can_gpio_msiobox.cpp

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/**
 * can_gpio_msiobox.cpp
 */
 
#include "pch.h"
#include "can_gpio_msiobox.h"
 
#if EFI_CAN_GPIO
 
#include "gpio/gpio_ext.h"
#include "can_listener.h"
#include "can_msg_tx.h"
#include <rusefi/endian.h>
 
/*
 * TODO list:
 *  - implement input reading
 *  - support PWM out mode
 *  - support VSS capture
 */
 
/*==========================================================================*/
/* Driver local definitions.                                                */
/*==========================================================================*/
#define DRIVER_NAME                 "IOBox"
 
/*==========================================================================*/
/* Driver local definitions.                                                */
/*==========================================================================*/
 
/* HW capabilities exported outside */
/* Actualy only 7 outputs, add one for aligment */
#define MSIOBOX_OUTPUTS         8
/* first 4 capable to capture wheel speed of other frequency signal:
 * then goes 3 switch inputs.
 * SW2, SW3 are shared with VSS3, VSS4. See tachin_mask */
#define MSIOBOX_INPUTS          8
/* total */
#define MSIOBOX_SIGNALS         (MSIOBOX_OUTPUTS + MSIOBOX_INPUTS)
 
/* Actual HW capabilities */
/* On/Off or PWM mode */
#define MSIOBOX_OUT_COUNT       7
/* ADC input count */
#define MSIOBOX_ADC_IN_COUNT    7
/* Speed in sensors */
#define MSIOBOX_TACH_IN_COUNT   4
 
/* timeouts for different states */
#define MSIOBOX_PING_TIMEOUT    100
#define MSIOBOX_RESTART_TIMEOUT 1000
 
/*==========================================================================*/
/* Driver exported variables.                                               */
/*==========================================================================*/
 
/*==========================================================================*/
/* MegaSquirt I/O box protocol definitions.                                 */
/*==========================================================================*/
#define CAN_IOBOX_BASE1         0x200
#define CAN_IOBOX_BASE2         0x220
#define CAN_IOBOX_BASE3         0x240
 
/* Packets from MS3 to device */
#define CAN_IOBOX_PING          0x00
#define CAN_IOBOX_CONFIG        0x01
#define CAN_IOBOX_SET_PWM(n)    (0x02 + ((n) & 0x03))
#define CAN_IOBOX_LAST_IN       0x05
 
/* Packets from device to MS3 */
#define CAN_IOBOX_WHOAMI        0x08
#define CAN_IOBOX_ADC14         0x09
#define CAN_IOBOX_ADC57         0x0A
#define CAN_IOBOX_TACH1         0x0B
/* ... */
#define CAN_IOBOX_TACH4         0x0E
 
struct pwm_settings {
    beuint16_t on;
    beuint16_t off;
} __attribute__ ((packed));
 
/* Base + 0x00 */
/* "Are you there?" packet with zero payload */
struct iobox_ping {
    /* empty */
} __attribute__((packed));
 
/* Base + 0x01 */
struct iobox_cfg {
    uint8_t pwm_mask;   // 0 - On/Off, 1 - PWM
    uint8_t pad0;
    uint8_t tachin_mask;
    uint8_t pad1;
    uint8_t adc_broadcast_interval;     // mS
    uint8_t tach_broadcast_interval;    // mS
    uint8_t pad2[2];
} __attribute__((packed));
 
/* Base + 0x02, 0x03, 0x04 */
struct iobox_pwm {
    pwm_settings ch[2];
} __attribute__ ((packed));
 
static_assert(sizeof(iobox_pwm) == 8);
 
/* Base + 0x05 */
struct iobox_pwm_last {
    pwm_settings ch[1];
    uint8_t out_state;
} __attribute__ ((packed));
 
static_assert(sizeof(iobox_pwm_last) == 5);
 
/* Base + 0x08 */
struct iobox_whoami {
    uint8_t version;
    uint8_t pad[3];
    beuint16_t pwm_period;      // PWM clock periods in 0.01 uS
    beuint16_t tachin_period;   // Tach-in clock periods in 0.01 uS
} __attribute__((packed));
 
static_assert(sizeof(iobox_whoami) == 8);
 
/* Base + 0x09 */
struct iobox_adc14 {
    beuint16_t adc[4];
} __attribute__((packed));
 
static_assert(sizeof(iobox_adc14) == 8);
 
/* Base + 0x0A */
struct iobox_adc57 {
    uint8_t inputs;
    uint8_t pad;
    beuint16_t adc[3];
} __attribute__((packed));
 
static_assert(sizeof(iobox_adc57) == 8);
 
/* Base + 0x0B..0x0E */
struct iobox_tach {
    beuint32_t period;
    beuint16_t n_teeth;
    beuint16_t total_tooth;
} __attribute__((packed));
 
static_assert(sizeof(iobox_tach) == 8);
 
/*==========================================================================*/
/* Driver local variables and types.                                        */
/*==========================================================================*/
 
typedef enum {
    MSIOBOX_DISABLED = 0,
    MSIOBOX_WAIT_INIT,
    MSIOBOX_WAIT_WHOAMI,
    MSIOBOX_READY,
    MSIOBOX_FAILED
} msiobox_state;
 
class MsIoBox final : public GpioChip, public CanListener {
    /* gpio stuff */
    int writePad(size_t pin, int value) override;
    int readPad(size_t pin) override;
    int setPadPWM(size_t pin, float frequency, float duty) override;
    brain_pin_diag_e getDiag(size_t pin) override;
 
public:
    MsIoBox();
    MsIoBox(uint32_t bus, uint32_t base, uint16_t period);
 
    CanListener* request() override;
    bool acceptFrame(const CANRxFrame& frame) const override;
 
    int init() override;
    int config(uint32_t bus, uint32_t base, uint16_t period);
 
#if 0
    /* pin argument is pin number within gpio chip, not a global number */
    int writePad(size_t pin, int value) override {
        state[pin] = value;
        return 0;
    }
#endif
 
protected:
    void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) override;
 
private:
    int ping();
    int setup();
    int update();
    void checkState();
 
    /* PWM output helpers */
    void CalcOnOffPeriod(int ch, pwm_settings &pwm);
 
    /* Output states */
    uint8_t OutMode;    // on/off (0) vs pwm (1) bitfield
    uint8_t OutVal;     // for on/off outputs
    struct {
        float frequency;
        float duty;
    } OutPwm[MSIOBOX_OUT_COUNT];
    /* ADC inputs */
    uint16_t AdcValue[MSIOBOX_ADC_IN_COUNT];
    /* Input mode */
    uint8_t InMode;     //Tach-in config bitfield
    /* Logical inputs */
    uint8_t InVal;
    /* Wheel speed */
    struct {
        uint32_t period;
        uint16_t teeths;
        uint16_t totalTooth;
    } Tach[MSIOBOX_TACH_IN_COUNT];
    /* Can settings */
    uint32_t bus;
    uint32_t base;
    uint32_t period;
    /* IOBox timebase */
    /* PWM clock period in 0.01 uS units, default is 5000 */
    uint32_t pwmBaseFreq = 1000 * 1000 * 100 / 5000;    /* Hz */
    /* Tach-in clock period in 0.01 uS units, default is 66 */
    uint32_t tachinBaseFreq = 1000 * 1000 * 100 / 66;   /* Hz */
    /* Misc */
    uint8_t version;
    /* Flags */
    bool needUpdate;
    bool needUpdateConfig;
 
    /* */
    msiobox_state state;
    Timer stateTimer;
};
 
MsIoBox::MsIoBox()
    : CanListener(0), bus(0), base(0), period(20) {
}
 
MsIoBox::MsIoBox(uint32_t bus, uint32_t base, uint16_t period)
    : CanListener(0), bus(bus), base(base), period(period) {
    /* init state */
    state = MSIOBOX_WAIT_INIT;
    stateTimer.reset();
}
 
int MsIoBox::init()
{
    /* TODO: register can listener here */
    return 0;
}
 
int MsIoBox::config(uint32_t _bus, uint32_t _base, uint16_t _period)
{
    /* TODO: sanity checks? */
    bus = _bus;
    base = _base;
    period = _period;
 
    /* Force init */
    state = MSIOBOX_WAIT_INIT;
    stateTimer.reset();
 
    /* TODO: */
    //registerCanListener(this);
 
    return 0;
}
 
bool MsIoBox::acceptFrame(const CANRxFrame& frame) const {
    /* 11 bit only */
    if (CAN_ISX(frame)) {
        return false;
    }
 
    uint32_t id = CAN_ID(frame);
 
    /* packets with ID (base + 0) to (base + 5) are received by MSIOBox
     * (base + 8) to (base + 14) are emited by MSIOBox */
    if ((id >= base + 8) && (id <= base + 14)) {
        return true;
    }
 
    return false;
}
 
/* Ping iobox */
int MsIoBox::ping() {
    CanTxTyped<iobox_ping> frame(CanCategory::MEGASQUIRT, base + CAN_IOBOX_PING, false, 0);
 
    return 0;
}
 
/* Send init settings */
int MsIoBox::setup() {
    CanTxTyped<iobox_cfg> cfg(CanCategory::MEGASQUIRT, base + CAN_IOBOX_CONFIG, false, 0);
 
    cfg->pwm_mask = OutMode;
    cfg->tachin_mask = InMode;
    cfg->adc_broadcast_interval = period;
    cfg->tach_broadcast_interval = period;
 
    return 0;
}
 
void MsIoBox::CalcOnOffPeriod(int ch, pwm_settings &pwm)
{
    if ((OutMode & BIT(ch)) == 0) {
        pwm.on = pwm.off = 0;
        return;
    }
 
    int period = (pwmBaseFreq + (OutPwm[ch].frequency / 2)) / OutPwm[ch].frequency;
 
    pwm.on = period * OutPwm[ch].duty;
    pwm.off = period - pwm.on;
}
 
/* Send current gpio and pwm states */
int MsIoBox::update() {
    /* TODO: protect against OutPwm/OutVal change while we are here */
 
    /* PWM1 .. PWM6 */
    for (size_t i = 0; i < 3; i++) {
        /* sent only if PWMs is in use */
        if ((OutMode & (BIT(i) | BIT(i + 1))) == 0)
            continue;
 
        CanTxTyped<iobox_pwm> pwm(CanCategory::MEGASQUIRT, base + CAN_IOBOX_SET_PWM(i), false, 0);
        for (size_t j = 0; j < 2; j++) {
            CalcOnOffPeriod(i + j, pwm->ch[j]);
        }
    }
 
    /* PWM7 periods and on/off outputs bitfield - sent always */
    {
        CanTxTyped<iobox_pwm_last> pwm(CanCategory::MEGASQUIRT, base + CAN_IOBOX_SET_PWM(3), false, 0);
 
        CalcOnOffPeriod(MSIOBOX_OUT_COUNT - 1, pwm->ch[0]);
 
        pwm->out_state = OutVal;
    }
 
    return 0;
}
 
void MsIoBox::decodeFrame(const CANRxFrame& frame, efitick_t) {
    uint32_t id = CAN_ID(frame);
    uint32_t offset = id - base;
    bool handled = true;
 
    if (state == MSIOBOX_READY) {
        if (offset == CAN_IOBOX_ADC14) {
            auto data = reinterpret_cast<const iobox_adc14*>(&frame.data8[0]);
 
            for (size_t i = 0; i < 4; i++) {
                AdcValue[i] = data->adc[i];
            }
        } else if (offset == CAN_IOBOX_ADC57) {
            auto data = reinterpret_cast<const iobox_adc57*>(&frame.data8[0]);
 
            InVal = data->inputs;
            for (size_t i = 0; i < 3; i++) {
                AdcValue[i + 4] = data->adc[i];
            }
        } else if ((offset >= CAN_IOBOX_TACH1) && (offset <= CAN_IOBOX_TACH4)) {
            size_t i = offset - CAN_IOBOX_TACH1;
            auto data = reinterpret_cast<const iobox_tach*>(&frame.data8[0]);
 
            /* TODO: should be atomic, add lock here? */
            /* TODO: accumulate totalTooth? */
            Tach[i].period = data->period;
            Tach[i].teeths = data->n_teeth;
            Tach[i].totalTooth = data->total_tooth;
        } else {
            handled = false;
        }
    } else if (state == MSIOBOX_WAIT_WHOAMI) {
        if (offset == CAN_IOBOX_WHOAMI) {
            auto data = reinterpret_cast<const iobox_whoami*>(&frame.data8[0]);
 
            version = data->version;
            /* convert from 0.01 uS units to Hz */
            pwmBaseFreq = 1000 * 1000 * 100 / data->pwm_period;
            tachinBaseFreq = 1000 * 1000 * 100 / data->tachin_period;
 
            /* apply settings and set sync output states */
            setup();
            update();
 
            /* now we are ready */
            state = MSIOBOX_READY;
            stateTimer.reset();
        } else {
            handled = false;
        }
        /* ignore everything else */
    } else {
        handled = false;
    }
 
    if (handled) {
        /* TODO: check that we receive EVERY expected packed? */
        stateTimer.reset();
    }
}
 
/* gpio chip stuff */
int MsIoBox::writePad(unsigned int pin, int value) {
    if (pin >= MSIOBOX_OUTPUTS)
        return -1;
 
    uint8_t OutModeNew = OutMode & (~BIT(pin));
    uint8_t OutValNew = OutVal;
    if (value) {
        OutValNew |= BIT(pin);
    } else {
        OutValNew &= ~BIT(pin);
    }
 
    if (OutValNew != OutVal) {
        OutVal = OutValNew;
        needUpdate = true;
    }
    if (OutModeNew != OutMode) {
        OutMode = OutModeNew;
        needUpdateConfig = true;
    }
 
    return 0;
}
 
int MsIoBox::readPad(size_t pin) {
    if ((pin < MSIOBOX_OUTPUTS) || (pin >= MSIOBOX_SIGNALS))
        return -1;
 
    pin -= MSIOBOX_OUTPUTS;
 
    if (InMode & BIT(pin)) {
        /* pin is configured for VSS */
        return -1;
    }
 
    return !!(InVal & BIT(pin));
}
 
int MsIoBox::setPadPWM(size_t pin, float frequency, float duty)
{
    if (pin >= MSIOBOX_OUT_COUNT)
        return -1;
 
    /* TODO: validate frequency? Validate duty? */
 
    /* Just save values.
     * Do calculation in update() as at this point we may not receive
     * iobox_whoami packet with pwmPeriodNs */
    OutPwm[pin].frequency = frequency;
    OutPwm[pin].duty = duty;
 
    if ((OutMode & BIT(pin)) == 0) {
        OutMode |= BIT(pin);
        needUpdateConfig = true;
    }
 
    /* TODO: chech if updated? */
    needUpdate = true;
 
    return 0;
}
 
brain_pin_diag_e MsIoBox::getDiag(size_t pin)
{
    if (pin >= MSIOBOX_SIGNALS)
        return PIN_UNKNOWN;
 
    if ((state == MSIOBOX_READY) && (!stateTimer.hasElapsedMs(period * 3)))
        return PIN_OK;
 
    /* find better state  */
    return PIN_DRIVER_OFF;
}
 
void MsIoBox::checkState(void)
{
    switch (state) {
    case MSIOBOX_DISABLED:
        /* nop */
        break;
    case MSIOBOX_WAIT_INIT:
        ping();
 
        state = MSIOBOX_WAIT_WHOAMI;
        stateTimer.reset();
 
        break;
    case MSIOBOX_WAIT_WHOAMI:
        if (stateTimer.hasElapsedMs(MSIOBOX_PING_TIMEOUT)) {
            state = MSIOBOX_FAILED;
            stateTimer.reset();
        }
        break;
    case MSIOBOX_READY:
        if (stateTimer.hasElapsedMs(period * 3)) {
            state = MSIOBOX_FAILED;
            stateTimer.reset();
        } else {
            if (needUpdateConfig) {
                setup();
                needUpdateConfig = false;
                /* Force update */
                needUpdate = true;
            }
            if (needUpdate) {
                update();
            }
        }
        break;
    case MSIOBOX_FAILED:
        if (stateTimer.hasElapsedMs(MSIOBOX_RESTART_TIMEOUT)) {
            state = MSIOBOX_WAIT_INIT;
            stateTimer.reset();
        }
        break;
    }
}
 
CanListener* MsIoBox::request(void) {
    checkState();
 
    /* return next */
    return CanListener::request();
}
 
static MsIoBox instance[BOARD_CAN_GPIO_COUNT];
 
int initCanGpioMsiobox() {
    if (engineConfiguration->msIoBox0.id == MsIoBoxId::OFF) {
        return 0;
    }
 
    // MSIOBOX_0_OUT_1
    for (size_t i = 0; i < BOARD_CAN_GPIO_COUNT; i++) {
        uint32_t can_id = CAN_IOBOX_BASE1 + 0x20 * (static_cast<uint32_t>(engineConfiguration->msIoBox0.id) - static_cast<uint32_t>(MsIoBoxId::ID200));
 
        /* TODO: pick can bus and refresh rate from settings */
        if (instance[i].config(0, can_id, 20) == 0) {
            registerCanListener(instance[i]);
            /* register */
            int ret = gpiochip_register(Gpio::MSIOBOX_0_OUT_1, DRIVER_NAME, instance[i], MSIOBOX_SIGNALS);
            if (ret < 0)
                return ret;
        }
    }
    return 0;
}
#endif // EFI_CAN_GPIO