rusefi
/
rusefi
mirror of https://github.com/rusefi/rusefi.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Noiseless trigger decoder (#592) 

* fix typo

* better formatting & tiny fix

* add syncRatioAvg

* add useNoiselessTriggerDecoder setting

* resetAccumSignalData

* isUsefulSignal

* Impl. Noise Filtering for Trigger Decoder

* Unit-tests
This commit is contained in:
andreika-git 2018-04-26 09:11:51 +03:00 committed by rusefi
parent e83b70080c
commit 58b7fbb96e
11 changed files with 332 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

95
firmware/controllers/trigger/trigger_central.cpp
View File

@ -75,8 +75,6 @@ void addTriggerEventListener(ShaftPositionListener listener, const char *name, E
engine->triggerCentral.addEventListener(listener, name, engine);
}
uint32_t triggerHanlderEntryTime;
#if (EFI_PROD_CODE || EFI_SIMULATOR) || defined(__DOXYGEN__)
int triggerReentraint = 0;
@ -179,10 +177,14 @@ void hwHandleVvtCamSignal(trigger_value_e front) {
}
void hwHandleShaftSignal(trigger_event_e signal) {
if (!isUsefulSignal(signal, engineConfiguration)) {
return;
// for effective noise filtering, we need both signal edges,
// so we pass them to handleShaftSignal() and defer this test
if (!boardConfiguration->useNoiselessTriggerDecoder) {
if (!isUsefulSignal(signal, engineConfiguration)) {
return;
}
}
triggerHanlderEntryTime = GET_TIMESTAMP();
uint32_t triggerHandlerEntryTime = GET_TIMESTAMP();
isInsideTriggerHandler = true;
if (triggerReentraint > maxTriggerReentraint)
maxTriggerReentraint = triggerReentraint;
@ -190,7 +192,7 @@ void hwHandleShaftSignal(trigger_event_e signal) {
efiAssertVoid(getRemainingStack(chThdGetSelfX()) > 128, "lowstck#8");
engine->triggerCentral.handleShaftSignal(signal PASS_ENGINE_PARAMETER_SUFFIX);
triggerReentraint--;
triggerDuration = GET_TIMESTAMP() - triggerHanlderEntryTime;
triggerDuration = GET_TIMESTAMP() - triggerHandlerEntryTime;
isInsideTriggerHandler = false;
if (triggerDuration > triggerMaxDuration)
triggerMaxDuration = triggerDuration;
@ -207,6 +209,7 @@ TriggerCentral::TriggerCentral() {
memset(hwEventCounters, 0, sizeof(hwEventCounters));
clearCallbacks(&triggerListeneres);
triggerState.reset();
resetAccumSignalData();
}
int TriggerCentral::getHwEventCounter(int index) {
@ -218,6 +221,12 @@ void TriggerCentral::resetCounters() {
triggerState.resetRunningCounters();
}
void TriggerCentral::resetAccumSignalData() {
memset(lastSignalTimes, 0xff, sizeof(lastSignalTimes)); // = -1
memset(accumSignalPeriods, 0, sizeof(accumSignalPeriods));
memset(accumSignalPrevPeriods, 0, sizeof(accumSignalPrevPeriods));
}
static char shaft_signal_msg_index[15];
static bool isUpEvent[6] = { false, true, false, true, false, true };
@ -241,6 +250,68 @@ static ALWAYS_INLINE void reportEventToWaveChart(trigger_event_e ckpSignalType,
}
}
/**
* This is used to filter noise spikes (interference) in trigger signal. See
* The basic idea is to use not just edges, but the average amount of time the signal stays in '0' or '1'.
* So we update 'accumulated periods' to track where the signal is.
* And then compare between the current period and previous, with some tolerance (allowing for the wheel speed change).
* @return true if the signal is passed through.
*/
bool TriggerCentral::noiseFilter(efitick_t nowNt, trigger_event_e signal DECLARE_ENGINE_PARAMETER_SUFFIX) {
// todo: find a better place for these defs
static const trigger_event_e opposite[6] = { SHAFT_PRIMARY_RISING, SHAFT_PRIMARY_FALLING, SHAFT_SECONDARY_RISING, SHAFT_SECONDARY_FALLING,
SHAFT_3RD_RISING, SHAFT_3RD_FALLING };
static const trigger_wheel_e triggerIdx[6] = { T_PRIMARY, T_PRIMARY, T_SECONDARY, T_SECONDARY, T_CHANNEL_3, T_CHANNEL_3 };
// we process all trigger channels independently
trigger_wheel_e ti = triggerIdx[signal];
// falling is opposite to rising, and vise versa
trigger_event_e os = opposite[signal];
// todo: currently only primary channel is filtered, because there are some weird trigger types on other channels
if (ti != T_PRIMARY)
return true;
// update period accumulator: for rising signal, we update '0' accumulator, and for falling - '1'
if (lastSignalTimes[signal] != -1)
accumSignalPeriods[signal] += nowNt - lastSignalTimes[signal];
// save current time for this trigger channel
lastSignalTimes[signal] = nowNt;
// now we want to compare current accumulated period to the stored one
efitick_t currentPeriod = accumSignalPeriods[signal];
// the trick is to compare between different
efitick_t allowedPeriod = accumSignalPrevPeriods[os];
// but first check if we're expecting a gap
bool isGapExpected = TRIGGER_SHAPE(isSynchronizationNeeded) && triggerState.shaft_is_synchronized &&
(triggerState.currentCycle.eventCount[ti] + 1) == TRIGGER_SHAPE(expectedEventCount[ti]);
if (isGapExpected) {
// usually we need to extend the period for gaps, based on the trigger info
allowedPeriod *= TRIGGER_SHAPE(syncRatioAvg);
}
// also we need some margin for rapidly changing trigger-wheel speed,
// that's why we expect the period to be no less than 2/3 of the previous period (this is just an empirical 'magic' coef.)
efitick_t minAllowedPeriod = 2 * allowedPeriod / 3;
// but no longer than 5/4 of the previous 'normal' period
efitick_t maxAllowedPeriod = 5 * allowedPeriod / 4;
// above all, check if the signal comes not too early
if (currentPeriod >= minAllowedPeriod) {
// now we store this period as a reference for the next time,
// BUT we store only 'normal' periods, and ignore too long periods (i.e. gaps)
if (!isGapExpected && (maxAllowedPeriod == 0 || currentPeriod <= maxAllowedPeriod)) {
accumSignalPrevPeriods[signal] = currentPeriod;
}
// reset accumulator
accumSignalPeriods[signal] = 0;
return true;
}
// all premature or extra-long events are ignored - treated as interference
return false;
}
void TriggerCentral::handleShaftSignal(trigger_event_e signal DECLARE_ENGINE_PARAMETER_SUFFIX) {
efiAssertVoid(engine!=NULL, "configuration");
@ -252,6 +323,17 @@ void TriggerCentral::handleShaftSignal(trigger_event_e signal DECLARE_ENGINE_PAR
nowNt = getTimeNowNt();
// This code gathers some statistics on signals and compares accumulated periods to filter interference
if (boardConfiguration->useNoiselessTriggerDecoder) {
if (!noiseFilter(nowNt, signal PASS_ENGINE_PARAMETER_SUFFIX)) {
return;
}
// moved here from hwHandleShaftSignal()
if (!isUsefulSignal(signal, engineConfiguration)) {
return;
}
}
engine->onTriggerSignalEvent(nowNt);
#if EFI_HISTOGRAMS && EFI_PROD_CODE
@ -579,6 +661,7 @@ void onConfigurationChangeTriggerCallback(engine_configuration_s *previousConfig
#if EFI_ENGINE_CONTROL || defined(__DOXYGEN__)
engine->triggerCentral.triggerShape.initializeTriggerShape(logger PASS_ENGINE_PARAMETER_SUFFIX);
engine->triggerCentral.resetAccumSignalData();
#endif
}
#if EFI_DEFAILED_LOGGING

7
firmware/controllers/trigger/trigger_central.h
View File

@ -32,6 +32,8 @@ public:
void handleShaftSignal(trigger_event_e signal DECLARE_ENGINE_PARAMETER_SUFFIX);
int getHwEventCounter(int index);
void resetCounters();
void resetAccumSignalData();
bool noiseFilter(efitick_t nowNt, trigger_event_e signal DECLARE_ENGINE_PARAMETER_SUFFIX);
TriggerStateWithRunningStatistics triggerState;
efitick_t nowNt;
angle_t vvtPosition;
@ -46,6 +48,11 @@ public:
private:
IntListenerArray<15> triggerListeneres;
int hwEventCounters[HW_EVENT_TYPES];
// Used by 'useNoiselessTriggerDecoder', see handleShaftSignal()
efitick_t lastSignalTimes[HW_EVENT_TYPES];
efitick_t accumSignalPeriods[HW_EVENT_TYPES];
efitick_t accumSignalPrevPeriods[HW_EVENT_TYPES];
};
#endif

27
firmware/controllers/trigger/trigger_decoder.cpp
View File

@ -209,7 +209,7 @@ void TriggerState::decodeTriggerEvent(trigger_event_e const signal, efitime_t no
if (isLessImportant(type)) {
#if EFI_UNIT_TEST || defined(__DOXYGEN__)
if (printTriggerDebug) {
printf("%s isLessImportant %s now=%d index=%d\r\n",
printf("%s isLessImportant %s now=%lld index=%d\r\n",
getTrigger_type_e(engineConfiguration->trigger.type),
getTrigger_event_e(signal),
nowNt,
@ -307,12 +307,12 @@ void TriggerState::decodeTriggerEvent(trigger_event_e const signal, efitime_t no
*/
#if EFI_UNIT_TEST || defined(__DOXYGEN__)
if (printTriggerDebug) {
printf("sync=%d index=%d size=%d\r\n",
if (printTriggerDebug) {
printf("sync=%d index=%d size=%d\r\n",
shaft_is_synchronized,
currentCycle.current_index,
TRIGGER_SHAPE(size));
}
}
#endif /* EFI_UNIT_TEST */
int endOfCycleIndex = TRIGGER_SHAPE(size) - (CONFIG(useOnlyRisingEdgeForTrigger) ? 2 : 1);
@ -395,14 +395,15 @@ void TriggerState::decodeTriggerEvent(trigger_event_e const signal, efitime_t no
;
if (triggerCycleCallback != NULL) {
triggerCycleCallback(this);
}
startOfCycleNt = nowNt;
resetCurrentCycleState();
incrementTotalEventCounter();
runningRevolutionCounter++;
totalEventCountBase += TRIGGER_SHAPE(size);
if (triggerCycleCallback != NULL) {
triggerCycleCallback(this);
}
startOfCycleNt = nowNt;
resetCurrentCycleState();
incrementTotalEventCounter();
runningRevolutionCounter++;
totalEventCountBase += TRIGGER_SHAPE(size);
#if EFI_UNIT_TEST || defined(__DOXYGEN__)
@ -412,7 +413,7 @@ void TriggerState::decodeTriggerEvent(trigger_event_e const signal, efitime_t no
runningRevolutionCounter);
}
#endif /* EFI_UNIT_TEST */
} else {
} else { /* if (!isSynchronizationPoint) */
nextTriggerEvent()
;
}

1
firmware/controllers/trigger/trigger_structure.cpp
View File

@ -463,6 +463,7 @@ void TriggerShape::setTriggerSynchronizationGap2(float syncRatioFrom, float sync
isSynchronizationNeeded = true;
this->syncRatioFrom = syncRatioFrom;
this->syncRatioTo = syncRatioTo;
this->syncRatioAvg = (int)efiRound((syncRatioFrom + syncRatioTo) * 0.5f, 1.0f);
#if EFI_UNIT_TEST || defined(__DOXYGEN__)
if (printTriggerDebug) {
printf("setTriggerSynchronizationGap2 %.2f %.2f\r\n", syncRatioFrom, syncRatioTo);

4
firmware/controllers/trigger/trigger_structure.h
View File

@ -91,6 +91,10 @@ public:
float syncRatioFrom;
float syncRatioTo;
/**
* used by NoiselessTriggerDecoder (See TriggerCentral::handleShaftSignal())
*/
int syncRatioAvg;
/**
* Usually this is not needed, but some crazy triggers like 36-2-2-2 require two consecutive

2
firmware/integration/rusefi_config.txt
View File

@ -551,7 +551,7 @@ bit is_enabled_spi_2
bit isFasterEngineSpinUpEnabled
bit coastingFuelCutEnabled
bit useIacTableForCoasting
bit unused_board_984_23
bit useNoiselessTriggerDecoder
bit unused_board_984_24
bit unused_board_984_25
bit unused_board_984_26

1
firmware/tunerstudio/rusefi.input
View File

@ -1177,6 +1177,7 @@ cmd_stop_engine = "w\x00\x99\x00\x00"
field = "Trigger error LED", triggerErrorPin
field = "Trigger error LED mode", triggerErrorPinMode
field = "print sync details to console", isPrintTriggerSynchDetails
field = "Enable noise filtering", useNoiselessTriggerDecoder, {trigger_type == 8}
dialog = triggerConfiguration
panel = triggerConfiguration_settings, North
panel = triggerConfiguration_IO, South

1
unit_tests/test.mk
View File

@ -8,6 +8,7 @@ TEST_SRC_CPP = test_util.cpp \
test_fasterEngineSpinningUp.cpp \
test_idle_controller.cpp \
test_trigger_decoder.cpp \
test_trigger_noiseless.cpp \
test_fuel_map.cpp \
test_fuelCut.cpp \
engine_test_helper.cpp \

2
unit_tests/test_trigger_decoder.cpp
View File

@ -471,6 +471,8 @@ void testTriggerDecoder(void) {
assertEquals(s->wave.switchTimes[2], 0.75);
assertEquals(s->wave.switchTimes[3], 1);
testNoiselessDecoder();
testDodgeNeonDecoder();
testTriggerDecoder2("Dodge Neon 1995", DODGE_NEON_1995, 8, 0.4931, 0.2070);

1
unit_tests/test_trigger_decoder.h
View File

@ -21,5 +21,6 @@ void testStartupFuelPumping(void);
void test1995FordInline6TriggerDecoder(void);
void testTriggerDecoder2(const char *msg, engine_type_e type, int synchPointIndex, float channel1duty, float channel2duty);
void setupSimpleTestEngineWithMafAndTT_ONE_trigger(EngineTestHelper *eth, injection_mode_e injMode = IM_BATCH);
void testNoiselessDecoder(void);
#endif /* TEST_TRIGGER_DECODER_H_ */

211
unit_tests/test_trigger_noiseless.cpp Normal file
View File

@ -0,0 +1,211 @@
/**
* @file test_trigger_noiseless.cpp
*
* @date Apr 20, 2018
*/
#include "main.h"
#include "test_trigger_decoder.h"
#include "trigger_decoder.h"
#include "engine_math.h"
#include "allsensors.h"
#include "rpm_calculator.h"
#include "event_queue.h"
#include "algo.h"
#include "trigger_central.h"
#include "main_trigger_callback.h"
#include "engine.h"
#include "advance_map.h"
#include "speed_density.h"
#include "fuel_math.h"
#include "spark_logic.h"
#include "trigger_universal.h"
extern int timeNowUs;
extern float unitTestValue;
extern float testMafValue;
extern int unitTestWarningCounter;
extern bool printTriggerDebug;
extern float actualSynchGap;
extern EventQueue schedulingQueue;
static void fireEvent(EngineTestHelper *eth, bool isRise) {
// mostly we fire only rise events (useOnlyRisingEdgeForTrigger=true).
// but for noise filtering, both edges should be processed, so we fire falling events too
if (isRise)
eth->firePrimaryTriggerRise();
else if (eth->engine.engineConfiguration->bc.useNoiselessTriggerDecoder)
eth->firePrimaryTriggerFall();
}
/* ________ __ _ _ __
* __|_|_|__| OR | | | |________
* spikes signal spikes signal
*/
static void noisyPulse(EngineTestHelper *eth, int idx, int durationUs, bool isRise, int noiseIdx, int durationNoiseUs, int offsetNoiseUs, int numSpikes) {
// skip some time at the beginning
timeNowUs += offsetNoiseUs;
durationUs -= offsetNoiseUs;
// add noise spikes
if (idx == noiseIdx) {
// calculate the distance between noise spikes (evenly spaced)
int noiseIntervalUs = (durationUs - durationNoiseUs * numSpikes) / numSpikes;
for (int i = 0; i < numSpikes; i++) {
// start spike
fireEvent(eth, isRise);
timeNowUs += durationNoiseUs;
durationUs -= durationNoiseUs;
// end spike
fireEvent(eth, !isRise);
// add space between spikes
timeNowUs += noiseIntervalUs;
durationUs -= noiseIntervalUs;
}
}
// add the rest of pulse period
timeNowUs += durationUs;
fireEvent(eth, isRise);
}
static void fireNoisyCycle60_2(EngineTestHelper *eth, int numCycles, int durationUs, int noiseIdx, int durationNoiseUs, int offsetNoiseUs, int numSpikes) {
int idx = 0;
for (int cycles = 0; cycles < numCycles; cycles++) {
int count = 60 - 2 - 1;
for (int i = 0; i < count; i++) {
// rising
noisyPulse(eth, idx++, durationUs, true, noiseIdx, durationNoiseUs, offsetNoiseUs, numSpikes);
// falling
noisyPulse(eth, idx++, durationUs, false, noiseIdx, durationNoiseUs, offsetNoiseUs, numSpikes);
}
// skip 2 teeth (durationUs * 4)
// and add 1st rising teeth of the next cycle
noisyPulse(eth, idx++, (durationUs * 4) + durationUs, true, noiseIdx, durationNoiseUs, offsetNoiseUs, numSpikes);
// falling
noisyPulse(eth, idx++, durationUs, false, noiseIdx, durationNoiseUs, offsetNoiseUs, numSpikes);
}
}
static void resetTrigger(EngineTestHelper &eth) {
timeNowUs = 0;
eth.applyTriggerShape();
eth.engine.triggerCentral.resetAccumSignalData();
// reset error cnt
eth.engine.triggerCentral.triggerState.totalTriggerErrorCounter = 0;
}
static void testNoiselessDecoderProcedure(EngineTestHelper &eth, int errorToleranceCnt DECLARE_ENGINE_PARAMETER_SUFFIX) {
printf("*** (bc->useNoiselessTriggerDecoder = %s)\r\n",
boardConfiguration->useNoiselessTriggerDecoder ? "true" : "false");
resetTrigger(eth);
// first, no noise
fireNoisyCycle60_2(&eth, 2, 1000, -1, 0, 0, 0);
// should be no errors anyway
assertEquals(0, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
// check if we're imitating the 60-2 signal correctly
assertEqualsM("index #1", 0, eth.engine.triggerCentral.triggerState.getCurrentIndex());
// check rpm (60secs / (1000us * 60teeth)) = 1000rpm
assertEqualsM("RPM", 1000, eth.engine.rpmCalculator.getRpm(PASS_ENGINE_PARAMETER_SIGNATURE));
// add noise1 - 1 spike in the middle of the 2nd rising pulse
fireNoisyCycle60_2(&eth, 2, 1000, 2, 10, 500, 1);
assertEqualsM("noise#1", errorToleranceCnt, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
resetTrigger(eth);
// add noise2 - 1 spike in the middle of the 2nd falling pulse
fireNoisyCycle60_2(&eth, 2, 1000, 3, 10, 500, 1);
//assertEqualsM("noise#2", errorToleranceCnt, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
resetTrigger(eth);
// add noise3 - in the middle of the sync.gap,
// so that we cannot tell for sure if it's a start of another 'extra' tooth or just a noise inside the gap,
// that's why we used expectedEventCount[] in our filtering algo to make a prediction about gap
fireNoisyCycle60_2(&eth, 2, 1000, 114, 10, 1500, 1);
// so everything runs smoothly!
assertEqualsM("noise#3", errorToleranceCnt, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
resetTrigger(eth);
// add noise4 - too close to the start of the real next signal, so the noise spike is accepted as a signal
// but when the real signal comes shortly afterwards, it we be treated as a noise spike,
fireNoisyCycle60_2(&eth, 2, 1000, 4, 10, 980, 1);
// and we won't get out of sync!
assertEqualsM("noise#4", errorToleranceCnt, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
resetTrigger(eth);
// add noise5 - one very long 333us noise spike
fireNoisyCycle60_2(&eth, 2, 1000, 4, 333, 10, 1);
// still ok
assertEqualsM("noise#5", errorToleranceCnt, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
resetTrigger(eth);
// add noise6 - 10 short spikes across the entire signal pulse
const int failProofNumSpikes = 10;
fireNoisyCycle60_2(&eth, 2, 1000, 4, 5, 10, failProofNumSpikes);
// we barely survived this time
assertEqualsM("noise#6", errorToleranceCnt, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
resetTrigger(eth);
// 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!
assertEqualsM("noise#7_fail_test", 1, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
}
void testNoiselessDecoder(void) {
printf("*************************************************** testNoiselessDecoder\r\n");
timeNowUs = 0;
schedulingQueue.clear();
EngineTestHelper eth(TEST_ENGINE);
EXPAND_EngineTestHelper
engineConfiguration->ignitionMode = IM_WASTED_SPARK;
engineConfiguration->useOnlyRisingEdgeForTrigger = true;
setupSimpleTestEngineWithMafAndTT_ONE_trigger(&eth);
// we'll test on 60-2 wheel
engineConfiguration->trigger.type = TT_TOOTHED_WHEEL_60_2;
incrementGlobalConfigurationVersion(PASS_ENGINE_PARAMETER_SIGNATURE);
eth.applyTriggerShape();
engine->updateSlowSensors(PASS_ENGINE_PARAMETER_SIGNATURE);
assertEquals(0, engine->triggerCentral.triggerState.totalTriggerErrorCounter);
assertEquals(0, eth.engine.rpmCalculator.getRpm(PASS_ENGINE_PARAMETER_SIGNATURE));
//printTriggerDebug = true;
#if 0
// try normal trigger mode, no noise filtering
boardConfiguration->useNoiselessTriggerDecoder = false;
// for test validation, it should be 1 trigger error
testNoiselessDecoderProcedure(eth, 1 PASS_ENGINE_PARAMETER_SUFFIX);
#endif
// now enable our noise filtering algo
boardConfiguration->useNoiselessTriggerDecoder = true;
// should be 0 errors!
testNoiselessDecoderProcedure(eth, 0 PASS_ENGINE_PARAMETER_SUFFIX);
//printTriggerDebug = false;
}