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require redundant pedal (#2758) 

* require redundant pedal

* return false

* I don't typing good

* tests

* tests
This commit is contained in:
Matthew Kennedy 2021-05-30 16:19:57 -07:00 committed by GitHub
parent 1a55e563ef
commit ec8e1eee69
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 68 additions and 37 deletions
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9
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -200,6 +200,15 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
return false;
}
if (!Sensor::isRedundant(SensorType::AcceleratorPedal)) {
firmwareError(
OBD_Throttle_Position_Sensor_Circuit_Malfunction,
"Use of electronic throttle requires accelerator pedal to be redundant."
);
return false;
}
}
m_motor = motor;

96
unit_tests/tests/test_etb.cpp
View File

@ -50,7 +50,7 @@ TEST(etb, initializationMissingThrottle) {
EXPECT_CALL(mocks[1], init(ETB_None, _, _, _, true)).WillOnce(Return(false));
// Must have a sensor configured before init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
// This should throw: a pedal is configured but no throttles
@ -67,7 +67,7 @@ TEST(etb, initializationSingleThrottle) {
}
// Must have a sensor configured before init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
engineConfiguration->etbFunctions[0] = ETB_Throttle1;
@ -92,8 +92,8 @@ TEST(etb, initializationSingleThrottleInSecondSlot) {
}
// Must have a sensor configured before init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0, false);
engineConfiguration->etbFunctions[0] = ETB_None;
engineConfiguration->etbFunctions[1] = ETB_Throttle1;
@ -117,8 +117,8 @@ TEST(etb, initializationDualThrottle) {
}
// Must have a sensor configured before init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0, false);
Sensor::setMockValue(SensorType::Tps1, 25.0f, true);
Sensor::setMockValue(SensorType::Tps2, 25.0f, true);
@ -172,7 +172,7 @@ TEST(etb, initializationNotRedundantTps) {
EtbController dut;
// Needs pedal for init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
// Not redundant, should fail upon init
Sensor::setMockValue(SensorType::Tps1, 0.0f, false);
@ -180,6 +180,18 @@ TEST(etb, initializationNotRedundantTps) {
EXPECT_FATAL_ERROR(dut.init(ETB_Throttle1, nullptr, nullptr, nullptr, true));
}
TEST(etb, initializationNotRedundantPedal) {
EtbController dut;
// Init pedal without redundancy
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, false);
// Normal redundant TPS
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
EXPECT_FATAL_ERROR(dut.init(ETB_Throttle1, nullptr, nullptr, nullptr, true));
}
TEST(etb, initializationNoThrottles) {
// This tests the case where you don't want an ETB, and expect everything to go fine
EtbController duts[2];
@ -209,7 +221,7 @@ TEST(etb, idlePlumbing) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
engineConfiguration->useETBforIdleControl = true;
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f, true);
for (int i = 0; i < ETB_COUNT; i++) {
engine->etbControllers[i] = &mocks[i];
@ -239,36 +251,37 @@ TEST(etb, testSetpointOnlyPedal) {
// Uninitialized ETB must return unexpected (and not deference a null pointer)
EXPECT_EQ(etb.getSetpoint(), unexpected);
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
etb.init(ETB_Throttle1, nullptr, nullptr, &pedalMap, true);
// Check endpoints and midpoint
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EXPECT_EQ(0, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f, true);
EXPECT_EQ(50, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f, true);
EXPECT_EQ(100, etb.getSetpoint().value_or(-1));
// Test some floating point pedal/output values
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.8302f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.8302f, true);
EXPECT_NEAR(50.8302, etb.getSetpoint().value_or(-1), EPS4D);
Sensor::setMockValue(SensorType::AcceleratorPedal, 51.6605f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 51.6605f, true);
EXPECT_NEAR(51.6605, etb.getSetpoint().value_or(-1), EPS4D);
// Valid but out of range - should clamp to [0, 100]
Sensor::setMockValue(SensorType::AcceleratorPedal, -5);
Sensor::setMockValue(SensorType::AcceleratorPedal, -5, true);
EXPECT_EQ(0, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 105);
Sensor::setMockValue(SensorType::AcceleratorPedal, 105, true);
EXPECT_EQ(100, etb.getSetpoint().value_or(-1));
// Check that ETB idle does NOT work - it's disabled
etb.setIdlePosition(50);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
EXPECT_EQ(0, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 20);
Sensor::setMockValue(SensorType::AcceleratorPedal, 20, true);
EXPECT_EQ(20, etb.getSetpoint().value_or(-1));
// Test invalid pedal position - should give 0 position
@ -283,8 +296,9 @@ TEST(etb, setpointIdle) {
engineConfiguration->useETBforIdleControl = true;
engineConfiguration->etbIdleThrottleRange = 0;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
@ -298,9 +312,9 @@ TEST(etb, setpointIdle) {
etb.init(ETB_Throttle1, nullptr, nullptr, &pedalMap, true);
// No idle range, should just pass pedal
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EXPECT_EQ(0, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f, true);
EXPECT_EQ(50, etb.getSetpoint().value_or(-1));
// Idle should now have 10% range
@ -308,35 +322,36 @@ TEST(etb, setpointIdle) {
// 50% idle position should increase setpoint by 5% when closed, and 0% when open
etb.setIdlePosition(50);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EXPECT_FLOAT_EQ(5, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f, true);
EXPECT_FLOAT_EQ(52.5, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f, true);
EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
// 100% setpoint should increase by 10% closed, scaled 0% at wot
etb.setIdlePosition(100);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EXPECT_FLOAT_EQ(10, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f, true);
EXPECT_FLOAT_EQ(55, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f, true);
EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
// 125% setpoint should clamp to 10% increase
etb.setIdlePosition(125);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EXPECT_FLOAT_EQ(10, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f, true);
EXPECT_FLOAT_EQ(55, etb.getSetpoint().value_or(-1));
}
TEST(etb, setpointNoPedalMap) {
EtbController etb;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
// Don't pass a pedal map
etb.init(ETB_Throttle1, nullptr, nullptr, nullptr, true);
@ -437,8 +452,9 @@ TEST(etb, setOutputValid) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
StrictMock<MockMotor> motor;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
@ -456,8 +472,9 @@ TEST(etb, setOutputValid2) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
StrictMock<MockMotor> motor;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
@ -475,8 +492,9 @@ TEST(etb, setOutputOutOfRangeHigh) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
StrictMock<MockMotor> motor;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
@ -494,8 +512,9 @@ TEST(etb, setOutputOutOfRangeLow) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
StrictMock<MockMotor> motor;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
@ -513,8 +532,9 @@ TEST(etb, setOutputPauseControl) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
StrictMock<MockMotor> motor;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
@ -533,8 +553,9 @@ TEST(etb, setOutputLimpHome) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
StrictMock<MockMotor> motor;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
@ -555,8 +576,9 @@ TEST(etb, closedLoopPid) {
pid.maxValue = 75;
pid.minValue = -60;
// Must have TPS initialized for ETB setup
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(ETB_Throttle1, nullptr, &pid, nullptr, true);