trigger_decoder.cpp

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/**
 * @file    trigger_decoder.cpp
 *
 * @date Dec 24, 2013
 * @author Andrey Belomutskiy, (c) 2012-2020
 *
 *
 *
 * enable trigger_details
 *
 * 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 "global_shared.h"
#include "engine_configuration.h"
#include "transition_events.h"
 
/**
 * decoder uses TriggerStimulatorHelper in findTriggerZeroEventIndex
 */
#include "trigger_simulator.h"
 
#ifndef NOISE_RATIO_THRESHOLD
#define NOISE_RATIO_THRESHOLD 3000
#endif
 
TriggerDecoderBase::TriggerDecoderBase(const char* p_name)
    : name(p_name)
{
    TriggerDecoderBase::resetState();
}
 
bool TriggerDecoderBase::getShaftSynchronized() const {
    return shaft_is_synchronized;
}
 
void TriggerDecoderBase::setShaftSynchronized(bool value) {
#if EFI_UNIT_TEST
    if (value != shaft_is_synchronized) {
        LogTriggerSync(value, getTimeNowNt());
    }
#endif
 
    if (value) {
        if (!shaft_is_synchronized) {
            // just got synchronized
            mostRecentSyncTime = getTimeNowNt();
        }
    } else {
        // sync loss
        mostRecentSyncTime = 0;
    }
    shaft_is_synchronized = value;
}
 
void TriggerDecoderBase::resetState() {
    setShaftSynchronized(false);
    toothed_previous_time = 0;
 
    setArrayValues(toothDurations, 0);
 
    synchronizationCounter = 0;
    totalTriggerErrorCounter = 0;
    orderingErrorCounter = 0;
    m_timeSinceDecodeError.init();
 
    prevSignal = SHAFT_PRIMARY_FALLING;
    startOfCycleNt = {};
 
    resetCurrentCycleState();
 
    totalEventCountBase = 0;
    isFirstEvent = true;
}
 
void TriggerDecoderBase::setTriggerErrorState(int errorIncrement) {
    m_timeSinceDecodeError.reset();
    totalTriggerErrorCounter += errorIncrement;
    onTransitionEvent(TransitionEvent::TriggerError);
}
 
void TriggerDecoderBase::resetCurrentCycleState() {
    setArrayValues(currentCycle.eventCount, 0);
    currentCycle.current_index = 0;
}
 
#if EFI_SHAFT_POSITION_INPUT
 
PrimaryTriggerDecoder::PrimaryTriggerDecoder(const char* p_name)
    : TriggerDecoderBase(p_name)
{
}
 
#if ! EFI_PROD_CODE
bool printTriggerDebug = false;
bool printTriggerTrace = false;
#endif /* ! EFI_PROD_CODE */
 
void TriggerWaveform::initializeSyncPoint(TriggerDecoderBase& state,
            const TriggerConfiguration& triggerConfiguration) {
    triggerShapeSynchPointIndex = state.findTriggerZeroEventIndex(*this, triggerConfiguration);
}
 
void TriggerFormDetails::prepareEventAngles(TriggerWaveform *shape) {
    int triggerShapeSynchPointIndex = shape->triggerShapeSynchPointIndex;
    if (triggerShapeSynchPointIndex == EFI_ERROR_CODE) {
        return;
    }
    angle_t firstAngle = shape->getAngle(triggerShapeSynchPointIndex);
    assertAngleRange(firstAngle, "firstAngle", ObdCode::CUSTOM_TRIGGER_SYNC_ANGLE);
 
    int riseOnlyIndex = 0;
 
    size_t length = shape->getLength();
 
    setArrayValues(eventAngles, 0);
 
    // this may be <length for some triggers like symmetrical crank Miata NB
    size_t triggerShapeLength = shape->getSize();
 
    assertAngleRange(triggerShapeSynchPointIndex, "triggerShapeSynchPointIndex", ObdCode::CUSTOM_TRIGGER_SYNC_ANGLE2);
    efiAssertVoid(ObdCode::CUSTOM_TRIGGER_CYCLE, getTriggerCentral()->engineCycleEventCount != 0, "zero engineCycleEventCount");
 
    for (size_t eventIndex = 0; eventIndex < length; eventIndex++) {
        if (eventIndex == 0) {
            // explicit check for zero to avoid issues where logical zero is not exactly zero due to float nature
            eventAngles[0] = 0;
            // this value would be used in case of front-only
            eventAngles[1] = 0;
        } else {
            // Rotate the trigger around so that the sync point is at position 0
            auto wrappedIndex = (triggerShapeSynchPointIndex + eventIndex) % length;
 
            // Compute this tooth's position within the trigger definition
            // (wrap, as the trigger def may be smaller than total trigger length)
            auto triggerDefinitionIndex = wrappedIndex % triggerShapeLength;
 
            // Compute the relative angle of this tooth to the sync point's tooth
            float angle = shape->getAngle(wrappedIndex) - firstAngle;
 
            efiAssertVoid(ObdCode::CUSTOM_TRIGGER_CYCLE, !std::isnan(angle), "trgSyncNaN");
            // Wrap the angle back in to [0, 720)
            wrapAngle(angle, "trgSync", ObdCode::CUSTOM_TRIGGER_SYNC_ANGLE_RANGE);
 
            if (shape->useOnlyRisingEdges) {
                criticalAssertVoid(triggerDefinitionIndex < triggerShapeLength, "trigger shape fail");
                assertIsInBounds(triggerDefinitionIndex, shape->isRiseEvent, "isRise");
 
                // In case this is a rising event, replace the following fall event with the rising as well
                if (shape->isRiseEvent[triggerDefinitionIndex]) {
                    riseOnlyIndex += 2;
                    eventAngles[riseOnlyIndex] = angle;
                    eventAngles[riseOnlyIndex + 1] = angle;
                }
            } else {
                eventAngles[eventIndex] = angle;
            }
        }
    }
}
 
int64_t TriggerDecoderBase::getTotalEventCounter() const {
    return totalEventCountBase + currentCycle.current_index;
}
 
int TriggerDecoderBase::getSynchronizationCounter() const {
    return synchronizationCounter;
}
 
void PrimaryTriggerDecoder::resetState() {
    TriggerDecoderBase::resetState();
 
    resetHasFullSync();
}
 
 
bool TriggerDecoderBase::isValidIndex(const TriggerWaveform& triggerShape) const {
    return currentCycle.current_index < triggerShape.getSize();
}
 
static TriggerWheel eventIndex[4] = { TriggerWheel::T_PRIMARY, TriggerWheel::T_PRIMARY, TriggerWheel::T_SECONDARY, TriggerWheel::T_SECONDARY };
static TriggerValue eventType[4] = { TriggerValue::FALL, TriggerValue::RISE, TriggerValue::FALL, TriggerValue::RISE };
 
#if EFI_UNIT_TEST
#define PRINT_INC_INDEX         if (printTriggerTrace) {\
        printf("nextTriggerEvent index=%d\r\n", currentCycle.current_index); \
        }
#else
#define PRINT_INC_INDEX {}
#endif /* EFI_UNIT_TEST */
 
#define nextTriggerEvent() \
 { \
    if (useOnlyRisingEdgeForTrigger) {currentCycle.current_index++;} \
    currentCycle.current_index++; \
    PRINT_INC_INDEX; \
}
 
int TriggerDecoderBase::getCurrentIndex() const {
    return currentCycle.current_index;
}
 
angle_t PrimaryTriggerDecoder::syncEnginePhase(int divider, int remainder, angle_t engineCycle) {
    efiAssert(ObdCode::OBD_PCM_Processor_Fault, divider > 1, "syncEnginePhase divider", false);
    efiAssert(ObdCode::OBD_PCM_Processor_Fault, remainder < divider, "syncEnginePhase remainder", false);
    angle_t totalShift = 0;
    while (getSynchronizationCounter() % divider != remainder) {
        /**
         * we are here if we've detected the cam sensor within the wrong crank phase
         * let's increase the trigger event counter, that would adjust the state of
         * virtual crank-based trigger
         */
        incrementShaftSynchronizationCounter();
        totalShift += engineCycle / divider;
    }
 
    // Allow injection/ignition to happen, we've now fully sync'd the crank based on new cam information
    m_hasSynchronizedPhase = true;
 
    if (totalShift > 0) {
        camResyncCounter++;
        onTransitionEvent(TransitionEvent::EngineResync);
    }
 
    return totalShift;
}
 
void TriggerDecoderBase::incrementShaftSynchronizationCounter() {
    synchronizationCounter++;
}
 
void PrimaryTriggerDecoder::onTriggerError() {
    // On trigger error, we've lost full sync
    resetHasFullSync();
 
    // Ignore the warning that engine is never null - it might be in unit tests
    #pragma GCC diagnostic push
    #pragma GCC diagnostic ignored "-Waddress"
        if (engine) {
            // Instant RPM data is now also probably trash, discard it
            engine->triggerCentral.instantRpm.resetInstantRpm();
            engine->rpmCalculator.lastTdcTimer.init();
        }
    #pragma GCC diagnostic pop
}
 
void PrimaryTriggerDecoder::onNotEnoughTeeth(int /*actual*/, int /*expected*/) {
    warning(ObdCode::CUSTOM_PRIMARY_NOT_ENOUGH_TEETH, "primary trigger error: not enough teeth between sync points: expected %d/%d got %d/%d",
            getTriggerCentral()->triggerShape.getExpectedEventCount(TriggerWheel::T_PRIMARY),
            getTriggerCentral()->triggerShape.getExpectedEventCount(TriggerWheel::T_SECONDARY),
        currentCycle.eventCount[0],
        currentCycle.eventCount[1]);
}
 
void PrimaryTriggerDecoder::onTooManyTeeth(int /*actual*/, int /*expected*/) {
    warning(ObdCode::CUSTOM_PRIMARY_TOO_MANY_TEETH, "primary trigger error: too many teeth between sync points: expected %d/%d got %d/%d",
            getTriggerCentral()->triggerShape.getExpectedEventCount(TriggerWheel::T_PRIMARY),
            getTriggerCentral()->triggerShape.getExpectedEventCount(TriggerWheel::T_SECONDARY),
        currentCycle.eventCount[0],
        currentCycle.eventCount[1]);
}
 
const char *getTrigger_event_e(trigger_event_e value){
switch(value) {
case SHAFT_PRIMARY_FALLING:
  return "SHAFT_PRIMARY_FALLING";
case SHAFT_PRIMARY_RISING:
  return "SHAFT_PRIMARY_RISING";
case SHAFT_SECONDARY_FALLING:
  return "SHAFT_SECONDARY_FALLING";
case SHAFT_SECONDARY_RISING:
  return "SHAFT_SECONDARY_RISING";
  }
 return NULL;
}
const char *getTrigger_value_e(TriggerValue value){
switch(value) {
case TriggerValue::FALL:
  return "TriggerValue::FALL";
case TriggerValue::RISE:
  return "TriggerValue::RISE";
  }
 return NULL;
}
 
void VvtTriggerDecoder::onNotEnoughTeeth(int actual, int expected) {
    warning(ObdCode::CUSTOM_CAM_NOT_ENOUGH_TEETH, "cam %s trigger error: not enough teeth between sync points: actual %d expected %d", name, actual, expected);
}
 
void VvtTriggerDecoder::onTooManyTeeth(int actual, int expected) {
    warning(ObdCode::CUSTOM_CAM_TOO_MANY_TEETH, "cam %s trigger error: too many teeth between sync points: %d > %d", name, actual, expected);
}
 
PUBLIC_API_WEAK bool isTriggerCounterError(int8_t triggerCountersError) {
  return triggerCountersError != 0;
}
 
int TriggerDecoderBase::getEventCountersError(const TriggerWaveform& triggerShape) const {
    // We can check if things are fine by comparing the number of events in a cycle with the expected number of event.
    int countersError = 0;
    for (int i = 0;i < PWM_PHASE_MAX_WAVE_PER_PWM;i++) {
      countersError = currentCycle.eventCount[i] - triggerShape.getExpectedEventCount((TriggerWheel)i);
      if (countersError != 0) {
        break;
      }
    }
 
#if EFI_DETAILED_LOGGING
    printf("getEventCountersError: isDecodingError=%d\n", (countersError != 0));
    if (countersError != 0) {
        for (int i = 0;i < PWM_PHASE_MAX_WAVE_PER_PWM;i++) {
            printf("  count: cur=%d exp=%d\n", currentCycle.eventCount[i],  triggerShape.getExpectedEventCount((TriggerWheel)i));
        }
    }
#endif /* EFI_UNIT_TEST */
 
    return countersError;
}
 
void TriggerDecoderBase::onShaftSynchronization(
        bool wasSynchronized,
        const efitick_t nowNt,
        const TriggerWaveform& triggerShape) {
    startOfCycleNt = nowNt;
    resetCurrentCycleState();
 
    if (wasSynchronized) {
        incrementShaftSynchronizationCounter();
    } else {
        // We have just synchronized, this is the zeroth revolution
        synchronizationCounter = 0;
    }
 
    totalEventCountBase += triggerShape.getSize();
 
#if EFI_UNIT_TEST
    if (printTriggerDebug) {
        printf("onShaftSynchronization index=%d %d\r\n",
                currentCycle.current_index,
                synchronizationCounter);
    }
#endif /* EFI_UNIT_TEST */
}
 
static bool shouldConsiderEdge(const TriggerWaveform& triggerShape, TriggerWheel triggerWheel, TriggerValue edge) {
    if (triggerWheel != TriggerWheel::T_PRIMARY && triggerShape.useOnlyPrimaryForSync) {
        // Non-primary events ignored
        return false;
    }
 
    switch (triggerShape.syncEdge) {
        case SyncEdge::Both: return true;
        case SyncEdge::RiseOnly:
        case SyncEdge::Rise: return edge == TriggerValue::RISE;
        case SyncEdge::Fall: return edge == TriggerValue::FALL;
    }
 
    // how did we get here?
    // assert(false)?
 
    return false;
}
 
void TriggerDecoderBase::printGaps(const char * prefix,
  const TriggerConfiguration& triggerConfiguration,
  const TriggerWaveform& triggerShape) {
                for (int i = 0;i<triggerShape.gapTrackingLength;i++) {
                    float ratioFrom = triggerShape.synchronizationRatioFrom[i];
                    if (std::isnan(ratioFrom)) {
                        // we do not track gap at this depth
                        continue;
                    }
 
                    float gap = 1.0 * toothDurations[i] / toothDurations[i + 1];
                    if (std::isnan(gap)) {
                        efiPrintf("%s index=%d NaN gap, you have noise issues?", prefix, i);
                    } else {
                        float ratioTo = triggerShape.synchronizationRatioTo[i];
 
                        bool gapOk = isInRange(ratioFrom, gap, ratioTo);
 
                        efiPrintf("%s %srpm=%d time=%d eventIndex=%lu gapIndex=%d: %s gap=%.3f expected from %.3f to %.3f error=%s",
                                prefix,
                                triggerConfiguration.PrintPrefix,
                                (int)Sensor::getOrZero(SensorType::Rpm),
                            /* cast is needed to make sure we do not put 64 bit value to stack*/ (int)getTimeNowS(),
                            currentCycle.current_index,
                            i,
                            gapOk ? "Y" : "n",
                            gap,
                            ratioFrom,
                            ratioTo,
                            boolToString(someSortOfTriggerError()));
                    }
                }
}
 
/**
 * @brief Trigger decoding happens here
 * VR falls are filtered out and some VR noise detection happens prior to invoking this method, for
 * Hall this method is invoked every time we have a fall or rise on one of the trigger sensors.
 * This method changes the state of trigger_state_s data structure according to the trigger event
 * @param signal type of event which just happened
 * @param nowNt current time
 */
expected<TriggerDecodeResult> TriggerDecoderBase::decodeTriggerEvent(
        const char *msg,
        const TriggerWaveform& triggerShape,
        TriggerStateListener* triggerStateListener,
        const TriggerConfiguration& triggerConfiguration,
        const trigger_event_e signal,
        const efitick_t nowNt) {
    ScopePerf perf(PE::DecodeTriggerEvent);
 
#if EFI_PROD_CODE
  getTriggerCentral()->triggerElapsedUs = previousEventTimer.getElapsedUs();
#endif
 
    if (previousEventTimer.getElapsedSecondsAndReset(nowNt) > 1) {
        /**
         * We are here if there is a time gap between now and previous shaft event - that means the engine is not running.
         * That means we have lost synchronization since the engine is not running :)
         */
        setShaftSynchronized(false);
        if (triggerStateListener) {
            triggerStateListener->OnTriggerSynchronizationLost();
        }
    }
 
    bool useOnlyRisingEdgeForTrigger = triggerShape.useOnlyRisingEdges;
 
    efiAssert(ObdCode::CUSTOM_TRIGGER_UNEXPECTED, signal <= SHAFT_SECONDARY_RISING, "unexpected signal", unexpected);
 
    TriggerWheel triggerWheel = eventIndex[signal];
    TriggerValue type = eventType[signal];
 
    // Check that we didn't get the same edge twice in a row - that should be impossible
    if (!useOnlyRisingEdgeForTrigger && prevSignal == signal) {
        orderingErrorCounter++;
    }
 
    prevSignal = signal;
 
    currentCycle.eventCount[(int)triggerWheel]++;
 
    if (toothed_previous_time > nowNt) {
        firmwareError(ObdCode::CUSTOM_OBD_93, "[%s] toothed_previous_time after nowNt prev=%lu now=%lu", msg, (uint32_t)toothed_previous_time, (uint32_t)nowNt);
    }
 
    efidur_t currentDurationLong = isFirstEvent ? 0 : (nowNt - toothed_previous_time);
 
    /**
     * For performance reasons, we want to work with 32 bit values. If there has been more then
     * 10 seconds since previous trigger event we do not really care.
     */
    toothDurations[0] =
            currentDurationLong > 10 * NT_PER_SECOND ? 10 * NT_PER_SECOND : currentDurationLong;
 
    if (!shouldConsiderEdge(triggerShape, triggerWheel, type)) {
#if EFI_UNIT_TEST
        if (printTriggerTrace) {
            printf("%s isLessImportant %s now=%d index=%d\r\n",
                    getTrigger_type_e(triggerConfiguration.TriggerType.type),
                    getTrigger_event_e(signal),
                    (int)nowNt,
                    currentCycle.current_index);
        }
#endif /* EFI_UNIT_TEST */
 
        // For less important events we simply increment the index.
        nextTriggerEvent();
    } else {
#if !EFI_PROD_CODE
        if (printTriggerTrace) {
            printf("%s event %s %lld\r\n",
                    getTrigger_type_e(triggerConfiguration.TriggerType.type),
                    getTrigger_event_e(signal),
                    nowNt);
            printf("decodeTriggerEvent ratio %.2f: current=%d previous=%d\r\n", 1.0 * toothDurations[0] / toothDurations[1],
                    toothDurations[0], toothDurations[1]);
        }
#endif
 
        isFirstEvent = false;
        bool isSynchronizationPoint;
        bool wasSynchronized = getShaftSynchronized();
 
        if (triggerShape.isSynchronizationNeeded) {
            triggerSyncGapRatio = (float)toothDurations[0] / toothDurations[1];
 
            if (wasSynchronized && triggerSyncGapRatio > NOISE_RATIO_THRESHOLD) {
                setTriggerErrorState(100);
            }
 
            isSynchronizationPoint = isSyncPoint(triggerShape, triggerConfiguration.TriggerType.type);
            if (isSynchronizationPoint) {
                enginePins.debugTriggerSync.toggle();
            }
 
            /**
             * todo: technically we can afford detailed logging even with 60/2 as long as low RPM
             * todo: figure out exact threshold as a function of RPM and tooth count?
             * Open question what is 'triggerShape.getSize()' for 60/2 is it 58 or 58*2 or 58*4?
             */
            bool silentTriggerError = triggerShape.getSize() > 40 && engineConfiguration->silentTriggerError;
 
#if EFI_PROD_CODE || EFI_SIMULATOR
            bool verbose = getTriggerCentral()->isEngineSnifferEnabled && triggerConfiguration.VerboseTriggerSynchDetails;
 
            if (verbose || (someSortOfTriggerError() && !silentTriggerError)) {
                const char * prefix = verbose ? "[vrb]" : "[err]";
                printGaps(prefix, triggerConfiguration, triggerShape);
            }
#else
            if (printTriggerTrace) {
                for (int i = 0;i<triggerShape.gapTrackingLength;i++) {
                    float gap = 1.0 * toothDurations[i] / toothDurations[i + 1];
                    printf("%sindex=%d: gap=%.2f expected from %.2f to %.2f error=%s\r\n",
                            triggerConfiguration.PrintPrefix,
                            i,
                            gap,
                            triggerShape.synchronizationRatioFrom[i],
                            triggerShape.synchronizationRatioTo[i],
                            boolToString(someSortOfTriggerError()));
                }
            }
#endif /* EFI_PROD_CODE */
        } else {
            /**
             * We are here in case of a wheel without synchronization - we just need to count events,
             * synchronization point simply happens once we have the right number of events
             *
             * in case of noise the counter could be above the expected number of events, that's why 'more or equals' and not just 'equals'
             */
 
            unsigned int endOfCycleIndex = triggerShape.getSize() - (useOnlyRisingEdgeForTrigger ? 2 : 1);
 
            isSynchronizationPoint = !getShaftSynchronized() || (currentCycle.current_index >= endOfCycleIndex);
 
#if EFI_UNIT_TEST
            if (printTriggerTrace) {
                printf("decodeTriggerEvent sync=%d isSynchronizationPoint=%d index=%d size=%d\r\n",
                        getShaftSynchronized(),
                    isSynchronizationPoint,
                    currentCycle.current_index,
                    triggerShape.getSize());
            }
#endif /* EFI_UNIT_TEST */
        }
#if EFI_UNIT_TEST
        if (printTriggerTrace) {
            printf("decodeTriggerEvent gap %s isSynchronizationPoint=%d index=%d %s\r\n",
                    getTrigger_type_e(triggerConfiguration.TriggerType.type),
                    isSynchronizationPoint, currentCycle.current_index,
                    getTrigger_event_e(signal));
        }
#endif /* EFI_UNIT_TEST */
 
        if (isSynchronizationPoint) {
          triggerCountersError = getEventCountersError(triggerShape);
            bool isDecodingError = isTriggerCounterError(triggerCountersError);
 
            if (triggerStateListener) {
                triggerStateListener->OnTriggerSynchronization(wasSynchronized, isDecodingError);
            }
 
            // If we got a sync point, but the wrong number of events since the last sync point
            // One of two things has happened:
            //  - We missed a tooth, and this is the real sync point
            //  - Due to some mistake in timing, we found what looks like a sync point but actually isn't
            // In either case, we should wait for another sync point before doing anything to try and run an engine,
            // so we clear the synchronized flag.
            if (wasSynchronized && isDecodingError) {
                setTriggerErrorState();
                onNotEnoughTeeth(currentCycle.current_index, triggerShape.getSize());
 
                // Something wrong, no longer synchronized
                setShaftSynchronized(false);
 
                // This is a decoding error
                onTriggerError();
                printGaps("newerr", triggerConfiguration, triggerShape);
            } else {
                // If this was the first sync point OR no decode error, we're synchronized!
                setShaftSynchronized(true);
            }
 
            // this call would update duty cycle values
            nextTriggerEvent();
 
            onShaftSynchronization(wasSynchronized, nowNt, triggerShape);
        } else {    /* if (!isSynchronizationPoint) */
            nextTriggerEvent();
        }
 
        for (int i = triggerShape.gapTrackingLength; i > 0; i--) {
            toothDurations[i] = toothDurations[i - 1];
        }
 
        toothed_previous_time = nowNt;
 
#if EFI_UNIT_TEST
        if (wasSynchronized) {
            int uiGapIndex = (currentCycle.current_index) % triggerShape.getLength();
            gapRatio[uiGapIndex] = triggerSyncGapRatio;
        }
#endif // EFI_UNIT_TEST
    }
 
    if (getShaftSynchronized() && !isValidIndex(triggerShape)) {
        // We've had too many events since the last sync point, we should have seen a sync point by now.
        // This is a trigger error.
 
        // let's not show a warning if we are just starting to spin
        if (Sensor::getOrZero(SensorType::Rpm) != 0) {
            setTriggerErrorState();
            onTooManyTeeth(currentCycle.current_index, triggerShape.getSize());
        }
 
        onTriggerError();
 
        setShaftSynchronized(false);
 
        return unexpected;
    }
 
    triggerStateIndex = currentCycle.current_index;
 
    // Needed for early instant-RPM detection
    TriggerStateListener * l = triggerStateListener;
    while (l) {
        l->OnTriggerStateProperState(nowNt, triggerStateIndex);
        l = l->nextListener();
    }
 
    if (getShaftSynchronized()) {
        return TriggerDecodeResult{ currentCycle.current_index };
    } else {
        return unexpected;
    }
}
 
bool TriggerDecoderBase::isSyncPoint(const TriggerWaveform& triggerShape, trigger_type_e triggerType) const {
    // Miata NB needs a special decoder.
    // The problem is that the crank wheel only has 4 teeth, also symmetrical, so the pattern
    // is long-short-long-short for one crank rotation.
    // A quick acceleration can result in two successive "short gaps", so we see
    // long-short-short-short-long instead of the correct long-short-long-short-long
    // This logic expands the lower bound on a "long" tooth, then compares the last
    // tooth to the current one.
 
    // Instead of detecting short/long, this logic first checks for "maybe short" and "maybe long",
    // then simply tests longer vs. shorter instead of absolute value.
    if (triggerType == trigger_type_e::TT_MIATA_VVT) {
        auto secondGap = (float)toothDurations[1] / toothDurations[2];
 
        bool currentGapOk = isInRange(triggerShape.synchronizationRatioFrom[0], (float)triggerSyncGapRatio, triggerShape.synchronizationRatioTo[0]);
        bool secondGapOk  = isInRange(triggerShape.synchronizationRatioFrom[1], secondGap,  triggerShape.synchronizationRatioTo[1]);
 
        // One or both teeth was impossible range, this is not the sync point
        if (!currentGapOk || !secondGapOk) {
            return false;
        }
 
        // If both teeth are in the range of possibility, return whether this gap is
        // shorter than the last or not.  If it is, this is the sync point.
        return triggerSyncGapRatio < secondGap;
    }
 
    for (int i = 0; i < triggerShape.gapTrackingLength; i++) {
        auto from = triggerShape.synchronizationRatioFrom[i];
        auto to = triggerShape.synchronizationRatioTo[i];
 
        if (std::isnan(from)) {
            // don't check this gap, skip it
            continue;
        }
 
        // This is transformed to avoid a division and use a cheaper multiply instead
        // toothDurations[i] / toothDurations[i+1] > from
        // is an equivalent comparison to
        // toothDurations[i] > toothDurations[i+1] * from
        bool isGapCondition =
              (toothDurations[i] > toothDurations[i + 1] * from
            && toothDurations[i] < toothDurations[i + 1] * to);
 
        if (!isGapCondition) {
            return false;
        }
    }
 
    return true;
}
 
/**
 * Trigger shape is defined in a way which is convenient for trigger shape definition
 * On the other hand, trigger decoder indexing begins from synchronization event.
 *
 * This function finds the index of synchronization event within TriggerWaveform
 */
uint32_t TriggerDecoderBase::findTriggerZeroEventIndex(
        TriggerWaveform& shape,
        const TriggerConfiguration& triggerConfiguration) {
#if EFI_PROD_CODE
    efiAssert(ObdCode::CUSTOM_ERR_ASSERT, hasLotsOfRemainingStack(), "findPos", -1);
#endif
 
 
    resetState();
 
    if (shape.shapeDefinitionError) {
        return 0;
    }
 
    expected<uint32_t> syncIndex = TriggerStimulatorHelper::findTriggerSyncPoint(shape,
            triggerConfiguration,
            *this);
    if (!syncIndex) {
        return EFI_ERROR_CODE;
    }
 
    // Assert that we found the sync point on the very first revolution
    efiAssert(ObdCode::CUSTOM_ERR_ASSERT, getSynchronizationCounter() == 0, "findZero_revCounter", EFI_ERROR_CODE);
 
#if EFI_UNIT_TEST
    if (printTriggerDebug) {
        printf("findTriggerZeroEventIndex: syncIndex located %lu!\r\n", syncIndex.Value);
    }
#endif /* EFI_UNIT_TEST */
 
    TriggerStimulatorHelper::assertSyncPosition(triggerConfiguration,
            syncIndex.Value, *this, shape);
 
    return syncIndex.Value % shape.getSize();
}
 
#endif /* EFI_SHAFT_POSITION_INPUT */