auto-sync

firmware/controllers/algo/wave_chart.cpp

@@ -72,7 +72,7 @@ void WaveChart::resetWaveChart() {
 #endif /* DEBUG_WAVE */
 	resetLogging(&logging);
 	counter = 0;
-	startTimeUs = 0;
+	startTimeNt = 0;
 	appendPrintf(&logging, "wave_chart%s", DELIMETER);
 }
 
@@ -86,8 +86,8 @@ int WaveChart::isWaveChartFull() {
 	 * digitalChartSize/20 is the longest meaningful chart.
 	 *
 	 */
-	uint64_t chartDurationInSeconds = (getTimeNowUs() - startTimeUs) / 1000000;
+	uint64_t chartDurationNt = getTimeNowNt() - startTimeNt;
-	bool startedTooLongAgo = startTimeUs!= 0 && chartDurationInSeconds > engineConfiguration->digitalChartSize / 20;
+	bool startedTooLongAgo = startTimeNt!= 0 && NT2US(chartDurationNt) > engineConfiguration->digitalChartSize * 1000000 / 20;
 	return startedTooLongAgo || counter >= engineConfiguration->digitalChartSize;
 }
 
@@ -158,19 +158,24 @@ void WaveChart::addWaveChartEvent3(const char *name, const char * msg, const cha
 #endif
 
 	uint64_t nowUs = getTimeNowUs();
-	/**
-	 * todo: migrate to binary fractions in order to eliminate
-	 * this division? I do not like division
-	 */
-	uint64_t time100 = nowUs / 10;
 
 	bool alreadyLocked = lockOutputBuffer(); // we have multiple threads writing to the same output buffer
 
 	if (counter == 0) {
-		startTime100 = time100;
+		startTimeNt = US2NT(nowUs);
-		startTimeUs = nowUs;
 	}
 	counter++;
+
+	/**
+	 * We want smaller times within a chart in order to reduce packet size.
+	 */
+	/**
+	 * todo: migrate to binary fractions in order to eliminate
+	 * this division? I do not like division
+	 */
+	uint64_t time100 = (nowUs - NT2US(startTimeNt)) / 10;
+
+
 	if (remainingSize(&logging) > 30) {
 		/**
 		 * printf is a heavy method, append is used here as a performance optimization
@@ -179,10 +184,7 @@ void WaveChart::addWaveChartEvent3(const char *name, const char * msg, const cha
 		appendFast(&logging, CHART_DELIMETER);
 		appendFast(&logging, msg);
 		appendFast(&logging, CHART_DELIMETER);
-		/**
+//		time100 -= startTime100;
-		 * We want smaller times within a chart in order to reduce packet size.
-		 */
-		time100 -= startTime100;
 
 		itoa10(timeBuffer, time100);
 		appendFast(&logging, timeBuffer);

firmware/controllers/algo/wave_chart.h

@@ -31,8 +31,7 @@ private:
 	Logging logging;
 #endif /* EFI_WAVE_CHART */
 	uint32_t counter;
-	uint64_t startTime100;
+	uint64_t startTimeNt;
-	uint64_t startTimeUs;
 	volatile int isInitialized;
 };
 

firmware/controllers/math/efitime.h

@@ -26,6 +26,7 @@ extern "C"
 #endif /* __cplusplus */
 
 #define US_PER_SECOND 1000000
+#define US_PER_SECOND_LL 1000000LL
 
 #define MS2US(MS_TIME) ((MS_TIME) * 1000)
 

firmware/controllers/trigger/rpm_calculator.cpp

@@ -63,7 +63,7 @@ RpmCalculator::RpmCalculator() {
 	rpmValue = 0;
 
 	// we need this initial to have not_running at first invocation
-	lastRpmEventTimeNt = (uint64_t) -10 * US2NT(US_PER_SECOND);
+	lastRpmEventTimeNt = (uint64_t) -10 * US2NT(US_PER_SECOND_LL);
 	revolutionCounterSinceStart = 0;
 	revolutionCounterSinceBoot = 0;
 }
@@ -155,7 +155,7 @@ void rpmShaftPositionCallback(trigger_event_e ckpSignalType, uint32_t index, Rpm
 			rpmState->rpmValue = NOISY_RPM;
 		} else {
 			// todo: interesting what is this *2 about? four stroke magic constant?
-			int rpm = (int) (60 * US2NT(US_PER_SECOND) * 2 / diffNt);
+			int rpm = (int) (60 * US2NT(US_PER_SECOND_LL) * 2 / diffNt);
 			rpmState->rpmValue = rpm > UNREALISTIC_RPM ? NOISY_RPM : rpm;
 		}
 	}

firmware/controllers/trigger/trigger_central.cpp

@@ -61,7 +61,7 @@ void addTriggerEventListener(ShaftPositionListener listener, const char *name, v
 extern Engine engine;
 
 void hwHandleShaftSignal(trigger_event_e signal) {
-	triggerCentral.handleShaftSignal(&engine, signal, getTimeNowUs());
+	triggerCentral.handleShaftSignal(&engine, signal);
 }
 #endif /* EFI_PROD_CODE */
 
@@ -96,9 +96,11 @@ static void reportEventToWaveChart(trigger_event_e ckpSignalType, int index) {
 // todo: improve this
 extern Engine engine;
 
-void TriggerCentral::handleShaftSignal(Engine *engine, trigger_event_e signal, uint64_t nowUs) {
+void TriggerCentral::handleShaftSignal(Engine *engine, trigger_event_e signal) {
 	efiAssertVoid(engine!=NULL, "configuration");
 
+	uint64_t nowUs = getTimeNowUs();
+
 	efiAssertVoid(engine->engineConfiguration!=NULL, "engineConfiguration");
 	efiAssertVoid(engine->engineConfiguration2!=NULL, "engineConfiguration2");
 

firmware/controllers/trigger/trigger_central.h

@@ -24,7 +24,7 @@ class TriggerCentral {
 public:
 	TriggerCentral();
 	void addEventListener(ShaftPositionListener handler, const char *name, void *arg);
-	void handleShaftSignal(Engine *engine, trigger_event_e signal, uint64_t nowUs);
+	void handleShaftSignal(Engine *engine, trigger_event_e signal);
 	int getHwEventCounter(int index);
 	TriggerState triggerState;
 private:

firmware/hw_layer/stm32f4/mpu_util.cpp

@@ -11,6 +11,7 @@
 
 extern "C" {
 int getRemainingStack(Thread *otp);
+void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress);
 }
 
 extern stkalign_t __main_stack_base__;
@@ -19,7 +20,7 @@ extern stkalign_t __main_stack_base__;
 // GCC version
 
 int getRemainingStack(Thread *otp) {
-  
+
 #if CH_DBG_ENABLE_STACK_CHECK
 	register struct intctx *r13 asm ("r13");
 	otp->activeStack = r13;
@@ -41,19 +42,18 @@ int getRemainingStack(Thread *otp) {
 
 #else /* __GNUC__ */
 
-
 int getRemainingStack(Thread *otp) {
 #if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)
-  int remainingStack;
+	int remainingStack;
-  if (dbg_isr_cnt > 0) {
+	if (dbg_isr_cnt > 0) {
-    remainingStack = 999; // todo
+		remainingStack = 999; // todo
-  } else {
+	} else {
-    remainingStack = (stkalign_t *)(__get_SP() - sizeof(struct intctx)) - otp->p_stklimit;
+		remainingStack = (stkalign_t *)(__get_SP() - sizeof(struct intctx)) - otp->p_stklimit;
-  }
+	}
-  otp->remainingStack = remainingStack;
+	otp->remainingStack = remainingStack;
-  return remainingStack;
+	return remainingStack;
 #else
-  return 999999;
+	return 999999;
 #endif  
 }
 
@@ -61,10 +61,6 @@ int getRemainingStack(Thread *otp) {
 
 #endif
 
-
-
-
-
 void baseHardwareInit(void) {
 	// looks like this holds a random value on start? Let's set a nice clean zero
 	DWT_CYCCNT = 0;
@@ -91,16 +87,100 @@ void BusFaultVector(void) {
 	chDbgPanic3("BusFaultVector", __FILE__, __LINE__);
 
 	while (TRUE) {
-        }
+	}
+}
+
+/**
+ + * @brief   Register values for postmortem debugging.
+ + */
+volatile uint32_t postmortem_r0;
+volatile uint32_t postmortem_r1;
+volatile uint32_t postmortem_r2;
+volatile uint32_t postmortem_r3;
+volatile uint32_t postmortem_r12;
+volatile uint32_t postmortem_lr; /* Link register. */
+volatile uint32_t postmortem_pc; /* Program counter. */
+volatile uint32_t postmortem_psr;/* Program status register. */
+volatile uint32_t postmortem_CFSR;
+volatile uint32_t postmortem_HFSR;
+volatile uint32_t postmortem_DFSR;
+volatile uint32_t postmortem_AFSR;
+volatile uint32_t postmortem_BFAR;
+volatile uint32_t postmortem_MMAR;
+volatile uint32_t postmortem_SCB_SHCSR;
+
+/**
+ * @brief   Evaluates to TRUE if system runs under debugger control.
+ * @note    This bit resets only by power reset.
+ */
+#define is_under_debugger() (((CoreDebug)->DHCSR) & \
+                            CoreDebug_DHCSR_C_DEBUGEN_Msk)
+
+/**
+ *
+ */
+void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress) {
+
+	postmortem_r0 = pulFaultStackAddress[0];
+	postmortem_r1 = pulFaultStackAddress[1];
+	postmortem_r2 = pulFaultStackAddress[2];
+	postmortem_r3 = pulFaultStackAddress[3];
+	postmortem_r12 = pulFaultStackAddress[4];
+	postmortem_lr = pulFaultStackAddress[5];
+	postmortem_pc = pulFaultStackAddress[6];
+	postmortem_psr = pulFaultStackAddress[7];
+
+	/* Configurable Fault Status Register. Consists of MMSR, BFSR and UFSR */
+	postmortem_CFSR = (*((volatile uint32_t *) (0xE000ED28)));
+
+	/* Hard Fault Status Register */
+	postmortem_HFSR = (*((volatile uint32_t *) (0xE000ED2C)));
+
+	/* Debug Fault Status Register */
+	postmortem_DFSR = (*((volatile uint32_t *) (0xE000ED30)));
+
+	/* Auxiliary Fault Status Register */
+	postmortem_AFSR = (*((volatile uint32_t *) (0xE000ED3C)));
+
+	/* Read the Fault Address Registers. These may not contain valid values.
+	 Check BFARVALID/MMARVALID to see if they are valid values
+	 MemManage Fault Address Register */
+	postmortem_MMAR = (*((volatile uint32_t *) (0xE000ED34)));
+	/* Bus Fault Address Register */
+	postmortem_BFAR = (*((volatile uint32_t *) (0xE000ED38)));
+
+	postmortem_SCB_SHCSR = SCB->SHCSR;
+
+	if (is_under_debugger()) {
+		__asm("BKPT #0\n");
+		// Break into the debugger
+	}
+
+	/* harmless infinite loop */
+	while (1) {
+		;
+	}
 }
 
 void HardFaultVector(void) {
-
+#if 0 && defined __GNUC__
+	__asm volatile (
+			" tst lr, #4                                                \n"
+			" ite eq                                                    \n"
+			" mrseq r0, msp                                             \n"
+			" mrsne r0, psp                                             \n"
+			" ldr r1, [r0, #24]                                         \n"
+			" ldr r2, handler2_address_const                            \n"
+			" bx r2                                                     \n"
+			" handler2_address_const: .word prvGetRegistersFromStack    \n"
+	);
+        
+#else
+#endif        
+        
 	chDbgPanic3("HardFaultVector", __FILE__, __LINE__);
 
 	while (TRUE) {
         }
 }
 
-
-

unit_tests/engine_test_helper.cpp

@@ -33,9 +33,9 @@ EngineTestHelper::EngineTestHelper(engine_type_e engineType) {
 void EngineTestHelper::fireTriggerEvents() {
 	for (int i = 0; i < 24; i++) {
 		timeNow += 5000; // 5ms
-		triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_UP, timeNow);
+		triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_UP);
 		timeNow += 5000;
-		triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_DOWN, timeNow);
+		triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_DOWN);
 	}
 }
 

unit_tests/test_trigger_decoder.cpp

@@ -422,7 +422,7 @@ static void testRpmCalculator(void) {
 	prepareTimingMap();
 
 	timeNow += 5000; // 5ms
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
 	assertEqualsM("index #2", 0, eth.triggerCentral.triggerState.getCurrentIndex());
 	assertEqualsM("queue size", 4, schedulingQueue.size());
 	assertEqualsM("ev 1", 248000, schedulingQueue.getForUnitText(0)->momentUs);
@@ -430,11 +430,11 @@ static void testRpmCalculator(void) {
 	schedulingQueue.clear();
 
 	timeNow += 5000;
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
 	timeNow += 5000; // 5ms
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
 	timeNow += 5000;
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
 	assertEqualsM("index #3", 3, eth.triggerCentral.triggerState.getCurrentIndex());
 	assertEqualsM("queue size 3", 6, schedulingQueue.size());
 	assertEquals(258333, schedulingQueue.getForUnitText(0)->momentUs);
@@ -444,24 +444,24 @@ static void testRpmCalculator(void) {
 	schedulingQueue.clear();
 
 	timeNow += 5000;
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
 	timeNow += 5000; // 5ms
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
 	timeNow += 5000; // 5ms
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
 	assertEqualsM("index #4", 6, eth.triggerCentral.triggerState.getCurrentIndex());
 	assertEqualsM("queue size 4", 6, schedulingQueue.size());
 	assertEqualsM("4/0", 271666, schedulingQueue.getForUnitText(0)->momentUs);
 	schedulingQueue.clear();
 
 	timeNow += 5000;
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
 	assertEqualsM("queue size 5", 1, schedulingQueue.size());
 	assertEqualsM("5/1", 284500, schedulingQueue.getForUnitText(0)->momentUs);
 	schedulingQueue.clear();
 
 	timeNow += 5000; // 5ms
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
 	assertEqualsM("queue size 6", 5, schedulingQueue.size());
 	assertEqualsM("6/0", 285000, schedulingQueue.getForUnitText(0)->momentUs);
 	assertEqualsM("6/1", 288000, schedulingQueue.getForUnitText(1)->momentUs);
@@ -469,12 +469,12 @@ static void testRpmCalculator(void) {
 	schedulingQueue.clear();
 
 	timeNow += 5000;
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
 	assertEqualsM("queue size 7", 0, schedulingQueue.size());
 	schedulingQueue.clear();
 
 	timeNow += 5000; // 5ms
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
 	assertEqualsM("queue size 8", 6, schedulingQueue.size());
 	assertEqualsM("8/0", 298333, schedulingQueue.getForUnitText(0)->momentUs);
 	assertEqualsM("8/1", 297833, schedulingQueue.getForUnitText(1)->momentUs);
@@ -483,12 +483,12 @@ static void testRpmCalculator(void) {
 	schedulingQueue.clear();
 
 	timeNow += 5000;
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
 	assertEqualsM("queue size 9", 0, schedulingQueue.size());
 	schedulingQueue.clear();
 
 	timeNow += 5000; // 5ms
-	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
+	eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
 	assertEqualsM("queue size 10", 0, schedulingQueue.size());
 	schedulingQueue.clear();
 }