bench_test.cpp

Go to the documentation of this file.

/**
 * @file    bench_test.cpp
 * @brief   Utility methods related to bench testing.
 *
 *
 * @date Sep 8, 2013
 * @author Andrey Belomutskiy, (c) 2012-2020
 *
 * This file is part of rusEfi - see http://rusefi.com
 *
 * rusEfi is free software; you can redistribute it and/or modify it under the terms of
 * the GNU General Public License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 *
 * rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
 * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with this program.
 * If not, see <http://www.gnu.org/licenses/>.
 */
 
#include "pch.h"
#include "tunerstudio.h"
#include "tunerstudio_calibration_channel.h"
#include "long_term_fuel_trim.h"
#include "can_common.h"
#include "can_rx.h"
#include "torque_estimator.h"
#include "value_lookup.h"
#include "can_msg_tx.h"
#include "gm_sbc.h" // setStepperHw
 
#include "fw_configuration.h"
#include "board_overrides.h"
 
static bool isRunningBench = false;
static OutputPin *outputOnTheBenchTest = nullptr;
 
bool isRunningBenchTest() {
    return isRunningBench;
}
 
const OutputPin *getOutputOnTheBenchTest() {
    return outputOnTheBenchTest;
}
 
#if !EFI_UNIT_TEST
 
#include "flash_main.h"
#include "bench_test.h"
#include "main_trigger_callback.h"
#include "periodic_thread_controller.h"
#include "electronic_throttle.h"
#include "electronic_throttle_impl.h"
#include "malfunction_central.h"
#include "trigger_emulator_algo.h"
#include "vvt.h"
#include "microsecond_timer.h"
#include "rusefi_wideband.h"
 
#if EFI_PROD_CODE
#include "rusefi.h"
#include "mpu_util.h"
#endif /* EFI_PROD_CODE */
 
#if (BOARD_TLE8888_COUNT > 0)
#include "gpio/tle8888.h"
#endif // BOARD_TLE8888_COUNT
 
#if EFI_FILE_LOGGING
#include "mmc_card.h"
#endif
 
static scheduling_s benchSchedStart;
static scheduling_s benchSchedEnd;
 
#if EFI_SIMULATOR
static int savedPinToggleCounter = 0;
static uint32_t savedDurationsInStateMs[2] = { 0, 0 };
#endif // EFI_SIMULATOR
 
 
#define BENCH_MSG "bench"
 
static void benchOn(OutputPin* output) {
    output->setValue(BENCH_MSG, true, /*isForce*/ true);
}
 
static void benchOff(OutputPin* output) {
#if EFI_PROD_CODE && (BOARD_EXT_GPIOCHIPS > 0)
    static char pin_error[64];
 
    brain_pin_diag_e diag = output->getDiag();
    if (diag == PIN_UNKNOWN) {
        efiPrintf("No Diag on this pin");
    } else {
        pinDiag2string(pin_error, sizeof(pin_error), diag);
        efiPrintf("Diag says %s", pin_error);
    }
#endif // EFI_PROD_CODE
    output->setValue(BENCH_MSG, false, /*isForce*/ true);
}
 
static void runBench(OutputPin *output, float onTimeMs, float offTimeMs, int count, bool swapOnOff) {
    int onTimeUs = MS2US(std::max(0.1f, onTimeMs));
    int offTimeUs = MS2US(std::max(0.1f, offTimeMs));
 
    if (onTimeUs > TOO_FAR_INTO_FUTURE_US) {
        firmwareError(ObdCode::CUSTOM_ERR_BENCH_PARAM, "onTime above limit %dus", TOO_FAR_INTO_FUTURE_US);
        return;
    }
 
    efiPrintf("Running bench: ON_TIME=%d us OFF_TIME=%d us Counter=%d", onTimeUs, offTimeUs, count);
    efiPrintf("output on %s", hwPortname(output->brainPin));
 
    isRunningBench = true;
    outputOnTheBenchTest = output;
 
    for (int i = 0; isRunningBench && i < count; i++) {
        engine->outputChannels.testBenchIter = i;
        efitick_t nowNt = getTimeNowNt();
        // start in a short time so the scheduler can precisely schedule the start event
        efitick_t startTime = nowNt + US2NT(50);
        efitick_t endTime = startTime + US2NT(onTimeUs);
 
        auto const bstartAction{ swapOnOff ? action_s::make<benchOff>(output) : action_s::make<benchOn>(output) };
        auto const bendAction{ swapOnOff ? action_s::make<benchOn>(output) : action_s::make<benchOff>(output) };
 
        // Schedule both events
        engine->scheduler.schedule("bstart", &benchSchedStart, startTime, bstartAction);
        engine->scheduler.schedule("bend", &benchSchedEnd, endTime, bendAction);
 
        // Wait one full cycle time for the event + delay to happen
        chThdSleepMicroseconds(onTimeUs + offTimeUs);
    }
    /* last */
    engine->outputChannels.testBenchIter++;
 
#if EFI_SIMULATOR
    // save the current counters and durations after the test while the pin is still controlled
    savedPinToggleCounter = output->pinToggleCounter;
    savedDurationsInStateMs[0] = output->durationsInStateMs[0];
    savedDurationsInStateMs[1] = output->durationsInStateMs[1];
#endif // EFI_SIMULATOR
 
    efiPrintf("Done!");
    outputOnTheBenchTest = nullptr;
    isRunningBench = false;
}
 
// todo: migrate to smarter getOutputOnTheBenchTest() approach?
static volatile bool isBenchTestPending = false;
static bool widebandUpdatePending = false;
static bool widebandUpdateFromFile = false;
static uint8_t widebandUpdateHwId = 0;
static float globalOnTimeMs;
static float globalOffTimeMs;
static int globalCount;
static OutputPin* pinX;
static bool swapOnOff = false;
 
static chibios_rt::CounterSemaphore benchSemaphore(0);
 
static void pinbench(float ontimeMs, float offtimeMs, int iterations,
    OutputPin* pinParam, bool p_swapOnOff = false)
{
    globalOnTimeMs = ontimeMs;
    globalOffTimeMs = offtimeMs;
#if EFI_SIMULATOR
    globalCount = maxI(2, iterations);
#else
    globalCount = iterations;
#endif // EFI_SIMULATOR
    pinX = pinParam;
    swapOnOff = p_swapOnOff;
    // let's signal bench thread to wake up
    isBenchTestPending = true;
    benchSemaphore.signal();
}
 
static void cancelBenchTest() {
    isRunningBench = false;
}
 
static void doRunFuelInjBench(size_t humanIndex, float onTimeMs, float offTimeMs, int count) {
    if (humanIndex < 1 || humanIndex > engineConfiguration->cylindersCount) {
        efiPrintf("Invalid index: %d", humanIndex);
        return;
    }
    pinbench(onTimeMs, offTimeMs, count,
        &enginePins.injectors[humanIndex - 1]);
}
 
static void doRunSparkBench(size_t humanIndex, float onTime, float offTime, int count) {
    if (humanIndex < 1 || humanIndex > engineConfiguration->cylindersCount) {
        efiPrintf("Invalid index: %d", humanIndex);
        return;
    }
    pinbench(onTime, offTime, count, &enginePins.coils[humanIndex - 1]);
}
 
static void doRunSolenoidBench(size_t humanIndex, float onTime, float offTime, int count) {
    if (humanIndex < 1 || humanIndex > TCU_SOLENOID_COUNT) {
        efiPrintf("Invalid index: %d", humanIndex);
        return;
    }
    pinbench(onTime, offTime, count, &enginePins.tcuSolenoids[humanIndex - 1]);
}
 
static void doRunBenchTestLuaOutput(size_t humanIndex, float onTimeMs, float offTimeMs, int count) {
    if (humanIndex < 1 || humanIndex > LUA_PWM_COUNT) {
        efiPrintf("Invalid index: %d", humanIndex);
        return;
    }
    pinbench(onTimeMs, offTimeMs, count,
        &enginePins.luaOutputPins[humanIndex - 1]);
}
 
/**
 * cylinder #2, 5ms ON, 1000ms OFF, repeat 3 times
 * fuelInjBenchExt 2 5 1000 3
 */
static void fuelInjBenchExt(float humanIndex, float onTimeMs, float offTimeMs, float count) {
    doRunFuelInjBench((int)humanIndex, onTimeMs, offTimeMs, (int)count);
}
 
/**
 * fuelbench 5 1000 2
 */
static void fuelInjBench(float onTimeMs, float offTimeMs, float count) {
    fuelInjBenchExt(1, onTimeMs, offTimeMs, count);
}
 
/**
 * sparkbench2 1 5 1000 2
 */
static void sparkBenchExt(float humanIndex, float onTime, float offTimeMs, float count) {
    doRunSparkBench((int)humanIndex,  onTime, offTimeMs, (int)count);
}
 
/**
 * sparkbench 5 400 2
 * 5 ms ON, 400 ms OFF, two times
 */
static void sparkBench(float onTime, float offTimeMs, float count) {
    sparkBenchExt(1, onTime, offTimeMs, count);
}
 
/**
 * solenoid #2, 1000ms ON, 1000ms OFF, repeat 3 times
 * tcusolbench 2 1000 1000 3
 */
static void tcuSolenoidBench(float humanIndex, float onTime, float offTimeMs, float count) {
    doRunSolenoidBench((int)humanIndex, onTime, offTimeMs, (int)count);
}
 
static void fanBenchExt(float onTimeMs) {
    pinbench(onTimeMs, 100.0, 1, &enginePins.fanRelay);
}
 
void fanBench() {
    fanBenchExt(BENCH_FAN_DURATION);
}
 
void fan2Bench() {
    pinbench(3000.0, 100.0, 1, &enginePins.fanRelay2);
}
 
/**
 * we are blinking for 16 seconds so that one can click the button and walk around to see the light blinking
 */
void milBench() {
    pinbench(500.0, 500.0, 16, &enginePins.checkEnginePin);
}
 
void starterRelayBench() {
    pinbench(BENCH_STARTER_DURATION, 100.0, 1, &enginePins.starterControl);
}
 
static void fuelPumpBenchExt(float durationMs) {
    pinbench(durationMs, 100.0, 1,
        &enginePins.fuelPumpRelay);
}
 
void acRelayBench() {
    pinbench(BENCH_AC_RELAY_DURATION, 100.0, 1, &enginePins.acRelay);
}
 
static void mainRelayBench() {
    pinbench(BENCH_MAIN_RELAY_DURATION, 100.0, 1, &enginePins.mainRelay, true);
}
 
static void hpfpValveBench() {
    pinbench(engineConfiguration->benchTestOnTime, engineConfiguration->benchTestOffTime, engineConfiguration->benchTestCount,
        &enginePins.hpfpValve);
}
 
void fuelPumpBench() {
    fuelPumpBenchExt(BENCH_FUEL_PUMP_DURATION);
}
 
static void vvtValveBench(int vvtIndex) {
#if EFI_VVT_PID
    pinbench(BENCH_VVT_DURATION, 100.0, 1, getVvtOutputPin(vvtIndex));
#endif // EFI_VVT_PID
}
 
static void requestWidebandUpdate(int hwIndex, bool fromFile)
{
    widebandUpdateHwId = hwIndex;
    widebandUpdateFromFile = fromFile;
    widebandUpdatePending = true;
    benchSemaphore.signal();
}
 
class BenchController : public ThreadController<4 * UTILITY_THREAD_STACK_SIZE> {
public:
    BenchController() : ThreadController("BenchTest", PRIO_BENCH_TEST) { }
private:
    void ThreadTask() override  {
        while (true) {
            benchSemaphore.wait();
 
            assertStackVoid("Bench", ObdCode::STACK_USAGE_MISC, EXPECTED_REMAINING_STACK);
 
            if (isBenchTestPending) {
                isBenchTestPending = false;
                runBench(pinX, globalOnTimeMs, globalOffTimeMs, globalCount, swapOnOff);
            }
 
            if (widebandUpdatePending) {
    #if EFI_WIDEBAND_FIRMWARE_UPDATE && EFI_CAN_SUPPORT
                if (widebandUpdateFromFile) {
                    #if EFI_PROD_CODE
                        updateWidebandFirmwareFromFile(widebandUpdateHwId);
                    #endif
                } else {
                    updateWidebandFirmware(widebandUpdateHwId);
                }
    #endif
                widebandUpdatePending = false;
            }
        }
    }
};
 
static BenchController instance;
 
static void auxOutBench(int index) {
    // todo!
    UNUSED(index);
}
 
#if EFI_HD_ACR
static void hdAcrBench(int index) {
    OutputPin*  pin = index == 0 ? &enginePins.harleyAcr : &enginePins.harleyAcr2;
    pinbench(BENCH_AC_RELAY_DURATION, 100.0, 1, pin);
}
#endif // EFI_HD_ACR
 
int luaCommandCounters[LUA_BUTTON_COUNT] = {};
 
void handleBenchCategory(uint16_t index) {
    switch(index) {
    case BENCH_VVT0_VALVE:
        vvtValveBench(0);
        return;
    case BENCH_VVT1_VALVE:
        vvtValveBench(1);
        return;
    case BENCH_VVT2_VALVE:
        vvtValveBench(2);
        return;
    case BENCH_VVT3_VALVE:
        vvtValveBench(3);
        return;
    case BENCH_AUXOUT0:
        auxOutBench(0);
        return;
    case BENCH_AUXOUT1:
        auxOutBench(1);
        return;
    case BENCH_AUXOUT2:
        auxOutBench(2);
        return;
    case BENCH_AUXOUT3:
        auxOutBench(3);
        return;
    case BENCH_AUXOUT4:
        auxOutBench(4);
        return;
    case BENCH_AUXOUT5:
        auxOutBench(5);
        return;
    case BENCH_AUXOUT6:
        auxOutBench(6);
        return;
    case BENCH_AUXOUT7:
        auxOutBench(7);
        return;
    case LUA_COMMAND_1:
        luaCommandCounters[0]++;
        return;
    case LUA_COMMAND_2:
        luaCommandCounters[1]++;
        return;
    case LUA_COMMAND_3:
        luaCommandCounters[2]++;
        return;
    case LUA_COMMAND_4:
        luaCommandCounters[3]++;
        return;
#if EFI_LTFT_CONTROL
    case LTFT_RESET:
        resetLongTermFuelTrim();
        return;
    case LTFT_APPLY_TO_VE:
        applyLongTermFuelTrimToVe();
        return;
    case LTFT_DEV_POKE:
        devPokeLongTermFuelTrim();
        return;
#endif // EFI_LTFT_CONTROL
#if EFI_HD_ACR
    case HD_ACR:
        hdAcrBench(0);
        return;
    case HD_ACR2:
        hdAcrBench(1);
        return;
#endif // EFI_HD_ACR
    case BENCH_HPFP_VALVE:
        hpfpValveBench();
        return;
    case BENCH_FUEL_PUMP:
        // cmd_test_fuel_pump
        fuelPumpBench();
        return;
    case BENCH_MAIN_RELAY:
        mainRelayBench();
        return;
    case BENCH_STARTER_ENABLE_RELAY:
        starterRelayBench();
        return;
    case BENCH_CHECK_ENGINE_LIGHT:
        // cmd_test_check_engine_light
        milBench();
        return;
    case BENCH_AC_COMPRESSOR_RELAY:
        acRelayBench();
        return;
    case BENCH_FAN_RELAY:
        fanBench();
        return;
    case BENCH_IDLE_VALVE:
        // cmd_test_idle_valve
#if EFI_IDLE_CONTROL
        startIdleBench();
#endif /* EFI_IDLE_CONTROL */
        return;
    case BENCH_FAN_RELAY_2:
        fan2Bench();
        return;
    case BENCH_CANCEL:
        cancelBenchTest();
        return;
    default:
        criticalError("Unexpected bench function %d", index);
    }
}
 
int getSavedBenchTestPinStates(uint32_t durationsInStateMs[2]) {
#if EFI_SIMULATOR
    durationsInStateMs[0] = savedDurationsInStateMs[0];
    durationsInStateMs[1] = savedDurationsInStateMs[1];
    return savedPinToggleCounter;
#else
    UNUSED(durationsInStateMs);
    return 0;
#endif // EFI_SIMULATOR
}
 
static void handleCommandX14(uint16_t index) {
    switch (index) {
    case TS_SET_STEPPER_IDLE:
      setStepperHw();
      onApplyPreset();
        return;
    case TS_GRAB_PEDAL_UP:
        grabPedalIsUp();
        return;
    case TS_GRAB_PEDAL_WOT:
        grabPedalIsWideOpen();
        return;
    case TS_GRAB_TPS_CLOSED:
        grapTps1PrimaryIsClosed();
        return;
    case TS_GRAB_TPS_OPEN:
        grapTps1PrimaryIsOpen();
        return;
    case TS_RESET_TLE8888:
        #if (BOARD_TLE8888_COUNT > 0)
            tle8888_req_init();
        #endif
        return;
    case TS_TCU_UPSHIFT_REQUEST:
    case TS_TCU_DOWNSHIFT_REQUEST:
      // do nothing, we are catching with Lua
      // this is temporary uaDASH API
        return;
    case TS_RESET_MC33810:
        #if EFI_PROD_CODE && (BOARD_MC33810_COUNT > 0)
            mc33810_req_init();
        #endif
        return;
#if EFI_SHAFT_POSITION_INPUT
    case TS_START_STOP_ENGINE:
      // this is different from starter relay bench test!
      startStopButtonToggle();
        return;
#endif // EFI_SHAFT_POSITION_INPUT
    case TS_WRITE_FLASH:
        // cmd_write_config
        #if EFI_CONFIGURATION_STORAGE
            writeToFlashNow();
        #endif /* EFI_CONFIGURATION_STORAGE */
        return;
    case TS_TRIGGER_STIMULATOR_ENABLE:
        #if EFI_EMULATE_POSITION_SENSORS == TRUE
            enableTriggerStimulator();
        #endif /* EFI_EMULATE_POSITION_SENSORS == TRUE */
        return;
    case TS_TRIGGER_STIMULATOR_DISABLE:
        #if EFI_EMULATE_POSITION_SENSORS == TRUE
            disableTriggerStimulator();
        #endif /* EFI_EMULATE_POSITION_SENSORS == TRUE */
        return;
    case TS_EXTERNAL_TRIGGER_STIMULATOR_ENABLE:
        #if EFI_EMULATE_POSITION_SENSORS == TRUE
            enableExternalTriggerStimulator();
        #endif /* EFI_EMULATE_POSITION_SENSORS == TRUE */
        return;
/*
    case TS_ETB_RESET:
        #if EFI_ELECTRONIC_THROTTLE_BODY == TRUE
        #if EFI_PROD_CODE
            etbPidReset();
        #endif
        #endif // EFI_ELECTRONIC_THROTTLE_BODY
        return;
*/
#if EFI_ELECTRONIC_THROTTLE_BODY
    case TS_ETB_AUTOCAL_0:
            etbAutocal(DC_Throttle1);
        return;
    case TS_ETB_AUTOCAL_1:
            etbAutocal(DC_Throttle2);
        return;
    case TS_ETB_AUTOCAL_0_FAST:
            etbAutocal(DC_Throttle1, false);
        return;
    case TS_ETB_AUTOCAL_1_FAST:
        etbAutocal(DC_Throttle2, false);
        return;
    case TS_ETB_BENCH_TEST_0:
        etbBenchTestStart(0);
        return;
    case TS_ETB_BENCH_TEST_1:
        etbBenchTestStart(1);
        return;
    case TS_ETB_START_AUTOTUNE:
            engine->etbAutoTune = true;
        return;
    case TS_ETB_STOP_AUTOTUNE:
            engine->etbAutoTune = false;
            #if EFI_TUNER_STUDIO
                tsCalibrationSetIdle();
            #endif // EFI_TUNER_STUDIO
        return;
    case TS_ETB_DISABLE_JAM_DETECT:
        engine->etbIgnoreJamProtection = true;
        return;
    case TS_EWG_AUTOCAL_0:
            etbAutocal(DC_Wastegate);
        return;
    case TS_EWG_AUTOCAL_0_FAST:
            etbAutocal(DC_Wastegate, false);
        return;
#endif // EFI_ELECTRONIC_THROTTLE_BODY
    case TS_WIDEBAND_UPDATE:
    case TS_WIDEBAND_UPDATE_FILE:
        // broadcast, for old WBO FWs
        requestWidebandUpdate(0xff, index == TS_WIDEBAND_UPDATE_FILE);
        return;
    case TS_ESTIMATE_TORQUE_TABLE:
      estimateTorqueTable();
      onApplyPreset();
        return;
    case COMMAND_X14_UNUSED_15:
        return;
 
#if EFI_PROD_CODE && EFI_FILE_LOGGING
    case TS_SD_MOUNT_PC:
        sdCardRequestMode(SD_MODE_PC);
        return;
    case TS_SD_MOUNT_ECU:
        sdCardRequestMode(SD_MODE_ECU);
        return;
    case TS_SD_UNMOUNT:
        sdCardRequestMode(SD_MODE_UNMOUNT);
        return;
    case TS_SD_FORMAT:
        sdCardRequestMode(SD_MODE_FORMAT);
        return;
    case TS_SD_DELETE_REPORTS:
        sdCardRemoveReportFiles();
        return;
#endif // EFI_FILE_LOGGING
 
    default:
        criticalError("Unexpected bench x14 %d", index);
    }
}
 
extern bool rebootForPresetPending;
 
static void applyPreset(int index) {
  setEngineType(index);
#if EFI_TUNER_STUDIO
    onApplyPreset();
#endif // EFI_TUNER_STUDIO
}
 
// placeholder to force custom_board_ts_command migration
void boardTsAction(uint16_t index) { UNUSED(index); }
 
#if EFI_CAN_SUPPORT
/**
 * for example to bench test injector 1
 * 0x77000C 0x66 0x00 ?? ?? ?? ??
 * 0x77000C 0x66 0x00 0x14 0x00 0x09 0x00 start/stop engine
 *
 * See also more complicated ISO-TP CANBus wrapper of complete TS protocol
 */
static void processCanUserControl(const CANRxFrame& frame) {
    // reserved data8[1]
    uint16_t subsystem = getTwoBytesLsb(frame, 2);
    uint16_t index = getTwoBytesLsb(frame, 4);
    executeTSCommand(subsystem, index);
}
 
   union FloatIntBytes {
          float f;
          int i;
          uint8_t bytes[sizeof(float)];
      };
 
static void processCanSetCalibration(const CANRxFrame& frame) {
    // todo allow changes of scalar settings via CANbus
    UNUSED(frame);
}
/**
 * CANbus protocol to query scalar calibrations using hash keys
 *
 * see fields_api.txt for well-known fields
 * see generated_fields_api_header.h for corresponding hashes
 */
static void processCanRequestCalibration(const CANRxFrame& frame) {
#if EFI_LUA_LOOKUP
  int hash = getFourBytesLsb(frame, 2);
  efiPrintf("processCanRequestCalibration=%x", hash);
  FloatIntBytes fb;
  fb.f = getConfigValueByHash(hash);
 
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::ECU_GET_CALIBRATION, 8, /*bus*/0, /*isExtended*/true);
  for (size_t i = 0;i<sizeof(float);i++) {
    msg[4 + i] = fb.bytes[i];
  }
 
  fb.i = hash;
  // first half of the packed is copy of that hash value so that recipients know what they are processing
  for (size_t i = 0;i<sizeof(float);i++) {
    msg[i] = fb.bytes[i];
  }
#endif // EFI_LUA_LOOKUP
}
 
void processCanEcuControl(const CANRxFrame& frame) {
    if (frame.data8[0] != (int)bench_test_magic_numbers_e::BENCH_HEADER) {
        return;
    }
 
  int eid = CAN_EID(frame);
  if (eid == (int)bench_test_packet_ids_e::ECU_SET_CALIBRATION) {
    processCanSetCalibration(frame);
  } else if (eid == (int)bench_test_packet_ids_e::ECU_REQ_CALIBRATION) {
    processCanRequestCalibration(frame);
  } else if (eid == (int)bench_test_packet_ids_e::ECU_CAN_BUS_USER_CONTROL) {
    processCanUserControl(frame);
  }
}
 
#endif // EFI_CAN_SUPPORT
 
std::optional<setup_custom_board_ts_command_override_type> custom_board_ts_command;
 
void executeTSCommand(uint16_t subsystem, uint16_t index) {
    efiPrintf("IO test subsystem=%d index=%d", subsystem, index);
 
    bool running = !engine->rpmCalculator.isStopped();
 
    switch (subsystem) {
    case TS_CLEAR_WARNINGS:
        clearWarnings();
        break;
 
    case TS_DEBUG_MODE:
        engineConfiguration->debugMode = (debug_mode_e)index;
        break;
 
    case TS_IGNITION_CATEGORY:
        if (!running) {
            doRunSparkBench(index, engineConfiguration->benchTestOnTime,
                engineConfiguration->benchTestOffTime, engineConfiguration->benchTestCount);
        }
        break;
 
    case TS_INJECTOR_CATEGORY:
        if (!running) {
            doRunFuelInjBench(index, engineConfiguration->benchTestOnTime,
                engineConfiguration->benchTestOffTime, engineConfiguration->benchTestCount);
        }
        break;
 
    case TS_SOLENOID_CATEGORY:
        if (!running) {
            doRunSolenoidBench(index, 1000.0,
                1000.0, engineConfiguration->benchTestCount);
        }
        break;
 
    case TS_LUA_OUTPUT_CATEGORY:
        if (!running) {
            doRunBenchTestLuaOutput(index, 4.0,
                engineConfiguration->benchTestOffTime, engineConfiguration->benchTestCount);
        }
        break;
 
    case TS_X14:
        handleCommandX14(index);
        break;
#if EFI_CAN_SUPPORT
    case TS_WIDEBAND:
        setWidebandOffset(0xff, index);
        break;
    case TS_WIDEBAND_SET_IDX_BY_ID:
        {
            uint8_t hwIndex = index >> 8;
            uint8_t canIndex = index & 0xff;
 
            // Hack until we fix canReWidebandHwIndex and set "Broadcast" to 0xff
            // TODO:
            hwIndex = hwIndex < 8 ? hwIndex : 0xff;
            setWidebandOffset(hwIndex, canIndex);
        }
        break;
    case TS_WIDEBAND_SET_SENS_BY_ID:
        {
            uint8_t hwIndex = index >> 8;
            uint8_t sensType = index & 0xff;
 
            // Hack until we fix canReWidebandHwIndex and set "Broadcast" to 0xff
            // TODO:
            hwIndex = hwIndex < 8 ? hwIndex : 0xff;
            setWidebandSensorType(hwIndex, sensType);
        }
        break;
    case TS_WIDEBAND_PING_BY_ID:
        pingWideband(index >> 8);
        break;
 
    case TS_WIDEBAND_FLASH_BY_ID:
    case TS_WIDEBAND_FLASH_BY_ID_FILE:
        {
            uint8_t hwIndex = index >> 8;
 
            // Hack until we fix canReWidebandHwIndex and set "Broadcast" to 0xff
            // TODO:
            widebandUpdateHwId = hwIndex < 8 ? hwIndex : 0xff;
            requestWidebandUpdate(widebandUpdateHwId, subsystem == TS_WIDEBAND_FLASH_BY_ID_FILE);
        }
        break;
 
    case TS_WIDEBAND_RESTART:
        restartWideband();
        break;
 
#endif // EFI_CAN_SUPPORT
    case TS_BENCH_CATEGORY:
        handleBenchCategory(index);
        break;
 
    case TS_SET_ENGINE_TYPE:
        applyPreset(index);
        break;
 
  case TS_BOARD_ACTION:
      // TODO: use call_board_override
      if (custom_board_ts_command.has_value()) {
          custom_board_ts_command.value()(subsystem, index);
      }
        break;
 
    case TS_SET_DEFAULT_ENGINE:
        applyPreset((int)DEFAULT_ENGINE_TYPE);
        break;
 
    case TS_STOP_ENGINE:
        doScheduleStopEngine(StopRequestedReason::TsCommand);
        break;
 
    case 0xba:
#if EFI_PROD_CODE && EFI_DFU_JUMP
        jump_to_bootloader();
#endif /* EFI_DFU_JUMP */
        break;
 
    case REBOOT_COMMAND:
#if EFI_PROD_CODE
        rebootNow();
#endif /* EFI_PROD_CODE */
        break;
 
#if EFI_USE_OPENBLT
    case 0xbc:
        /* Jump to OpenBLT if present */
        jump_to_openblt();
        break;
#endif
 
    default:
        criticalError("Unexpected bench subsystem %d %d", subsystem, index);
    }
}
 
void onConfigurationChangeBenchTest() {
    // default values if configuration was not specified
    if (engineConfiguration->benchTestOnTime == 0) {
        engineConfiguration->benchTestOnTime = 4;
    }
 
    if (engineConfiguration->benchTestOffTime < 5) {
        engineConfiguration->benchTestOffTime = 500;
    }
 
    if (engineConfiguration->benchTestCount < 1) {
        engineConfiguration->benchTestCount = 3;
    }
}
 
void initBenchTest() {
    addConsoleAction("fuelpumpbench", fuelPumpBench);
    addConsoleActionF("fuelpumpbench2", fuelPumpBenchExt);
 
    addConsoleActionFFF(CMD_FUEL_BENCH, fuelInjBench);
    addConsoleActionFFFF("fuelbench2", fuelInjBenchExt);
 
    addConsoleActionFFF(CMD_SPARK_BENCH, sparkBench);
    addConsoleActionFFFF("sparkbench2", sparkBenchExt);
 
    addConsoleActionFFFF("tcusolbench", tcuSolenoidBench);
 
    addConsoleAction(CMD_AC_RELAY_BENCH, acRelayBench);
 
    addConsoleAction(CMD_FAN_BENCH, fanBench);
    addConsoleAction(CMD_FAN2_BENCH, fan2Bench);
    addConsoleActionF("fanbench2", fanBenchExt);
 
    addConsoleAction("mainrelaybench", mainRelayBench);
 
#if EFI_CAN_SUPPORT
#if EFI_WIDEBAND_FIRMWARE_UPDATE
    addConsoleActionI("update_wideband", [](int hwIndex) { requestWidebandUpdate(hwIndex, false); });
#endif // EFI_WIDEBAND_FIRMWARE_UPDATE
    addConsoleActionII("set_wideband_index", [](int hwIndex, int index) { setWidebandOffset(hwIndex, index); });
#endif // EFI_CAN_SUPPORT
 
    addConsoleAction(CMD_STARTER_BENCH, starterRelayBench);
    addConsoleAction(CMD_MIL_BENCH, milBench);
    addConsoleAction(CMD_HPFP_BENCH, hpfpValveBench);
 
#if EFI_CAN_SUPPORT
  addConsoleActionI("ping_wideband", [](int index) {
    pingWideband(index);
  });
#endif // EFI_CAN_SUPPORT
 
#if EFI_LUA
  // this commands facilitates TS Lua Button scripts development
  addConsoleActionI("lua_button", [](int index) {
    if (index < 0 || index > LUA_BUTTON_COUNT)
      return;
    luaCommandCounters[index - 1]++;
  });
  addConsoleActionFFFF("luabench2", [](float humanIndex, float onTime, float offTimeMs, float count) {
      doRunBenchTestLuaOutput((int)humanIndex, onTime, offTimeMs, (int)count);
  });
#endif // EFI_LUA
    instance.start();
    onConfigurationChangeBenchTest();
}
 
#endif /* EFI_UNIT_TEST */