Sensor reconfiguration while running (#1131)

* reconfigure sensors

* docs

* doc

firmware/controllers/algo/engine_configuration.cpp

@@ -94,6 +94,7 @@
 #endif
 
 #if EFI_PROD_CODE
+#include "init.h"
 #include "hardware.h"
 #include "board.h"
 #endif /* EFI_PROD_CODE */
@@ -179,6 +180,7 @@ void incrementGlobalConfigurationVersion(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
  */
 #if EFI_PROD_CODE
 	applyNewHardwareSettings();
+	reconfigureSensors();
 #endif /* EFI_PROD_CODE */
 	engine->preCalculate(PASS_ENGINE_PARAMETER_SIGNATURE);
 #if EFI_ALTERNATOR_CONTROL

firmware/init/init.h

@@ -4,4 +4,11 @@
 
 #pragma once
 
+// Call this once at startup to initialize, configure, and subscribe sensors
 void initSensors();
+
+// Call this whenever the configuration may have changed, so any sensors
+// can be reconfigured with the new settings.
+// Note: this may not be necessarily possible for all sensors, so some may
+// do nothing when this is called.
+void reconfigureSensors();

firmware/init/sensor/init_oil_pressure.cpp

@@ -13,6 +13,19 @@ EXTERN_ENGINE;
 LinearFunc oilpSensorFunc;
 FunctionalSensor oilpSensor(SensorType::OilPressure, /* timeout = */ MS2NT(50));
 
+void configureOilPressure(LinearFunc func, const oil_pressure_config_s& cfg)
+{
+	float val1 = cfg.value1;
+	float val2 = cfg.value2;
+
+	// Limit to max given pressure - val1 or val2 could be larger
+	// (sensor may be backwards, high voltage = low pressure)
+	float greaterOutput = val1 > val2 ? val1 : val2;
+
+	// Allow slightly negative output (-5kpa) so as to not fail the sensor when engine is off
+	oilpSensorFunc.configure(cfg.v1, val1, cfg.v2, val2, /*minOutput*/ -5, greaterOutput);
+}
+
 void initOilPressure() {
 	// Only register if we have a sensor
 	auto channel = engineConfiguration->oilPressure.hwChannel;
@@ -20,17 +33,7 @@ void initOilPressure() {
 		return;
 	}
 
-	oil_pressure_config_s *sensorCfg = &CONFIG(oilPressure);
-
-	float val1 = sensorCfg->value1;
-	float val2 = sensorCfg->value2;
-
-	// Limit to max given pressure - val1 or val2 could be larger
-	// (sensor may be backwards, high voltage = low pressure)
-	float greaterOutput = val1 > val2 ? val1 : val2;
-
-	// Allow slightly negative output (-5kpa) so as to not fail the sensor when engine is off
-	oilpSensorFunc.configure(sensorCfg->v1, val1, sensorCfg->v2, val2, /*minOutput*/ -5, greaterOutput);
+	configureOilPressure(oilpSensorFunc, CONFIG(oilPressure));
 	oilpSensor.setFunction(oilpSensorFunc);
 
 	// Subscribe the sensor to the ADC
@@ -40,3 +43,7 @@ void initOilPressure() {
 		warning(OBD_Oil_Pressure_Sensor_Malfunction, "Duplicate oilp sensor registration, ignoring");
 	}
 }
+
+void reconfigureOilPressure() {
+	configureOilPressure(oilpSensorFunc, CONFIG(oilPressure));
+}

firmware/init/sensor/init_sensors.cpp

@@ -6,23 +6,31 @@
 #include "init.h"
 #include "sensor.h"
 
+static void initSensorCli();
+
+// Sensor init/config
 void initTps();
 void initOilPressure();
 
-void initSensorCli();
-
 void initSensors() {
-	// TPS
 	initTps();
-
-	// aux sensors
 	initOilPressure();
 
 	// Init CLI functionality for sensors (mocking)
 	initSensorCli();
 }
 
-void initSensorCli() {
+// Sensor reconfiguration
+void reconfigureTps();
+void reconfigureOilPressure();
+
+void reconfigureSensors() {
+	reconfigureTps();
+	reconfigureOilPressure();
+}
+
+// Mocking/testing helpers
+static void initSensorCli() {
 	addConsoleActionIF("set_sensor_mock", Sensor::setMockValue);
 	addConsoleAction("reset_sensor_mocks", Sensor::resetAllMocks);
 }

firmware/init/sensor/init_tps.cpp

@@ -18,18 +18,22 @@ FunctionalSensor tpsSens1p(SensorType::Tps1, MS2NT(10));
 FunctionalSensor tpsSens2p(SensorType::Tps2, MS2NT(10));
 //FunctionalSensor tpsSens2s(SensorType::Tps2Secondary, MS2NT(10));
 
-static void initTpsFunc(LinearFunc& func, FunctionalSensor& sensor, adc_channel_e channel, float closed, float open) {
-	// Only register if we have a sensor
-	if (channel == EFI_ADC_NONE) {
-		return;
-	}
-
+static void configureTps(LinearFunc& func, float closed, float open) {
 	func.configure(
 		closed / TPS_TS_CONVERSION, 0,
 		open / TPS_TS_CONVERSION, 100, 
 		CONFIG(tpsErrorDetectionTooLow),
 		CONFIG(tpsErrorDetectionTooHigh)
 	);
+}
+
+static void initTpsFunc(LinearFunc& func, FunctionalSensor& sensor, adc_channel_e channel, float closed, float open) {
+	// Only register if we have a sensor
+	if (channel == EFI_ADC_NONE) {
+		return;
+	}
+
+	configureTps(func, closed, open);
 
 	sensor.setFunction(func);
 
@@ -44,3 +48,8 @@ void initTps() {
 	initTpsFunc(tpsFunc1p, tpsSens1p, CONFIG(tps1_1AdcChannel), CONFIG(tpsMin), CONFIG(tpsMax));
 	initTpsFunc(tpsFunc2p, tpsSens2p, CONFIG(tps2_1AdcChannel), CONFIG(tps2Min), CONFIG(tps2Max));
 }
+
+void reconfigureTps() {
+	configureTps(tpsFunc1p, CONFIG(tpsMin), CONFIG(tpsMax));
+	configureTps(tpsFunc2p, CONFIG(tps2Min), CONFIG(tps2Max));
+}