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Etb function cfg, try again (#1860) 

* two throttles one thread

* look at all this RAM!

* add enum

* switch from index to function

* test fixup

* improve init logic

* remove old vw idle mode bit

* add config

* better spot for it

* use config init values

* handle null controller array

* fatal error testability

* test new init config

* defaults

* fix for default config
This commit is contained in:
Matthew Kennedy 2020-10-08 11:12:03 -07:00 committed by GitHub
parent d88c9c404c
commit 1bce3aa4c0
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 100 additions and 20 deletions
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41
firmware/controllers/actuators/electronic_throttle.cpp
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@ -172,6 +172,8 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
m_pid.initPidClass(pidParameters);
m_pedalMap = pedalMap;
reset();
return true;
}
@ -756,6 +758,10 @@ void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
}
}
// Default is to run each throttle off its respective hbridge
engineConfiguration->etbFunctions[0] = ETB_Throttle1;
engineConfiguration->etbFunctions[1] = ETB_Throttle2;
engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;
// voltage, not ADC like with TPS
@ -822,29 +828,42 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
addConsoleActionI("etb_freq", setEtbFrequency);
#endif /* EFI_PROD_CODE */
// If you don't have a pedal we have no business here.
if (!Sensor::hasSensor(SensorType::AcceleratorPedalPrimary)) {
return;
}
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
engine->etbActualCount = Sensor::hasSensor(SensorType::Tps2) ? 2 : 1;
// TODO: remove etbActualCount
engine->etbActualCount = ETB_COUNT;
for (int i = 0 ; i < engine->etbActualCount; i++) {
bool mustHaveEtbConfigured = Sensor::hasSensor(SensorType::AcceleratorPedalPrimary);
bool anyEtbConfigured = false;
for (int i = 0 ; i < ETB_COUNT; i++) {
auto motor = initDcMotor(i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);
// If this motor is actually set up, init the etb
if (motor)
{
// TODO: configure per-motor in config so wastegate/VW idle works
auto func = i == 0 ? ETB_Throttle1 : ETB_Throttle2;
auto controller = engine->etbControllers[i];
if (!controller) {
continue;
}
engine->etbControllers[i]->init(func, motor, &engineConfiguration->etb, &pedal2tpsMap);
auto func = CONFIG(etbFunctions[i]);
anyEtbConfigured |= controller->init(func, motor, &engineConfiguration->etb, &pedal2tpsMap);
INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
}
}
if (!anyEtbConfigured) {
// It's not valid to have a PPS without any ETBs - check that at least one ETB was enabled along with the pedal
if (mustHaveEtbConfigured) {
firmwareError(OBD_PCM_Processor_Fault, "A pedal position sensor was configured, but no electronic throttles are configured.");
}
// Don't start the thread if no throttles are in use.
return;
}
#if 0 && ! EFI_UNIT_TEST
percent_t startupThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
if (absF(startupThrottlePosition - engineConfiguration->etbNeutralPosition) > STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD) {
@ -858,8 +877,6 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
}
#endif /* EFI_UNIT_TEST */
etbPidReset(PASS_ENGINE_PARAMETER_SIGNATURE);
#if !EFI_UNIT_TEST
etbThread.Start();
#endif

6
firmware/controllers/core/error_handling.cpp
View File

@ -236,6 +236,10 @@ void onUnlockHook(void) {
#endif /* ENABLE_PERF_TRACE */
}
#if EFI_SIMULATOR || EFI_UNIT_TEST
#include <stdexcept>
#endif
void firmwareError(obd_code_e code, const char *fmt, ...) {
#if EFI_PROD_CODE
if (hasFirmwareErrorFlag)
@ -285,7 +289,7 @@ void firmwareError(obd_code_e code, const char *fmt, ...) {
printf("\r\n");
#if EFI_SIMULATOR || EFI_UNIT_TEST
throw "fatal error";
throw std::logic_error(fmt);
#endif /* EFI_SIMULATOR */
#endif
}

3
firmware/integration/rusefi_config.txt
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@ -951,7 +951,8 @@ custom maf_sensor_type_e 4 bits, S32, @OFFSET@, [0:1], @@maf_sensor_type_e_enum@
output_pin_e[TCU_SOLENOID_COUNT iterate] tcu_solenoid;
uint8_t[2] solenoidPadding;;"units", 1, 0, -20, 100, 0
custom etb_function_e 1 bits, U08, @OFFSET@, [0:2], "None", "Throttle 1", "Throttle 2", "Idle Valve", "Wastegate"
etb_function_e[ETB_COUNT iterate] etbFunctions
spi_device_e drv8860spiDevice;
brain_pin_e drv8860_cs;

2
firmware/tunerstudio/rusefi.input
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@ -3044,6 +3044,8 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
field = "https://rusefi.com/s/etb"
field = "Detailed status in console", isVerboseETB
field = "Disable ETB Motor", pauseEtbControl
field = "H-Bridge #1 function", etbFunctions1
field = "H-Bridge #2 function", etbFunctions2
; we need the term about stepper idle in here, because there's a bug in TS that you can't have different visibility
; criteria for the same panel when used in multiple places
panel = hbridgeHardware, { throttlePedalPositionAdcChannel != @@ADC_CHANNEL_NONE@@ || (useStepperIdle && useHbridges) }

66
unit_tests/tests/test_etb.cpp
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@ -27,9 +27,34 @@ TEST(etb, initializationNoPedal) {
engine->etbControllers[i] = &mocks[i];
}
// We expect no throttle init stuff to be called - lack of pedal should disable ETB
EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, _, _)).WillOnce(Return(false));
EXPECT_CALL(mocks[1], init(ETB_Throttle2, _, _, _)).WillOnce(Return(false));
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
// This shouldn't throw, since no throttles are configured, but no pedal is configured either
EXPECT_NO_FATAL_ERROR(doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE));
}
TEST(etb, initializationMissingThrottle) {
StrictMock<MockEtb> mocks[ETB_COUNT];
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
for (int i = 0; i < ETB_COUNT; i++) {
engine->etbControllers[i] = &mocks[i];
}
engineConfiguration->etbFunctions[0] = ETB_None;
engineConfiguration->etbFunctions[1] = ETB_None;
EXPECT_CALL(mocks[0], init(ETB_None, _, _, _)).WillOnce(Return(false));
EXPECT_CALL(mocks[1], init(ETB_None, _, _, _)).WillOnce(Return(false));
// Must have a sensor configured before init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
// This should throw: a pedal is configured but no throttles
EXPECT_FATAL_ERROR(doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE));
}
TEST(etb, initializationSingleThrottle) {
@ -45,11 +70,39 @@ TEST(etb, initializationSingleThrottle) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
engineConfiguration->etbFunctions[0] = ETB_Throttle1;
engineConfiguration->etbFunctions[1] = ETB_None;
// Expect mock0 to be init as throttle 1, and PID params
EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
EXPECT_CALL(mocks[0], reset);
// We do not expect throttle #2 to be initialized
// Expect mock1 to be init as none
EXPECT_CALL(mocks[1], init(ETB_None, _, _, _)).WillOnce(Return(true));
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
}
TEST(etb, initializationSingleThrottleInSecondSlot) {
StrictMock<MockEtb> mocks[ETB_COUNT];
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
for (int i = 0; i < ETB_COUNT; i++) {
engine->etbControllers[i] = &mocks[i];
}
// Must have a sensor configured before init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
engineConfiguration->etbFunctions[0] = ETB_None;
engineConfiguration->etbFunctions[1] = ETB_Throttle1;
// Expect mock0 to be init as none
EXPECT_CALL(mocks[0], init(ETB_None, _, _, _)).WillOnce(Return(true));
// Expect mock1 to be init as throttle 1, and PID params
EXPECT_CALL(mocks[1], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
}
@ -70,13 +123,14 @@ TEST(etb, initializationDualThrottle) {
// The presence of a second TPS indicates dual throttle
Sensor::setMockValue(SensorType::Tps2, 25.0f);
engineConfiguration->etbFunctions[0] = ETB_Throttle1;
engineConfiguration->etbFunctions[1] = ETB_Throttle2;
// Expect mock0 to be init as throttle 1, and PID params
EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
EXPECT_CALL(mocks[0], reset);
// Expect mock1 to be init as throttle 2, and PID params
EXPECT_CALL(mocks[1], init(ETB_Throttle2, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
EXPECT_CALL(mocks[1], reset);
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
}

2
unit_tests/unit_test_framework.h
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@ -32,3 +32,5 @@ void assertEqualsM(const char *msg, float expected, float actual);
void assertEqualsLM(const char *msg, long expected, long actual);
void assertEqualsM4(const char *prefix, const char *msg, float expected, float actual);
#define EXPECT_NO_FATAL_ERROR EXPECT_NO_THROW
#define EXPECT_FATAL_ERROR(expr) EXPECT_THROW((expr), std::logic_error)