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Fix prepareEventAngles for symmetrical crank triggers (#2982) 

* fix and make code legible

* update test to check every tooth

* symmetrical crank

* simplify findTriggerPosition

* make getAngle intelligable
This commit is contained in:
Matthew Kennedy 2021-07-17 20:27:20 -07:00 committed by GitHub
parent c1781214eb
commit 5f3464b204
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 47 additions and 20 deletions
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12
firmware/controllers/trigger/decoders/trigger_structure.cpp
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@ -159,7 +159,10 @@ angle_t TriggerWaveform::getAngle(int index) const {
int crankCycle = index / privateTriggerDefinitionSize; int crankCycle = index / privateTriggerDefinitionSize;
int remainder = index % privateTriggerDefinitionSize; int remainder = index % privateTriggerDefinitionSize;
return getCycleDuration() * crankCycle + getSwitchAngle(remainder); auto cycleStartAngle = getCycleDuration() * crankCycle;
auto positionWithinCycle = getSwitchAngle(remainder);
return cycleStartAngle + positionWithinCycle;
} }
void TriggerWaveform::addEventClamped(angle_t angle, trigger_wheel_e const channelIndex, trigger_value_e const stateParam, float filterLeft, float filterRight) { void TriggerWaveform::addEventClamped(angle_t angle, trigger_wheel_e const channelIndex, trigger_value_e const stateParam, float filterLeft, float filterRight) {
@ -418,7 +421,10 @@ void findTriggerPosition(TriggerWaveform *triggerShape,
int triggerEventIndex = details->triggerIndexByAngle[(int)angle]; int triggerEventIndex = details->triggerIndexByAngle[(int)angle];
angle_t triggerEventAngle = details->eventAngles[triggerEventIndex]; angle_t triggerEventAngle = details->eventAngles[triggerEventIndex];
if (angle < triggerEventAngle) { angle_t offsetFromTriggerEvent = angle - triggerEventAngle;
// Guarantee that we aren't going to try and schedule an event prior to the tooth
if (offsetFromTriggerEvent < 0) {
warning(CUSTOM_OBD_ANGLE_CONSTRAINT_VIOLATION, "angle constraint violation in findTriggerPosition(): %.2f/%.2f", angle, triggerEventAngle); warning(CUSTOM_OBD_ANGLE_CONSTRAINT_VIOLATION, "angle constraint violation in findTriggerPosition(): %.2f/%.2f", angle, triggerEventAngle);
return; return;
} }
@ -428,7 +434,7 @@ void findTriggerPosition(TriggerWaveform *triggerShape,
chibios_rt::CriticalSectionLocker csl; chibios_rt::CriticalSectionLocker csl;
position->triggerEventIndex = triggerEventIndex; position->triggerEventIndex = triggerEventIndex;
position->angleOffsetFromTriggerEvent = angle - triggerEventAngle; position->angleOffsetFromTriggerEvent = offsetFromTriggerEvent;
} }
} }

28
firmware/controllers/trigger/trigger_decoder.cpp
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@ -170,6 +170,12 @@ void prepareEventAngles(TriggerWaveform *shape,
memset(details->eventAngles, 0, sizeof(details->eventAngles)); memset(details->eventAngles, 0, sizeof(details->eventAngles));
// this may be <length for some triggers like symmetrical crank Miata NB
int triggerShapeLength = shape->privateTriggerDefinitionSize;
assertAngleRange(shape->triggerShapeSynchPointIndex, "triggerShapeSynchPointIndex", CUSTOM_TRIGGER_SYNC_ANGLE2);
efiAssertVoid(CUSTOM_TRIGGER_CYCLE, engine->engineCycleEventCount != 0, "zero engineCycleEventCount");
for (int eventIndex = 0; eventIndex < length; eventIndex++) { for (int eventIndex = 0; eventIndex < length; eventIndex++) {
if (eventIndex == 0) { if (eventIndex == 0) {
// explicit check for zero to avoid issues where logical zero is not exactly zero due to float nature // explicit check for zero to avoid issues where logical zero is not exactly zero due to float nature
@ -177,15 +183,25 @@ void prepareEventAngles(TriggerWaveform *shape,
// this value would be used in case of front-only // this value would be used in case of front-only
details->eventAngles[1] = 0; details->eventAngles[1] = 0;
} else { } else {
assertAngleRange(shape->triggerShapeSynchPointIndex, "triggerShapeSynchPointIndex", CUSTOM_TRIGGER_SYNC_ANGLE2); // Rotate the trigger around so that the sync point is at position 0
unsigned int triggerDefinitionCoordinate = (shape->triggerShapeSynchPointIndex + eventIndex) % length; auto wrappedIndex = (shape->triggerShapeSynchPointIndex + eventIndex) % length;
efiAssertVoid(CUSTOM_TRIGGER_CYCLE, engine->engineCycleEventCount != 0, "zero engineCycleEventCount");
int triggerDefinitionIndex = triggerDefinitionCoordinate >= shape->privateTriggerDefinitionSize ? triggerDefinitionCoordinate - shape->privateTriggerDefinitionSize : triggerDefinitionCoordinate; // Compute this tooth's position within the trigger definition
float angle = shape->getAngle(triggerDefinitionCoordinate) - firstAngle; // (wrap, as the trigger def may be smaller than total trigger length)
auto triggerDefinitionIndex = wrappedIndex % triggerShapeLength;
// Compute the relative angle of this tooth to the sync point's tooth
float angle = shape->getAngle(wrappedIndex) - firstAngle;
efiAssertVoid(CUSTOM_TRIGGER_CYCLE, !cisnan(angle), "trgSyncNaN"); efiAssertVoid(CUSTOM_TRIGGER_CYCLE, !cisnan(angle), "trgSyncNaN");
// Wrap the angle back in to [0, 720)
fixAngle(angle, "trgSync", CUSTOM_TRIGGER_SYNC_ANGLE_RANGE); fixAngle(angle, "trgSync", CUSTOM_TRIGGER_SYNC_ANGLE_RANGE);
if (engineConfiguration->useOnlyRisingEdgeForTrigger) { if (engineConfiguration->useOnlyRisingEdgeForTrigger) {
assertIsInBounds(triggerDefinitionIndex, shape->isRiseEvent, "isRise"); efiAssertVoid(OBD_PCM_Processor_Fault, triggerDefinitionIndex < triggerShapeLength, "trigger shape fail");
assertIsInBounds(triggerDefinitionIndex, shape->isRiseEvent, "isRise");
// In case this is a rising event, replace the following fall event with the rising as well
if (shape->isRiseEvent[triggerDefinitionIndex]) { if (shape->isRiseEvent[triggerDefinitionIndex]) {
riseOnlyIndex += 2; riseOnlyIndex += 2;
details->eventAngles[riseOnlyIndex] = angle; details->eventAngles[riseOnlyIndex] = angle;

27
unit_tests/tests/trigger/test_symmetrical_crank.cpp
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@ -21,20 +21,25 @@ TEST(engine, testAngleLogicInSymmetricalCrankIssue2980) {
TriggerWaveform * form = &ENGINE(triggerCentral.triggerShape); TriggerWaveform * form = &ENGINE(triggerCentral.triggerShape);
ASSERT_EQ(form->findAngleIndex(triggerForm, 10), 1); #define EXPECT_FINDANGLE(angle, idx) EXPECT_EQ(form->findAngleIndex(triggerForm, angle) & 0xFFFF'FFFE, idx);
ASSERT_EQ(form->findAngleIndex(triggerForm, 180), 5);
ASSERT_EQ(form->findAngleIndex(triggerForm, 310), 5); // Check one angle just after every trigger tooth, for two full revolutions (720 degrees, one engine cycle, 4 loops of the trigger)
ASSERT_EQ(form->findAngleIndex(triggerForm, 540), 5);
ASSERT_EQ(form->findAngleIndex(triggerForm, 640), 5); // First quarter
ASSERT_EQ(form->findAngleIndex(triggerForm, 650), 7); EXPECT_FINDANGLE(0 * 180 + 5, 0); // 5
ASSERT_EQ(form->findAngleIndex(triggerForm, 660), 15); EXPECT_FINDANGLE(0 * 180 + 115, 2); // 115
ASSERT_EQ(form->findAngleIndex(triggerForm, 670), 15);
ASSERT_EQ(form->findAngleIndex(triggerForm, 680), 15);
ASSERT_EQ(form->findAngleIndex(triggerForm, 700), 15); // Second quarter
ASSERT_EQ(form->findAngleIndex(triggerForm, 710), 15); EXPECT_FINDANGLE(1 * 180 + 5, 4); // 180+5 = 185
EXPECT_FINDANGLE(1 * 180 + 115, 6); // 180+115 = 295
// Third quarter
EXPECT_FINDANGLE(2 * 180 + 5, 8); // 360+5 = 365
EXPECT_FINDANGLE(2 * 180 + 115, 10); // 360+115 = 475
// Fourth quarter
EXPECT_FINDANGLE(3 * 180 + 5, 12); // 540+5 = 545
EXPECT_FINDANGLE(3 * 180 + 115, 14); // 540+115 = 655
} }
TEST(engine, testSymmetricalCrank) { TEST(engine, testSymmetricalCrank) {