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rusefi-full
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Merge remote-tracking branch 'origin/master' into master

This commit is contained in:
rusefillc 2020-10-14 20:09:50 -04:00
parent ba906c2cee 2855e04234
commit 68eb50332c
9 changed files with 75 additions and 84 deletions
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2
firmware/Makefile
View File

@ -40,7 +40,7 @@ endif
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = $(EXTRA_PARAMS) $(DEBUG_LEVEL_OPT) $(RFLAGS) -fomit-frame-pointer -falign-functions=16
USE_OPT = $(EXTRA_PARAMS) $(DEBUG_LEVEL_OPT) $(RFLAGS) -fomit-frame-pointer -falign-functions=16 -fsingle-precision-constant
endif
USE_OPT += $(RUSEFI_OPT)

5
firmware/console/status_loop.cpp
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@ -61,6 +61,7 @@
#include "periodic_thread_controller.h"
#include "cdm_ion_sense.h"
#include "binary_logging.h"
#include "buffered_writer.h"
extern bool main_loop_started;
@ -142,7 +143,7 @@ static float getAirFlowGauge(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
return hasMafSensor() ? getRealMaf(PASS_ENGINE_PARAMETER_SIGNATURE) : engine->engineState.airFlow;
}
void writeLogLine() {
void writeLogLine(Writer& buffer) {
#if EFI_FILE_LOGGING
if (!main_loop_started)
return;
@ -157,7 +158,7 @@ void writeLogLine() {
efiAssertVoid(OBD_PCM_Processor_Fault, length <= efi::size(sdLogBuffer), "SD log buffer overflow");
appendToLog(sdLogBuffer, length);
buffer.write(sdLogBuffer, length);
binaryLogCount++;
#endif /* EFI_FILE_LOGGING */

4
firmware/console/status_loop.h
View File

@ -13,5 +13,7 @@ void updateDevConsoleState(void);
void prepareTunerStudioOutputs(void);
void startStatusThreads(void);
void initStatusLoop(void);
void writeLogLine(void);
struct Writer;
void writeLogLine(Writer& buffer);
void printOverallStatus(systime_t nowSeconds);

2
firmware/controllers/date_stamp.h
View File

@ -1,2 +1,2 @@
#pragma once
#define VCS_DATE 20201012
#define VCS_DATE 20201014

2
firmware/controllers/engine_controller.cpp
View File

@ -707,7 +707,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
* UNUSED_SIZE constants.
*/
#ifndef RAM_UNUSED_SIZE
#define RAM_UNUSED_SIZE 2850
#define RAM_UNUSED_SIZE 2350
#endif
#ifndef CCM_UNUSED_SIZE
#define CCM_UNUSED_SIZE 2900

82
firmware/hw_layer/mmc_card.cpp
View File

@ -25,6 +25,7 @@
#include "engine_configuration.h"
#include "status_loop.h"
#include "usb_msd_cfg.h"
#include "buffered_writer.h"
#include "rtc_helper.h"
@ -304,49 +305,6 @@ static void listDirectory(const char *path) {
UNLOCK_SD_SPI;
}
static int errorReported = FALSE; // this is used to report the error only once
#if 0
void readLogFileContent(char *buffer, short fileId, short offset, short length) {
}
#endif
/**
* @brief Appends specified line to the current log file
*/
void appendToLog(const char *line, size_t lineLength) {
UINT bytesWritten;
if (!isSdCardAlive()) {
if (!errorReported)
scheduleMsg(&logger, "appendToLog Error: No File system is mounted");
errorReported = TRUE;
return;
}
totalLoggedBytes += lineLength;
LOCK_SD_SPI;
FRESULT err = f_write(&FDLogFile, line, lineLength, &bytesWritten);
if (bytesWritten < lineLength) {
printError("write error or disk full", err); // error or disk full
mmcUnMount();
} else {
writeCounter++;
totalWritesCounter++;
if (writeCounter >= F_SYNC_FREQUENCY) {
/**
* Performance optimization: not f_sync after each line, f_sync is probably a heavy operation
* todo: one day someone should actually measure the relative cost of f_sync
*/
f_sync(&FDLogFile);
totalSyncCounter++;
writeCounter = 0;
}
}
UNLOCK_SD_SPI;
}
/*
* MMC card un-mount.
*/
@ -439,6 +397,39 @@ static void MMCmount(void) {
}
}
class SdLogBufferWriter final : public BufferedWriter<512> {
size_t writeInternal(const char* buffer, size_t count) override {
size_t bytesWritten;
totalLoggedBytes += count;
LOCK_SD_SPI;
FRESULT err = f_write(&FDLogFile, buffer, count, &bytesWritten);
if (bytesWritten != count) {
printError("write error or disk full", err); // error or disk full
mmcUnMount();
} else {
writeCounter++;
totalWritesCounter++;
if (writeCounter >= F_SYNC_FREQUENCY) {
/**
* Performance optimization: not f_sync after each line, f_sync is probably a heavy operation
* todo: one day someone should actually measure the relative cost of f_sync
*/
f_sync(&FDLogFile);
totalSyncCounter++;
writeCounter = 0;
}
}
UNLOCK_SD_SPI;
return bytesWritten;
}
};
static SdLogBufferWriter logBuffer MAIN_RAM;
static THD_FUNCTION(MMCmonThread, arg) {
(void)arg;
chRegSetThreadName("MMC_Monitor");
@ -462,7 +453,7 @@ static THD_FUNCTION(MMCmonThread, arg) {
}
if (isSdCardAlive()) {
writeLogLine();
writeLogLine(logBuffer);
} else {
chThdSleepMilliseconds(100);
}
@ -501,9 +492,6 @@ void initMmcCard(void) {
chThdCreateStatic(mmcThreadStack, sizeof(mmcThreadStack), LOWPRIO, (tfunc_t)(void*) MMCmonThread, NULL);
addConsoleAction("mountsd", MMCmount);
addConsoleActionS("appendtolog", [](const char* str) {
appendToLog(str, strlen(str));
});
addConsoleAction("umountsd", mmcUnMount);
addConsoleActionS("ls", listDirectory);
addConsoleActionS("del", removeFile);

1
firmware/hw_layer/mmc_card.h
View File

@ -16,7 +16,6 @@
bool isLogFile(const char *fileName);
void initMmcCard(void);
bool isSdCardAlive(void);
void appendToLog(const char *line, size_t length);
void readLogFileContent(char *buffer, short fileId, short offset, short length);

1
unit_tests/Makefile
View File

@ -27,6 +27,7 @@ ifeq ($(USE_OPT),)
USE_OPT += -fprofile-arcs -ftest-coverage
USE_OPT += -Werror=missing-field-initializers
USE_OPT += -Wno-unused-parameter -Wno-unused-function
USE_OPT += -fsingle-precision-constant
endif

60
unit_tests/tests/test_pid.cpp
View File

@ -23,21 +23,21 @@ TEST(util, pid) {
Pid pid(&pidS);
ASSERT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90";
ASSERT_FLOAT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90";
ASSERT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10";
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
ASSERT_FLOAT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10";
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
pid.updateFactors(29, 0, 0);
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_FLOAT_EQ(68, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(0, pid.getIntegration());
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_FLOAT_EQ(0, pid.getIntegration());
ASSERT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_EQ(68, pid.getIntegration());
ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1));
// ASSERT_FLOAT_EQ(68, pid.getIntegration());
@ -51,17 +51,17 @@ TEST(util, pid) {
pid.reset();
ASSERT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm";
ASSERT_FLOAT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm";
ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2";
ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2";
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
}
static void commonPidTestParameters(pid_s * pidS) {
@ -77,15 +77,15 @@ static void commonPidTestParameters(pid_s * pidS) {
static void commonPidTest(Pid *pid) {
pid->iTermMax = 45;
ASSERT_EQ( 12.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #0";
ASSERT_EQ( 12.5, pid->getIntegration());
ASSERT_EQ( 25 , pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #1";
ASSERT_FLOAT_EQ( 12.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #0";
ASSERT_FLOAT_EQ( 12.5, pid->getIntegration());
ASSERT_FLOAT_EQ( 25 , pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #1";
ASSERT_EQ( 37.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #2";
ASSERT_EQ( 37.5, pid->getIntegration());
ASSERT_FLOAT_EQ( 37.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #2";
ASSERT_FLOAT_EQ( 37.5, pid->getIntegration());
ASSERT_EQ( 40.0, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #3";
ASSERT_EQ( 45, pid->getIntegration());
ASSERT_FLOAT_EQ( 40.0, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #3";
ASSERT_FLOAT_EQ( 45, pid->getIntegration());
}
TEST(util, parallelPidLimits) {
@ -126,12 +126,12 @@ TEST(util, pidIndustrial) {
float industValue = pid.getOutput(/*target*/1, /*input*/0);
// check if the first output is clamped because of large deviative
ASSERT_EQ(100.0, industValue);
ASSERT_FLOAT_EQ(100.0, industValue);
// check if all output of the 'zeroed' PidIndustrial (w/o new features) is the same as our "normal" Pid
for (int i = 0; i < 10; i++) {
float normalValue = pid0.getOutput(1, 0);
ASSERT_EQ(normalValue, industValue) << "[" << i << "]";
ASSERT_FLOAT_EQ(normalValue, industValue) << "[" << i << "]";
industValue = pid.getOutput(1, 0);
}
@ -141,11 +141,11 @@ TEST(util, pidIndustrial) {
pid.derivativeFilterLoss = 0.01;
// now the first value is less (and not clipped!) due to the derivative filtering
ASSERT_EQ(67.671669f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(67.671669f, pid.getOutput(1, 0));
// here we still have some leftovers of the initial D-term
ASSERT_EQ(45.4544487f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(45.4544487f, pid.getOutput(1, 0));
// but the value is quickly fading
ASSERT_EQ(30.6446342f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(30.6446342f, pid.getOutput(1, 0));
pid.reset();
@ -166,7 +166,7 @@ TEST(util, pidIndustrial) {
pid.antiwindupFreq = 0.1;
// the first value is clipped, and that's when the anti-windup comes into effect
ASSERT_EQ(100.0f, pid.getOutput(1, 0));
ASSERT_FLOAT_EQ(100.0f, pid.getOutput(1, 0));
// it stores a small negative offset in the I-term to avoid it's saturation!
ASSERT_NEAR(-0.0455025025f, pid.getIntegration(), EPS4D);
// and that's why the second output is smaller then that of normal PID (=1.00999999)