trigger_structure.h

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/**
 * @file    trigger_structure.h
 *
 * rusEFI defines trigger shape programmatically in C code
 * For integration we have exportAllTriggers export
 *
 * @date Dec 22, 2013
 * @author Andrey Belomutskiy, (c) 2012-2020
 */
 
#pragma once
 
#include "state_sequence.h"
#include "generated_lookup_engine_configuration.h"
#include "engine_state.h"
 
#define FOUR_STROKE_ENGINE_CYCLE 720
 
#define TRIGGER_GAP_DEVIATION 0.25f
#define TRIGGER_GAP_DEVIATION_LOW (1.0f - TRIGGER_GAP_DEVIATION)
#define TRIGGER_GAP_DEVIATION_HIGH (1.0f + TRIGGER_GAP_DEVIATION)
 
#if EFI_ENABLE_ASSERTS
#define assertAngleRange(angle, msg, code) if (angle > 10000000 || angle < -10000000) { firmwareError(code, "angle range %s %d", msg, (int)angle);angle = 0;}
#else
#define assertAngleRange(angle, msg, code) {UNUSED(code);}
#endif
 
// Shifts angle into the [0..720) range for four stroke and [0..360) for two stroke
// See also wrapVvt
inline void wrapAngle(angle_t& angle, const char* msg, ObdCode code) {
    if (std::isnan(angle)) {
        firmwareError(ObdCode::CUSTOM_ERR_ANGLE, "a NaN %s", msg);
        angle = 0;
    }
 
    assertAngleRange(angle, msg, code);
    float engineCycle = getEngineState()->engineCycle;
 
    while (angle < 0) {
        angle += engineCycle;
    }
 
    while (angle >= engineCycle) {
        angle -= engineCycle;
    }
}
 
// proper method avoids un-wrapped state of variables
inline angle_t wrapAngleMethod(angle_t param, const char *msg = "", ObdCode code = ObdCode::OBD_PCM_Processor_Fault) {
    wrapAngle(param, msg, code);
    return param;
}
 
class TriggerDecoderBase;
class TriggerFormDetails;
class TriggerConfiguration;
 
#include "sync_edge.h"
 
/**
 * @brief Trigger shape has all the fields needed to describe and decode trigger signal.
 * @see TriggerState for trigger decoder state which works based on this trigger shape model
 */
class TriggerWaveform {
public:
    TriggerWaveform();
    void initializeTriggerWaveform(operation_mode_e triggerOperationMode, const trigger_config_s &triggerType);
    void setShapeDefinitionError(bool value);
 
    /**
     * Simplest trigger shape does not require any synchronization - for example if there is only
     * one primary channel tooth each raising (or falling depending on configuration) front would synchronize
     */
    bool isSynchronizationNeeded;
 
    /**
     * trigger meta information: is second wheel mounted on crank shaft ('false') or cam shaft ('true')
     */
    bool isSecondWheelCam;
    /**
     * number of consecutive trigger gaps needed to synchronize
     */
    int gapTrackingLength = 1;
    /**
     * special case for triggers which do not provide exact TDC location
     * For example pick-up in distributor with mechanical ignition firing order control.
     */
    bool shapeWithoutTdc = false;
    /**
     * this flag tells us if we should ignore events on second input channel
     * that's the way to ignore noise from the disconnected wire
     */
    bool needSecondTriggerInput = false;
    /**
     * true value here means that we do not have a valid trigger configuration
     */
    bool shapeDefinitionError = false;
 
    /**
     * this variable is incremented after each trigger shape redefinition
     */
    int version = 0;
 
    /**
     * Depending on trigger shape, we use betweeb one and three previous gap ranges to detect synchronizaiton.
     *
     * Usually second or third gap is not needed, but some crazy triggers like 36-2-2-2 require two consecutive
     * gaps ratios to sync
     */
 
    float synchronizationRatioFrom[GAP_TRACKING_LENGTH];
    float synchronizationRatioTo[GAP_TRACKING_LENGTH];
 
 
    /**
     * used by NoiselessTriggerDecoder (See TriggerCentral::handleShaftSignal())
     */
    int syncRatioAvg;
 
 
    /**
     * Trigger indexes within trigger cycle are counted from synchronization point, and all
     * engine processes are defined in angles from TDC.
     *
     * That's the angle distance from trigger event #0 and actual engine TDC
     *
     * see also globalTriggerAngleOffset
     */
    angle_t tdcPosition;
 
    /**
     * In case of a multi-channel trigger, do we want to sync based on primary channel only?
     * See also gapBothDirections
     */
    bool useOnlyPrimaryForSync;
 
    // Which edge(s) to consider for finding the sync point: rise, fall, or both
    SyncEdge syncEdge;
 
    // If true, falling edges should be fully ignored on this trigger shape.
    bool useOnlyRisingEdges;
 
    void calculateExpectedEventCounts();
 
    size_t getExpectedEventCount(TriggerWheel channelIndex) const;
 
    /**
     * This is used for signal validation
     */
    size_t expectedEventCount[PWM_PHASE_MAX_WAVE_PER_PWM];
 
#if EFI_UNIT_TEST
    /**
     * These signals are used for trigger export only
     */
    TriggerWheel triggerSignalIndeces[PWM_PHASE_MAX_COUNT];
    TriggerValue triggerSignalStates[PWM_PHASE_MAX_COUNT];
    // see also 'doesTriggerImplyOperationMode'
    // todo: reuse doesTriggerImplyOperationMode instead of separate field only which is only used for metadata anyway?
    bool knownOperationMode = true;
#endif
 
    /**
     * wave.phaseCount is total count of shaft events per CAM or CRANK shaft revolution.
     * TODO this should be migrated to CRANKshaft revolution, this would go together
     * this variable is public for performance reasons (I want to avoid costs of method if it's not inlined)
     * but name is supposed to hint at the fact that decoders should not be assigning to it
     * Please use "getSize()" function to read this value
     */
    MultiChannelStateSequenceWithData<PWM_PHASE_MAX_COUNT> wave;
 
    bool isRiseEvent[PWM_PHASE_MAX_COUNT];
 
    /**
     * @param angle (0..1]
     */
    void addEvent(angle_t angle, TriggerValue const state, TriggerWheel const channelIndex = TriggerWheel::T_PRIMARY);
    /* (0..720] angle range
     * Deprecated! many usages should be replaced by addEvent360
     */
    void addEvent720(angle_t angle, TriggerValue const state, TriggerWheel const channelIndex = TriggerWheel::T_PRIMARY);
 
    /**
     * this method helps us use real world 360 degrees shape for FOUR_STROKE_CAM_SENSOR and FOUR_STROKE_CRANK_SENSOR
     */
    void addEvent360(angle_t angle, TriggerValue const state, TriggerWheel const channelIndex = TriggerWheel::T_PRIMARY);
 
    void addToothRiseFall(angle_t angle, angle_t width = 10, TriggerWheel const channelIndex = TriggerWheel::T_PRIMARY);
 
    /**
     * This version of the method is best when same wheel could be mounted either on crank or cam
     *
     * This version of 'addEvent...' family considers the angle duration of operationMode in this trigger
     * For example, (0..180] for FOUR_STROKE_SYMMETRICAL_CRANK_SENSOR
     *
     * TODO: one day kill all usages with FOUR_STROKE_CAM_SENSOR 720 cycle and add runtime prohibition
     * TODO: for FOUR_STROKE_CAM_SENSOR addEvent360 is the way to go
     *
     * @param angle (0..360] or (0..720] depending on configuration
     */
    void addEventAngle(angle_t angle, TriggerValue const state, TriggerWheel const channelIndex = TriggerWheel::T_PRIMARY);
 
    /* (0..720] angle range
     * Deprecated?
     */
    void addEventClamped(angle_t angle, TriggerValue const state, TriggerWheel const channelIndex, float filterLeft, float filterRight);
    operation_mode_e getWheelOperationMode() const;
 
    void initialize(operation_mode_e operationMode, SyncEdge syncEdge);
    void setTriggerSynchronizationGap(float syncRatio);
    void setTriggerSynchronizationGap3(int index, float syncRatioFrom, float syncRatioTo);
    void setTriggerSynchronizationGap2(float syncRatioFrom, float syncRatioTo);
    void setSecondTriggerSynchronizationGap(float syncRatio);
    void setSecondTriggerSynchronizationGap2(float syncRatioFrom, float syncRatioTo);
    void setThirdTriggerSynchronizationGap(float syncRatio);
    /**
     * this one is per CRANKshaft revolution
     */
    size_t getLength() const;
    size_t getSize() const;
 
    int getTriggerWaveformSynchPointIndex() const;
 
    /**
     * This private method should only be used to prepare the array of pre-calculated values
     * See eventAngles array
     */
    angle_t getAngle(int phaseIndex) const;
 
    angle_t getCycleDuration() const;
 
    // Returns true if this trigger alone can fully sync the current engine for sequential mode.
    bool needsDisambiguation() const;
 
    /**
     * index of synchronization event within TriggerWaveform
     * See findTriggerZeroEventIndex()
     */
    int triggerShapeSynchPointIndex;
 
    void initializeSyncPoint(
            TriggerDecoderBase& state,
            const TriggerConfiguration& triggerConfiguration
        );
 
    uint16_t findAngleIndex(TriggerFormDetails *details, angle_t angle) const;
 
private:
    /**
     * These angles are in trigger DESCRIPTION coordinates - i.e. the way you add events while declaring trigger shape
     */
    angle_t getSwitchAngle(int index) const;
 
    /**
     * This variable is used to confirm that events are added in the right order.
     * todo: this variable is probably not needed, could be reimplemented by accessing by index
     */
    angle_t previousAngle;
    /**
     * this is part of performance optimization
     */
    operation_mode_e operationMode;
};
 
/**
 * Misc values calculated from TriggerWaveform
 */
class TriggerFormDetails {
public:
    void prepareEventAngles(TriggerWaveform *shape);
 
    /**
     * These angles are in event coordinates - with synchronization point located at angle zero.
     * These values are pre-calculated for performance reasons.
     */
    angle_t eventAngles[2 * PWM_PHASE_MAX_COUNT];
};