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Suzuki k6a fix & "improvements" (speeduino#1174)
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* Add unit tests for triggerSetEndTeeth_SuzukiK6A

* Bug fix - use correct parameter when calling stdGetRPM

* Compute triggerToothAngle from the fixed tooth angle array.

* triggerSetEndTeeth_SuzukiK6A - hoist duplicated code into calcEndTeeth_SuzukiK6A
(like we did for some other decoders).

* MISRA fixes for Suzuki K6A decoder
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@adbancroft
adbancroft authored Sep 26, 2024
1 parent 8afead9 commit 4c29faa
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Showing 5 changed files with 404 additions and 108 deletions.
148 changes: 40 additions & 108 deletions speeduino/decoders.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5654,6 +5654,7 @@ void triggerSetup_SuzukiK6A(void)

// not using toothAngles[0] as i'm hoping it makes logic easier

toothAngles[0] = -70; // Wrap around to 650,
toothAngles[1] = 0; // 0 TDC cylinder 1,
toothAngles[2] = 170; // 170 - end of cylinder 1, start of cylinder 3, trigger ignition for cylinder 3 on this tooth
toothAngles[3] = 240; // 70 TDC cylinder 3
Expand All @@ -5679,7 +5680,7 @@ void triggerPri_SuzukiK6A(void)
{
curTime = micros();
curGap = curTime - toothLastToothTime;
if ( (curGap >= triggerFilterTime) || (currentStatus.startRevolutions == 0) )
if ( (curGap >= triggerFilterTime) || (currentStatus.startRevolutions == 0U) )
{
toothCurrentCount++;
BIT_SET(decoderState, BIT_DECODER_VALID_TRIGGER); //Flag this pulse as being a valid trigger (ie that it passed filters)
Expand All @@ -5704,21 +5705,24 @@ void triggerPri_SuzukiK6A(void)
curGap2 = curGap;


if( (toothCurrentCount == (triggerActualTeeth + 1)) && currentStatus.hasSync == true )
if( (toothCurrentCount == (triggerActualTeeth + 1U)) && currentStatus.hasSync == true )
{
// seen enough teeth to have a revolution of the crank
toothCurrentCount = 1; //Reset the counter
toothOneMinusOneTime = toothOneTime;
toothOneTime = curTime;
currentStatus.startRevolutions = currentStatus.startRevolutions + 2; // increment for 2 revs as we do 720 degrees on the the crank
currentStatus.startRevolutions = currentStatus.startRevolutions + 2U; // increment for 2 revs as we do 720 degrees on the the crank
}
else if (toothCurrentCount > (triggerActualTeeth + 1))
else if (toothCurrentCount > (triggerActualTeeth + 1U))
{
// Lost sync
currentStatus.hasSync = false;
currentStatus.syncLossCounter++;
triggerFilterTime = 0;
toothCurrentCount=0;
} else {
// We have sync, but are part way through a revolution
// Nothing to do but keep MISRA happy.
}

// check gaps match with tooth to check we have sync
Expand All @@ -5744,6 +5748,7 @@ void triggerPri_SuzukiK6A(void)
case 2:
case 4:
case 7:
default:
// current tooth gap is smaller than the previous tooth gap = syncloss
// eg tooth 2 should be bigger than tooth 1, if its not then we've got syncloss
if (curGap < curGap2)
Expand Down Expand Up @@ -5811,10 +5816,10 @@ void triggerPri_SuzukiK6A(void)
triggerFilterTime = curGap;
break;
case 2: // 50 % 67 degrees
triggerFilterTime = curGap * 2;
triggerFilterTime = curGap * 2U;
break;
case 3: // 75 % 100 degrees
triggerFilterTime = curGap * 3;
triggerFilterTime = curGap * 3U;
break;
default:
triggerFilterTime = 0;
Expand Down Expand Up @@ -5861,6 +5866,9 @@ void triggerPri_SuzukiK6A(void)
}
break;

default:
triggerFilterTime = 0;
break;
}

//NEW IGNITION MODE
Expand All @@ -5886,9 +5894,8 @@ uint16_t getRPM_SuzukiK6A(void)
{
//Cranking code needs working out.

uint16_t tempRPM;
uint16_t tempRPM = stdGetRPM(CAM_SPEED);

tempRPM = stdGetRPM(720);
MAX_STALL_TIME = revolutionTime << 1; //Set the stall time to be twice the current RPM. This is a safe figure as there should be no single revolution where this changes more than this
if(MAX_STALL_TIME < 366667UL) { MAX_STALL_TIME = 366667UL; } //Check for 50rpm minimum

Expand All @@ -5897,127 +5904,52 @@ uint16_t getRPM_SuzukiK6A(void)

int getCrankAngle_SuzukiK6A(void)
{
int crankAngle = 0;

//This is the current angle ATDC the engine is at. This is the last known position based on what tooth was last 'seen'. It is only accurate to the resolution of the trigger wheel (Eg 36-1 is 10 degrees)
unsigned long tempToothLastToothTime;
int tempToothCurrentCount;
//Grab some variables that are used in the trigger code and assign them to temp variables.
noInterrupts();
tempToothCurrentCount = toothCurrentCount;
tempToothLastToothTime = toothLastToothTime;
uint16_t tempToothCurrentCount = toothCurrentCount;
unsigned long tempToothLastToothTime = toothLastToothTime;
lastCrankAngleCalc = micros(); //micros() is no longer interrupt safe
interrupts();

crankAngle = toothAngles[(tempToothCurrentCount)] + configPage4.triggerAngle; //Perform a lookup of the fixed toothAngles array to find what the angle of the last tooth passed was.
if (tempToothCurrentCount>0U) {
triggerToothAngle = (uint16_t)toothAngles[tempToothCurrentCount] - (uint16_t)toothAngles[tempToothCurrentCount-1U];
}

//Estimate the number of degrees travelled since the last tooth}
elapsedTime = (lastCrankAngleCalc - tempToothLastToothTime);

switch(toothCurrentCount)
{
case 2:
case 4:
// equivalent of tooth 1 except we've not done rotation code yet so its 8
// 170 degree tooth, next tooth is 70
triggerToothAngle = 170;
break;

case 5:
// 70 degrees, next tooth is 35
triggerToothAngle = 70;
break;

case 6:
// sync tooth, next tooth is 135
triggerToothAngle = 35;
break;

case 7:
// 135 degre tooth, next tooth is 70
triggerToothAngle = 135;
break;

case 1:
case 3:
// 70 degree tooth, next tooth is 170
triggerToothAngle = 70;
break;
}
crankAngle += timeToAngleDegPerMicroSec(elapsedTime);
int crankAngle = toothAngles[tempToothCurrentCount] + configPage4.triggerAngle; //Perform a lookup of the fixed toothAngles array to find what the angle of the last tooth passed was.
crankAngle += (int)timeToAngleDegPerMicroSec(elapsedTime);
if (crankAngle >= 720) { crankAngle -= 720; }
// if (crankAngle > CRANK_ANGLE_MAX) { crankAngle -= CRANK_ANGLE_MAX; } not needed, crank angle max gets max from injection or ignition, we have to be over 720 degrees so can ignore
if (crankAngle < 0) { crankAngle += 720; }

return crankAngle;
}

// Assumes no advance greater than 48 degrees. Triggers on the tooth before the ignition event
void triggerSetEndTeeth_SuzukiK6A(void)
{
byte nCount, bExit;

static uint16_t __attribute__((noinline)) calcEndTeeth_SuzukiK6A(int ignitionAngle) {
//Temp variables are used here to avoid potential issues if a trigger interrupt occurs part way through this function
int16_t tempIgnitionEndTooth;
const int16_t tempIgnitionEndTooth = ignitionLimits(ignitionAngle - configPage4.triggerAngle);

tempIgnitionEndTooth = (ignition1EndAngle - configPage4.triggerAngle);

tempIgnitionEndTooth = ignitionLimits(tempIgnitionEndTooth);

for (nCount = 1, bExit = false; nCount < 8 && bExit == false; nCount++)
{
if(tempIgnitionEndTooth <= toothAngles[nCount])
{
// The tooth we want is the tooth prior to this one.
tempIgnitionEndTooth = nCount-1;
if (tempIgnitionEndTooth <= 0)
{ tempIgnitionEndTooth = 7; }
bExit = true;
}
}
if(nCount == 8)
{ tempIgnitionEndTooth = 7; } // didn't find a match, use tooth 7 as it must be greater than 7 but less than 1.
ignition1EndTooth = tempIgnitionEndTooth;

//--------------------

tempIgnitionEndTooth = (ignition2EndAngle - configPage4.triggerAngle);
tempIgnitionEndTooth = ignitionLimits(tempIgnitionEndTooth);

for (nCount = 1, bExit = false; nCount < 8 && bExit == false; nCount++)
{
if(tempIgnitionEndTooth <= toothAngles[nCount])
{
// The tooth we want is the tooth prior to this one.
tempIgnitionEndTooth = nCount-1;
if (tempIgnitionEndTooth <= 0)
{ tempIgnitionEndTooth = 7; }
bExit = true; // force exit from loop
}
uint8_t nCount=1U;
while ((nCount<8U) && (tempIgnitionEndTooth > toothAngles[nCount])) {
++nCount;
}
if(nCount == 8)
{ tempIgnitionEndTooth = 7; } // didn't find a match, use tooth 7 as it must be greater than 7 but less than 1.
ignition2EndTooth = tempIgnitionEndTooth;
if(nCount==1U || nCount==8U) {
// didn't find a match, use tooth 7 as it must be greater than 7 but less than 1.
return 7U;
}

//--------------
// The tooth we want is the tooth prior to this one.
return nCount-1U;
}

tempIgnitionEndTooth = (ignition3EndAngle - configPage4.triggerAngle);
tempIgnitionEndTooth = ignitionLimits(tempIgnitionEndTooth);

for (nCount = 1, bExit = false; nCount < 8 && bExit == false; nCount++)
{
if(tempIgnitionEndTooth <= toothAngles[nCount])
{
// The tooth we want is the tooth prior to this one.
tempIgnitionEndTooth = nCount-1;
if (tempIgnitionEndTooth <= 0)
{ tempIgnitionEndTooth = 7; }
bExit = true; // force exit from loop
}
}
if(nCount == 8)
{ tempIgnitionEndTooth = 7; } // didn't find a match, use tooth 7 as it must be greater than 7 but less than 1.
ignition3EndTooth = tempIgnitionEndTooth;
void triggerSetEndTeeth_SuzukiK6A(void)
{
ignition1EndTooth = calcEndTeeth_SuzukiK6A(ignition1EndAngle);
ignition2EndTooth = calcEndTeeth_SuzukiK6A(ignition2EndAngle);
ignition3EndTooth = calcEndTeeth_SuzukiK6A(ignition3EndAngle);
}

/** @} */

2 changes: 2 additions & 0 deletions test/test_decoders/SuzukiK6A/SuzukiK6A.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
void testSuzukiK6A_setEndTeeth(void);
void testSuzukiK6A_getCrankAngle(void);
66 changes: 66 additions & 0 deletions test/test_decoders/SuzukiK6A/test_getCrankAngle.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,66 @@
#include <unity.h>
#include "decoders.h"
#include "init.h"

static void test_k6a_getCrankAngle_tooth(uint8_t toothNum, uint16_t expectedCrankAngle, uint16_t expectedToothAngle) {
triggerSetup_SuzukiK6A();
configPage4.triggerAngle = 0U;

toothLastToothTime = micros() - 150U;
toothCurrentCount = toothNum;
// Allow some variance since the algorithm relies on calling micros();
TEST_ASSERT_INT16_WITHIN_MESSAGE(2, expectedCrankAngle, getCrankAngle_SuzukiK6A(), "Crank Angle");
TEST_ASSERT_EQUAL_MESSAGE(expectedToothAngle, triggerToothAngle, "Tooth Angle");
}

static void test_k6a_getCrankAngle_tooth0(void) {
// Zero isn't a valid tooth, but just in case....
test_k6a_getCrankAngle_tooth(0, 650, 90);
}

static void test_k6a_getCrankAngle_tooth1(void) {
test_k6a_getCrankAngle_tooth(1, 0, 70);
}

static void test_k6a_getCrankAngle_tooth2(void) {
test_k6a_getCrankAngle_tooth(2, 170, 170);
}

static void test_k6a_getCrankAngle_tooth3(void) {
test_k6a_getCrankAngle_tooth(3, 240, 70);
}

static void test_k6a_getCrankAngle_tooth4(void) {
test_k6a_getCrankAngle_tooth(4, 410, 170);
}


static void test_k6a_getCrankAngle_tooth5(void) {
test_k6a_getCrankAngle_tooth(5, 480, 70);
}

static void test_k6a_getCrankAngle_tooth6(void) {
test_k6a_getCrankAngle_tooth(6, 515, 35);
}

static void test_k6a_getCrankAngle_tooth7(void) {
test_k6a_getCrankAngle_tooth(7, 650, 135);
}

static void test_k6a_getCrankAngle_tooth8(void) {
// 8 isn't a valid tooth, but just in case....
test_k6a_getCrankAngle_tooth(8, 0, 70);
}

void testSuzukiK6A_getCrankAngle()
{
RUN_TEST(test_k6a_getCrankAngle_tooth0);
RUN_TEST(test_k6a_getCrankAngle_tooth1);
RUN_TEST(test_k6a_getCrankAngle_tooth2);
RUN_TEST(test_k6a_getCrankAngle_tooth3);
RUN_TEST(test_k6a_getCrankAngle_tooth4);
RUN_TEST(test_k6a_getCrankAngle_tooth5);
RUN_TEST(test_k6a_getCrankAngle_tooth6);
RUN_TEST(test_k6a_getCrankAngle_tooth7);
RUN_TEST(test_k6a_getCrankAngle_tooth8);
}
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