Merge branch 'master' of https://github.com/mck1117/wideband

.gitattributes

@@ -0,0 +1,2 @@
+
+*.sh text eol=lf

.github/workflows/build-firmware.yaml

@@ -1,4 +1,4 @@
-name: Build F0 Module Firmware
+name: Build Firmware
 
 on: [push, pull_request]
 
@@ -6,6 +6,14 @@ jobs:
   build-firmware:
     runs-on: ubuntu-latest
 
+    strategy:
+      # Let all builds finish even if one fails early
+      fail-fast: false
+      matrix:
+        include:
+          - build-target: f0_module
+          - build-target: f1_dave
+
     steps:
       - uses: actions/checkout@v1
         with:
@@ -25,5 +33,11 @@ jobs:
         run: arm-none-eabi-gcc -v
 
       - name: Build Firmware
-        working-directory: ./firmware/boards/f0_module
+        working-directory: ./firmware/boards/${{matrix.build-target}}
         run: ./build_wideband.sh
+
+      - name: Attach binaries
+        uses: actions/upload-artifact@v2
+        with:
+          name: Wideband ${{matrix.build-target}}
+          path: ./firmware/build/wideband.*

README.md

@@ -0,0 +1,13 @@
+[![Build Firmware](https://github.com/rusefi/wideband/actions/workflows/build-firmware.yaml/badge.svg)](https://github.com/rusefi/wideband/actions/workflows/build-firmware.yaml)
+
+# rusEFI Wideband Controller
+
+[User Documentation](https://rusefi.com/s/wb)
+
+[Forum Thread](https://rusefi.com/forum/viewtopic.php?f=4&t=1856)
+
+## Building Firmware
+
+The `firmware/boards` directory contains configuration for each board this firmware supports.
+
+For the standalone board and the module built in to rusEFI Hellen boards, `f0_module` is the correct target.  Use the `build_wideband.sh` script to build and package the wideband firmware: both a bin including the bootloader, and a header file consumed by rusEFI that contains no bootloader, to be uploaded over CAN (via the aforementioned bootloader).

firmware/Makefile

@@ -131,6 +131,7 @@ CSRC = $(ALLCSRC) $(BOARDDIR)/board.c
 # setting.
 CPPSRC = $(ALLCPPSRC) \
           $(BOARDDIR)/port.cpp \
+          $(BOARDDIR)/port_shared.cpp \
           shared/flash.cpp \
           can.cpp \
           can_helper.cpp \
@@ -152,7 +153,7 @@ ASMSRC = $(ALLASMSRC)
 ASMXSRC = $(ALLXASMSRC)
 
 # Inclusion directories.
-INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC) boards/
+INCDIR = $(CONFDIR) $(ALLINC) boards/ $(BOARDDIR)/io/
 
 # Define C warning options here.
 CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes

firmware/boards/f0_module/bootloader/Makefile

@@ -119,7 +119,11 @@ CSRC = $(ALLCSRC) cfg/board.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC = $(ALLCPPSRC) bootloader.cpp $(SRCDIR)/shared/flash.cpp crc.cpp
+CPPSRC = $(ALLCPPSRC) \
+  bootloader.cpp \
+  ../port_shared.cpp \
+  $(SRCDIR)/shared/flash.cpp \
+  $(SRCDIR)/shared/crc.cpp
 
 # List ASM source files here.
 ASMSRC = $(ALLASMSRC)
@@ -128,7 +132,8 @@ ASMSRC = $(ALLASMSRC)
 ASMXSRC = $(ALLXASMSRC)
 
 # Inclusion directories.
-INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC) $(SRCDIR)/shared/
+INCDIR = $(CONFDIR) $(ALLINC) $(SRCDIR)/shared/ \
+  ../io ../..
 
 # Define C warning options here.
 CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes

firmware/boards/f0_module/bootloader/bootloader.cpp

@@ -1,7 +1,7 @@
-#include "ch.h"
-#include "hal.h"
 
+#include "port_shared.h"
 #include "flash.h"
+#include "io_pins.h"
 
 #include <cstring>
 
@@ -36,15 +36,18 @@ void boot_app() {
 
     const uint32_t* appFlash = __appflash_start__;
 
+    // The reset vector is at offset 4 (second uint32)
+    uint32_t reset_vector = appFlash[1];
+
+#ifdef STM32F0XX
     // copy vector table to sram
     // TODO: use __ram_vectors_size__
     memcpy(reinterpret_cast<char*>(&__ram_vectors_start__), appFlash, 256);
 
-    // The reset vector is at offset 4 (second uint32)
+    // M0 core version, newer cores do same thing a bit nicer
-    uint32_t reset_vector = appFlash[1];
-
     // switch to use vectors in ram
     SYSCFG->CFGR1 |= 3;
+#endif
 
     // TODO: is this necessary?
     //uint32_t app_msp = appLocation[0];
@@ -213,12 +216,6 @@ void RunBootloaderLoop()
     }
 }
 
-static const CANConfig canConfig500 =
-{
-    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
-    CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
-};
-
 THD_WORKING_AREA(waBootloaderThread, 512);
 THD_FUNCTION(BootloaderThread, arg)
 {
@@ -244,24 +241,23 @@ int main(void) {
 
     chThdCreateStatic(waBootloaderThread, sizeof(waBootloaderThread), NORMALPRIO + 1, BootloaderThread, nullptr);
 
-    // PB5 is blue LED
+    palSetPadMode(LED_BLUE_PORT, LED_BLUE_PIN, PAL_MODE_OUTPUT_PUSHPULL);
-    palSetPadMode(GPIOB, 5, PAL_MODE_OUTPUT_PUSHPULL);
+
-    // PB6 is green LED
+    palSetPadMode(LED_GREEN_PORT, LED_GREEN_PIN, PAL_MODE_OUTPUT_PUSHPULL);
-    palSetPadMode(GPIOB, 6, PAL_MODE_OUTPUT_PUSHPULL);
+    palTogglePad(LED_GREEN_PORT, LED_GREEN_PIN);
-    palTogglePad(GPIOB, 6);
 
     for (size_t i = 0; i < 20; i++)
     {
-        palTogglePad(GPIOB, 5);
+        palTogglePad(LED_BLUE_PORT, LED_BLUE_PIN);
-        palTogglePad(GPIOB, 6);
+        palTogglePad(LED_GREEN_PORT, LED_GREEN_PIN);
         chThdSleepMilliseconds(40);
     }
 
     // Block until booting the app is allowed and CRC matches
     while (bootloaderBusy || !isAppValid())
     {
-        palTogglePad(GPIOB, 5);
+        palTogglePad(LED_BLUE_PORT, LED_BLUE_PIN);
-        palTogglePad(GPIOB, 6);
+        palTogglePad(LED_GREEN_PORT, LED_GREEN_PIN);
         chThdSleepMilliseconds(200);
     }
 

firmware/boards/f0_module/build_wideband.sh

@@ -1,5 +1,7 @@
 #!/bin/bash
 
+set -e
+
 # first build the bootloader
 cd bootloader
 ./build_bootloader.sh
@@ -8,11 +10,11 @@ cd bootloader
 cd ../../..
 
 # delete the elf to force a re-link (it might not pick up the bootloader otherwise)
-rm -r build/
+rm -rf build/
-rm ../for_rusefi/wideband_image.h
+rm -f ../for_rusefi/wideband_image.h
 
 # build app firmware!
-make -j12
+make -j12 BOARD=f0_module
 
 # Copy the bin without the bootloader (the image consumed by rusEfi has no bootloader on it)
 dd if=build/wideband.bin of=build/wideband_noboot_no_pad.bin skip=6144 bs=1

firmware/boards/f0_module/io/io_pins.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#define LED_BLUE_PORT GPIOB
+#define LED_BLUE_PIN 5
+
+#define LED_GREEN_PORT GPIOB
+#define LED_GREEN_PIN 6
+
+#define NERNST_ESR_DRIVER_PORT GPIOB
+#define NERNST_ESR_DRIVER_PIN 7
+
+// PA7
+#define HEATER_PWM_DEVICE PWMD1
+#define HEATER_PWM_CHANNEL 0
+
+// PA6
+#define PUMP_DAC_PWM_DEVICE PWMD3
+#define PUMP_DAC_PWM_CHANNEL 0
+
+#define ID_SEL1_PORT GPIOB
+#define ID_SEL1_PIN 1
+
+#define ID_SEL2_PORT GPIOA
+#define ID_SEL2_PIN 8

firmware/boards/f0_module/port.cpp

@@ -97,8 +97,8 @@ Configuration GetConfiguration()
     }
 
     // Now, override the index with a hardware-strapped option (if present)
-    auto sel1 = readSelPin(GPIOB, 1);
+    auto sel1 = readSelPin(ID_SEL1_PORT, ID_SEL1_PIN);
-    auto sel2 = readSelPin(GPIOA, 8);
+    auto sel2 = readSelPin(ID_SEL2_PORT, ID_SEL2_PIN);
 
     // See https://github.com/mck1117/wideband/issues/11
     switch (3 * sel1 + sel2) {
@@ -129,9 +129,3 @@ void SetConfiguration(const Configuration& newConfig)
         sizeof(Configuration)
     );
 }
-
-const CANConfig canConfig500 =
-{
-    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
-    CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
-};

firmware/boards/f0_module/port_shared.cpp

@@ -0,0 +1,12 @@
+#include "port_shared.h"
+
+// board-specific stuff shared between bootloader and firmware
+
+const CANConfig canConfig500 =
+{
+    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
+    /*
+     For 48MHz http://www.bittiming.can-wiki.info/ gives us Pre-scaler=6, Seq 1=13 and Seq 2=2. Subtract '1' for register values
+    */
+    CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
+};

firmware/boards/f0_module/wideband_board_config.h

@@ -0,0 +1,12 @@
+#pragma once
+
+// Fundamental board constants
+#define VCC_VOLTS (3.3f)
+#define HALF_VCC (VCC_VOLTS / 2)
+#define ADC_MAX_COUNT (4095)
+#define ADC_OVERSAMPLE 24
+
+// *******************************
+//    Nernst voltage & ESR sense
+// *******************************
+#define NERNST_INPUT_GAIN (1 / 2.7f)

firmware/boards/f1_dave/board.h

@@ -17,30 +17,26 @@
 #ifndef _BOARD_H_
 #define _BOARD_H_
 
-/*
- * Setup for the ST INEMO-M1 Discovery board.
- */
-
 /*
  * Board identifier.
  */
 #define BOARD_ST_NUCLEO64_F103RB
-#define BOARD_NAME              "STMicroelectronics NUCLEO-F103RB"
+/*
+ * Board identifier.
+ */
+#define BOARD_NAME                  "rusEfi Wideband Controller"
 
 /*
- * Board frequencies.
+ * Board oscillators-related settings.
+ * NOTE: LSE not fitted.
+ * NOTE: HSE not fitted.
  */
-#define STM32_LSECLK            0
+#if !defined(STM32_LSECLK)
+#define STM32_LSECLK                0U
+#endif
 
-#if defined(NUCLEO_EXTERNAL_OSCILLATOR)
+#if !defined(STM32_HSECLK)
-#define STM32_HSECLK            8000000
+#define STM32_HSECLK                0U
-#define STM32_HSE_BYPASS
-
-#elif defined(NUCLEO_HSE_CRYSTAL)
-#define STM32_HSECLK            8000000
-
-#else
-#define STM32_HSECLK            0
 #endif
 
 /*
@@ -191,20 +187,28 @@
 /*
  * Port A setup.
  * Everything input with pull-up except:
- * PA2  - Alternate output          (GPIOA_ARD_D1, GPIOA_USART2_TX).
+ * PA0  - Ip_sense                  (analog in).
- * PA3  - Normal input              (GPIOA_ARD_D0, GPIOA_USART2_RX).
+ * PA1  - Ip_dac (PWM)              (output pushpull, alternate).
- * PA5  - Push Pull output          (GPIOA_LED_GREEN).
+ * PA2  - Vm_sense                  (analog in).
+ * PA3  - Un_sense                  (analog in).
+ * PA4  - Vm                        (analog in, unused).
+ * PA8  - Green LED                 (output pushpull).
+ * PA9  - UART TX                   (output pushpull, alternate).
+ * PA10 - UART RX                   (digital input, alternate).
+ * PA11 - CAN RX                    (digital input, alternate).
+ * PA12 - CAN TX                    (output pushpull, alternate).
  * PA13 - Pull-up input             (GPIOA_SWDIO).
  * PA14 - Pull-down input           (GPIOA_SWCLK).
  */
-#define VAL_GPIOACRL            0x88384B88      /*  PA7...PA0 */
+#define VAL_GPIOACRL            0x88800020      /*  PA7...PA0 */
-#define VAL_GPIOACRH            0x88888888      /* PA15...PA8 */
+#define VAL_GPIOACRH            0x888B88B2      /* PA15...PA8 */
-#define VAL_GPIOAODR            0xFFFFBFDF
+#define VAL_GPIOAODR            0xFFFFFFFF
 
 /*
  * Port B setup.
  * Everything input with pull-up except:
- * PB3  - Pull-up input             (GPIOA_SWO).
+ * PB12 - Nernst ESR driver (GPIO)  (output pushpull)
+ * PB13 - Blue LED                  (output pushpull)
  */
 #define VAL_GPIOBCRL            0x88888888      /*  PB7...PB0 */
 #define VAL_GPIOBCRH            0x88888888      /* PB15...PB8 */
@@ -213,19 +217,16 @@
 /*
  * Port C setup.
  * Everything input with pull-up except:
- * PC13 - Normal input              (GPIOC_BUTTON).
  */
 #define VAL_GPIOCCRL            0x88888888      /*  PC7...PC0 */
-#define VAL_GPIOCCRH            0x88488888      /* PC15...PC8 */
+#define VAL_GPIOCCRH            0x88888888      /* PC15...PC8 */
 #define VAL_GPIOCODR            0xFFFFFFFF
 
 /*
  * Port D setup.
  * Everything input with pull-up except:
- * PD0  - Normal input              (GPIOD_OSC_IN).
- * PD1  - Normal input              (GPIOD_OSC_OUT).
  */
-#define VAL_GPIODCRL            0x88888844      /*  PD7...PD0 */
+#define VAL_GPIODCRL            0x88888888      /*  PD7...PD0 */
 #define VAL_GPIODCRH            0x88888888      /* PD15...PD8 */
 #define VAL_GPIODODR            0xFFFFFFFF
 

firmware/boards/f1_dave/board.mk

@@ -1,3 +1,5 @@
+USE_BOOTLOADER = no
+
 MCU = cortex-m3
 
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk

firmware/boards/f1_dave/build_wideband.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+set -e
+
+# back out to the root
+cd ../..
+
+# build app firmware!
+make -j12 BOARD=f1_dave ECHO_UART=TRUE

firmware/boards/f1_dave/io/io_pins.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#define LED_BLUE_PORT GPIOB
+#define LED_BLUE_PIN 13
+
+#define LED_GREEN_PORT GPIOA
+#define LED_GREEN_PIN 8
+
+#define NERNST_ESR_DRIVER_PORT GPIOB
+#define NERNST_ESR_DRIVER_PIN 12
+
+// PC13
+#define HEATER_PWM_DEVICE PWMD1
+#define HEATER_PWM_CHANNEL 0
+
+// PA1 TIM2_CH2
+#define PUMP_DAC_PWM_DEVICE PWMD2
+#define PUMP_DAC_PWM_CHANNEL 1
+
+#define ID_SEL1_PORT GPIOB
+#define ID_SEL1_PIN 0
+
+#define ID_SEL2_PORT GPIOB
+#define ID_SEL2_PIN 1

firmware/boards/f1_dave/mcuconf.h

@@ -35,6 +35,8 @@
 
 /*
  * HAL driver system settings.
+ * TL,DR: we run at 48MHz.
+ * It's not possible to run at 72 on HSI because of the PLL's limited configuration options, so 48MHz right now.
  */
 #define STM32_NO_INIT                       FALSE
 #define STM32_HSI_ENABLED                   TRUE
@@ -47,7 +49,7 @@
 #define STM32_PLLMUL_VALUE                  12
 #define STM32_HPRE                          STM32_HPRE_DIV1
 #define STM32_PPRE1                         STM32_PPRE1_DIV2
-#define STM32_PPRE2                         STM32_PPRE2_DIV2
+#define STM32_PPRE2                         STM32_PPRE2_DIV1
 #define STM32_ADCPRE                        STM32_ADCPRE_DIV4
 #define STM32_USB_CLOCK_REQUIRED            TRUE
 #define STM32_USBPRE                        STM32_USBPRE_DIV1
@@ -133,8 +135,8 @@
  */
 #define STM32_PWM_USE_ADVANCED              FALSE
 #define STM32_PWM_USE_TIM1                  TRUE
-#define STM32_PWM_USE_TIM2                  FALSE
+#define STM32_PWM_USE_TIM2                  TRUE
-#define STM32_PWM_USE_TIM3                  TRUE
+#define STM32_PWM_USE_TIM3                  FALSE
 #define STM32_PWM_USE_TIM4                  FALSE
 #define STM32_PWM_USE_TIM5                  FALSE
 #define STM32_PWM_USE_TIM8                  FALSE
@@ -182,7 +184,7 @@
  * ST driver system settings.
  */
 #define STM32_ST_IRQ_PRIORITY               8
-#define STM32_ST_USE_TIMER                  2
+#define STM32_ST_USE_TIMER                  3
 
 /*
  * UART driver system settings.

firmware/boards/f1_dave/port.cpp

@@ -1,16 +1,58 @@
 #include "port.h"
 
+
+#include "wideband_config.h"
+
+#include "hal.h"
+
+#define ADC_CHANNEL_COUNT 3
+#define ADC_SAMPLE ADC_SAMPLE_7P5
+
+static adcsample_t adcBuffer[ADC_CHANNEL_COUNT * ADC_OVERSAMPLE];
+
+ADCConversionGroup convGroup =
+{
+    false,
+    ADC_CHANNEL_COUNT,
+    nullptr,
+    nullptr,
+    0, ADC_CR2_CONT,       // CR1, CR2
+    // SMPR1
+    0,
+    // SMPR2
+    ADC_SMPR2_SMP_AN3(ADC_SAMPLE) | ADC_SMPR2_SMP_AN0(ADC_SAMPLE) | ADC_SMPR2_SMP_AN2(ADC_SAMPLE),
+    // SQR
+    ADC_SQR1_NUM_CH(ADC_CHANNEL_COUNT),
+    0,
+    ADC_SQR3_SQ1_N(3) | ADC_SQR3_SQ2_N(0) | ADC_SQR3_SQ3_N(2)
+};
+
+static float AverageSamples(adcsample_t* buffer, size_t idx)
+{
+    uint32_t sum = 0;
+
+    for (size_t i = 0; i < ADC_OVERSAMPLE; i++)
+    {
+        sum += buffer[idx];
+        idx += ADC_CHANNEL_COUNT;
+    }
+
+    constexpr float scale = VCC_VOLTS / (ADC_MAX_COUNT * ADC_OVERSAMPLE);
+
+    return (float)sum * scale;
+}
+
 AnalogResult AnalogSample()
 {
-    // TODO: implement me!
+    adcConvert(&ADCD1, &convGroup, adcBuffer, ADC_OVERSAMPLE);
-    return {};
-}
 
-const CANConfig canConfig500 =
+    return
-{
+    {
-    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
+        .NernstVoltage = AverageSamples(adcBuffer, 0) * NERNST_INPUT_GAIN,
-    0 // TODO: set bit timing! correctly!
+        .PumpCurrentVoltage = AverageSamples(adcBuffer, 1),
-};
+        .VirtualGroundVoltageInt = AverageSamples(adcBuffer, 2),
+    };
+}
 
 Configuration GetConfiguration()
 {

firmware/boards/f1_dave/port_shared.cpp

@@ -0,0 +1,12 @@
+#include "port_shared.h"
+
+// board-specific stuff shared between bootloader and firmware
+
+const CANConfig canConfig500 =
+{
+    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
+    /*
+     For 24MHz http://www.bittiming.can-wiki.info/ gives us Pre-scaler=3, Seq 1=13 and Seq 2=2. Subtract '1' for register values
+    */
+    CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
+};

firmware/boards/f1_dave/wideband_board_config.h

@@ -0,0 +1,12 @@
+#pragma once
+
+// Fundamental board constants
+#define VCC_VOLTS (3.3f)
+#define HALF_VCC (VCC_VOLTS / 2)
+#define ADC_MAX_COUNT (4095)
+#define ADC_OVERSAMPLE 24
+
+// *******************************
+//    Nernst voltage & ESR sense
+// *******************************
+#define NERNST_INPUT_GAIN (1 / 3.0f)

firmware/boards/port.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "hal.h"
+#include "port_shared.h"
 
 struct AnalogResult
 {
@@ -33,4 +34,3 @@ public:
 Configuration GetConfiguration();
 void SetConfiguration(const Configuration& newConfig);
 
-extern const CANConfig canConfig500;

firmware/boards/port_shared.h

@@ -0,0 +1,4 @@
+#include "ch.h"
+#include "hal.h"
+
+extern const CANConfig canConfig500;

firmware/can.cpp

@@ -1,6 +1,7 @@
 #include "can.h"
 #include "hal.h"
 
+#include "fault.h"
 #include "can_helper.h"
 #include "heater_control.h"
 #include "lambda_conversion.h"
@@ -8,6 +9,9 @@
 #include "pump_dac.h"
 #include "port.h"
 
+// this same header is imported by rusEFI to get struct layouts and firmware version
+#include "../for_rusefi/wideband_can.h"
+
 Configuration configuration;
 
 static THD_WORKING_AREA(waCanTxThread, 256);
@@ -15,7 +19,7 @@ void CanTxThread(void*)
 {
     while(1)
     {
-        SendEmulatedAemXseries(configuration.CanIndexOffset);
+        SendRusefiFormat(configuration.CanIndexOffset);
 
         chThdSleepMilliseconds(10);
     }
@@ -26,7 +30,7 @@ static void SendAck()
     CANTxFrame frame;
 
     frame.IDE = CAN_IDE_EXT;
-    frame.EID = 0x727573;   // ascii "rus"
+    frame.EID = WB_ACK;
     frame.RTR = CAN_RTR_DATA;
     frame.DLC = 0;
 
@@ -53,7 +57,7 @@ void CanRxThread(void*)
             continue;
         }
 
-        if (frame.DLC == 2 && frame.EID == 0xEF5'0000) {
+        if (frame.DLC == 2 && frame.EID == WB_MGS_ECU_STATUS) {
             // This is status from ECU - battery voltage and heater enable signal
 
             // data0 contains battery voltage in tenths of a volt
@@ -65,7 +69,7 @@ void CanRxThread(void*)
             SetHeaterAllowed(heaterAllowed);
         }
         // If it's a bootloader entry request, reboot to the bootloader!
-        else if (frame.DLC == 0 && frame.EID == 0xEF0'0000)
+        else if (frame.DLC == 0 && frame.EID == WB_BL_ENTER)
         {
             SendAck();
 
@@ -75,7 +79,7 @@ void CanRxThread(void*)
             NVIC_SystemReset();
         }
         // Check if it's an "index set" message
-        else if (frame.DLC == 1 && frame.EID == 0xEF4'0000)
+        else if (frame.DLC == 1 && frame.EID == WB_MSG_SET_INDEX)
         {
             auto newCfg = GetConfiguration();
             newCfg.CanIndexOffset = frame.data8[0];
@@ -95,61 +99,35 @@ void InitCan()
     chThdCreateStatic(waCanRxThread, sizeof(waCanRxThread), NORMALPRIO - 4, CanRxThread, nullptr);
 }
 
-struct StandardDataFrame
-{
-    uint16_t lambda;
-    uint16_t measuredResistance;
-    uint8_t pad[4];
-};
-
 #define SWAP_UINT16(x) (((x) << 8) | ((x) >> 8))
 
-void SendEmulatedAemXseries(uint8_t idx) {
+void SendRusefiFormat(uint8_t idx)
-    CanTxMessage frame(0x180 + idx, 8, true);
+{
+    auto baseAddress = 0x190 + 2 * idx;
+    auto esr = GetSensorInternalResistance();
 
-    bool isValid = IsRunningClosedLoop();
+    {
+        CanTxTyped<wbo::StandardData> frame(baseAddress + 0);
 
-    float lambda = GetLambda();
+        // The same header is imported by the ECU and checked against this data in the frame
-    uint16_t intLambda = lambda * 10000;
+        frame.get().Version = RUSEFI_WIDEBAND_VERSION;
 
-    // swap endian
+        uint16_t lambda = GetLambda() * 10000;
-    intLambda = SWAP_UINT16(intLambda);
+        frame.get().Lambda = lambda;
-    *reinterpret_cast<uint16_t*>(&frame[0]) = intLambda;
 
-    // bit 1 = LSU 4.9 detected
+        // TODO: decode temperature instead of putting ESR here
-    // bit 7 = reading valid
+        frame.get().TemperatureC = esr;
-    frame[6] = 0x02 | (isValid ? 0x80 : 0x00);
 
-    // Hijack a reserved bit to indicate that we're NOT an AEM controller
+        frame.get().Valid = IsRunningClosedLoop() ? 0x01 : 0x00;
-    frame[7] = 0x80;
-
-    // Now we embed some extra data for debug
-    // bytes 2-3 are officially oxygen percent
-    // byte 4 is officially supply voltage
-
-    // Report pump output PWM in byte 2, 0-255 for min to max target (128 = 0 current)
-    frame[2] = GetPumpOutputDuty() / 4;
-
-    // Report sensor ESR in byte 3, 4 ohm steps
-    int esrVal = (int)GetSensorInternalResistance() / 4;
-
-    // Clamp to uint8_t limits
-    if (esrVal > 255) {
-        esrVal = 255;
-    } else if (esrVal < 0) {
-        esrVal = 0;
     }
 
-    frame[3] = esrVal;
+    {
+        CanTxTyped<wbo::DiagData> frame(baseAddress + 1);
 
-    // Report current nernst voltage in byte 4, 5mv steps
+        frame.get().Esr = esr;
-    frame[4] = (int)(GetNernstDc() * 200);
+        frame.get().NernstDc = GetNernstDc() * 1000;
-}
+        frame.get().PumpDuty = GetPumpOutputDuty() * 255;
-
+        frame.get().Status = GetCurrentFault();
-void SendCanData(float lambda, uint16_t measuredResistance)
+        frame.get().HeaterDuty = GetHeaterDuty() * 255;
-{
+    }
-    CanTxTyped<StandardDataFrame> frame(0x130);
-
-    frame.get().lambda = lambda * 10000;
-    frame.get().measuredResistance = measuredResistance;
 }

firmware/can.h

@@ -4,4 +4,4 @@
 
 void InitCan();
 void SendCanData(float lambda, uint16_t measuredResistance);
-void SendEmulatedAemXseries(uint8_t idx);
+void SendRusefiFormat(uint8_t idx);

firmware/fault.cpp

@@ -1,18 +1,20 @@
 #include "fault.h"
 
+using namespace wbo;
+
 static Fault currentFault = Fault::None;
 
-void setFault(Fault fault)
+void SetFault(Fault fault)
 {
     currentFault = fault;
 }
 
-bool hasFault()
+bool HasFault()
 {
     return currentFault != Fault::None;
 }
 
-Fault getCurrentFault()
+Fault GetCurrentFault()
 {
     return currentFault;
 }

firmware/fault.h

@@ -1,15 +1,9 @@
 #pragma once
 
-enum class Fault
+#include <cstdint>
-{
-    None = 0,
 
-    // First fault code at 3 so it's easier to see
+#include "../for_rusefi/wideband_can.h"
-    SensorDidntHeat = 3,
-    SensorOverheat = 4,
-    SensorUnderheat = 5,
-};
 
-void setFault(Fault fault);
+void SetFault(wbo::Fault fault);
-bool hasFault();
+bool HasFault();
-Fault getCurrentFault();
+wbo::Fault GetCurrentFault();

firmware/heater_control.cpp

@@ -9,8 +9,10 @@
 #include "sampling.h"
 #include "pid.h"
 
+using namespace wbo;
+
 // 400khz / 1024 = 390hz PWM
-Pwm heaterPwm(PWMD1, 0, 400'000, 1024);
+static Pwm heaterPwm(HEATER_PWM_DEVICE, HEATER_PWM_CHANNEL, 400'000, 1024);
 
 enum class HeaterState
 {
@@ -61,7 +63,7 @@ static HeaterState GetNextState(HeaterState state, float sensorEsr)
             }
             else if (timeCounter == 0)
             {
-                setFault(Fault::SensorDidntHeat);
+                SetFault(Fault::SensorDidntHeat);
                 return HeaterState::Stopped;
             }
 
@@ -69,14 +71,15 @@ static HeaterState GetNextState(HeaterState state, float sensorEsr)
 
             break;
         case HeaterState::ClosedLoop:
+            // Check that the sensor's ESR is acceptable for normal operation
             if (sensorEsr < HEATER_OVERHEAT_ESR)
             {
-                setFault(Fault::SensorOverheat);
+                SetFault(Fault::SensorOverheat);
                 return HeaterState::Stopped;
             }
             else if (sensorEsr > HEATER_UNDERHEAT_ESR)
             {
-                setFault(Fault::SensorUnderheat);
+                SetFault(Fault::SensorUnderheat);
                 return HeaterState::Stopped;
             }
 
@@ -201,3 +204,8 @@ void SetHeaterAllowed(bool allowed)
 {
     heaterAllowed = allowed;
 }
+
+float GetHeaterDuty()
+{
+    return heaterPwm.GetLastDuty();
+}

firmware/heater_control.h

@@ -6,3 +6,4 @@ void StartHeaterControl();
 bool IsRunningClosedLoop();
 void SetBatteryVoltage(float vbatt);
 void SetHeaterAllowed(bool allowed);
+float GetHeaterDuty();

firmware/main.cpp

@@ -8,7 +8,9 @@
 #include "pump_dac.h"
 #include "sampling.h"
 #include "uart.h"
+#include "io_pins.h"
 
+using namespace wbo;
 
 /*
  * Application entry point.
@@ -24,19 +26,21 @@ int main() {
     StartPumpControl();
 
     InitCan();
-    //InitUart();
+#ifdef ECHO_UART
+    InitUart();
+#endif
 
     while(true)
     {
-        auto fault = getCurrentFault();
+        auto fault = GetCurrentFault();
 
         if (fault == Fault::None)
         {
             // blue is off
-            palClearPad(GPIOB, 5);
+            palClearPad(LED_BLUE_PORT, LED_BLUE_PIN);
 
             // Green is blinking
-            palTogglePad(GPIOB, 6);
+            palTogglePad(LED_GREEN_PORT, LED_GREEN_PIN);
 
             // Slow blink if closed loop, fast if not
             chThdSleepMilliseconds(IsRunningClosedLoop() ? 700 : 50);
@@ -44,13 +48,13 @@ int main() {
         else
         {
             // green is off
-            palClearPad(GPIOB, 6);
+            palClearPad(LED_GREEN_PORT, LED_GREEN_PIN);
 
             // Blink out the error code
             for (int i = 0; i < 2 * static_cast<int>(fault); i++)
             {
                 // Blue is blinking
-                palTogglePad(GPIOB, 5);
+                palTogglePad(LED_BLUE_PORT, LED_BLUE_PIN);
 
                 // fast blink
                 chThdSleepMilliseconds(300);

firmware/pump_dac.cpp

@@ -7,7 +7,7 @@
 #include "hal.h"
 
 // 48MHz / 1024 = 46.8khz PWM
-static Pwm pumpDac(PWMD3, 0, 48'000'000, 1024);
+static Pwm pumpDac(PUMP_DAC_PWM_DEVICE, PUMP_DAC_PWM_CHANNEL, 48'000'000, 1024);
 
 void InitPumpDac()
 {
@@ -37,7 +37,7 @@ void SetPumpCurrentTarget(int32_t microampere)
     pumpDac.SetDuty(volts / VCC_VOLTS);
 }
 
-uint16_t GetPumpOutputDuty()
+float GetPumpOutputDuty()
 {
     return pumpDac.GetLastDuty();
 }

firmware/pump_dac.h

@@ -4,4 +4,4 @@
 
 void InitPumpDac();
 void SetPumpCurrentTarget(int32_t microamperes);
-uint16_t GetPumpOutputDuty();
+float GetPumpOutputDuty();

firmware/pwm.cpp

@@ -45,14 +45,14 @@ float clampF(float min, float clamp, float max) {
 }
 
 void Pwm::SetDuty(float duty) {
-    pwmcnt_t highTime = m_counterPeriod * clampF(0, duty, 1);
+    auto dutyFloat = clampF(0, duty, 1);
-
+    m_dutyFloat = dutyFloat;
-    m_lastDuty = highTime;
+    pwmcnt_t highTime = m_counterPeriod * dutyFloat;
 
     pwm_lld_enable_channel(m_driver, m_channel, highTime);
 }
 
-uint16_t Pwm::GetLastDuty() const
+float Pwm::GetLastDuty() const
 {
-    return m_lastDuty;
+    return m_dutyFloat;
 }

firmware/pwm.h

@@ -11,11 +11,12 @@ public:
 
     void Start();
     void SetDuty(float duty);
-    uint16_t GetLastDuty() const;
+    float GetLastDuty() const;
+
 private:
     PWMDriver* const m_driver;
     const uint8_t m_channel;
     const uint32_t m_counterFrequency;
     const uint16_t m_counterPeriod;
-    uint16_t m_lastDuty;
+    float m_dutyFloat;
 };

firmware/sampling.cpp

@@ -6,11 +6,12 @@
 #include "wideband_config.h"
 
 #include "port.h"
+#include "io_pins.h"
 
 // Stored results
-float nernstAc = 0;
+static float nernstAc = 0;
-float nernstDc = 0;
+static float nernstDc = 0;
-volatile float pumpCurrentSenseVoltage = 0;
+static volatile float pumpCurrentSenseVoltage = 0;
 
 constexpr float f_abs(float x)
 {
@@ -29,7 +30,7 @@ static void SamplingThread(void*)
         auto result = AnalogSample();
 
         // Toggle the pin after sampling so that any switching noise occurs while we're doing our math instead of when sampling
-        palTogglePad(GPIOB, 7);
+        palTogglePad(NERNST_ESR_DRIVER_PORT, NERNST_ESR_DRIVER_PIN);
 
         float r_1 = result.NernstVoltage;
 

firmware/wideband_config.h

@@ -1,15 +1,11 @@
 #pragma once
 
-// Fundamental board constants
+#include "io_pins.h"
-#define VCC_VOLTS (3.3f)
+#include "wideband_board_config.h"
-#define HALF_VCC (VCC_VOLTS / 2)
-#define ADC_MAX_COUNT (4095)
-#define ADC_OVERSAMPLE 24
 
 // *******************************
 //    Nernst voltage & ESR sense
 // *******************************
-#define NERNST_INPUT_GAIN (1 / 2.7f)
 
 // Nernst AC injection resistor value
 #define ESR_SUPPLY_R (22000)
@@ -42,9 +38,9 @@
 #define HEATER_CONTROL_PERIOD 50
 
 #define HEATER_PREHEAT_TIME 5000
-#define HEATER_WARMUP_TIMEOUT 45000
+#define HEATER_WARMUP_TIMEOUT 60000
 
-#define HEATER_CLOSED_LOOP_THRESHOLD_ESR 400
+#define HEATER_CLOSED_LOOP_THRESHOLD_ESR 500
 #define HEATER_TARGET_ESR 300
 #define HEATER_OVERHEAT_ESR 150
-#define HEATER_UNDERHEAT_ESR 600
+#define HEATER_UNDERHEAT_ESR 700

for_rusefi/wideband_can.h

@@ -0,0 +1,60 @@
+#pragma once
+
+#define RUSEFI_WIDEBAND_VERSION (0xA0)
+
+// ascii "rus"
+#define WB_ACK 0x727573
+#define WB_BL_ENTER 0xEF0'0000
+#define WB_MSG_SET_INDEX 0xEF4'0000
+#define WB_MGS_ECU_STATUS 0xEF5'0000
+
+namespace wbo
+{
+enum class Fault : uint8_t
+{
+    None = 0,
+
+    // First fault code at 3 so it's easier to see
+    SensorDidntHeat = 3,
+    SensorOverheat = 4,
+    SensorUnderheat = 5,
+};
+
+struct StandardData
+{
+    uint8_t Version;
+    uint8_t Valid;
+
+    uint16_t Lambda;
+    uint16_t TemperatureC;
+
+    uint16_t pad;
+};
+
+struct DiagData
+{
+    uint16_t Esr;
+    uint16_t NernstDc;
+    uint8_t PumpDuty;
+    Fault Status;
+
+    uint8_t HeaterDuty;
+    uint8_t pad;
+};
+
+static const char* describeFault(Fault fault) {
+    switch (fault) {
+        case Fault::None:
+            return "OK";
+        case Fault::SensorDidntHeat:
+            return "Sensor failed to heat";
+        case Fault::SensorOverheat:
+            return "Sensor overheat";
+        case Fault::SensorUnderheat:
+            return "Sensor underheat";
+    }
+
+    return "Unknown";
+}
+
+} // namespace wbo