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only: VVT refactoring reducing magic index math

This commit is contained in:
Andrey 2023-10-07 12:34:32 -04:00
parent 9e8dc8976f
commit 3b1fe9da7f
4 changed files with 27 additions and 22 deletions
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6
firmware/controllers/actuators/vvt.cpp
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@ -18,10 +18,10 @@ using vvt_map_t = Map3D<SCRIPT_TABLE_8, SCRIPT_TABLE_8, int8_t, uint16_t, uint16
static vvt_map_t vvtTable1; static vvt_map_t vvtTable1;
static vvt_map_t vvtTable2; static vvt_map_t vvtTable2;
VvtController::VvtController(int index, int bankIndex, int camIndex) VvtController::VvtController(int index)
: index(index) : index(index)
, m_bank(bankIndex) , m_bank(BANK_BY_INDEX(index))
, m_cam(camIndex) , m_cam(CAM_BY_INDEX(index))
{ {
} }

19
firmware/controllers/actuators/vvt.h
View File

@ -20,9 +20,12 @@ void startVvtControlPins();
void stopVvtControlPins(); void stopVvtControlPins();
OutputPin* getVvtOutputPin(int index); OutputPin* getVvtOutputPin(int index);
#define BANK_BY_INDEX(index) (index / CAMS_PER_BANK)
#define CAM_BY_INDEX(index) (index % CAMS_PER_BANK)
class VvtController : public EngineModule, public ClosedLoopController<angle_t, percent_t>, public vvt_s { class VvtController : public EngineModule, public ClosedLoopController<angle_t, percent_t>, public vvt_s {
public: public:
VvtController(int index, int bankIndex, int camIndex); VvtController(int index);
void init(const ValueProvider3D* targetMap, IPwm* pwm); void init(const ValueProvider3D* targetMap, IPwm* pwm);
@ -39,11 +42,11 @@ public:
void setOutput(expected<percent_t> outputValue) override; void setOutput(expected<percent_t> outputValue) override;
private: private:
const int index = 0; const int index;
// Bank index, 0 or 1 // Bank index, 0 or 1
const uint8_t m_bank = 0; const uint8_t m_bank;
// Cam index, 0 = intake, 1 = exhaust // Cam index, 0 = intake, 1 = exhaust
const uint8_t m_cam = 0; const uint8_t m_cam;
Pid m_pid; Pid m_pid;
@ -53,17 +56,17 @@ private:
// Unique types for each VVT so they can be engine modules // Unique types for each VVT so they can be engine modules
struct VvtController1 : public VvtController { struct VvtController1 : public VvtController {
VvtController1() : VvtController(0, 0, 0) { } VvtController1() : VvtController(0) { }
}; };
struct VvtController2 : public VvtController { struct VvtController2 : public VvtController {
VvtController2() : VvtController(1, 0, 1) { } VvtController2() : VvtController(1) { }
}; };
struct VvtController3 : public VvtController { struct VvtController3 : public VvtController {
VvtController3() : VvtController(2, 1, 0) { } VvtController3() : VvtController(2) { }
}; };
struct VvtController4 : public VvtController { struct VvtController4 : public VvtController {
VvtController4() : VvtController(3, 1, 1) { } VvtController4() : VvtController(3) { }
}; };

4
firmware/controllers/trigger/trigger_central.cpp
View File

@ -267,8 +267,8 @@ void hwHandleVvtCamSignal(TriggerValue front, efitick_t nowNt, int index) {
engine->outputChannels.vvtChannel4 = front == TriggerValue::RISE; engine->outputChannels.vvtChannel4 = front == TriggerValue::RISE;
} }
int bankIndex = index / CAMS_PER_BANK; int bankIndex = BANK_BY_INDEX(index);
int camIndex = index % CAMS_PER_BANK; int camIndex = CAM_BY_INDEX(index);
if (front == TriggerValue::RISE) { if (front == TriggerValue::RISE) {
tc->vvtEventRiseCounter[index]++; tc->vvtEventRiseCounter[index]++;
} else { } else {

20
unit_tests/tests/actuators/test_vvt.cpp
View File

@ -17,7 +17,7 @@ TEST(Vvt, TestSetPoint) {
engine->engineState.fuelingLoad = 55; engine->engineState.fuelingLoad = 55;
Sensor::setMockValue(SensorType::Rpm, 4321); Sensor::setMockValue(SensorType::Rpm, 4321);
VvtController dut(0, 0, 0); VvtController dut(0);
dut.init(&targetMap, nullptr); dut.init(&targetMap, nullptr);
// Test dut // Test dut
@ -29,14 +29,14 @@ TEST(Vvt, observePlant) {
engine->triggerCentral.vvtPosition[0][0] = 23; engine->triggerCentral.vvtPosition[0][0] = 23;
VvtController dut(0, 0, 0); VvtController dut(0);
dut.init(nullptr, nullptr); dut.init(nullptr, nullptr);
EXPECT_EQ(23, dut.observePlant().value_or(0)); EXPECT_EQ(23, dut.observePlant().value_or(0));
} }
TEST(Vvt, openLoop) { TEST(Vvt, openLoop) {
VvtController dut(0, 0, 0); VvtController dut(0);
// No open loop for now // No open loop for now
EXPECT_EQ(dut.getOpenLoop(10), 0); EXPECT_EQ(dut.getOpenLoop(10), 0);
@ -45,7 +45,7 @@ TEST(Vvt, openLoop) {
TEST(Vvt, ClosedLoopNotInverted) { TEST(Vvt, ClosedLoopNotInverted) {
EngineTestHelper eth(engine_type_e::TEST_ENGINE); EngineTestHelper eth(engine_type_e::TEST_ENGINE);
VvtController dut(0, 0, 0); VvtController dut(0);
dut.init(nullptr, nullptr); dut.init(nullptr, nullptr);
engineConfiguration->auxPid[0].pFactor = 1.5f; engineConfiguration->auxPid[0].pFactor = 1.5f;
@ -60,14 +60,16 @@ TEST(Vvt, ClosedLoopNotInverted) {
TEST(Vvt, ClosedLoopInverted) { TEST(Vvt, ClosedLoopInverted) {
EngineTestHelper eth(engine_type_e::TEST_ENGINE); EngineTestHelper eth(engine_type_e::TEST_ENGINE);
VvtController dut(0, 0, 0); int index = 0;
int camIndex = 0;
VvtController dut(index);
dut.init(nullptr, nullptr); dut.init(nullptr, nullptr);
engineConfiguration->invertVvtControlIntake = true; engineConfiguration->invertVvtControlIntake = true;
engineConfiguration->auxPid[0].pFactor = 1.5f; engineConfiguration->auxPid[camIndex].pFactor = 1.5f;
engineConfiguration->auxPid[0].iFactor = 0; engineConfiguration->auxPid[camIndex].iFactor = 0;
engineConfiguration->auxPid[0].dFactor = 0; engineConfiguration->auxPid[camIndex].dFactor = 0;
engineConfiguration->auxPid[0].offset = 0; engineConfiguration->auxPid[camIndex].offset = 0;
// Target of -30 with position -20 should yield positive duty, P=1.5 means 15% duty for 10% error // Target of -30 with position -20 should yield positive duty, P=1.5 means 15% duty for 10% error
EXPECT_EQ(dut.getClosedLoop(-30, -20).value_or(0), 15); EXPECT_EQ(dut.getClosedLoop(-30, -20).value_or(0), 15);