_trigger_decoder_2.cpp
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@ -143,8 +143,7 @@ TEST(TriggerDecoder, TooManyTeeth_CausesError) {
StrictMock<MockTriggerDecoder> dut;
// We expect one call to onTriggerError().
// TODO: uncomment this once decoder is fixed
// EXPECT_CALL(dut, onTriggerError());
EXPECT_CALL(dut, onTriggerError());
// Fire a few boring evenly spaced teeth
t += MS2NT(1);
@ -178,8 +177,7 @@ TEST(TriggerDecoder, TooManyTeeth_CausesError) {
// This tooth is extra - expect a call to onTriggerError() and loss of sync!
t += MS2NT(1);
doTooth(dut, shape, cfg, t);
// TODO: uncomment this once decoder is fixed
// EXPECT_FALSE(dut.getShaftSynchronized());
EXPECT_FALSE(dut.getShaftSynchronized());
EXPECT_EQ(6, dut.currentCycle.current_index);
}
@ -193,8 +191,7 @@ TEST(TriggerDecoder, NotEnoughTeeth_CausesError) {
StrictMock<MockTriggerDecoder> dut;
// We expect one call to onTriggerError().
// TODO: uncomment this once decoder is fixed
// EXPECT_CALL(dut, onTriggerError());
EXPECT_CALL(dut, onTriggerError());
// Fire a few boring evenly spaced teeth
t += MS2NT(1);
@ -225,7 +222,6 @@ TEST(TriggerDecoder, NotEnoughTeeth_CausesError) {
doTooth(dut, shape, cfg, t);
// Sync is lost until we get to another sync point
// TODO: uncomment this once decoder is fixed
// EXPECT_FALSE(dut.getShaftSynchronized());
EXPECT_FALSE(dut.getShaftSynchronized());
EXPECT_EQ(0, dut.currentCycle.current_index);
}

6
unit_tests/tests/trigger/test_trigger_noiseless.cpp
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@ -152,11 +152,7 @@ static void testNoiselessDecoderProcedure(EngineTestHelper &eth, int errorTolera
// add noise7 - 34 short spikes across the entire signal pulse
fireNoisyCycle60_2(&eth, 2, 1000, 2, 10, 10, failProofNumSpikes + 1);
// alas, this is a hard case even for noiseless decoder, and it fails...
// but still we're close to 33% signal-noise ratio threshold - not bad!
// so here's an error anyway!
ASSERT_EQ( 1, engine->triggerCentral.triggerState.totalTriggerErrorCounter) << "testNoiselessDecoder noise#7_fail_test";
ASSERT_EQ(errorToleranceCnt, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
}
TEST(trigger, noiselessDecoder) {