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lua pedal is a thing

This commit is contained in:
rusefillc 2024-11-11 20:44:11 -05:00
parent c074f9cb01
commit 311cbbd2fc
5 changed files with 45 additions and 45 deletions
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4
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -149,7 +149,7 @@ PUBLIC_API_WEAK bool isBoardAllowingLackOfPps() {
return false;
}
bool EtbController::init(dc_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalProvider, bool hasPedal) {
bool EtbController::init(dc_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalProvider) {
state = (uint8_t)EtbState::InInit;
if (function == DC_None) {
// if not configured, don't init.
@ -951,7 +951,7 @@ void doInitElectronicThrottle() {
auto pid = getPidForDcFunction(func);
bool dcConfigured = controller->init(func, motor, pid, pedal2TpsProvider(), false);
bool dcConfigured = controller->init(func, motor, pid, pedal2TpsProvider());
bool etbConfigured = dcConfigured && controller->isEtbMode();
anyEtbConfigured |= etbConfigured;
}

2
firmware/controllers/actuators/electronic_throttle.h
View File

@ -63,7 +63,7 @@ class IEtbController : public ClosedLoopController<percent_t, percent_t> {
public:
// Initialize the throttle.
// returns true if the throttle was initialized, false otherwise.
virtual bool init(dc_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap, bool initializeThrottles = true) = 0;
virtual bool init(dc_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
virtual void reset() = 0;
virtual void setIdlePosition(percent_t pos) = 0;
virtual void setWastegatePosition(percent_t pos) = 0;

2
firmware/controllers/actuators/electronic_throttle_impl.h
View File

@ -25,7 +25,7 @@
class EtbController : public IEtbController, public electronic_throttle_s {
public:
bool init(dc_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap, bool initializeThrottles) override;
bool init(dc_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
void setIdlePosition(percent_t pos) override;
void setWastegatePosition(percent_t pos) override;
void reset() override;

2
unit_tests/mocks.h
View File

@ -22,7 +22,7 @@ public:
MOCK_METHOD(void, reset, (), (override));
MOCK_METHOD(bool, isEtbMode, (), (const, override));
MOCK_METHOD(void, update, (), (override));
MOCK_METHOD(bool, init, (dc_function_e function, DcMotor* motor, pid_s* pidParameters, const ValueProvider3D* pedalMap, bool initializeThrottles), (override));
MOCK_METHOD(bool, init, (dc_function_e function, DcMotor* motor, pid_s* pidParameters, const ValueProvider3D* pedalMap), (override));
MOCK_METHOD(void, setIdlePosition, (percent_t pos), (override));
MOCK_METHOD(void, setWastegatePosition, (percent_t pos), (override));
MOCK_METHOD(void, autoCalibrateTps, (), (override));

80
unit_tests/tests/actuators/test_etb.cpp
View File

@ -27,8 +27,8 @@ TEST(etb, initializationNoPedal) {
engine->etbControllers[i] = &mocks[i];
}
EXPECT_CALL(mocks[0], init(DC_Throttle1, _, _, _, false)).WillOnce(Return(false));
EXPECT_CALL(mocks[1], init(DC_Throttle2, _, _, _, false)).WillOnce(Return(false));
EXPECT_CALL(mocks[0], init(DC_Throttle1, _, _, _)).WillOnce(Return(false));
EXPECT_CALL(mocks[1], init(DC_Throttle2, _, _, _)).WillOnce(Return(false));
// This shouldn't throw, since no throttles are configured, but no pedal is configured either
EXPECT_NO_FATAL_ERROR(doInitElectronicThrottle());
@ -46,8 +46,8 @@ TEST(etb, initializationMissingThrottle) {
engine->etbControllers[i] = &mocks[i];
}
EXPECT_CALL(mocks[0], init(DC_None, _, _, _, true)).Times(0);
EXPECT_CALL(mocks[1], init(DC_None, _, _, _, true)).Times(0);
EXPECT_CALL(mocks[0], init(DC_None, _, _, _)).Times(0);
EXPECT_CALL(mocks[1], init(DC_None, _, _, _)).Times(0);
// Must have a sensor configured before init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
@ -77,10 +77,10 @@ TEST(etb, initializationSingleThrottle) {
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
// Expect mock0 to be init as throttle 1, and PID params
EXPECT_CALL(mocks[0], init(DC_Throttle1, _, &engineConfiguration->etb, Ne(nullptr), false)).WillOnce(Return(true));
EXPECT_CALL(mocks[0], init(DC_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
// Expect mock1 to be init as none
EXPECT_CALL(mocks[1], init(DC_None, _, _, _, false)).Times(0);
EXPECT_CALL(mocks[1], init(DC_None, _, _, _)).Times(0);
doInitElectronicThrottle();
}
@ -105,10 +105,10 @@ TEST(etb, initializationSingleThrottleInSecondSlot) {
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0, false);
// Expect mock0 to be init as none
EXPECT_CALL(mocks[0], init(DC_None, _, _, _, false)).Times(0);
EXPECT_CALL(mocks[0], init(DC_None, _, _, _)).Times(0);
// Expect mock1 to be init as throttle 1, and PID params
EXPECT_CALL(mocks[1], init(DC_Throttle1, _, &engineConfiguration->etb, Ne(nullptr), false)).WillOnce(Return(true));
EXPECT_CALL(mocks[1], init(DC_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
doInitElectronicThrottle();
}
@ -138,10 +138,10 @@ TEST(etb, initializationDualThrottle) {
engineConfiguration->etbFunctions[1] = DC_Throttle2;
// Expect mock0 to be init as throttle 1, and PID params
EXPECT_CALL(mocks[0], init(DC_Throttle1, _, &engineConfiguration->etb, Ne(nullptr), false)).WillOnce(Return(true));
EXPECT_CALL(mocks[0], init(DC_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
// Expect mock1 to be init as throttle 2, and PID params
EXPECT_CALL(mocks[1], init(DC_Throttle2, _, &engineConfiguration->etb, Ne(nullptr), false)).WillOnce(Return(true));
EXPECT_CALL(mocks[1], init(DC_Throttle2, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
doInitElectronicThrottle();
}
@ -162,10 +162,10 @@ TEST(etb, initializationWastegate) {
}
// Expect mock0 to be init as throttle 1, and PID wastegate params
EXPECT_CALL(mocks[0], init(DC_Wastegate, _, &engineConfiguration->etbWastegatePid, Ne(nullptr), false)).WillOnce(Return(true));
EXPECT_CALL(mocks[0], init(DC_Wastegate, _, &engineConfiguration->etbWastegatePid, Ne(nullptr))).WillOnce(Return(true));
// Expect mock1 to be init as none
EXPECT_CALL(mocks[1], init(DC_None, _, _, _, false)).Times(0);
EXPECT_CALL(mocks[1], init(DC_None, _, _, _)).Times(0);
doInitElectronicThrottle();
}
@ -176,7 +176,7 @@ TEST(etb, initializationNoFunction) {
EtbController dut;
// When init called with DC_None, should ignore the provided params and return false
EXPECT_FALSE(dut.init(DC_None, &motor, nullptr, nullptr, false));
EXPECT_FALSE(dut.init(DC_None, &motor, nullptr, nullptr));
// This should no-op, it shouldn't call motor.set(float duty)
dut.setOutput(0.5f);
@ -192,7 +192,7 @@ TEST(etb, initializationNotRedundantTps) {
Sensor::setMockValue(SensorType::Tps1Primary, 0);
Sensor::setMockValue(SensorType::Tps1, 0.0f, false);
EXPECT_FATAL_ERROR(dut.init(DC_Throttle1, nullptr, nullptr, nullptr, true));
EXPECT_FATAL_ERROR(dut.init(DC_Throttle1, nullptr, nullptr, nullptr));
}
TEST(etb, initializationNotRedundantPedal) {
@ -205,7 +205,7 @@ TEST(etb, initializationNotRedundantPedal) {
Sensor::setMockValue(SensorType::Tps1Primary, 0);
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
EXPECT_FATAL_ERROR(dut.init(DC_Throttle1, nullptr, nullptr, nullptr, true));
EXPECT_FATAL_ERROR(dut.init(DC_Throttle1, nullptr, nullptr, nullptr));
}
TEST(etb, initializationNoSensor) {
@ -216,13 +216,13 @@ TEST(etb, initializationNoSensor) {
// Needs pedal for init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EXPECT_FALSE(dut.init(DC_Throttle1, nullptr, nullptr, nullptr, true));
EXPECT_FALSE(dut.init(DC_Throttle1, nullptr, nullptr, nullptr));
// Redundant
Sensor::setMockValue(SensorType::Tps1, /*value*/0, /*mockRedundant*/true);
// With primary TPS, should return true (ie, throttle was configured)
EXPECT_TRUE(dut.init(DC_Throttle1, nullptr, nullptr, nullptr, true));
EXPECT_TRUE(dut.init(DC_Throttle1, nullptr, nullptr, nullptr));
}
TEST(etb, initializationNoThrottles) {
@ -285,7 +285,7 @@ TEST(etb, testSetpointOnlyPedal) {
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap, true);
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap);
// Check endpoints and midpoint
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
@ -345,7 +345,7 @@ TEST(etb, setpointSecondThrottleTrim) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController2 etb(throttleTrimTable);
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap, true);
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap);
Sensor::setMockValue(SensorType::AcceleratorPedal, 47, true);
EXPECT_EQ(51, etb.getSetpoint().value_or(-1));
@ -370,7 +370,7 @@ TEST(etb, setpointIdle) {
.WillRepeatedly([](float xRpm, float y) {
return y;
});
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap, true);
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap);
// No idle range, should just pass pedal
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
@ -427,7 +427,7 @@ TEST(etb, setpointRevLimit) {
.WillRepeatedly([](float, float) {
return 80;
});
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap, true);
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap);
// Below threshold, should return unadjusted throttle
Sensor::setMockValue(SensorType::Rpm, 1000);
@ -458,7 +458,7 @@ TEST(etb, setpointNoPedalMap) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
// Don't pass a pedal map
etb.init(DC_Throttle1, nullptr, nullptr, nullptr, true);
etb.init(DC_Throttle1, nullptr, nullptr, nullptr);
EXPECT_EQ(etb.getSetpoint(), unexpected);
}
@ -466,7 +466,7 @@ TEST(etb, setpointNoPedalMap) {
TEST(etb, setpointIdleValveController) {
EtbController etb;
etb.init(DC_IdleValve, nullptr, nullptr, nullptr, false);
etb.init(DC_IdleValve, nullptr, nullptr, nullptr);
etb.setIdlePosition(0);
EXPECT_FLOAT_EQ(0, etb.getSetpoint().value_or(-1));
@ -485,7 +485,7 @@ TEST(etb, setpointIdleValveController) {
TEST(etb, setpointWastegateController) {
EtbController etb;
etb.init(DC_Wastegate, nullptr, nullptr, nullptr, false);
etb.init(DC_Wastegate, nullptr, nullptr, nullptr);
etb.setWastegatePosition(0);
EXPECT_FLOAT_EQ(0, etb.getSetpoint().value_or(-1));
@ -517,7 +517,7 @@ TEST(etb, setpointLuaAdder) {
.WillRepeatedly([](float, float) {
return 50;
});
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap, true);
etb.init(DC_Throttle1, nullptr, nullptr, &pedalMap);
// No adjustment, should be unadjusted
etb.setLuaAdjustment(0);
@ -564,28 +564,28 @@ TEST(etb, etbTpsSensor) {
// Test first throttle
{
EtbController etb;
etb.init(DC_Throttle1, nullptr, nullptr, nullptr, true);
etb.init(DC_Throttle1, nullptr, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 25.0f);
}
// Test second throttle
{
EtbController etb;
etb.init(DC_Throttle2, nullptr, nullptr, nullptr, true);
etb.init(DC_Throttle2, nullptr, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 75.0f);
}
// Test wastegate control
{
EtbController etb;
etb.init(DC_Wastegate, nullptr, nullptr, nullptr, true);
etb.init(DC_Wastegate, nullptr, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 33.0f);
}
// Test idle valve control
{
EtbController etb;
etb.init(DC_IdleValve, nullptr, nullptr, nullptr, true);
etb.init(DC_IdleValve, nullptr, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 66.0f);
}
}
@ -601,7 +601,7 @@ TEST(etb, setOutputInvalid) {
StrictMock<MockMotor> motor;
EtbController etb;
etb.init(DC_Throttle1, &motor, nullptr, nullptr, true);
etb.init(DC_Throttle1, &motor, nullptr, nullptr);
// Should be disabled in case of unexpected
EXPECT_CALL(motor, disable(_));
@ -619,7 +619,7 @@ TEST(etb, setOutputValid) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(DC_Throttle1, &motor, nullptr, nullptr, true);
etb.init(DC_Throttle1, &motor, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -639,7 +639,7 @@ TEST(etb, setOutputValid2) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(DC_Throttle1, &motor, nullptr, nullptr, true);
etb.init(DC_Throttle1, &motor, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -659,7 +659,7 @@ TEST(etb, setOutputOutOfRangeHigh) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(DC_Throttle1, &motor, nullptr, nullptr, true);
etb.init(DC_Throttle1, &motor, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -679,7 +679,7 @@ TEST(etb, setOutputOutOfRangeLow) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(DC_Throttle1, &motor, nullptr, nullptr, true);
etb.init(DC_Throttle1, &motor, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -699,7 +699,7 @@ TEST(etb, setOutputPauseControl) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(DC_Throttle1, &motor, nullptr, nullptr, true);
etb.init(DC_Throttle1, &motor, nullptr, nullptr);
// Pause control - should get no output
engineConfiguration->pauseEtbControl = true;
@ -720,7 +720,7 @@ TEST(etb, setOutputLimpHome) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(DC_Throttle1, &motor, nullptr, nullptr, true);
etb.init(DC_Throttle1, &motor, nullptr, nullptr);
// Should be disabled when in ETB limp mode
EXPECT_CALL(motor, disable(_));
@ -745,7 +745,7 @@ TEST(etb, closedLoopPid) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
EtbController etb;
etb.init(DC_Throttle1, nullptr, &pid, nullptr, true);
etb.init(DC_Throttle1, nullptr, &pid, nullptr);
// Disable autotune for now
engine->etbAutoTune = false;
@ -780,7 +780,7 @@ TEST(etb, jamDetection) {
engineConfiguration->etbJamTimeout = 1;
EtbController etb;
etb.init(DC_Throttle1, nullptr, nullptr, nullptr, true);
etb.init(DC_Throttle1, nullptr, nullptr, nullptr);
setTimeNowUs(0);
@ -813,7 +813,7 @@ TEST(etb, openLoopThrottle) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
EtbController etb;
etb.init(DC_Throttle1, nullptr, nullptr, nullptr, true);
etb.init(DC_Throttle1, nullptr, nullptr, nullptr);
// Map [0, 100] -> [-50, 50]
setLinearCurve(config->etbBiasBins, 0, 100);
@ -835,7 +835,7 @@ TEST(etb, openLoopNonThrottle) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
EtbController etb;
etb.init(DC_Wastegate, nullptr, nullptr, nullptr, false);
etb.init(DC_Wastegate, nullptr, nullptr, nullptr);
// Map [0, 100] -> [-50, 50]
setLinearCurve(config->etbBiasBins, 0, 100);