diff --git a/.gitmodules b/.gitmodules index 5f3ab14..e2f1b58 100644 --- a/.gitmodules +++ b/.gitmodules @@ -11,3 +11,7 @@ [submodule "firmware/ext/openblt"] path = firmware/ext/openblt url = https://github.com/rusefi/openblt +[submodule "firmware/libfirmware"] + path = firmware/libfirmware + url = https://github.com/rusefi/libfirmware.git + branch = master diff --git a/firmware/Makefile b/firmware/Makefile index 82bf949..89c440b 100644 --- a/firmware/Makefile +++ b/firmware/Makefile @@ -21,7 +21,7 @@ endif # C++ specific options here (added to USE_OPT). ifeq ($(USE_CPPOPT),) - USE_CPPOPT = -fno-rtti -fno-exceptions -ffast-math -funsafe-math-optimizations -fno-threadsafe-statics -fno-use-cxa-atexit + USE_CPPOPT = -fno-rtti -fno-exceptions -ffast-math -funsafe-math-optimizations -fno-threadsafe-statics -fno-use-cxa-atexit -std=c++17 endif # Enable this if you want the linker to remove unused code and data. @@ -107,6 +107,10 @@ ifeq ("$(wildcard $(CHIBIOS)/os/license/license.mk)","") $(error Please run 'git submodule update --init --recursive' before trying to build!) endif +# Configure libfirmware Paths/Includes +RUSEFI_LIB = libfirmware +include $(RUSEFI_LIB)/util/util.mk + # Licensing files. include $(CHIBIOS)/os/license/license.mk # HAL-OSAL files (optional). @@ -132,6 +136,7 @@ CSRC = $(ALLCSRC) $(BOARDDIR)/board.c CPPSRC = $(ALLCPPSRC) \ $(BOARDDIR)/port.cpp \ $(BOARDDIR)/port_shared.cpp \ + $(RUSEFI_LIB_CPP) \ shared/flash.cpp \ can.cpp \ can_helper.cpp \ @@ -144,7 +149,6 @@ CPPSRC = $(ALLCPPSRC) \ pid.cpp \ pump_control.cpp \ uart.cpp \ - shared/crc.cpp \ interpolation.cpp \ auxout.cpp \ efilib.cpp \ @@ -163,6 +167,7 @@ ASMXSRC = $(ALLXASMSRC) # Inclusion directories. INCDIR = $(CONFDIR) \ $(ALLINC) \ + $(RUSEFI_LIB_INC) \ util/ \ util/math/ \ console/binary/ \ diff --git a/firmware/boards/f0_module/bootloader/Makefile b/firmware/boards/f0_module/bootloader/Makefile index 0996f78..ca6f8e7 100644 --- a/firmware/boards/f0_module/bootloader/Makefile +++ b/firmware/boards/f0_module/bootloader/Makefile @@ -15,7 +15,7 @@ endif # C++ specific options here (added to USE_OPT). ifeq ($(USE_CPPOPT),) - USE_CPPOPT = -fno-rtti -fno-exceptions -ffast-math -funsafe-math-optimizations -fno-threadsafe-statics -fno-use-cxa-atexit + USE_CPPOPT = -fno-rtti -fno-exceptions -ffast-math -funsafe-math-optimizations -fno-threadsafe-statics -fno-use-cxa-atexit -std=c++17 endif # Enable this if you want the linker to remove unused code and data. @@ -96,6 +96,10 @@ CONFDIR := ./cfg BUILDDIR := ./build DEPDIR := ./.dep +# Configure libfirmware Paths/Includes +RUSEFI_LIB = $(SRCDIR)/libfirmware +include $(RUSEFI_LIB)/util/util.mk + # Licensing files. include $(CHIBIOS)/os/license/license.mk # Startup files. @@ -120,10 +124,11 @@ CSRC = $(ALLCSRC) cfg/board.c # C++ sources that can be compiled in ARM or THUMB mode depending on the global # setting. CPPSRC = $(ALLCPPSRC) \ + $(RUSEFI_LIB_CPP) \ bootloader.cpp \ ../port_shared.cpp \ $(SRCDIR)/shared/flash.cpp \ - $(SRCDIR)/shared/crc.cpp + # List ASM source files here. ASMSRC = $(ALLASMSRC) @@ -132,7 +137,7 @@ ASMSRC = $(ALLASMSRC) ASMXSRC = $(ALLXASMSRC) # Inclusion directories. -INCDIR = $(CONFDIR) $(ALLINC) $(SRCDIR)/shared/ \ +INCDIR = $(CONFDIR) $(ALLINC) $(RUSEFI_LIB_INC) $(SRCDIR)/shared/ \ ../io ../.. # Define C warning options here. diff --git a/firmware/boards/f0_module/bootloader/bootloader.cpp b/firmware/boards/f0_module/bootloader/bootloader.cpp index 3d68fc4..47c933c 100644 --- a/firmware/boards/f0_module/bootloader/bootloader.cpp +++ b/firmware/boards/f0_module/bootloader/bootloader.cpp @@ -2,9 +2,9 @@ #include "port_shared.h" #include "flash.h" #include "io_pins.h" -#include "crc.h" #include +#include // These are defined in the linker script extern uint32_t __appflash_start__[64]; diff --git a/firmware/console/binary/tunerstudio.cpp b/firmware/console/binary/tunerstudio.cpp index 1e8c796..7392944 100644 --- a/firmware/console/binary/tunerstudio.cpp +++ b/firmware/console/binary/tunerstudio.cpp @@ -71,9 +71,10 @@ #include "tunerstudio.h" #include "tunerstudio_impl.h" -#include "crc.h" #include "byteswap.h" +#include + #ifndef EFI_BLUETOOTH_SETUP #define EFI_BLUETOOTH_SETUP 0 #endif diff --git a/firmware/console/binary/tunerstudio_io.cpp b/firmware/console/binary/tunerstudio_io.cpp index cbc9e43..b9834f6 100644 --- a/firmware/console/binary/tunerstudio_io.cpp +++ b/firmware/console/binary/tunerstudio_io.cpp @@ -9,9 +9,10 @@ #include #include "tunerstudio_io.h" -#include "crc.h" #include "byteswap.h" +#include + size_t TsChannelBase::read(uint8_t* buffer, size_t size) { return readTimeout(buffer, size, SR5_READ_TIMEOUT); } diff --git a/firmware/interpolation.cpp b/firmware/interpolation.cpp index 90e5625..eaffc87 100644 --- a/firmware/interpolation.cpp +++ b/firmware/interpolation.cpp @@ -17,21 +17,3 @@ float interpolateFloatClamped(float x1, float y1, float x2, float y2, float x) return interpolateFloat(x1, y1, x2, y2, x); } - -float interpolate_1d_float(const struct inter_point *p, int size, float x) -{ - int i; - - /* no exterpolation */ - if (x < p[0].x) - return p[0].y; - - for (i = 0; i < size - 1; i++) { - if ((x >= p[i].x) && (x < p[i + 1].x)) { - return interpolateFloat(p[i].x, p[i].y, p[i + 1].x, p[i + 1].y, x); - } - } - - /* no exterpolation */ - return p[size - 1].y; -} diff --git a/firmware/interpolation.h b/firmware/interpolation.h index 13b9804..67e4028 100644 --- a/firmware/interpolation.h +++ b/firmware/interpolation.h @@ -1,10 +1,4 @@ #pragma once -struct inter_point { - float x; - float y; -}; - float interpolateFloat(float x1, float y1, float x2, float y2, float x); float interpolateFloatClamped(float x1, float y1, float x2, float y2, float x); -float interpolate_1d_float(const struct inter_point *p, int size, float x); diff --git a/firmware/libfirmware b/firmware/libfirmware new file mode 160000 index 0000000..5c871da --- /dev/null +++ b/firmware/libfirmware @@ -0,0 +1 @@ +Subproject commit 5c871dac13b3df7a631446f2ddd713941f8868d2 diff --git a/firmware/sampling.cpp b/firmware/sampling.cpp index f52ec84..71adaa8 100644 --- a/firmware/sampling.cpp +++ b/firmware/sampling.cpp @@ -1,5 +1,4 @@ #include "sampling.h" -#include "interpolation.h" #include "ch.h" #include "hal.h" @@ -9,33 +8,17 @@ #include "port.h" #include "io_pins.h" +#include + // Stored results static float nernstAc = 0; static float nernstDc = 0; static float pumpCurrentSenseVoltage = 0; static float internalBatteryVoltage = 0; -static const struct inter_point lsu49_r_to_temp[] = -{ - { 80, 1030 }, - { 150, 890 }, - { 200, 840 }, - { 250, 805 }, - { 300, 780 }, - { 350, 760 }, - { 400, 745 }, - { 450, 730 }, - { 550, 705 }, - { 650, 685 }, - { 800, 665 }, - { 1000, 640 }, - { 1200, 630 }, - { 2500, 565 }, - // approximated by the greatest measurable sensor resistance - { 5000, 500 } -}; - -#define ARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0])) +// Last point is approximated by the greatest measurable sensor resistance +static const float lsu49TempBins[] = { 80, 150, 200, 250, 300, 350, 400, 450, 550, 650, 800, 1000, 1200, 2500, 5000 }; +static const float lsu49TempValues[] = { 1030, 890, 840, 805, 780, 760, 745, 730, 705, 685, 665, 640, 630, 565, 500 }; constexpr float f_abs(float x) { @@ -124,7 +107,7 @@ float GetSensorTemperature() return 0; } - return interpolate_1d_float(lsu49_r_to_temp, ARRAY_SIZE(lsu49_r_to_temp), esr); + return interpolate2d(esr, lsu49TempBins, lsu49TempValues); } float GetNernstDc() diff --git a/firmware/shared/crc.cpp b/firmware/shared/crc.cpp deleted file mode 100644 index 5bb31b3..0000000 --- a/firmware/shared/crc.cpp +++ /dev/null @@ -1,61 +0,0 @@ -#include "crc.h" - -static const uint32_t crc32_tab[] = { 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, - 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, - 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, - 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, - 0xf4d4b551, 0x83d385c7, 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, - 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, - 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, - 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, - 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, - 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, - 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, - 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, - 0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, - 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, - 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, - 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, - 0x8cd37cf3, 0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, - 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, - 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, - 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, - 0xb966d409, 0xce61e49f, 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, - 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, - 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, - 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, - 0x0a00ae27, 0x7d079eb1, 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, - 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, - 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, - 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, - 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, - 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, - 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, - 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, - 0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, - 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, - 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, - 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, - 0x6fb077e1, 0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, - 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, - 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, - 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, - 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, - 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, - 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d }; - -uint32_t crc32(const void *buf, uint32_t size) { - return crc32inc(buf, 0, size); -} - -uint32_t crc32inc(const void *buf, uint32_t crc, uint32_t size) { - auto p = reinterpret_cast(buf); - - crc = crc ^ 0xFFFFFFFF; - - while (size--) { - crc = crc32_tab[(crc ^ *p++) & 0xFF] ^ (crc >> 8); - } - - return crc ^ 0xFFFFFFFF; -} diff --git a/firmware/shared/crc.h b/firmware/shared/crc.h deleted file mode 100644 index 5f7851f..0000000 --- a/firmware/shared/crc.h +++ /dev/null @@ -1,13 +0,0 @@ -/** - * @file crc.h - * - * @date Sep 20, 2013 - * @author Andrey Belomutskiy, (c) 2012-2020 - */ - -#pragma once - -#include - -uint32_t crc32(const void *buf, uint32_t size); -uint32_t crc32inc(const void *buf, uint32_t crc, uint32_t size);