From 07f71c8dfaeaedb26d8589ee48b371a7b9d18c36 Mon Sep 17 00:00:00 2001
From: rusefi <rusefillc@gmail.com>
Date: Thu, 28 Nov 2019 15:24:30 -0500
Subject: [PATCH] steps towards dual ETB

---
 firmware/console/binary/tunerstudio.cpp       |  4 +--
 .../actuators/electronic_throttle.cpp         | 34 +++++++++++--------
 .../actuators/electronic_throttle.h           |  6 +++-
 firmware/controllers/engine_controller.cpp    |  2 +-
 4 files changed, 28 insertions(+), 18 deletions(-)

diff --git a/firmware/console/binary/tunerstudio.cpp b/firmware/console/binary/tunerstudio.cpp
index d02b9571e5..5b69417487 100644
--- a/firmware/console/binary/tunerstudio.cpp
+++ b/firmware/console/binary/tunerstudio.cpp
@@ -257,7 +257,7 @@ static void onlineApplyWorkingCopyBytes(int currentPageId, uint32_t offset, int
 	}
 }
 
-extern EtbController etbController;
+extern EtbController etbController[ETB_COUNT];
 
 static const void * getStructAddr(int structId) {
 	switch (structId) {
@@ -275,7 +275,7 @@ static const void * getStructAddr(int structId) {
 		return static_cast<trigger_state_s*>(&engine->triggerCentral.triggerState);
 #if EFI_ELECTRONIC_THROTTLE_BODY
 	case LDS_ETB_PID_STATE_INDEX:
-		return static_cast<pid_state_s*>(&etbController.etbPid);
+		return static_cast<pid_state_s*>(&etbController[0].etbPid);
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 
 #ifndef EFI_IDLE_CONTROL
diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index ca2e6a3f90..d1d8633471 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -170,9 +170,6 @@ public:
 	}
 };
 
-#define ETB_COUNT 2
-
-static EtbHardware etbHardware[ETB_COUNT];
 
 extern percent_t mockPedalPosition;
 
@@ -183,9 +180,8 @@ static percent_t currentEtbDuty;
 // this macro clamps both positive and negative percentages from about -100% to 100%
 #define ETB_PERCENT_TO_DUTY(X) (maxF(minF((X * 0.01), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))
 
-EtbController::EtbController(DcMotor *motor)
-: m_motor(motor)
-{
+void EtbController::init(DcMotor *motor) {
+	this->m_motor = motor;
 }
 
 
@@ -333,7 +329,8 @@ DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
 #endif /* EFI_TUNER_STUDIO */
 }
 
-EtbController etbController(&etbHardware[0].dcMotor);
+static EtbHardware etbHardware[ETB_COUNT];
+EtbController etbController[ETB_COUNT];
 
 /**
  * At the moment there are TWO ways to use this
@@ -391,12 +388,14 @@ static void showEthInfo(void) {
 		scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
 	}
 
-	etbController.etbPid.showPidStatus(&logger, "ETB");
+	etbController[0].etbPid.showPidStatus(&logger, "ETB");
 #endif /* EFI_PROD_CODE */
 }
 
 static void etbPidReset() {
-	etbController.etbPid.reset();
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].etbPid.reset();
+	}
 }
 
 #if EFI_PROD_CODE
@@ -542,8 +541,10 @@ void stopETBPins(void) {
 #endif /* EFI_PROD_CODE */
 
 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
-	bool shouldResetPid = !etbController.etbPid.isSame(&previousConfiguration->etb);
-	etbController.shouldResetPid = shouldResetPid;
+	bool shouldResetPid = !etbController[0].etbPid.isSame(&previousConfiguration->etb);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].shouldResetPid = shouldResetPid;
+	}
 }
 
 void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
@@ -625,9 +626,12 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleActionI("etb_freq", setEtbFrequency);
 #endif /* EFI_PROD_CODE */
 
-	etbController.etbPid.initPidClass(&engineConfiguration->etb);
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].init(&etbHardware[i].dcMotor);
+		etbController[i].etbPid.initPidClass(&engineConfiguration->etb);
+		INJECT_ENGINE_REFERENCE(etbController[i]);
+	}
 
-	INJECT_ENGINE_REFERENCE(etbController);
 
 	pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
 
@@ -698,7 +702,9 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 	etbPidReset();
 
-	etbController.Start();
+	for (int i = 0 ; i < ETB_COUNT; i++) {
+		etbController[i].Start();
+	}
 }
 
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
diff --git a/firmware/controllers/actuators/electronic_throttle.h b/firmware/controllers/actuators/electronic_throttle.h
index da3c7902e3..2f72e70b85 100644
--- a/firmware/controllers/actuators/electronic_throttle.h
+++ b/firmware/controllers/actuators/electronic_throttle.h
@@ -14,12 +14,16 @@
 #include "engine.h"
 #include "periodic_task.h"
 
+#ifndef ETB_COUNT
+#define ETB_COUNT 2
+#endif /* ETB_COUNT */
+
 class DcMotor;
 
 class EtbController final : public PeriodicTimerController {
 public:
 	DECLARE_ENGINE_PTR;
-	EtbController(DcMotor *etb);
+	void init(DcMotor *motor);
 
 	int getPeriodMs() override;
 	void PeriodicTask() override;
diff --git a/firmware/controllers/engine_controller.cpp b/firmware/controllers/engine_controller.cpp
index 80c1837c66..ad542281ef 100644
--- a/firmware/controllers/engine_controller.cpp
+++ b/firmware/controllers/engine_controller.cpp
@@ -819,6 +819,6 @@ int getRusEfiVersion(void) {
 	if (initBootloader() != 0)
 		return 123;
 #endif /* EFI_BOOTLOADER_INCLUDE_CODE */
-	return 20191127;
+	return 20191128;
 }
 #endif /* EFI_UNIT_TEST */