can_bench_test.cpp

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/*
 * file can_bench_test.cpp
 * see also https://github.com/rusefi/rusefi/wiki/CAN BENCH_TEST_BASE_ADDRESS 0x770000
 *
 * primary recipient is https://github.com/rusefi/rusefi-hardware/tree/main/digital-inputs/firmware
 *
 * todo: shall we not broadcast by default but wait until stim firmware wakes us up?
 */
 
#include "pch.h"
#include "bench_test.h"
#include "board_id.h"
#include "can_bench_test.h"
#include "can_msg_tx.h"
#include "can_common.h"
#include "frequency_sensor.h"
#include "settings.h"
#include "gpio/gpio_ext.h"
 
#ifdef HW_HELLEN
#include "hellen_meta.h"
#endif // HW_HELLEN
 
extern PinRepository pinRepository;
 
// todo: WHAT?! document why do we manually truncate higher bits?
#define TRUNCATE_TO_BYTE(i) ((i) & 0xff)
// raw values are 0..5V, convert it to 8-bit (0..255)
#define RAW_TO_BYTE(v) TRUNCATE_TO_BYTE((int)(v * 255.0 / 5.0))
 
#if EFI_PROD_CODE
/**
 * QC direct output control API is used by https://github.com/rusefi/stim test device
 * quite different from bench testing user functionality: QC direct should never be engaged on a real vehicle
 * Once QC direct control mode is activated the only way out is to reboot the unit!
 */
static bool qcDirectPinControlMode = false;
#endif
 
/*board public API*/bool isHwQcMode() {
#if EFI_PROD_CODE
  return qcDirectPinControlMode;
#else
  return false;
#endif // EFI_PROD_CODE
}
 
void setHwQcMode() {
#if EFI_PROD_CODE
  qcDirectPinControlMode = true;
#if HW_HELLEN
        if (!getHellenBoardEnabled()) {
            hellenEnableEn("HW QC");
        }
#endif // HW_HELLEN
#endif // EFI_PROD_CODE
}
 
#if EFI_CAN_SUPPORT
 
static void directWritePad(Gpio pin, int value, const char *msg = "") {
  if (!isBrainPinValid(pin)) {
    criticalError("QC of invalid pin %d %s", (int)pin, msg);
    return;
  }
 
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
    if (brain_pin_is_onchip(pin)) {
      palWritePad(getHwPort("can_write", pin), getHwPin("can_write", pin), value);
    } else {
#if (BOARD_EXT_GPIOCHIPS > 0)
    gpiochips_writePad(pin, value);
#endif
    }
#endif // EFI_GPIO_HARDWARE && EFI_PROD_CODE
}
 
static void qcSetEtbState(uint8_t dcIndex, uint8_t direction) {
    setHwQcMode();
    const dc_io *io = &engineConfiguration->etbIo[dcIndex];
    Gpio controlPin = io->controlPin;
  directWritePad(controlPin, 1, "DC control");
    if (engineConfiguration->etb_use_two_wires) {
      // TLE7209 and L6205
      // let's force proper pin mode to work around potentially uninitialized subsystem
      efiSetPadModeWithoutOwnershipAcquisition("QC_ETB_1", io->directionPin1, PAL_MODE_OUTPUT_PUSHPULL);
      efiSetPadModeWithoutOwnershipAcquisition("QC_ETB_2", io->directionPin2, PAL_MODE_OUTPUT_PUSHPULL);
 
      directWritePad(io->directionPin1, direction, "DC dir1");
      directWritePad(io->directionPin2, !direction, "DC dir2");
    } else {
      // TLE9201 and VNH2SP30
      efiSetPadModeWithoutOwnershipAcquisition("QC_ETB", controlPin, PAL_MODE_OUTPUT_PUSHPULL);
      directWritePad(io->directionPin1, direction, "DC dir");
      directWritePad(io->disablePin, 0, "DC dis"); // disable pin is inverted - here we ENABLE. direct pin access due to qcDirectPinControlMode
  }
}
 
static void setPin(const CANRxFrame& frame, int value) {
        size_t outputIndex = frame.data8[2];
        if (outputIndex >= getBoardMetaOutputsCount()) {
          criticalError("QC pin index %d out of range", outputIndex);
            return;
      }
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
      Gpio* boardOutputs = getBoardMetaOutputs();
      criticalAssertVoid(boardOutputs != nullptr, "outputs not defined");
        Gpio pin = boardOutputs[outputIndex];
 
        int hwIndex = brainPin_to_index(pin);
        if (pinRepository.getBrainUsedPin(hwIndex) == nullptr) {
            // if pin is assigned we better configure it
            efiSetPadModeWithoutOwnershipAcquisition("QC_SET", pin, PAL_MODE_OUTPUT_PUSHPULL);
        }
 
        directWritePad(pin, value);
#endif // EFI_GPIO_HARDWARE && EFI_PROD_CODE
}
 
void sendQcBenchEventCounters(size_t bus) {
#if EFI_SHAFT_POSITION_INPUT
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::EVENT_COUNTERS, 8, bus, /*isExtended*/true);
 
    int primaryFall = engine->triggerCentral.getHwEventCounter((int)SHAFT_PRIMARY_FALLING);
    int primaryRise = engine->triggerCentral.getHwEventCounter((int)SHAFT_PRIMARY_RISING);
    int secondaryFall = engine->triggerCentral.getHwEventCounter((int)SHAFT_SECONDARY_FALLING);
    int secondaryRise = engine->triggerCentral.getHwEventCounter((int)SHAFT_SECONDARY_RISING);
 
    msg[0] = TRUNCATE_TO_BYTE(primaryRise + primaryFall);
    msg[1] = TRUNCATE_TO_BYTE(secondaryRise + secondaryFall);
 
    for (int camIdx = 0; camIdx < 4; camIdx++) {
        int vvtRise = 0, vvtFall = 0;
        if (camIdx < CAM_INPUTS_COUNT) {
            vvtRise = engine->triggerCentral.vvtEventRiseCounter[camIdx];
            vvtFall = engine->triggerCentral.vvtEventFallCounter[camIdx];
        }
 
        msg[2 + camIdx] = TRUNCATE_TO_BYTE(vvtRise + vvtFall);
    }
 
    extern FrequencySensor vehicleSpeedSensor;
    msg[6] = TRUNCATE_TO_BYTE(vehicleSpeedSensor.eventCounter);
#endif // EFI_SHAFT_POSITION_INPUT
}
 
void sendQcBenchButtonCounters() {
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::BUTTON_COUNTERS, 8, /*bus*/0, /*isExtended*/true);
    msg[0] = TRUNCATE_TO_BYTE(engine->brakePedalSwitchedState.getCounter());
    msg[1] = TRUNCATE_TO_BYTE(engine->clutchUpSwitchedState.getCounter());
    msg[2] = TRUNCATE_TO_BYTE(engine->acButtonSwitchedState.getCounter());
    // todo: start button
}
 
void sendQcBenchAuxDigitalCounters() {
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::AUX_DIGITAL_COUNTERS, 8, /*bus*/0, /*isExtended*/true);
  for (int i =0;i<LUA_DIGITAL_INPUT_COUNT;i++) {
      msg[i] = TRUNCATE_TO_BYTE(engine->luaDigitalInputState[i].state.getCounter());
  }
}
 
void sendQcBenchRawAnalogValues(size_t bus) {
    const float values_1[] = {
        Sensor::getRaw(SensorType::Tps1Primary),
        Sensor::getRaw(SensorType::Tps1Secondary),
        Sensor::getRaw(SensorType::AcceleratorPedalPrimary),
        Sensor::getRaw(SensorType::AcceleratorPedalSecondary),
        Sensor::getRaw(SensorType::MapSlow),
        Sensor::getRaw(SensorType::Clt),
        Sensor::getRaw(SensorType::Iat),
        Sensor::getRaw(SensorType::BatteryVoltage),
    };
 
    const float values_2[] = {
        Sensor::getRaw(SensorType::Tps2Primary),
        Sensor::getRaw(SensorType::Tps2Secondary),
        Sensor::getRaw(SensorType::AuxLinear1),
        Sensor::getRaw(SensorType::AuxLinear2),
        Sensor::getRaw(SensorType::OilPressure),
        Sensor::getRaw(SensorType::FuelPressureLow),
        Sensor::getRaw(SensorType::FuelPressureHigh),
        Sensor::getRaw(SensorType::AuxTemp1),
    };
    const float lua_values_1[] = {
        Sensor::getRaw(SensorType::AuxAnalog1),
        Sensor::getRaw(SensorType::AuxAnalog2),
        Sensor::getRaw(SensorType::AuxAnalog3),
        Sensor::getRaw(SensorType::AuxAnalog4),
        Sensor::getRaw(SensorType::AuxAnalog5),
        Sensor::getRaw(SensorType::AuxAnalog6),
        Sensor::getRaw(SensorType::AuxAnalog7),
        Sensor::getRaw(SensorType::AuxAnalog8),
    };
    static_assert(efi::size(values_1) <= 8);
    static_assert(efi::size(values_2) <= 8);
    static_assert(efi::size(lua_values_1) <= 8);
 
 
    // send the first packet
    {
        CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::RAW_ANALOG_1, 8, bus, /*isExtended*/true);
        for (size_t valueIdx = 0; valueIdx < efi::size(values_1); valueIdx++) {
            msg[valueIdx] = RAW_TO_BYTE(values_1[valueIdx]);
        }
    }
    {
        CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::RAW_ANALOG_2, 8, bus, /*isExtended*/true);
        for (size_t valueIdx = 0; valueIdx < efi::size(values_2); valueIdx++) {
            msg[valueIdx] = RAW_TO_BYTE(values_2[valueIdx]);
        }
    }
    // todo: time to extract method already?
    {
        CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::RAW_LUA_ANALOG_1, 8, bus, /*isExtended*/true);
        for (size_t valueIdx = 0; valueIdx < efi::size(lua_values_1); valueIdx++) {
            msg[valueIdx] = RAW_TO_BYTE(lua_values_1[valueIdx]);
        }
    }
}
 
static void sendOutBoardMeta(size_t bus) {
#if EFI_PROD_CODE
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::IO_META_INFO, 8, bus, /*isExtended*/true);
    msg[0] = (int)bench_test_magic_numbers_e::BENCH_HEADER;
    msg[1] = 0;
    msg[2] = getBoardMetaOutputsCount();
    msg[3] = getBoardMetaLowSideOutputsCount();
    msg[4] = getBoardMetaDcOutputsCount();
#endif // EFI_PROD_CODE
}
 
void sendQcBenchBoardStatus(size_t bus) {
#if EFI_PROD_CODE
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::BOARD_STATUS, 8, bus, /*isExtended*/true);
 
    int boardId = getBoardId();
    msg[0] = TRUNCATE_TO_BYTE(boardId >> 8);
    msg[1] = TRUNCATE_TO_BYTE(boardId);
 
    int numSecondsSinceReset = getTimeNowS();
    msg[2] = TRUNCATE_TO_BYTE(numSecondsSinceReset >> 16);
    msg[3] = TRUNCATE_TO_BYTE(numSecondsSinceReset >> 8);
    msg[4] = TRUNCATE_TO_BYTE(numSecondsSinceReset);
 
    int engineType = (int) engineConfiguration->engineType;
    msg[5] = engineType >> 8;
    msg[6] = engineType;
    sendOutBoardMeta(bus);
#endif // EFI_PROD_CODE
}
 
#if EFI_PROD_CODE
static void sendManualPinTest(int id) {
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::MANUAL_PIN_TEST, 8, /*bus*/0, /*isExtended*/true);
    msg[0] = id;
}
#endif // EFI_PROD_CODE
 
static void sendPinStatePackets(int pinToggleCounter, uint32_t durationsInStateMs[2]) {
    CanTxMessage msg(CanCategory::BENCH_TEST, (int)bench_test_packet_ids_e::PIN_STATE, 8, /*bus*/0, /*isExtended*/true);
    msg[0] = TRUNCATE_TO_BYTE(pinToggleCounter >> 8);
    msg[1] = TRUNCATE_TO_BYTE(pinToggleCounter);
 
    for (int i = 0, mIdx = 2; i < 2; i++) {
        msg[mIdx++] = TRUNCATE_TO_BYTE(durationsInStateMs[i] >> 16);
        msg[mIdx++] = TRUNCATE_TO_BYTE(durationsInStateMs[i] >> 8);
        msg[mIdx++] = TRUNCATE_TO_BYTE(durationsInStateMs[i]);
    }
}
 
// bench test fuel pump pin #5603
static void sendPinStatePackets(bench_mode_e benchModePinIdx) {
    OutputPin *pin = enginePins.getOutputPinForBenchMode(benchModePinIdx);
    if (pin == nullptr)
        return;
#if EFI_SIMULATOR
    sendPinStatePackets(pin->pinToggleCounter, pin->durationsInStateMs);
#endif // EFI_SIMULATOR
}
 
static void sendSavedBenchStatePackets() {
    uint32_t savedDurationsInStateMs[2];
    int savedPinToggleCounter = getSavedBenchTestPinStates(savedDurationsInStateMs);
    sendPinStatePackets(savedPinToggleCounter, savedDurationsInStateMs);
}
 
static void resetPinStats(bench_mode_e benchModePinIdx) {
    OutputPin *pin = enginePins.getOutputPinForBenchMode(benchModePinIdx);
 
    if (pin == nullptr)
        return;
 
#if EFI_SIMULATOR
    pin->resetToggleStats();
#endif // EFI_SIMULATOR
}
 
void processCanQcBenchTest(const CANRxFrame& frame) {
    if (CAN_EID(frame) != (int)bench_test_packet_ids_e::HW_QC_IO_CONTROL) {
        return;
    }
    if (frame.data8[0] != (int)bench_test_magic_numbers_e::BENCH_HEADER) {
        return;
    }
  setHwQcMode();
    bench_test_io_control_e command = (bench_test_io_control_e)frame.data8[1];
    if (command == bench_test_io_control_e::CAN_BENCH_GET_COUNT) {
        sendOutBoardMeta(0);
    } else if (command == bench_test_io_control_e::CAN_QC_OUTPUT_CONTROL_SET) {
      // see also "bench_setpin" console command
        setPin(frame, 1);
    } else if (command == bench_test_io_control_e::CAN_QC_OUTPUT_CONTROL_CLEAR) {
        setPin(frame, 0);
    } else if (command == bench_test_io_control_e::CAN_QC_ETB) {
        uint8_t dcIndex = frame.data8[2];
        uint8_t direction = frame.data8[3];
        qcSetEtbState(dcIndex, direction);
    } else if (command == bench_test_io_control_e::CAN_BENCH_SET_ENGINE_TYPE) {
        int eType = frame.data8[2];
        // todo: fix firmware for 'false' to be possible - i.e. more of properties should be applied on the fly
        setEngineType(eType, true);
#if EFI_PROD_CODE
        scheduleReboot();
#endif // EFI_PROD_CODE
} else if (command == bench_test_io_control_e::CAN_BENCH_START_PIN_TEST) {
        bench_mode_e benchModePinIdx = (bench_mode_e)frame.data8[2];
        // ignore previous pin state and stats
        resetPinStats(benchModePinIdx);
    } else if (command == bench_test_io_control_e::CAN_BENCH_END_PIN_TEST) {
        sendSavedBenchStatePackets();
    } else if (command == bench_test_io_control_e::CAN_BENCH_EXECUTE_BENCH_TEST) {
        int benchCommandIdx = frame.data8[2];
        handleBenchCategory(benchCommandIdx);
    } else if (command == bench_test_io_control_e::CAN_BENCH_QUERY_PIN_STATE) {
        bench_mode_e benchModePinIdx = (bench_mode_e)frame.data8[2];
        sendPinStatePackets(benchModePinIdx);
    }
}
#endif // EFI_CAN_SUPPORT
 
void initQcBenchControls() {
#if EFI_CAN_SUPPORT && EFI_PROD_CODE
    addConsoleActionII("qc_etb", [](int index, int direction) {
        qcSetEtbState(index, direction);
    });
 
    addConsoleActionI("qc_output", [](int index) {
        Gpio* boardOutputs = getBoardMetaOutputs();
        criticalAssertVoid(boardOutputs != nullptr, "outputs not defined");
      Gpio pin = boardOutputs[index];
        efiSetPadModeWithoutOwnershipAcquisition("qc_output", pin, PAL_MODE_OUTPUT_PUSHPULL);
 
        int physicalValue = palReadPad(getHwPort("read", pin), getHwPin("read", pin));
        efiPrintf("original pin %s value %d", hwPortname(pin), physicalValue);
        palWritePad(getHwPort("write", pin), getHwPin("write", pin), 1 - physicalValue);
      sendManualPinTest(index);
    });
#endif // EFI_PROD_CODE
}