efi_gpio.cpp

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/**
 * @file    efi_gpio.cpp
 * @brief   EFI-related GPIO code
 *
 * @date Sep 26, 2014
 * @author Andrey Belomutskiy, (c) 2012-2020
 */
 
#include "pch.h"
#include "bench_test.h"
#include "engine_sniffer.h"
 
#include "drivers/gpio/gpio_ext.h"
 
#if HW_HELLEN
#include "hellen_meta.h"
#endif // HW_HELLEN
 
#if EFI_ELECTRONIC_THROTTLE_BODY
#include "electronic_throttle.h"
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 
// todo: clean this mess, this should become 'static'/private
EnginePins enginePins;
 
static const char* const sparkNames[] = { "Coil 1", "Coil 2", "Coil 3", "Coil 4", "Coil 5", "Coil 6", "Coil 7", "Coil 8",
        "Coil 9", "Coil 10", "Coil 11", "Coil 12"};
 
static const char* const trailNames[] = { "Trail 1", "Trail 2", "Trail 3", "Trail 4", "Trail 5", "Trail 6", "Trail 7", "Trail 8",
        "Trail 9", "Trail 10", "Trail 11", "Trail 12"};
 
static const char* const trailShortNames[] = { "r1", "r2", "r3", "r4", "r5", "r6", "r7", "r8", "r9", "rA", "rB", "rD" };
 
const char *vvtNames[] = {
        "VVT1",
        "VVT2",
        "VVT3",
        "VVT4"};
 
const char *laNames[] = {
        "input1",
        "input2",
        "input3",
        "input4"};
 
// these short names are part of engine sniffer protocol
static const char* const sparkShortNames[] = { PROTOCOL_COIL_SHORT_PREFIX "1", PROTOCOL_COIL_SHORT_PREFIX "2", "c3", "c4", "c5", "c6", "c7", "c8",
        "c9", "cA", "cB", "cD"};
 
static const char* const injectorNames[] = { "Injector 1", "Injector 2", "Injector 3", "Injector 4", "Injector 5", "Injector 6",
        "Injector 7", "Injector 8", "Injector 9", "Injector 10", "Injector 11", "Injector 12"};
 
static const char* const injectorShortNames[] = { PROTOCOL_INJ_SHORT_PREFIX "1", PROTOCOL_INJ_SHORT_PREFIX "2", "i3", "i4", "i5", "i6", "i7", "i8",
        "i9", "iA", "iB", "iC"};
 
static const char* const injectorStage2Names[] = { "Injector Second Stage 1", "Injector Second Stage 2", "Injector Second Stage 3", "Injector Second Stage 4", "Injector Second Stage 5", "Injector Second Stage 6",
        "Injector Second Stage 7", "Injector Second Stage 8", "Injector Second Stage 9", "Injector Second Stage 10", "Injector Second Stage 11", "Injector Second Stage 12"};
 
static const char* const injectorStage2ShortNames[] = { PROTOCOL_INJ_STAGE2_SHORT_PREFIX "1", PROTOCOL_INJ_STAGE2_SHORT_PREFIX "2", "j3", "j4", "j5", "j6", "j7", "j8",
        "j9", "jA", "jB", "jC"};
 
static const char* const auxValveShortNames[] = { "a1", "a2"};
 
static RegisteredOutputPin * registeredOutputHead = nullptr;
 
RegisteredNamedOutputPin::RegisteredNamedOutputPin(const char *p_name, size_t pinOffset,
        size_t pinModeOffset) : RegisteredOutputPin(p_name, pinOffset, pinModeOffset) {
}
 
RegisteredNamedOutputPin::RegisteredNamedOutputPin(const char *p_name, size_t pinOffset) :
    RegisteredOutputPin(p_name, pinOffset) {
}
 
RegisteredOutputPin::RegisteredOutputPin(const char *p_registrationName, size_t pinOffset,
        size_t pinModeOffset)
    : next(registeredOutputHead)
    , registrationName(p_registrationName)
    , m_pinOffset(static_cast<uint16_t>(pinOffset))
    , m_hasPinMode(true)
    , m_pinModeOffset(static_cast<uint16_t>(pinModeOffset))
{
    // adding into head of the list is so easy and since we do not care about order that's what we shall do
    registeredOutputHead = this;
}
 
RegisteredOutputPin::RegisteredOutputPin(const char *p_registrationName, size_t pinOffset)
    : next(registeredOutputHead)
    , registrationName(p_registrationName)
    , m_pinOffset(static_cast<uint16_t>(pinOffset))
    , m_hasPinMode(false)
    , m_pinModeOffset(-1)
{
    // adding into head of the list is so easy and since we do not care about order that's what we shall do
    registeredOutputHead = this;
}
 
bool RegisteredOutputPin::isPinConfigurationChanged() {
#if EFI_PROD_CODE
    brain_pin_e        curPin = *(brain_pin_e       *) ((void *) (&((char*)&activeConfiguration)[m_pinOffset]));
    brain_pin_e        newPin = *(brain_pin_e       *) ((void *) (&((char*) engineConfiguration)[m_pinOffset]));
    bool pinChanged = curPin != newPin;
 
    if (!m_hasPinMode) {
        return pinChanged;
    }
 
    pin_output_mode_e curMode = *(pin_output_mode_e *) ((void *) (&((char*)&activeConfiguration)[m_pinModeOffset]));
    pin_output_mode_e newMode = *(pin_output_mode_e *) ((void *) (&((char*) engineConfiguration)[m_pinModeOffset]));
    return pinChanged || curMode != newMode;
#else
    return true;
#endif // EFI_PROD_CODE
}
 
void RegisteredOutputPin::init() {
    brain_pin_e        newPin = *(brain_pin_e       *) ((void *) (&((char*) engineConfiguration)[m_pinOffset]));
 
    pin_output_mode_e newMode;
    if (m_hasPinMode) {
        newMode = *(pin_output_mode_e *) ((void *) (&((char*) engineConfiguration)[m_pinModeOffset]));
    } else {
        newMode = OM_DEFAULT;
    }
 
    if (isPinConfigurationChanged()) {
        this->initPin(registrationName, newPin, newMode);
    }
}
 
void RegisteredOutputPin::unregister() {
    if (isPinConfigurationChanged()) {
        OutputPin::deInit();
    }
}
 
#define CONFIG_OFFSET(x) (offsetof(engine_configuration_s, x))
// todo: pin and pinMode should be combined into a composite entity
// todo: one of the impediments is code generator hints handling (we need custom hints and those are not handled nice for fields of structs?)
#define CONFIG_PIN_OFFSETS(x) CONFIG_OFFSET(x##Pin), CONFIG_OFFSET(x##PinMode)
 
// offset of X within engineConfiguration, plus offset of Y within X
// decltype(engine_configuration_s::x) resolves the typename of the struct X inside engineConfiguration
#define CONFIG_OFFSET2(x, y) (offsetof(engine_configuration_s, x) + offsetof(decltype(engine_configuration_s::x), y))
#define CONFIG_PIN_OFFSETS2(x, y) CONFIG_OFFSET2(x, y##Pin), CONFIG_OFFSET2(x, y##PinMode)
 
EnginePins::EnginePins() :
 // [tag:coding_by_convention] 'mainRelay' member here uses 'mainRelayPin' and 'mainRelayPinMode' configuration fields
        mainRelay("Main Relay", CONFIG_PIN_OFFSETS(mainRelay)),
        hpfpValve("HPFP Valve", CONFIG_PIN_OFFSETS(hpfpValve)),
        starterControl("Starter Relay", CONFIG_PIN_OFFSETS(starterControl)),
        starterRelayDisable("Starter Disable Relay", CONFIG_PIN_OFFSETS(starterRelayDisable)),
        fanRelay("Fan Relay", CONFIG_PIN_OFFSETS(fan)),
        fanRelay2("Fan Relay 2", CONFIG_PIN_OFFSETS(fan2)),
        acRelay("A/C Relay", CONFIG_PIN_OFFSETS(acRelay)),
        fuelPumpRelay("Fuel pump Relay", CONFIG_PIN_OFFSETS(fuelPump)),
        nitrousRelay("Nitrous Relay", CONFIG_PIN_OFFSETS(nitrousRelay)),
#if EFI_HD_ACR
        harleyAcr("Harley ACR", CONFIG_OFFSET(acrPin)),
        harleyAcr2("Harley ACR 2", CONFIG_OFFSET(acrPin2)),
#endif // EFI_HD_ACR
        boostPin("Boost", CONFIG_PIN_OFFSETS(boostControl)),
        idleSolenoidPin("Idle Valve", CONFIG_OFFSET2(idle, solenoidPin), CONFIG_OFFSET2(idle, solenoidPinMode)),
        secondIdleSolenoidPin("Idle Valve#2", CONFIG_OFFSET(secondSolenoidPin), CONFIG_OFFSET2(idle, solenoidPinMode)),
        alternatorPin("Alternator control", CONFIG_PIN_OFFSETS(alternatorControl)),
        checkEnginePin("checkEnginePin", CONFIG_PIN_OFFSETS(malfunctionIndicator)),
        tachOut("tachOut", CONFIG_PIN_OFFSETS(tachOutput)),
        triggerDecoderErrorPin("led: trigger debug", CONFIG_PIN_OFFSETS(triggerError)),
        speedoOut("speedoOut", CONFIG_OFFSET(speedometerOutputPin))
{
    hpfpValve.setName("hpfp");
#if EFI_HD_ACR
    harleyAcr.setName("acr");
#endif // EFI_HD_ACR
 
    static_assert(efi::size(sparkNames) >= MAX_CYLINDER_COUNT, "Too many ignition pins");
    static_assert(efi::size(trailNames) >= MAX_CYLINDER_COUNT, "Too many ignition pins");
    static_assert(efi::size(injectorNames) >= MAX_CYLINDER_COUNT, "Too many injection pins");
    for (int i = 0; i < MAX_CYLINDER_COUNT;i++) {
        enginePins.coils[i].coilIndex = i;
        enginePins.coils[i].setName(sparkNames[i]);
        enginePins.coils[i].shortName = sparkShortNames[i];
 
        enginePins.trailingCoils[i].setName(trailNames[i]);
        enginePins.trailingCoils[i].shortName = trailShortNames[i];
 
        enginePins.injectors[i].injectorIndex = i;
        enginePins.injectors[i].setName(injectorNames[i]);
        enginePins.injectors[i].shortName = injectorShortNames[i];
 
        enginePins.injectorsStage2[i].injectorIndex = i;
        enginePins.injectorsStage2[i].setName(injectorStage2Names[i]);
        enginePins.injectorsStage2[i].shortName = injectorStage2ShortNames[i];
    }
 
    static_assert(efi::size(auxValveShortNames) >= AUX_DIGITAL_VALVE_COUNT, "Too many aux valve pins");
    for (int i = 0; i < AUX_DIGITAL_VALVE_COUNT;i++) {
        enginePins.auxValve[i].setName(auxValveShortNames[i]);
    }
}
 
/**
 * Sets the value of the pin. On this layer the value is assigned as is, without any conversion.
 */
 
#define unregisterOutputIfPinChanged(output, pin) {                                \
    if (isConfigurationChanged(pin)) {                                             \
        (output).deInit();                        \
    }                                                                              \
}
 
#define unregisterOutputIfPinOrModeChanged(output, pin, mode) {                    \
    if (isPinOrModeChanged(pin, mode)) {                                           \
        (output).deInit();                        \
    }                                                                              \
}
 
bool EnginePins::stopPins() {
    bool result = false;
    for (int i = 0; i < MAX_CYLINDER_COUNT; i++) {
        result |= coils[i].stop();
        result |= injectors[i].stop();
        result |= injectorsStage2[i].stop();
        result |= trailingCoils[i].stop();
    }
    for (int i = 0; i < AUX_DIGITAL_VALVE_COUNT; i++) {
        result |= auxValve[i].stop();
    }
    return result;
}
 
void EnginePins::unregisterPins() {
    stopInjectionPins();
    stopIgnitionPins();
#if EFI_AUX_VALVES
    stopAuxValves();
#endif
 
#if EFI_ELECTRONIC_THROTTLE_BODY
    unregisterEtbPins();
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 
    // todo: add pinMode
    unregisterOutputIfPinChanged(sdCsPin, sdCardCsPin);
    unregisterOutputIfPinChanged(accelerometerCs, accelerometerCsPin);
 
    RegisteredOutputPin * pin = registeredOutputHead;
    while (pin != nullptr) {
        pin->unregister();
        pin = pin->next;
    }
}
 
void EnginePins::debug() {
    RegisteredOutputPin * pin = registeredOutputHead;
    while (pin != nullptr) {
        efiPrintf("%s %d", pin->getRegistrationName(), pin->currentLogicValue);
        pin = pin->next;
    }
}
 
void EnginePins::startPins() {
#if EFI_ENGINE_CONTROL
    startInjectionPins();
    startIgnitionPins();
#endif /* EFI_ENGINE_CONTROL */
 
#if EFI_AUX_VALVES
    startAuxValves();
#endif // EFI_AUX_VALVES
 
    RegisteredOutputPin * pin = registeredOutputHead;
    while (pin != nullptr) {
        pin->init();
        pin = pin->next;
    }
}
 
void EnginePins::reset() {
    for (int i = 0; i < MAX_CYLINDER_COUNT;i++) {
        injectors[i].reset();
        coils[i].reset();
        trailingCoils[i].reset();
    }
}
 
void EnginePins::stopIgnitionPins() {
    for (int i = 0; i < MAX_CYLINDER_COUNT; i++) {
        unregisterOutputIfPinOrModeChanged(enginePins.coils[i], ignitionPins[i], ignitionPinMode);
        unregisterOutputIfPinOrModeChanged(enginePins.trailingCoils[i], trailingCoilPins[i], ignitionPinMode);
    }
}
 
void EnginePins::stopInjectionPins() {
    for (int i = 0; i < MAX_CYLINDER_COUNT; i++) {
        unregisterOutputIfPinOrModeChanged(enginePins.injectors[i], injectionPins[i], injectionPinMode);
        unregisterOutputIfPinOrModeChanged(enginePins.injectorsStage2[i], injectionPinsStage2[i], injectionPinMode);
    }
}
 
#if EFI_AUX_VALVES
void EnginePins::stopAuxValves() {
    for (int i = 0; i < AUX_DIGITAL_VALVE_COUNT; i++) {
        NamedOutputPin *output = &enginePins.auxValve[i];
        // todo: do we need auxValveMode and reuse code?
        if (isConfigurationChanged(auxValves[i])) {
            (output)->deInit();
        }
    }
}
 
void EnginePins::startAuxValves() {
#if EFI_PROD_CODE
    for (int i = 0; i < AUX_DIGITAL_VALVE_COUNT; i++) {
        NamedOutputPin *output = &enginePins.auxValve[i];
        // todo: do we need auxValveMode and reuse code?
        if (isConfigurationChanged(auxValves[i])) {
            output->initPin(output->getName(), engineConfiguration->auxValves[i]);
        }
    }
#endif /* EFI_PROD_CODE */
}
#endif // EFI_AUX_VALVES
 
void EnginePins::startIgnitionPins() {
#if EFI_PROD_CODE
    for (size_t i = 0; i < engineConfiguration->cylindersCount; i++) {
        NamedOutputPin *trailingOutput = &enginePins.trailingCoils[i];
        if (isPinOrModeChanged(trailingCoilPins[i], ignitionPinMode)) {
            trailingOutput->initPin(trailingOutput->getName(), engineConfiguration->trailingCoilPins[i], engineConfiguration->ignitionPinMode);
        }
 
        NamedOutputPin *output = &enginePins.coils[i];
        if (isPinOrModeChanged(ignitionPins[i], ignitionPinMode)) {
            output->initPin(output->getName(), engineConfiguration->ignitionPins[i], engineConfiguration->ignitionPinMode);
        }
    }
#endif /* EFI_PROD_CODE */
}
 
void EnginePins::startInjectionPins() {
#if EFI_PROD_CODE
    // todo: should we move this code closer to the injection logic?
    for (size_t i = 0; i < engineConfiguration->cylindersCount; i++) {
        NamedOutputPin *output = &enginePins.injectors[i];
        if (isPinOrModeChanged(injectionPins[i], injectionPinMode)) {
            output->initPin(output->getName(), engineConfiguration->injectionPins[i],
                    engineConfiguration->injectionPinMode);
        }
 
        output = &enginePins.injectorsStage2[i];
        if (isPinOrModeChanged(injectionPinsStage2[i], injectionPinMode)) {
            output->initPin(output->getName(), engineConfiguration->injectionPinsStage2[i],
                    engineConfiguration->injectionPinMode);
        }
    }
#endif /* EFI_PROD_CODE */
}
 
OutputPin *EnginePins::getOutputPinForBenchMode(bench_mode_e index) {
    switch(index) {
#if EFI_VVT_PID
    case BENCH_VVT0_VALVE:
        return getVvtOutputPin(0);
    case BENCH_VVT1_VALVE:
        return getVvtOutputPin(1);
    case BENCH_VVT2_VALVE:
        return getVvtOutputPin(2);
    case BENCH_VVT3_VALVE:
        return getVvtOutputPin(3);
#endif // EFI_VVT_PID
    case BENCH_MAIN_RELAY:
        return &mainRelay;
    case BENCH_HPFP_VALVE:
        return &hpfpValve;
    case BENCH_FUEL_PUMP:
        return &fuelPumpRelay;
    case BENCH_STARTER_ENABLE_RELAY:
        return &starterControl;
    case BENCH_CHECK_ENGINE_LIGHT:
        return &checkEnginePin;
    case BENCH_AC_COMPRESSOR_RELAY:
        return &acRelay;
    case BENCH_FAN_RELAY:
        return &fanRelay;
#if EFI_HD_ACR
    case HD_ACR:
        return &harleyAcr;
    case HD_ACR2:
        return &harleyAcr2;
#endif
    case BENCH_IDLE_VALVE:
        return &idleSolenoidPin;
    case BENCH_FAN_RELAY_2:
        return &fanRelay;
    default:
        criticalError("Unexpected bench pin %d", index);
    }
    return nullptr;
}
 
NamedOutputPin::NamedOutputPin() : OutputPin() {
}
 
NamedOutputPin::NamedOutputPin(const char *p_name) : OutputPin() {
    name = p_name;
}
 
const char *NamedOutputPin::getName() const {
    return name;
}
 
void NamedOutputPin::setName(const char* p_name) {
    name = p_name;
}
 
const char *NamedOutputPin::getShortName() const {
    return shortName == nullptr ? name : shortName;
}
 
#if EFI_UNIT_TEST
extern bool verboseMode;
#endif // EFI_UNIT_TEST
 
void NamedOutputPin::setHigh() {
    setHigh(nullptr);
}
 
void NamedOutputPin::setHigh(const char *msg) {
#if EFI_UNIT_TEST
    if (verboseMode) {
        efiPrintf("pin %s goes high", name);
    }
#endif // EFI_UNIT_TEST
#if EFI_DEFAILED_LOGGING
//  signal->hi_time = hTimeNow();
#endif /* EFI_DEFAILED_LOGGING */
 
    // turn the output level ACTIVE
    setValue(msg, true);
 
#if EFI_ENGINE_SNIFFER
    addEngineSnifferOutputPinEvent(this, FrontDirection::UP);
#endif /* EFI_ENGINE_SNIFFER */
}
 
void NamedOutputPin::setLow() {
    setLow(nullptr);
}
 
void NamedOutputPin::setLow(const char *msg) {
#if EFI_UNIT_TEST
    if (verboseMode) {
        efiPrintf("pin %s goes low", name);
    }
#endif // EFI_UNIT_TEST
 
    // turn off the output
    setValue(msg, false);
 
#if EFI_ENGINE_SNIFFER
    addEngineSnifferOutputPinEvent(this, FrontDirection::DOWN);
#endif /* EFI_ENGINE_SNIFFER */
}
 
bool NamedOutputPin::stop() {
#if EFI_GPIO_HARDWARE
    if (isInitialized() && getLogicValue()) {
        setValue("stop", false);
        efiPrintf("turning off %s", name);
        return true;
    }
#endif /* EFI_GPIO_HARDWARE */
    return false;
}
 
void InjectorOutputPin::reset() {
    // If this injector was open, close it and reset state
    if (overlappingCounter != 0) {
        overlappingCounter = 0;
        setValue("reset", 0);
    }
 
    // todo: this could be refactored by calling some super-reset method
    currentLogicValue = 0;
}
 
IgnitionOutputPin::IgnitionOutputPin() {
    reset();
}
 
void IgnitionOutputPin::setHigh() {
    NamedOutputPin::setHigh();
    // this is NASTY but what's the better option? bytes? At cost of 22 extra bytes in output status packet?
    switch (coilIndex) {
    case 0:
        engine->outputChannels.coilState1 = true;
        break;
    case 1:
        engine->outputChannels.coilState2 = true;
        break;
    case 2:
        engine->outputChannels.coilState3 = true;
        break;
    case 3:
        engine->outputChannels.coilState4 = true;
        break;
    case 4:
        engine->outputChannels.coilState5 = true;
        break;
    case 5:
        engine->outputChannels.coilState6 = true;
        break;
    }
}
 
void IgnitionOutputPin::setLow() {
    NamedOutputPin::setLow();
    // this is NASTY but what's the better option? bytes? At cost of 22 extra bytes in output status packet?
    switch (coilIndex) {
    case 0:
        engine->outputChannels.coilState1 = false;
        break;
    case 1:
        engine->outputChannels.coilState2 = false;
        break;
    case 2:
        engine->outputChannels.coilState3 = false;
        break;
    case 3:
        engine->outputChannels.coilState4 = false;
        break;
    case 4:
        engine->outputChannels.coilState5 = false;
        break;
    case 5:
        engine->outputChannels.coilState6 = false;
        break;
    }
}
 
void IgnitionOutputPin::reset() {
    signalFallSparkId = 0;
}
 
bool OutputPin::isInitialized() const {
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
#if (BOARD_EXT_GPIOCHIPS > 0)
    if (ext)
        return true;
#endif /* (BOARD_EXT_GPIOCHIPS > 0) */
    return m_port != NULL;
#else /* EFI_GPIO_HARDWARE */
    return true;
#endif /* EFI_GPIO_HARDWARE */
}
 
void OutputPin::toggle() {
    setValue("toggle", !getLogicValue());
}
 
bool OutputPin::getAndSet(int logicValue) {
    bool oldValue = getLogicValue();
    setValue(logicValue);
    return oldValue;
}
 
// This function is only used on real hardware
#if EFI_PROD_CODE
void OutputPin::setOnchipValue(int electricalValue) {
    if (brainPin == Gpio::Unassigned || brainPin == Gpio::Invalid) {
        // todo: make 'setOnchipValue' or 'reportsetOnchipValueError' virtual and override for NamedOutputPin?
        warning(ObdCode::CUSTOM_ERR_6586, "attempting to change unassigned pin");
        return;
    }
    palWritePad(m_port, m_pin, electricalValue);
}
#endif // EFI_PROD_CODE
 
void OutputPin::setValue(int logicValue, bool isForce) {
    setValue(nullptr, logicValue, isForce);
}
 
#if EFI_SIMULATOR
void OutputPin::resetToggleStats() {
    durationsInStateMs[0] = durationsInStateMs[1] = 0;
    pinToggleCounter = 0;
}
#endif // EFI_SIMULATOR
 
void OutputPin::setValue(const char *msg, int logicValue, bool isForce) {
    UNUSED(msg);
    if ((isHwQcMode() || getOutputOnTheBenchTest() == this) && !isForce) {
        return;
    }
 
#if ENABLE_PERF_TRACE
// todo: https://github.com/rusefi/rusefi/issues/1638
//  ScopePerf perf(PE::OutputPinSetValue);
#endif // ENABLE_PERF_TRACE
 
#if EFI_UNIT_TEST
    if (currentLogicValue != logicValue) {
        pinToggleCounter++;
    }
#endif // EFI_UNIT_TEST
 
#if EFI_SIMULATOR
    if (currentLogicValue != logicValue) {
        if (pinToggleCounter > 0) {
            durationsInStateMs[0] = durationsInStateMs[1];
            durationsInStateMs[1] = pinToggleTimer.getElapsedUs() / 1000;
        }
        pinToggleCounter++;
        pinToggleTimer.reset();
    }
#endif // EFI_SIMULATOR
 
#if EFI_UNIT_TEST
    if (verboseMode) {
        efiPrintf("pin goes %d", logicValue);
    }
#endif // EFI_UNIT_TEST
 
    // Always store the current logical value of the pin (so it can be
    // used internally even if not connected to a real hardware pin)
    currentLogicValue = logicValue;
 
    // Nothing else to do if not configured
    if (!isBrainPinValid(brainPin)) {
        return;
    }
 
    efiAssertVoid(ObdCode::CUSTOM_ERR_6622, mode <= OM_OPENDRAIN_INVERTED, "invalid pin_output_mode_e");
    int electricalValue = getElectricalValue(logicValue, mode);
 
#if EFI_PROD_CODE
    #if (BOARD_EXT_GPIOCHIPS > 0)
        if (!this->ext) {
            setOnchipValue(electricalValue);
        } else {
            /* external pin */
            gpiochips_writePad(this->brainPin, logicValue);
            /* TODO: check return value */
        }
    #else
        setOnchipValue(electricalValue);
    #endif
#else /* EFI_PROD_CODE */
    setMockState(brainPin, electricalValue);
#endif /* EFI_PROD_CODE */
}
 
bool OutputPin::getLogicValue() const {
    // Compare against 1 since it could also be INITIAL_PIN_STATE (which means logical 0, but we haven't initialized the pin yet)
    return currentLogicValue == 1;
}
 
void OutputPin::setDefaultPinState(pin_output_mode_e outputMode) {
    assertOMode(mode);
    this->mode = outputMode;
    setValue(false, /*force*/true); // initial state
}
 
brain_pin_diag_e OutputPin::getDiag() const {
#if EFI_PROD_CODE
#if BOARD_EXT_GPIOCHIPS > 0
    if (!brain_pin_is_onchip(brainPin)) {
        return gpiochips_getDiag(brainPin);
    }
#endif
#endif /* EFI_PROD_CODE */
    // TODO: add hook to board code for custom diagnostic, like it is done on S105
    return PIN_UNKNOWN;
}
 
void initMiscOutputPins() {
#if EFI_GPIO_HARDWARE
 
#if HAL_USE_SPI
    enginePins.sdCsPin.initPin("SD CS", engineConfiguration->sdCardCsPin);
#endif /* HAL_USE_SPI */
 
#if EFI_SHAFT_POSITION_INPUT
    // todo: migrate remaining OutputPin to RegisteredOutputPin in order to get consistent dynamic pin init/deinit
    enginePins.debugTriggerSync.initPin("debug: sync", engineConfiguration->debugTriggerSync);
#endif // EFI_SHAFT_POSITION_INPUT
 
    enginePins.o2heater.initPin("O2 heater", engineConfiguration->o2heaterPin);
 
#endif /* EFI_GPIO_HARDWARE */
}
 
void OutputPin::initPin(const char *p_msg, brain_pin_e p_brainPin) {
    initPin(p_msg, p_brainPin, OM_DEFAULT);
}
 
void OutputPin::initPin(const char *msg, brain_pin_e p_brainPin, pin_output_mode_e outputMode, bool forceInitWithFatalError) {
#if EFI_UNIT_TEST
    pinToggleCounter = 0;
#endif
 
    if (!isBrainPinValid(p_brainPin)) {
        return;
    }
 
    // Enter a critical section so that other threads can't change the pin state out from underneath us
    chibios_rt::CriticalSectionLocker csl;
 
    if (!forceInitWithFatalError && hasFirmwareError()) {
        // Don't allow initializing more pins if we have a fatal error.
        // Pins should have just been reset, so we shouldn't try to init more.
        return;
    }
 
    // Check that this OutputPin isn't already assigned to another pin (reinit is allowed to change mode)
    // To avoid this error, call deInit() first
    if (isBrainPinValid(brainPin) && brainPin != p_brainPin) {
        firmwareError(ObdCode::CUSTOM_OBD_PIN_CONFLICT, "outputPin [%s] already assigned, cannot reassign without unregister first", msg);
        return;
    }
 
    if (outputMode > OM_OPENDRAIN_INVERTED) {
        firmwareError(ObdCode::CUSTOM_INVALID_MODE_SETTING, "%s invalid pin_output_mode_e %d %s",
                msg,
                outputMode,
                hwPortname(p_brainPin)
                );
        return;
    }
 
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
    iomode_t l_mode = (outputMode == OM_DEFAULT || outputMode == OM_INVERTED) ?
        PAL_MODE_OUTPUT_PUSHPULL : PAL_MODE_OUTPUT_OPENDRAIN;
 
    #if (BOARD_EXT_GPIOCHIPS > 0)
        this->ext = false;
    #endif
    if (brain_pin_is_onchip(p_brainPin)) {
        m_port = getHwPort(msg, p_brainPin);
        m_pin = getHwPin(msg, p_brainPin);
 
        // Validate port
        if (!m_port) {
            criticalError("OutputPin::initPin got invalid port for pin idx %d", static_cast<int>(p_brainPin));
            return;
        }
    }
    #if (BOARD_EXT_GPIOCHIPS > 0)
        else {
            this->ext = true;
        }
    #endif
#endif // briefly leave the include guard because we need to set default state in tests
 
    brainPin = p_brainPin;
 
    // The order of the next two calls may look strange, which is a good observation.
    // We call them in this order so that the pin is set to a known state BEFORE
    // it's enabled.  Enabling the pin then setting it could result in a (brief)
    // mystery state being driven on the pin (potentially dangerous).
    setDefaultPinState(outputMode);
 
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
    efiSetPadMode(msg, brainPin, l_mode);
    if (brain_pin_is_onchip(brainPin)) {
        // todo: handle OM_OPENDRAIN and OM_OPENDRAIN_INVERTED as well
        if (outputMode == OM_DEFAULT || outputMode == OM_INVERTED) {
#ifndef DISABLE_PIN_STATE_VALIDATION
            int actualValue = palReadPad(m_port, m_pin);
            // we had enough drama with pin configuration in board.h and else that we shall self-check
 
            const int logicalValue =
                (outputMode == OM_INVERTED)
                ? !actualValue
                : actualValue;
 
            // if the pin was set to logical 1, then set an error and disable the pin so that things don't catch fire
            if (logicalValue) {
                criticalError("HARDWARE VALIDATION FAILED %s: unexpected startup pin state %s actual value=%d logical value=%d mode=%s", msg, hwPortname(brainPin), actualValue, logicalValue, getPin_output_mode_e(outputMode));
                OutputPin::deInit();
            }
#endif
        }
    }
#endif /* EFI_GPIO_HARDWARE */
}
 
void OutputPin::deInit() {
    // Unregister under lock - we don't want other threads mucking with the pin while we're trying to turn it off
    chibios_rt::CriticalSectionLocker csl;
 
    // nothing to do if not registered in the first place
    if (!isBrainPinValid(brainPin)) {
        return;
    }
 
#if (BOARD_EXT_GPIOCHIPS > 0)
    ext = false;
#endif // (BOARD_EXT_GPIOCHIPS > 0)
 
    efiPrintf("unregistering %s", hwPortname(brainPin));
 
#if EFI_GPIO_HARDWARE && EFI_PROD_CODE
    efiSetPadUnused(brainPin);
#endif /* EFI_GPIO_HARDWARE */
 
    // Clear the pin so that it won't get set any more
    brainPin = Gpio::Unassigned;
}
 
#if EFI_GPIO_HARDWARE
 
// questionable trick: we avoid using 'getHwPort' and 'getHwPin' in case of errors in order to increase the changes of turning the LED
// by reducing stack requirement
ioportid_t criticalErrorLedPort;
ioportmask_t criticalErrorLedPin;
uint8_t criticalErrorLedState;
 
#if EFI_PROD_CODE
static void initErrorLed(Gpio led) {
    enginePins.errorLedPin.initPin("led: CRITICAL status", led, (LED_PIN_MODE));
    criticalErrorLedPort = getHwPort("CRITICAL", led);
    criticalErrorLedPin = getHwPin("CRITICAL", led);
    criticalErrorLedState = (LED_PIN_MODE == OM_INVERTED) ? 0 : 1;
}
#endif /* EFI_PROD_CODE */
 
void initPrimaryPins() {
#if EFI_PROD_CODE
    initErrorLed(LED_CRITICAL_ERROR_BRAIN_PIN);
 
    addConsoleAction("gpio_pins", EnginePins::debug);
#endif /* EFI_PROD_CODE */
}
 
/**
 * This method is part of fatal error handling.
 * The whole method is pretty naive, but that's at least something.
 */
void turnAllPinsOff() {
    for (int i = 0; i < MAX_CYLINDER_COUNT; i++) {
        enginePins.injectors[i].setValue(false);
        enginePins.coils[i].setValue(false);
        enginePins.trailingCoils[i].setValue(false);
    }
    enginePins.mainRelay.setValue(false);
    enginePins.fuelPumpRelay.setValue(false);
    enginePins.checkEnginePin.setValue(true); // yes this one can go ON
#if EFI_PROD_CODE && HW_HELLEN
  hellenDisableEnSilently();
#endif
}
#endif /* EFI_GPIO_HARDWARE */