tooth-event angle cannot be negative

firmware/controllers/engine_cycle/aux_valves.cpp

@@ -25,7 +25,9 @@ static void plainPinTurnOff(NamedOutputPin *output) {
 
 
 static void scheduleOpen(AuxActor *current) {
-	engine->module<TriggerScheduler>()->schedule(&current->open,
+	engine->module<TriggerScheduler>()->schedule(
+			"aux-valve",
+			&current->open,
 			current->extra + engine->engineState.auxValveStart,
 			{ auxPlainPinTurnOn, current }
 			);
@@ -41,7 +43,9 @@ void auxPlainPinTurnOn(AuxActor *current) {
 
 	fixAngle(duration, "duration", ObdCode::CUSTOM_ERR_6557);
 
-	engine->module<TriggerScheduler>()->schedule(&current->close,
+	engine->module<TriggerScheduler>()->schedule(
+			"aux-valve",
+			&current->close,
 			current->extra + engine->engineState.auxValveEnd,
 			{ plainPinTurnOff, output }
 			);

firmware/controllers/engine_cycle/high_pressure_fuel_pump.cpp

@@ -224,6 +224,7 @@ void HpfpController::scheduleNextCycle() {
 		 * We are good to use just one m_event instance because new events are scheduled when we turn off valve.
 		 */
 		engine->module<TriggerScheduler>()->schedule(
+		    "hpfp",
 			&m_event,
 			di_nextStart,
 			{ pinTurnOn, this });
@@ -235,6 +236,7 @@ void HpfpController::scheduleNextCycle() {
 		// will schedule the next lobe.
 		// todo: would it have been cleaner to schedule 'scheduleNextCycle' directly?
 		engine->module<TriggerScheduler>()->schedule(
+		    "hpfp",
 			&m_event, lobe,
 			{ pinTurnOff, this });
 	}

firmware/controllers/engine_cycle/spark_logic.cpp

@@ -375,6 +375,7 @@ static void scheduleSparkEvent(bool limitedSpark, IgnitionEvent *event,
 	assertAngleRange(sparkAngle, "findAngle#a5", ObdCode::CUSTOM_ERR_6549);
 
 	bool scheduled = engine->module<TriggerScheduler>()->scheduleOrQueue(
+			"spark",
 		&event->sparkEvent, edgeTimestamp, sparkAngle,
 		{ fireSparkAndPrepareNextSchedule, event },
 		currentPhase, nextPhase);

firmware/controllers/system/timer/trigger_scheduler.cpp

@@ -6,10 +6,10 @@ bool TriggerScheduler::assertNotInList(AngleBasedEvent *head, AngleBasedEvent *e
        assertNotInListMethodBody(head, element, nextToothEvent)
 }
 
-void TriggerScheduler::schedule(AngleBasedEvent* event, angle_t angle, action_s action) {
+void TriggerScheduler::schedule(const char *msg, AngleBasedEvent* event, angle_t angle, action_s action) {
 	event->setAngle(angle);
 
-	schedule(event, action);
+	schedule(msg, event, action);
 }
 
 /**
@@ -18,7 +18,7 @@ void TriggerScheduler::schedule(AngleBasedEvent* event, angle_t angle, action_s
  * @return true if event corresponds to current tooth and was time-based scheduler
  *         false if event was put into queue for scheduling at a later tooth
  */
-bool TriggerScheduler::scheduleOrQueue(AngleBasedEvent *event,
+bool TriggerScheduler::scheduleOrQueue(const char *msg, AngleBasedEvent *event,
 		efitick_t edgeTimestamp,
 		angle_t angle,
 		action_s action,
@@ -38,13 +38,17 @@ bool TriggerScheduler::scheduleOrQueue(AngleBasedEvent *event,
 		return true;
 	} else {
 		// If not due now, add it to the queue to be scheduled later
-		schedule(event, action);
+		schedule(msg, event, action);
 
 		return false;
 	}
 }
 
-void TriggerScheduler::schedule(AngleBasedEvent* event, action_s action) {
+void TriggerScheduler::schedule(const char *msg, AngleBasedEvent* event, action_s action) {
+	if (event->enginePhase < 0) {
+		criticalError("Negative angle %s %f", msg, event->enginePhase);
+	}
+
 	event->action = action;
 
 	{

firmware/controllers/system/timer/trigger_scheduler.h

@@ -6,10 +6,10 @@ class TriggerScheduler : public EngineModule {
 public:
     // *kludge* we have three methods with *schedule* in the name meaning three different things
     // this method just places event into the collection of tooth-based events
-	void schedule(AngleBasedEvent* event, angle_t angle, action_s action);
+	void schedule(const char *msg, AngleBasedEvent* event, angle_t angle, action_s action);
 
     // 'schedule' means 'delegates to time-based scheduler' and 'queue' here matches the 'schedule' method above
-	bool scheduleOrQueue(AngleBasedEvent *event,
+	bool scheduleOrQueue(const char *msg, AngleBasedEvent *event,
 			     efitick_t edgeTimestamp,
 			     angle_t angle,
 			     action_s action,
@@ -25,7 +25,7 @@ public:
 #endif // EFI_UNIT_TEST
 
 private:
-	void schedule(AngleBasedEvent* event, action_s action);
+	void schedule(const char *msg, AngleBasedEvent* event, action_s action);
 
 	bool assertNotInList(AngleBasedEvent *head, AngleBasedEvent *element);