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This commit is contained in:
rusEfi 2015-02-13 14:04:38 -06:00
parent ff6c48d1d6
commit 3481d2f81c
5 changed files with 92 additions and 58 deletions
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39
firmware/controllers/core/interpolation.cpp
View File

@ -38,7 +38,6 @@ float FastInterpolation::getValue(float x) {
return a * x + b;
}
/** @brief Linear interpolation by two points
*
* @param x1 key of the first point
@ -69,6 +68,30 @@ float interpolate(float x1, float y1, float x2, float y2, float x) {
return result;
}
int findIndex2(const float array[], unsigned size, float value) {
efiAssert(!cisnan(value), "NaN in findIndex", 0);
efiAssert(size > 1, "NaN in findIndex", 0);
// if (size <= 1)
// return size && *array <= value ? 0 : -1;
signed i = 0;
//unsigned b = 1 << int(log(float(size) - 1) / 0.69314718055994530942);
unsigned b = size >> 1; // in our case size is always a power of 2
efiAssert(b + b == size, "Size not power of 2", -1);
for (; b; b >>= 1) {
unsigned j = i | b;
/**
* it should be
* "if (j < size && array[j] <= value)"
* but in our case size is always power of 2 thus size is always more then j
*/
// efiAssert(j < size, "size", 0);
if (array[j] <= value)
i = j;
}
return i || *array <= value ? i : -1;
}
/** @brief Binary search
* @returns the highest index within sorted array such that array[i] is greater than or equal to the parameter
* @note If the parameter is smaller than the first element of the array, -1 is returned.
@ -143,13 +166,13 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
int xIndex = findIndex(xBin, xBinSize, x);
#if DEBUG_INTERPOLATION
if (needInterpolationLogging)
printf("X index=%d\r\n", xIndex);
printf("X index=%d\r\n", xIndex);
#endif
int yIndex = findIndex(yBin, yBinSize, y);
if (xIndex < 0 && yIndex < 0) {
#if DEBUG_INTERPOLATION
if (needInterpolationLogging)
printf("X and Y are smaller than smallest cell in table: %d\r\n", xIndex);
printf("X and Y are smaller than smallest cell in table: %d\r\n", xIndex);
#endif
return map[0][0];
}
@ -157,7 +180,7 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
if (xIndex < 0) {
#if DEBUG_INTERPOLATION
if (needInterpolationLogging)
printf("X is smaller than smallest cell in table: %dr\n", xIndex);
printf("X is smaller than smallest cell in table: %dr\n", xIndex);
#endif
// no interpolation should be fine here.
return map[0][yIndex];
@ -166,7 +189,7 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
if (yIndex < 0) {
#if DEBUG_INTERPOLATION
if (needInterpolationLogging)
printf("Y is smaller than smallest cell in table: %d\r\n", yIndex);
printf("Y is smaller than smallest cell in table: %d\r\n", yIndex);
#endif
// no interpolation should be fine here.
return map[xIndex][0];
@ -175,7 +198,7 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
if (xIndex == xBinSize - 1 && yIndex == yBinSize - 1) {
#if DEBUG_INTERPOLATION
if (needInterpolationLogging)
printf("X and Y are larger than largest cell in table: %d %d\r\n", xIndex, yIndex);
printf("X and Y are larger than largest cell in table: %d %d\r\n", xIndex, yIndex);
#endif
return map[xBinSize - 1][yBinSize - 1];
}
@ -183,7 +206,7 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
if (xIndex == xBinSize - 1) {
#if DEBUG_INTERPOLATION
if (needInterpolationLogging)
printf("TODO BETTER LOGGING x overflow %d\r\n", yIndex);
printf("TODO BETTER LOGGING x overflow %d\r\n", yIndex);
#endif
// todo: implement better handling - y interpolation
return map[xBinSize - 1][yIndex];
@ -192,7 +215,7 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
if (yIndex == yBinSize - 1) {
#if DEBUG_INTERPOLATION
if (needInterpolationLogging)
printf("Y is larger than largest cell in table: %d\r\n", yIndex);
printf("Y is larger than largest cell in table: %d\r\n", yIndex);
#endif
// todo: implement better handling - x interpolation
return map[xIndex][yBinSize - 1];

1
firmware/controllers/core/interpolation.h
View File

@ -11,6 +11,7 @@
#define INTERPOLATION_A(x1, y1, x2, y2) ((y1 - y2) / (x1 - x2))
int findIndex(const float array[], int size, float value);
int findIndex2(const float array[], unsigned size, float value);
float interpolate(float x1, float y1, float x2, float y2, float x);
float interpolate2d(float value, float bin[], float values[], int size);
float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[], int yBinSize, float* map[]);

63
firmware/controllers/sensors/maf.cpp
View File

@ -21,36 +21,51 @@ float getRealMaf(DECLARE_ENGINE_PARAMETER_F) {
return engine->mafDecodingLookup[mafAdc >> 4];
}
void setBosch0280218037(engine_configuration_s *engineConfiguration) {
int i = 0;
engineConfiguration->mafDecoding[i] = -34.5;
engineConfiguration->mafDecodingBins[i++] = 0;
engineConfiguration->mafDecoding[i] = -6;
engineConfiguration->mafDecodingBins[i++] = 0.78125;
engineConfiguration->mafDecoding[i] = 10.5;
engineConfiguration->mafDecodingBins[i++] = 1.38671875;
engineConfiguration->mafDecoding[i] = 105.3;
engineConfiguration->mafDecodingBins[i++] = 2.91015625;
engineConfiguration->mafDecoding[i] = 387.5;
engineConfiguration->mafDecodingBins[i++] = 4.2578125;
engineConfiguration->mafDecoding[i] = 738;
engineConfiguration->mafDecodingBins[i++] = 4.98046875;
static void fillTheRest(engine_configuration_s *e, int i) {
/**
* unrealistic values just to make binary search happy
*/
while (i < MAF_DECODING_COUNT) {
engineConfiguration->mafDecoding[i] = 200;
engineConfiguration->mafDecodingBins[i] = 10 + i;
e->mafDecoding[i] = 200;
e->mafDecodingBins[i] = 10 + i;
i++;
}
}
void setBosch0280218004(engine_configuration_s *engineConfiguration) {
static int addMafPoint(engine_configuration_s *e, int i, float kgHrValue, float voltage) {
e->mafDecoding[i] = kgHrValue;
e->mafDecodingBins[i] = voltage;
return i + 1;
}
void setBosch0280218037(engine_configuration_s *e) {
int i = 0;
i = addMafPoint(e, i, -34.5, 0);
i = addMafPoint(e, i, -6, 0.78125);
e->mafDecoding[i] = 10.5;
e->mafDecodingBins[i++] = 1.38671875;
e->mafDecoding[i] = 105.3;
e->mafDecodingBins[i++] = 2.91015625;
e->mafDecoding[i] = 387.5;
e->mafDecodingBins[i++] = 4.2578125;
e->mafDecoding[i] = 738;
e->mafDecodingBins[i++] = 4.98046875;
fillTheRest(e, i);
}
void setBosch0280218004(engine_configuration_s *e) {
int i = 0;
fillTheRest(e, i);
}
void setDensoTODO(engine_configuration_s *e) {
int i = 0;
fillTheRest(e, i);
}

2
firmware/controllers/sensors/maf.h
View File

@ -21,4 +21,6 @@ float getRealMaf(DECLARE_ENGINE_PARAMETER_F);
void setBosch0280218037(engine_configuration_s *engineConfiguration);
void setBosch0280218004(engine_configuration_s *engineConfiguration);
void setDensoTODO(engine_configuration_s *engineConfiguration);
#endif

45
unit_tests/test_basic_math/test_find_index.cpp
View File

@ -11,66 +11,59 @@
#include <stdio.h>
#include "engine_configuration.h"
static int testIndex(const int expected, const float array[], int size, float value) {
assertEquals(expected, findIndex(array, size, value));
assertEquals(expected, findIndex2(array, size, value));
}
void testFindIndex(void) {
printf("*************************************************** testFindIndex\r\n");
int result;
/*
{
// in real life we only use powers of 2 for sizes
float array5[] = { 1, 2, 3, 4, 5 };
const int size5 = 5;
printf("To the right5\r\n");
result = findIndex(array5, size5, 10.0);
assertEquals(4, result);
testIndex(4, array5, size5, 10.0);
printf("Middle2\r\n");
result = findIndex(array5, size5, 4);
assertEquals(3, result);
testIndex(3, array5, size5, 4);
printf("Middle2\r\n");
result = findIndex(array5, size5, 3.1);
assertEquals(2, result);
testIndex(2, array5, size5, 3.1);
}
*/
{
float array4[] = { 1, 2, 3, 4 };
const int size4 = 4;
printf("To the left\r\n");
result = findIndex(array4, size4, -1.0);
assertEquals(-1, result);
testIndex(-1, array4, size4, -1.0);
printf("To the right4\r\n");
result = findIndex(array4, size4, 10.0);
assertEquals(3, result);
testIndex(3, array4, size4, 10.0);
printf("On the edge\r\n");
result = findIndex(array4, size4, 4.0);
assertEquals(3, result);
testIndex(3, array4, size4, 4.0);
printf("Another1\r\n");
result = findIndex(array4, size4, 3.9);
assertEquals(2, result);
testIndex(2, array4, size4, 3.9);
printf("Another2\r\n");
result = findIndex(array4, size4, 4.1);
assertEquals(3, result);
testIndex(3, array4, size4, 4.1);
printf("Another3\r\n");
result = findIndex(array4, size4, 2);
assertEquals(1, result);
testIndex(1, array4, size4, 2);
printf("Left edge1\r\n");
result = findIndex(array4, size4, 1);
assertEquals(0, result);
testIndex(0, array4, size4, 1);
printf("Left edge2\r\n");
result = findIndex(array4, size4, 1.1);
assertEquals(0, result);
testIndex(0, array4, size4, 1.1);
printf("Middle\r\n");
result = findIndex(array4, size4, 3);
assertEquals(2, result);
testIndex(2, array4, size4, 3);
}
}