370 lines
17 KiB
C++
370 lines
17 KiB
C++
#include "Core.h"
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#include "Config.h"
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#include <math.h>
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#include <string.h>
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const char *roleName(Role r) {
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static const char *names[] = {"SOLO", "MASTER", "SLAVE"};
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const uint8_t i = static_cast<uint8_t>(r);
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return i < 3 ? names[i] : "?";
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}
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const char *testKindName(TestKind kind) {
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static const char *names[] = {"OPTICAL", "DRIVER"};
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const uint8_t i = static_cast<uint8_t>(kind);
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return i < 2 ? names[i] : "?";
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}
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const char *lightCodeName(LightCode code) {
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static const char *names[] = {"HH", "HL", "LH", "LL"};
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const uint8_t i = static_cast<uint8_t>(code);
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return i < 4 ? names[i] : "??";
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}
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const char *failName(FailReason r) {
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static const char *names[] = {"NONE", "NO SIGNAL", "PERIOD OUT", "PULSE OUT",
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"EXTRA EDGE", "GLITCH", "LOST EDGE", "DATA LOSS ERROR", "LINK LOST",
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"UNSUPPORTED", "RESOLUTION", "ABORTED", "ACK MISSING", "ACK TIMING",
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"DRIVER FAULT", "ACK MERGED"};
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const uint8_t i = static_cast<uint8_t>(r);
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return i < (sizeof(names) / sizeof(names[0])) ? names[i] : "UNKNOWN";
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}
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void StageStats::reset() {
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memset(this, 0, sizeof(*this));
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minPeriod = minActive = UINT32_MAX;
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reason = FailReason::NONE;
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}
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uint32_t settingsChecksum(const Settings &s) {
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const uint8_t *p = reinterpret_cast<const uint8_t *>(&s);
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const size_t n = offsetof(Settings, checksum);
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uint32_t hash = 2166136261UL;
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for (size_t i = 0; i < n; ++i) { hash ^= p[i]; hash *= 16777619UL; }
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return hash;
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}
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bool txActiveLightOn(const Settings &s) {
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return static_cast<uint8_t>(s.lightCode) < static_cast<uint8_t>(LightCode::LH);
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}
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bool rxActiveLightOn(const Settings &s) {
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return (static_cast<uint8_t>(s.lightCode) & 1U) == 0U;
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}
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uint32_t pulseWidthPointCount(uint32_t maxPulseNs, uint32_t minPulseNs) {
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if (!minPulseNs || maxPulseNs < minPulseNs) return 0;
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uint32_t count = 0;
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for (size_t i = 0; i < countOf(TEST_PULSE_WIDTHS_NS); ++i)
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if (TEST_PULSE_WIDTHS_NS[i] >= minPulseNs && TEST_PULSE_WIDTHS_NS[i] <= maxPulseNs) ++count;
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return count;
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}
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uint32_t pulseWidthAt(uint32_t maxPulseNs, uint32_t minPulseNs, uint32_t index) {
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for (size_t i = countOf(TEST_PULSE_WIDTHS_NS); i > 0; --i) {
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const uint32_t pulseNs = TEST_PULSE_WIDTHS_NS[i - 1U];
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if (pulseNs < minPulseNs || pulseNs > maxPulseNs) continue;
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if (!index--) return pulseNs;
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}
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return 0;
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}
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uint64_t nominalStageUs(uint32_t frequencyHz, uint32_t sampleTimeMs, uint32_t settleCycles) {
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if (!frequencyHz || !sampleTimeMs) return 0;
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const uint64_t sampleUs = static_cast<uint64_t>(sampleTimeMs) * 1000ULL;
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// At high frequency the CPU needs longer than the requested sample window
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// to validate every captured period. Use the measured sustained C3 rate.
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const uint64_t processingUs =
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(static_cast<uint64_t>(frequencyHz) * sampleTimeMs * 1000ULL +
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RX_PROCESSING_PERIODS_PER_SECOND - 1U) / RX_PROCESSING_PERIODS_PER_SECOND;
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const uint64_t samplingWallUs = processingUs > sampleUs ? processingUs : sampleUs;
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const uint64_t settleUs =
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(1000000ULL * settleCycles * MEASUREMENT_PROGRESS_STEPS + frequencyHz - 1U) / frequencyHz;
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// Initial stage screen, nine intermediate screens and the final result.
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const uint64_t displayUs = static_cast<uint64_t>(OLED_PROGRESS_UPDATE_MS) * 1000ULL *
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(MEASUREMENT_PROGRESS_STEPS + 1U);
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return samplingWallUs + settleUs + displayUs;
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}
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uint64_t nominalTotalUs(const TestParams &p, uint32_t settleCycles) {
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return static_cast<uint64_t>(pulseWidthPointCount(p.maxPulseNs, p.minPulseNs)) *
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nominalStageUs(p.frequencyHz, p.testTimeMs, settleCycles);
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}
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bool periodWithin(float measured, float expected, float tolerance) {
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return expected > 0.0f && fabsf(measured - expected) * 100.0f / expected <= tolerance + 0.0001f;
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}
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bool dutyWithin(float measured, float expected, float tolerance) {
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return fabsf(measured - expected) <= tolerance + 0.0001f;
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}
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float effectiveTolerancePct(float configured) {
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return configured;
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}
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uint8_t choosePwmResolution(uint32_t frequencyHz, uint32_t sourceClockHz,
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uint8_t maxBits) {
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if (!frequencyHz || !sourceClockHz || !maxBits) return 0;
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uint8_t bits = maxBits;
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while (bits > 1 && static_cast<uint64_t>(frequencyHz) * (1ULL << bits) > sourceClockHz)
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--bits;
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return bits;
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}
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uint8_t chooseStablePwmResolution(uint32_t frequencyHz, uint32_t sourceClockHz,
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uint8_t maxBits, uint8_t dutyPct) {
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const uint8_t fallback = choosePwmResolution(frequencyHz, sourceClockHz, maxBits);
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if (!fallback || dutyPct > 100U) return fallback;
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for (uint8_t bits = fallback; bits > 0; --bits) {
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const uint32_t levels = 1UL << bits;
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const uint64_t denominator = static_cast<uint64_t>(frequencyHz) * levels;
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if (denominator > sourceClockHz || sourceClockHz % denominator) continue;
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const uint32_t divider = static_cast<uint32_t>(sourceClockHz / denominator);
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if (!divider || divider > 1024U) continue;
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if ((static_cast<uint32_t>(levels) * dutyPct) % 100U == 0U) return bits;
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}
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return fallback;
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}
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bool choosePwmConfig(uint32_t requestedHz, uint32_t requestedPulseNs,
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uint32_t sourceClockHz, uint8_t maxBits,
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IntegerPwmConfig &config) {
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if (!requestedHz || !requestedPulseNs || !sourceClockHz || !maxBits) return false;
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constexpr uint32_t FRACTION_SCALE = 256U;
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constexpr uint32_t MAX_DIVIDER_RAW = 1024U * FRACTION_SCALE - 1U;
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bool found = false;
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uint32_t bestFrequencyError = UINT32_MAX;
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uint32_t bestPulseError = UINT32_MAX;
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for (uint8_t bits = 1; bits <= maxBits && bits < 31; ++bits) {
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const uint32_t levels = 1UL << bits;
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const uint64_t dividerNumerator = static_cast<uint64_t>(sourceClockHz) * FRACTION_SCALE;
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const uint64_t dividerDenominator = static_cast<uint64_t>(requestedHz) * levels;
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const uint32_t dividerFloor = static_cast<uint32_t>(dividerNumerator / dividerDenominator);
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const uint32_t candidates[] = {dividerFloor, dividerFloor + 1U};
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for (uint32_t dividerRaw : candidates) {
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if (dividerRaw < FRACTION_SCALE || dividerRaw > MAX_DIVIDER_RAW) continue;
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const uint64_t frequencyDenominator = static_cast<uint64_t>(levels) * dividerRaw;
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const uint32_t actualHz = static_cast<uint32_t>(
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(dividerNumerator + frequencyDenominator / 2U) / frequencyDenominator);
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if (!actualHz) continue;
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const uint64_t dutyNumerator = static_cast<uint64_t>(requestedPulseNs) *
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sourceClockHz * FRACTION_SCALE;
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const uint64_t dutyDenominator = static_cast<uint64_t>(dividerRaw) * 1000000000ULL;
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uint32_t dutyCount = static_cast<uint32_t>((dutyNumerator + dutyDenominator / 2U) /
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dutyDenominator);
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if (!dutyCount) dutyCount = 1U;
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if (dutyCount >= levels) dutyCount = levels - 1U;
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if (!dutyCount) continue;
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const uint32_t actualPulseNs = static_cast<uint32_t>(
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(static_cast<uint64_t>(dutyCount) * dividerRaw * 1000000000ULL +
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static_cast<uint64_t>(sourceClockHz) * FRACTION_SCALE / 2U) /
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(static_cast<uint64_t>(sourceClockHz) * FRACTION_SCALE));
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const uint32_t frequencyError = actualHz > requestedHz ? actualHz - requestedHz : requestedHz - actualHz;
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const uint32_t pulseError = actualPulseNs > requestedPulseNs
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? actualPulseNs - requestedPulseNs : requestedPulseNs - actualPulseNs;
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if (found && (frequencyError > bestFrequencyError ||
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(frequencyError == bestFrequencyError && pulseError > bestPulseError) ||
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(frequencyError == bestFrequencyError && pulseError == bestPulseError && bits <= config.bits)))
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continue;
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config = {actualHz, dividerRaw, dutyCount, actualPulseNs, bits};
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bestFrequencyError = frequencyError;
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bestPulseError = pulseError;
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found = true;
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}
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}
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return found;
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}
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FailReason validateResolution(uint32_t frequencyHz, float dutyPct, float accuracyPct,
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uint32_t periodCaptureHz, uint32_t pulseCaptureHz,
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uint8_t pwmBits,
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uint16_t averagingPeriods) {
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if (!frequencyHz || !periodCaptureHz || !pulseCaptureHz || !pwmBits || !averagingPeriods)
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return FailReason::RESOLUTION;
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const float periodTicks = static_cast<float>(periodCaptureHz) / frequencyHz;
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const float activeTicks = static_cast<float>(pulseCaptureHz) * dutyPct /
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(100.0f * frequencyHz);
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if (periodTicks < 4.0f || activeTicks < 2.0f) return FailReason::RESOLUTION;
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const float timerPeriodError = 100.0f / periodTicks;
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const float timerPulseError = 100.0f / activeTicks;
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// Measurement uses the duty actually programmed into LEDC. A coarse PWM
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// step is not itself an error when the requested value (e.g. 50%) is exactly
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// representable; only the selected value's actual quantization matters.
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const float effectiveAccuracy = effectiveTolerancePct(accuracyPct);
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return (timerPeriodError > effectiveAccuracy || timerPulseError > effectiveAccuracy)
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? FailReason::RESOLUTION : FailReason::NONE;
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}
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FailReason evaluatePeriod(const PulsePeriod &p, uint32_t tickHz, float expectedHz,
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float expectedDuty, float tolerance, uint8_t repeat,
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StageStats &s) {
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const uint32_t pulseTickHz = p.activeTickHz ? p.activeTickHz : tickHz;
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if (!p.periodTicks || !p.activeTicks || !tickHz || !pulseTickHz || expectedHz <= 0.0f)
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return FailReason::EXTRA_EDGE;
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const float hz = static_cast<float>(tickHz) / p.periodTicks;
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const float duty = static_cast<float>(100.0 * p.activeTicks * tickHz /
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(static_cast<double>(pulseTickHz) * p.periodTicks));
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++s.periods;
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s.periodSum += p.periodTicks; s.activeSum += p.activeTicks;
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if (p.periodTicks < s.minPeriod) s.minPeriod = p.periodTicks;
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if (p.periodTicks > s.maxPeriod) s.maxPeriod = p.periodTicks;
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if (p.activeTicks < s.minActive) s.minActive = p.activeTicks;
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if (p.activeTicks > s.maxActive) s.maxActive = p.activeTicks;
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// Validate every complete period independently. A single capture tick is the
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// unavoidable endpoint uncertainty, so only that one tick may be corrected
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// toward the expected value. It cannot hide a larger isolated distortion.
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bool frequencyOk = periodWithin(hz, expectedHz, tolerance);
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if (!frequencyOk) {
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uint32_t correctedPeriod = p.periodTicks;
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if (hz > expectedHz) ++correctedPeriod;
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else if (correctedPeriod > 1U) --correctedPeriod;
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frequencyOk = periodWithin(static_cast<float>(tickHz) / correctedPeriod,
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expectedHz, tolerance);
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}
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const double expectedPulseTicks = static_cast<double>(pulseTickHz) * expectedDuty /
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(100.0 * expectedHz);
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bool pulseOk = expectedPulseTicks > 0.0 &&
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fabs(static_cast<double>(p.activeTicks) - expectedPulseTicks) * 100.0 /
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expectedPulseTicks <= tolerance + 0.0001;
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if (!pulseOk) {
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uint32_t correctedActive = p.activeTicks;
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if (correctedActive > expectedPulseTicks) {
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if (correctedActive) --correctedActive;
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} else {
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++correctedActive;
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}
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pulseOk = fabs(static_cast<double>(correctedActive) - expectedPulseTicks) *
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100.0 / expectedPulseTicks <= tolerance + 0.0001;
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}
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const FailReason reason = !frequencyOk ? FailReason::PERIOD_OUT :
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(!pulseOk ? FailReason::DUTY_OUT : FailReason::NONE);
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if (reason != FailReason::NONE && s.reason == FailReason::NONE) {
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s.reason = reason; s.firstBadPeriod = s.periods; s.firstBadRepeat = repeat;
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s.badFrequency = hz; s.badDuty = duty;
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}
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return reason;
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}
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bool makePeriodLimits(uint32_t expectedHz, float expectedDuty, float tolerance,
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uint32_t tickHz, PeriodLimits &limits) {
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if (!expectedHz || !tickHz || tolerance < 0.0f || tolerance >= 100.0f ||
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expectedDuty <= 0.0f || expectedDuty >= 100.0f) return false;
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const uint32_t toleranceX100 = static_cast<uint32_t>(lroundf(tolerance * 100.0f));
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const uint32_t dutyX100 = static_cast<uint32_t>(lroundf(expectedDuty * 100.0f));
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const uint64_t numerator = static_cast<uint64_t>(tickHz) * 10000ULL;
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const uint64_t highDenominator = static_cast<uint64_t>(expectedHz) * (10000U + toleranceX100);
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const uint64_t lowDenominator = static_cast<uint64_t>(expectedHz) * (10000U - toleranceX100);
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limits.minPeriodTicks = static_cast<uint32_t>((numerator + highDenominator - 1U) / highDenominator);
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limits.maxPeriodTicks = static_cast<uint32_t>(numerator / lowDenominator);
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limits.minDutyX100 = dutyX100 > toleranceX100 ? dutyX100 - toleranceX100 : 0;
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limits.maxDutyX100 = dutyX100 + toleranceX100;
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return limits.minPeriodTicks && limits.maxPeriodTicks >= limits.minPeriodTicks;
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}
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FailReason evaluatePeriodFast(const PulsePeriod &p, uint32_t tickHz,
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const PeriodLimits &limits, uint8_t repeat,
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StageStats &s) {
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if (!p.periodTicks || p.activeTicks >= p.periodTicks) return FailReason::EXTRA_EDGE;
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++s.periods;
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s.periodSum += p.periodTicks; s.activeSum += p.activeTicks;
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if (p.periodTicks < s.minPeriod) s.minPeriod = p.periodTicks;
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if (p.periodTicks > s.maxPeriod) s.maxPeriod = p.periodTicks;
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if (p.activeTicks < s.minActive) s.minActive = p.activeTicks;
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if (p.activeTicks > s.maxActive) s.maxActive = p.activeTicks;
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FailReason reason = FailReason::NONE;
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if (p.periodTicks < limits.minPeriodTicks || p.periodTicks > limits.maxPeriodTicks) {
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reason = FailReason::PERIOD_OUT;
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} else {
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// The configured range (>= 1 kHz at 80 MHz capture) fits these products
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// into 32 bits. Keep a 64-bit fallback for unusually slow external input.
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if (p.periodTicks <= UINT32_MAX / 10000U && limits.maxDutyX100 <= 10000U) {
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const uint32_t scaledActive = p.activeTicks * 10000U;
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const uint32_t minActive = p.periodTicks * limits.minDutyX100;
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const uint32_t maxActive = p.periodTicks * limits.maxDutyX100;
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if (scaledActive < minActive || scaledActive > maxActive) reason = FailReason::DUTY_OUT;
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} else {
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const uint64_t scaledActive = static_cast<uint64_t>(p.activeTicks) * 10000ULL;
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const uint64_t minActive = static_cast<uint64_t>(p.periodTicks) * limits.minDutyX100;
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const uint64_t maxActive = static_cast<uint64_t>(p.periodTicks) * limits.maxDutyX100;
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if (scaledActive < minActive || scaledActive > maxActive) reason = FailReason::DUTY_OUT;
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}
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}
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if (reason != FailReason::NONE && s.reason == FailReason::NONE) {
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s.reason = reason; s.firstBadPeriod = s.periods; s.firstBadRepeat = repeat;
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s.badFrequency = static_cast<float>(tickHz) / p.periodTicks;
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s.badDuty = 100.0f * p.activeTicks / p.periodTicks;
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}
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return reason;
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}
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FailReason evaluatePeriodWindow(uint64_t periodSum, uint64_t activeSum,
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uint32_t periodCount, uint32_t tickHz,
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float expectedHz, float expectedDuty,
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float tolerance,
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uint32_t minPeriod, uint32_t maxPeriod,
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uint8_t repeat,
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StageStats &s) {
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if (!periodSum || !periodCount || activeSum >= periodSum || !tickHz)
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return FailReason::EXTRA_EDGE;
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const float hz = static_cast<float>(
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static_cast<double>(tickHz) * periodCount / periodSum);
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const float duty = static_cast<float>(
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100.0 * static_cast<double>(activeSum) / periodSum);
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bool frequencyOk = periodWithin(hz, expectedHz, tolerance);
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if (!frequencyOk && maxPeriod == minPeriod + 1U) {
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// At a tolerance boundary, alternating adjacent capture counts prove that the
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// result is quantization-limited. Accept only when a one-tick correction
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// toward the expected value returns the averaged frequency into tolerance.
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// Consecutive periods telescope into one first-to-last edge interval, so
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// the whole window has a one-tick endpoint uncertainty, not one tick per
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// period.
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uint64_t correctedPeriodSum = periodSum;
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if (hz > expectedHz) ++correctedPeriodSum;
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else if (periodSum > 1U) --correctedPeriodSum;
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const float correctedHz = static_cast<float>(
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static_cast<double>(tickHz) * periodCount / correctedPeriodSum);
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frequencyOk = periodWithin(correctedHz, expectedHz, tolerance);
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}
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const double expectedPulseTicks = static_cast<double>(tickHz) * expectedDuty /
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(100.0 * expectedHz);
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const double measuredPulseTicks = static_cast<double>(activeSum) / periodCount;
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bool pulseOk = expectedPulseTicks > 0.0 &&
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fabs(measuredPulseTicks - expectedPulseTicks) * 100.0 / expectedPulseTicks <= tolerance + 0.0001;
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if (!pulseOk) {
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// Unlike full periods, active intervals do not telescope: every pulse is
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// bounded by a different rising/falling edge pair. With slowly drifting
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// asynchronous clocks an entire short window can therefore quantize to
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// the same adjacent count (e.g. 41/80 for a true 50% duty). Apply one tick
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// per active interval even when minActive == maxActive.
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const bool dutyHigh = measuredPulseTicks > expectedPulseTicks;
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const uint64_t correctedActive = dutyHigh
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? (activeSum > periodCount ? activeSum - periodCount : 0U)
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: activeSum + periodCount;
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const double correctedPulseTicks = static_cast<double>(correctedActive) / periodCount;
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pulseOk = fabs(correctedPulseTicks - expectedPulseTicks) * 100.0 /
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expectedPulseTicks <= tolerance + 0.0001;
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}
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FailReason reason = !frequencyOk ? FailReason::PERIOD_OUT :
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(!pulseOk ? FailReason::DUTY_OUT : FailReason::NONE);
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if (reason != FailReason::NONE && s.reason == FailReason::NONE) {
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s.reason = reason;
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s.firstBadPeriod = s.periods >= periodCount ? s.periods - periodCount + 1U : 1U;
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s.firstBadRepeat = repeat;
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s.badFrequency = hz;
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s.badDuty = duty;
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}
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return reason;
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}
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