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commit 8dee15f Author: Goostaf <[email protected]> Date: Mon Apr 1 00:22:32 2024 +0200 Use pullup for VSS commit 28c861a Author: Goostaf <[email protected]> Date: Fri Mar 29 11:10:23 2024 +0100 Use lower-level configuration commit 4e7c173 Merge: 44e9908 7ec80c5 Author: Goostaf <[email protected]> Date: Sun Mar 24 11:54:55 2024 +0100 Merge branch 'main' into feature/mcpwm-capture # Conflicts: # src/fuel_economy_meter/config.h # src/fuel_economy_meter/elm327.cpp # src/fuel_economy_meter/trip.cpp # src/fuel_economy_meter/trip.h commit 44e9908 Author: Goostaf <[email protected]> Date: Mon Oct 23 14:47:40 2023 +0200 Correct VSS MCPWM unit, attempt to fix overflow commit d0ed833 Author: Goostaf <[email protected]> Date: Mon Oct 23 01:41:39 2023 +0200 Fix watchdog timeouts in ISRs, correct timer config commit 4aeda37 Author: Goostaf <[email protected]> Date: Thu Sep 28 01:08:47 2023 +0200 Renaming and better comments commit c84ea1e Author: Goostaf <[email protected]> Date: Mon Sep 18 00:33:25 2023 +0200 Convert timer ticks to microseconds commit 669c473 Author: Goostaf <[email protected]> Date: Sun Sep 17 23:26:56 2023 +0200 Remove extra comment commit 29b477c Author: Goostaf <[email protected]> Date: Sun Sep 17 23:24:50 2023 +0200 Use MCPWM, velocity and injector timeouts commit a1006e3 Author: Goostaf <[email protected]> Date: Sun Sep 17 15:21:44 2023 +0200 Clearer documentation commit 6c3c080 Author: Goostaf <[email protected]> Date: Sun Sep 17 15:14:00 2023 +0200 Sample time immediately on interrupt
GAsplund · Mar 31, 2024 · 4463e3c · 4463e3c
1 parent 7ec80c5
commit 4463e3c
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Showing 6 changed files with 174 additions and 70 deletions.
diff --git a/src/fuel_economy_meter/config.h b/src/fuel_economy_meter/config.h
@@ -10,15 +10,21 @@
 #define VSS_GPIO GPIO_NUM_19
 
 // The maximum allowed time between opening and closing the injector
-#define INJ_DELTA_MAX 500000
+#define INJ_DELTA_MAX 0x80000000UL
 // Amount of time for an injector to have injected 1 liter of fuel
 #define INJ_USEC_LITER 53454766.0f
+// Amount of time to consider the engine to be stopped
+#define INJ_TICKS_TIMEOUT 1000000
 
 // The maximum allowed time between VSS pulses to calculate velocity
-#define VSS_DELTA_MAX 5000000
+// Preferably below 0xFFFFFFFF, since that is the maximum value for uint32_t
+#define VSS_DELTA_MAX 0x80000000UL
 
 // Amount of VSS pulses to have travelled 1 Km
 #define VSS_PULSE_KM 6840.0f
+// Amount of time to consider the vehicle to be stopped
+// Preferably below 0xFFFFFFFF, since that is the maximum value for uint32_t
+#define VSS_TICKS_TIMEOUT 0x80000000UL
 
 /*
  * Bluetooth parameters

diff --git a/src/fuel_economy_meter/elm327.cpp b/src/fuel_economy_meter/elm327.cpp
@@ -123,7 +123,7 @@ void ELM327::poll(void)
     }
     else if (pid == "14")
     {
-      OBDReturn = "61" + pid + converttohex(trip->latestInjectionTime, 4);
+      OBDReturn = "61" + pid + converttohex(trip->latestInjectionDutyTime, 4);
     }
     stream->println(OBDReturn);
   }

diff --git a/src/fuel_economy_meter/fuel_economy_meter.ino b/src/fuel_economy_meter/fuel_economy_meter.ino
@@ -4,8 +4,8 @@
 #include "log_stream.h"
 
 static Trip trip;
-//static ELM327 elm327;
-static LogStream logStream;
+static ELM327 elm327;
+//static LogStream logStream;
 
 void setup()
 {
@@ -14,15 +14,16 @@ void setup()
   setupBT();
   Serial.println("Trip");
   trip.begin();
-  //elm327.begin(&SerialBT, &trip);
-  Serial.println("LogStream");
-  logStream.begin(&SerialBT, &trip);
+  elm327.begin(&SerialBT, &trip);
+  //Serial.println("LogStream");
+  //logStream.begin(&Serial, &trip);
 
   Serial.println("Setup done");
 }
 
 void loop()
 {
-  delay(1000);
-  logStream.log();
+  //delay(1000);
+  //logStream.log();
+  elm327.poll();
 }
diff --git a/src/fuel_economy_meter/log_stream.cpp b/src/fuel_economy_meter/log_stream.cpp
@@ -15,7 +15,7 @@ void LogStream::log()
   float lph = trip->getLph();
   float eff = trip->getEfficiency();
 
-  stream->print(trip->latestInjectionTime);
+  stream->print(trip->latestInjectionDutyTime);
   stream->print(" uS/inj ");
   stream->print(trip->getRpm());
   stream->print(" RPM ");

diff --git a/src/fuel_economy_meter/trip.cpp b/src/fuel_economy_meter/trip.cpp
@@ -3,8 +3,14 @@
 #include <arduino.h>
 #include "esp_timer.h"
 #include "config.h"
+#include "soc/mcpwm_reg.h"
+#include "soc/mcpwm_struct.h"
+#include "driver/mcpwm.h"
+#include "driver/timer.h"
 
-Trip *Trip::sTrip = 0;
+#define APB_TICK_US(ticks) ((ticks) / (APB_CLK_FREQ / 1000000))
+
+Trip *sTrip = 0;
 
 /**
  * Starts the VSS interrupts and adds interrupts for the injector and VSS sensor
@@ -13,87 +19,154 @@ void Trip::begin(void)
 {
   sTrip = this;
 
+  Serial.println("Setting up timers");
+  timer_init(TIMER_GROUP_0, TIMER_0, &timeout_timer_conf);
+  timer_init(TIMER_GROUP_0, TIMER_1, &timeout_timer_conf);
+  timer_set_counter_value(TIMER_GROUP_0, TIMER_0, INJ_TICKS_TIMEOUT);
+  timer_set_counter_value(TIMER_GROUP_0, TIMER_1, VSS_TICKS_TIMEOUT);
+  timer_isr_callback_add(TIMER_GROUP_0, TIMER_0, &Trip::timeoutInjISR, NULL, 0);
+  timer_isr_callback_add(TIMER_GROUP_0, TIMER_1, &Trip::timeoutVssISR, NULL, 0);
+
   Serial.println("Setting up injector ISR");
-  gpio_pad_select_gpio(INJ_GPIO);
-  gpio_set_direction(INJ_GPIO, GPIO_MODE_INPUT);
   gpio_set_pull_mode(INJ_GPIO, GPIO_PULLUP_ONLY);
+  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM_CAP_0, INJ_GPIO);
+  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM_CAP_1, INJ_GPIO);
+  mcpwm_capture_enable(MCPWM_UNIT_0, MCPWM_SELECT_CAP0, MCPWM_NEG_EDGE, 0);
+  mcpwm_capture_enable(MCPWM_UNIT_0, MCPWM_SELECT_CAP1, MCPWM_POS_EDGE, 0);
+  mcpwm_isr_register(MCPWM_UNIT_0, Trip::tripInjISRHandler, NULL, ESP_INTR_FLAG_IRAM, NULL);
 
   Serial.println("Setting up VSS ISR");
-  gpio_pad_select_gpio(VSS_GPIO);
-  gpio_set_direction(VSS_GPIO, GPIO_MODE_INPUT);
   gpio_set_pull_mode(VSS_GPIO, GPIO_PULLUP_ONLY);
-
-  Serial.println("Enabling ISR");
-  gpio_install_isr_service(0);
-  gpio_set_intr_type(INJ_GPIO, GPIO_INTR_ANYEDGE);
-  gpio_set_intr_type(VSS_GPIO, GPIO_INTR_POSEDGE);
-
-  gpio_isr_handler_add(INJ_GPIO, Trip::updateTripInjISR, (void *)INJ_GPIO);
-  gpio_isr_handler_add(VSS_GPIO, Trip::updateTripVssISR, (void *)VSS_GPIO);
+  mcpwm_gpio_init(MCPWM_UNIT_1, MCPWM_CAP_0, VSS_GPIO);
+  mcpwm_gpio_init(MCPWM_UNIT_1, MCPWM_CAP_1, VSS_GPIO);
+  mcpwm_capture_enable(MCPWM_UNIT_1, MCPWM_SELECT_CAP0, MCPWM_NEG_EDGE, 0);
+  mcpwm_capture_enable(MCPWM_UNIT_1, MCPWM_SELECT_CAP1, MCPWM_POS_EDGE, 0);
+  mcpwm_isr_register(MCPWM_UNIT_1, Trip::tripVssISRHandler, NULL, ESP_INTR_FLAG_IRAM, NULL);
+
+  Serial.println("Starting timers");
+  timer_start(TIMER_GROUP_0, TIMER_0);
+  timer_start(TIMER_GROUP_0, TIMER_1);
 }
 
 /**
- * @brief Handles a pulse change in the injector signal
+ * @brief Handles a pulse in the injector signal
  *
  * Used to calculate total and momentary injection time.
  * Injector is considered open when the signal is low due to MOSFET pulling it down.
  * 
  *     ╭―(+ Inj -)―╮
  *     +           o - pull-down signal
- *     -           / - MOSFET
+ *     |           |
+ *     -           / - ECU MOSFET
  *     ╰―――――――――――╯
  */
-void Trip::injChange()
+void Trip::injPulse(uint32_t openCap, uint32_t closeCap)
 {
-  uint64_t changeTimestamp = esp_timer_get_time();
-  if (gpio_get_level(INJ_GPIO) == 0)
+  timer_set_counter_value(TIMER_GROUP_0, TIMER_0, INJ_TICKS_TIMEOUT);
+
+  // Make sure that the injector has been open before
+  // We also don't know how many times we could have 
+  // overflowed before, so we discard any additional captures
+  if (this->latestInjectionTimestamp == 0)
   {
-    if (this->injOpenTimestamp > 0)
-      this->latestInjectionPeriod = changeTimestamp - this->injOpenTimestamp;
-    this->injOpenTimestamp = changeTimestamp;
-    this->totalInjectionPulses += 1;
+    this->latestInjectionTimestamp = openCap;
+    return;
   }
-  else
-  {
-    uint32_t delta = changeTimestamp - this->injOpenTimestamp;
 
-    if (delta < INJ_DELTA_MAX)
-    {
-      this->latestInjectionTime = delta;
-      this->totalInjectionTime += this->latestInjectionTime;
-    }
+  uint32_t dutyTime = openCap > closeCap ?
+    (0xFFFFFFFF - openCap) + closeCap + 1:
+    closeCap - openCap;
+
+  if (dutyTime <= INJ_DELTA_MAX)
+  {
+    this->latestInjectionDutyTime = APB_TICK_US(dutyTime);
+    this->latestInjectionPeriod = APB_TICK_US(openCap - this->latestInjectionTimestamp);
   }
+
+  this->latestInjectionTimestamp = openCap;
 }
 
-void IRAM_ATTR Trip::updateTripInjISR(void*)
+void IRAM_ATTR Trip::tripInjISRHandler(void* arg)
 {
-  if (sTrip != 0)
-    sTrip->injChange();
+  if (MCPWM0.int_st.cap1_int_st && sTrip != 0)
+    sTrip->injPulse(mcpwm_capture_signal_get_value(MCPWM_UNIT_0, MCPWM_SELECT_CAP0), mcpwm_capture_signal_get_value(MCPWM_UNIT_0, MCPWM_SELECT_CAP1));
+
+  MCPWM0.int_clr.val = MCPWM0.int_st.val;
 }
 
 /**
  * @brief Handles a pulse in the VSS signal
  *
- * Gets the timestamp of the pulse and calculates the period between the current and the last pulse.
- * If the period is not too long, it is stored as the latest period.
+ * Uses the length of the pulse to calculate the velocity of the vehicle.
+ * If the time since the last pulse isn't too long, the pulse is considered to be valid.
+ */
+void Trip::vssPulse(uint32_t upCap, uint32_t downCap)
+{
+  timer_set_counter_value(TIMER_GROUP_0, TIMER_1, VSS_TICKS_TIMEOUT);
+  this->totalVssPulses++;
+
+  if(isStopped)
+  {
+    isStopped = false;
+    return;
+  }
+
+  // We assume that the HIGH time is always half a period
+  uint32_t period = 2 * (upCap > downCap ?
+    (0xFFFFFFFF - upCap) + downCap + 1:
+    downCap - upCap);
+
+  if (period < VSS_DELTA_MAX)
+    this->latestVssPeriod = APB_TICK_US(period);
+}
+
+void IRAM_ATTR Trip::tripVssISRHandler(void* arg)
+{
+  if (MCPWM1.int_st.cap1_int_st && sTrip != 0)
+    sTrip->vssPulse(mcpwm_capture_signal_get_value(MCPWM_UNIT_1, MCPWM_SELECT_CAP0), mcpwm_capture_signal_get_value(MCPWM_UNIT_1, MCPWM_SELECT_CAP1));
+
+  MCPWM1.int_clr.val = MCPWM1.int_st.val;
+}
+
+/**
+ * @brief Handles a timeout in the injector signal
+ *
+ * Used to calculate the total RPM of the engine.
+ * If the injector has not opened for a long time, the engine is considered to be stopped.
+ */
+void Trip::timeoutInj()
+{
+  this->latestInjectionPeriod = 0;
+  this->latestInjectionDutyTime = 0;
+  this->latestInjectionTimestamp = 0;
+}
+
+bool IRAM_ATTR Trip::timeoutInjISR(void*)
+{
+  Serial.println("Inj timeout");
+  if (sTrip != 0)
+    sTrip->timeoutInj();
+  return false;
+}
+
+/**
+ * @brief Handles a timeout in the VSS signal
  *
- * Since the period is only used to calculate velocity, the delta is not needed when the period is
- * too long. (i.e. when the vehicle is stopped)
+ * Used to calculate the total velocity of the vehicle.
+ * If the VSS signal has not pulsed for a long time, the vehicle is considered to be stopped.
  */
-void Trip::vssPulse()
+void Trip::timeoutVss()
 {
-  uint64_t pulseTimestamp = esp_timer_get_time();
-  uint32_t delta = pulseTimestamp - this->latestVssTimestamp;
-  if (delta < VSS_DELTA_MAX)
-    this->latestVssPeriod = delta;
-  this->totalVssPulses += 1;
-  this->latestVssTimestamp = pulseTimestamp;
+  this->latestVssPeriod = 0;
+  this->isStopped = true;
 }
 
-void IRAM_ATTR Trip::updateTripVssISR(void*)
+bool IRAM_ATTR Trip::timeoutVssISR(void*)
 {
+  Serial.println("VSS timeout");
   if (sTrip != 0)
-    sTrip->vssPulse();
+    sTrip->timeoutVss();
+  return false;
 }
 
 /**
@@ -110,6 +183,7 @@ void IRAM_ATTR Trip::updateTripVssISR(void*)
  *
  * @return the current engine RPM
  */
+//uint16_t Trip::getRpm(void) { return (this->latestInjectionPeriod > 0) ? (60 * 1000000) / this->latestInjectionPeriod : 0; }
 uint_fast16_t Trip::getRpm(void) { return (this->latestInjectionPeriod > 0) ? 60000000 / this->latestInjectionPeriod : 0; }
 
 /**
@@ -120,11 +194,12 @@ float Trip::getLiters(void) { return this->totalInjectionTime * (1 / INJ_USEC_LI
 /**
  * @brief Calculates the duty cycle on the injector
  */
-float Trip::getDuty(void) { return (this->latestInjectionPeriod > 0) ? (float) this->latestInjectionTime / (float) this->latestInjectionPeriod : 0; }
+float Trip::getDuty(void) { return (this->latestInjectionPeriod > 0) ? (float) this->latestInjectionDutyTime / (float) this->latestInjectionPeriod : 0; }
 
 /**
  * @brief Calculates momentary fuel consumption
  */
+//float Trip::getLph(void) { return (3.6E9 * getDuty()) / INJ_USEC_LITER; }
 float Trip::getLph(void) { return (3600000000.0f / INJ_USEC_LITER) * getDuty(); }
 
 /**
@@ -135,7 +210,8 @@ float Trip::getKm(void) { return this->totalVssPulses * (1 / VSS_PULSE_KM); }
 /**
  * Calculates the velocity in km/h
  */
-float Trip::getKmh(void) { return (esp_timer_get_time() - this->latestVssTimestamp > VSS_DELTA_MAX) ? 0 : ( 3600/VSS_PULSE_KM ) * this->getVel(); }
+float Trip::getKmh(void) { return (this->latestVssPeriod > 0) ? (this->getVel() / VSS_PULSE_KM) * 3600 : 0; }
+//float Trip::getKmh(void) { return (esp_timer_get_time() - this->latestVssTimestamp > VSS_DELTA_MAX) ? 0 : ( 3600/VSS_PULSE_KM ) * this->getVel(); }
 
 /**
  * @brief Calculates the momentary fuel efficiency
@@ -158,4 +234,5 @@ float Trip::getEfficiency() {
  *
  * @return the amount of VSS pulses per second based on the latest period
  */
-float Trip::getVel() { return (this->latestVssPeriod > 0) ? 1000000.0f / this->latestVssPeriod : 0; }
+float Trip::getVel() { return this->isStopped ? 0 : 1000000.0 / this->latestVssPeriod; }
+//float Trip::getVel() { return (this->latestVssPeriod > 0) ? 1000000.0f / this->latestVssPeriod : 0; }
diff --git a/src/fuel_economy_meter/trip.h b/src/fuel_economy_meter/trip.h
@@ -2,6 +2,8 @@
 #define TRIP_H_
 
 #include <Arduino.h>
+#include "driver/mcpwm.h"
+#include "driver/timer.h"
 
 /**
  * @brief Class for handling fuel and velocity calculations
@@ -18,31 +20,49 @@ class Trip
   float getEfficiency();
   float getLph(void);
 
-  volatile uint32_t latestInjectionTime = 0; /// The duty time of the last injection pulse
+  volatile uint32_t latestInjectionDutyTime = 0; /// The duty time of the last injection pulse
 
 private:
-  static Trip *sTrip;
-
   float getVel();
   float getDuty(void);
 
-  static IRAM_ATTR void updateTripInjISR(void*);
-  static IRAM_ATTR void updateTripVssISR(void*);
-  void injChange();
-  void vssPulse();
+  //static IRAM_ATTR void tripInjISR(void*);
+  //static IRAM_ATTR void tripVssISR(void*);
+  //static IRAM_ATTR bool tripInjISR(mcpwm_unit_t, mcpwm_capture_channel_id_t, const cap_event_data_t *, void *);
+  //static IRAM_ATTR bool tripVssISR(mcpwm_unit_t, mcpwm_capture_channel_id_t, const cap_event_data_t *, void *);
+
+  static IRAM_ATTR void tripInjISRHandler(void *);
+  static IRAM_ATTR void tripVssISRHandler(void *);
+
+  static IRAM_ATTR bool timeoutInjISR(void*);
+  static IRAM_ATTR bool timeoutVssISR(void*);
+
+  void injPulse(uint32_t, uint32_t);
+  void vssPulse(uint32_t, uint32_t);
+  void timeoutInj();
+  void timeoutVss();
 
   volatile uint32_t totalInjectionPulses = 0;
   volatile uint64_t totalInjectionTime = 0;
   volatile uint32_t totalRpmPulses = 0;
 
+  volatile uint32_t latestInjectionTimestamp = 0;
   volatile uint32_t latestInjectionPeriod = 0;
   volatile uint32_t latestRpmTime = 0;
 
-  volatile uint64_t injOpenTimestamp = 0;
-
   volatile uint32_t totalVssPulses = 0;
-  volatile uint64_t latestVssTimestamp = 0;
   volatile uint32_t latestVssPeriod = 0;
+  volatile bool isStopped = true;
+
+  const timer_config_t timeout_timer_conf = {
+    .alarm_en = TIMER_ALARM_EN,
+    .counter_en = TIMER_PAUSE,
+    .intr_type = TIMER_INTR_LEVEL,
+    .counter_dir = TIMER_COUNT_DOWN,
+    .auto_reload = TIMER_AUTORELOAD_DIS,
+    .divider = 2
+  };
+
 };
 
 #endif // TRIP_H_