Fully switch acc pedal to new sensors (#1212)

* proxy sensor

* header

* idle

* can

* settings

* remove old mocking

* remove old impl

* etb

* oops, gotta actually register it

* fix test

* structured bindings ftw!

* driver intent for stepper

* tear out old

* oops too much

firmware/controllers/actuators/electronic_throttle.cpp

@@ -76,6 +76,7 @@
 
 #include "electronic_throttle.h"
 #include "tps.h"
+#include "sensor.h"
 #include "io_pins.h"
 #include "engine_configuration.h"
 #include "pwm_generator_logic.h"
@@ -108,8 +109,6 @@ static bool startupPositionError = false;
 
 #define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
 
-extern percent_t mockPedalPosition;
-
 static percent_t directPwmValue = NAN;
 static percent_t currentEtbDuty;
 
@@ -180,6 +179,14 @@ void EtbController::PeriodicTask() {
 		return;
 	}
 
+	auto pedalPosition = Sensor::get(SensorType::AcceleratorPedal);
+
+	if (!pedalPosition.Valid) {
+		m_motor->set(0);
+		return;
+	}
+
+
 	percent_t actualThrottlePosition = getTPSWithIndex(m_myIndex PASS_ENGINE_PARAMETER_SUFFIX);
 
 	if (engine->etbAutoTune) {
@@ -203,10 +210,8 @@ void EtbController::PeriodicTask() {
 	}
 
 
-	percent_t pedalPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
-
 	int rpm = GET_RPM();
-	engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition);
+	engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition.Value);
 	percent_t etbIdleAddition = CONFIG(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
 	percent_t targetPosition = engine->engineState.targetFromTable + etbIdleAddition;
 
@@ -305,12 +310,6 @@ static void showEthInfo(void) {
 	scheduleMsg(&logger, "etbAutoTune=%d",
 			engine->etbAutoTune);
 
-	scheduleMsg(&logger, "throttlePedal=%.2f %.2f/%.2f @%s",
-			getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE),
-			engineConfiguration->throttlePedalUpVoltage,
-			engineConfiguration->throttlePedalWOTVoltage,
-			getPinNameByAdcChannel("tPedal", engineConfiguration->throttlePedalPositionAdcChannel, pinNameBuffer));
-
 	scheduleMsg(&logger, "TPS=%.2f", getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
 
 
@@ -371,8 +370,6 @@ static void etbReset() {
 	}
 
 	etbPidReset();
-
-	mockPedalPosition = MOCK_UNDEFINED;
 }
 #endif /* EFI_PROD_CODE */
 

firmware/controllers/actuators/idle_thread.cpp

@@ -39,6 +39,7 @@
 #include "engine.h"
 #include "periodic_task.h"
 #include "allsensors.h"
+#include "sensor.h"
 
 #if ! EFI_UNIT_TEST
 #include "stepper.h"
@@ -217,15 +218,14 @@ static bool isOutOfAutomaticIdleCondition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 		return !engine->engineState.idle.throttlePedalUpState;
 	}
 
-	percent_t inputPosition;
+	const auto [valid, pos] = Sensor::get(SensorType::DriverThrottleIntent);
 
-	if (hasPedalPositionSensor(PASS_ENGINE_PARAMETER_SIGNATURE)) {
+	// Disable auto idle in case of TPS/Pedal failure
-		inputPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
+	if (!valid) {
-	} else {
+		return true;
-		inputPosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
 	}
 
-	return inputPosition > CONFIG(idlePidDeactivationTpsThreshold);
+	return pos > CONFIG(idlePidDeactivationTpsThreshold);
 }
 
 /**

firmware/controllers/can/can_rx.cpp

@@ -27,7 +27,6 @@ static void printPacket(const CANRxFrame& rx, Logging* logger) {
 }
 
 volatile float aemXSeriesLambda = 0;
-volatile float canPedal = 0;
 volatile float canMap = 0;
 
 static CanSensorBase* s_head = nullptr;
@@ -58,9 +57,6 @@ void processCanRxMessage(const CANRxFrame& frame, Logging* logger, efitick_t now
 		// AEM x-series lambda sensor reports in 0.0001 lambda per bit
 		uint16_t lambdaInt = SWAP_UINT16(frame.data16[0]);
 		aemXSeriesLambda = 0.0001f * lambdaInt;
-	} else if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_PEDAL_TPS_OFFSET) {
-		int16_t pedalScaled = *reinterpret_cast<const int16_t*>(&frame.data8[0]);
-		canPedal = pedalScaled / (1.0 * PACK_MULT_PERCENT);
 	} else if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
 		int16_t mapScaled = *reinterpret_cast<const int16_t*>(&frame.data8[0]);
 		canMap = mapScaled / (1.0 * PACK_MULT_PRESSURE);

firmware/controllers/can/can_verbose.cpp

@@ -81,7 +81,7 @@ struct PedalAndTps {
 
 static void populateFrame(PedalAndTps& msg)
 {
-    msg.pedal = getPedalPosition();
+    msg.pedal = Sensor::get(SensorType::AcceleratorPedal).value_or(-1);
     msg.tps1 = Sensor::get(SensorType::Tps1).value_or(-1);
     msg.tps2 = Sensor::get(SensorType::Tps2).value_or(-1);
 }

firmware/controllers/engine_controller.h

@@ -28,7 +28,6 @@ void setMockVBattVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setMockMapVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX);
 // throttle body sensor
 void setMockThrottlePositionSensorVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX);
-void setMockThrottlePedalSensorVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setMockAfrVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setMockMafVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setMockIatVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX);

firmware/controllers/engine_controller_misc.cpp

@@ -48,10 +48,6 @@ void setMockAfrVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	setMockVoltage(engineConfiguration->afr.hwChannel, voltage PASS_ENGINE_PARAMETER_SUFFIX);
 }
 
-void setMockThrottlePedalSensorVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX) {
-	setMockVoltage(engineConfiguration->throttlePedalPositionAdcChannel, voltage PASS_ENGINE_PARAMETER_SUFFIX);
-}
-
 void setMockThrottlePositionSensorVoltage(float voltage DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	setMockVoltage(engineConfiguration->tps1_1AdcChannel, voltage PASS_ENGINE_PARAMETER_SUFFIX);
 }

firmware/controllers/sensors/tps.cpp

@@ -11,12 +11,6 @@
 
 EXTERN_ENGINE;
 
-/**
- * set mock_pedal_position X
- * See also directPwmValue
- */
-percent_t mockPedalPosition = MOCK_UNDEFINED;
-
 #if !EFI_PROD_CODE
 /**
  * this allows unit tests to simulate TPS position
@@ -30,11 +24,6 @@ void setMockTpsValue(percent_t tpsPosition DECLARE_ENGINE_PARAMETER_SUFFIX) {
 }
 #endif /* EFI_PROD_CODE */
 
-// see also setMockThrottlePedalSensorVoltage
-void setMockThrottlePedalPosition(percent_t value DECLARE_ENGINE_PARAMETER_SUFFIX) {
-	mockPedalPosition = value;
-}
-
 /**
  * We are using one instance for read and another for modification, this is how we get lock-free thread-safety
  *
@@ -214,33 +203,6 @@ bool hasSecondThrottleBody(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	return engineConfiguration->tps2_1AdcChannel != EFI_ADC_NONE;
 }
 
-extern float canPedal;
-
-percent_t getPedalPosition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-#if EFI_CANBUS_SLAVE
-		return canPedal;
-#endif
-
-
-	if (mockPedalPosition != MOCK_UNDEFINED) {
-		return mockPedalPosition;
-	}
-
-	// Don't choke without a pedal set
-	if (CONFIG(throttlePedalPositionAdcChannel) == EFI_ADC_NONE) {
-		return 0;
-	}
-
-	DISPLAY_TAG(PEDAL_SECTION);
-	DISPLAY_TEXT(Analog_MCU_reads);
-
-	float voltage = getVoltageDivided("pPS", CONFIG(DISPLAY_CONFIG(throttlePedalPositionAdcChannel)) PASS_ENGINE_PARAMETER_SUFFIX);
-	percent_t result = interpolateMsg("pedal", engineConfiguration->throttlePedalUpVoltage, 0, engineConfiguration->throttlePedalWOTVoltage, 100, voltage);
-
-	// this would put the value into the 0-100 range
-	return maxF(0, minF(100, result));
-}
-
 static bool hasTpsSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	return engineConfiguration->tps1_1AdcChannel != EFI_ADC_NONE;
 }

firmware/controllers/sensors/tps.h

@@ -16,7 +16,6 @@
 #define TPS_TS_CONVERSION 200
 
 bool hasPedalPositionSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE);
-percent_t getPedalPosition(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 /**
  * Throttle Position Sensor
  * In case of dual TPS this function would return logical TPS position
@@ -29,7 +28,6 @@ bool hasSecondThrottleBody(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 percent_t getTpsValue(int index, float adc DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setMockTpsAdc(percent_t tpsPosition DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setMockTpsValue(percent_t tpsPosition DECLARE_ENGINE_PARAMETER_SUFFIX);
-void setMockThrottlePedalPosition(percent_t value DECLARE_ENGINE_PARAMETER_SUFFIX);
 void grabTPSIsClosed();
 void grabTPSIsWideOpen();
 void grabPedalIsUp();

firmware/controllers/settings.cpp

@@ -1177,8 +1177,6 @@ const command_f_s commandsF[] = {
 #if EFI_ENGINE_CONTROL
 #if EFI_ENABLE_MOCK_ADC
 		{MOCK_IAT_COMMAND, setMockIatVoltage},
-		{MOCK_PPS_POSITION_COMMAND, setMockThrottlePedalPosition},
-		{MOCK_PPS_VOLTAGE_COMMAND, setMockThrottlePedalSensorVoltage},
 		{MOCK_TPS_COMMAND, setMockThrottlePositionSensorVoltage},
 		{MOCK_MAF_COMMAND, setMockMafVoltage},
 		{MOCK_AFR_COMMAND, setMockAfrVoltage},

firmware/hw_layer/stepper.cpp

@@ -13,9 +13,9 @@
 #if EFI_PROD_CODE || EFI_SIMULATOR
 #include "stepper.h"
 #include "pin_repository.h"
-#include "tps.h"
 #include "engine_controller.h"
 #include "adc_inputs.h"
+#include "sensor.h"
 
 EXTERN_ENGINE;
 
@@ -55,10 +55,11 @@ void StepperMotor::ThreadTask() {
 	bool isRunning = false;
 #endif /* EFI_SHAFT_POSITION_INPUT */
 	// now check if stepper motor re-initialization is requested - if the throttle pedal is pressed at startup
-	bool forceStepperParking = !isRunning && getTPS(PASS_ENGINE_PARAMETER_SIGNATURE) > STEPPER_PARKING_TPS;
+	auto tpsPos = Sensor::get(SensorType::DriverThrottleIntent).value_or(0);
+	bool forceStepperParking = !isRunning && tpsPos > STEPPER_PARKING_TPS;
 	if (CONFIG(stepperForceParkingEveryRestart))
 		forceStepperParking = true;
-	scheduleMsg(logger, "Stepper: savedStepperPos=%d forceStepperParking=%d (tps=%.2f)", m_currentPosition, (forceStepperParking ? 1 : 0), getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
+	scheduleMsg(logger, "Stepper: savedStepperPos=%d forceStepperParking=%d (tps=%.2f)", m_currentPosition, (forceStepperParking ? 1 : 0), tpsPos);
 
 	if (m_currentPosition < 0 || forceStepperParking) {
 		// reset saved value

firmware/init/sensor/init_tps.cpp

@@ -62,6 +62,10 @@ void initTps() {
 	} else {
 		driverIntent.setProxiedSensor(SensorType::Tps1);
 	}
+
+	if (!driverIntent.Register()) {
+		firmwareError(CUSTOM_INVALID_TPS_SETTING, "Duplicate TPS registration for TPS sensor");
+	}
 }
 
 void reconfigureTps() {

unit_tests/tests/test_etb.cpp

@@ -9,7 +9,7 @@
 #include "electronic_throttle.h"
 #include "dc_motor.h"
 #include "engine_controller.h"
-#include "tps.h"
+#include "sensor.h"
 
 class MockEtb : public IEtbController {
 public:
@@ -75,16 +75,15 @@ TEST(etb, testTargetTpsIsFloatBug945) {
 
 	engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_0;
 
-	setMockThrottlePedalSensorVoltage(3 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
 	engine->etbControllers[0]->PeriodicTask();
 	ASSERT_NEAR(50, engine->engineState.targetFromTable, EPS4D);
 
-	setMockThrottlePedalSensorVoltage(3.05 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 50.8302f);
-	ASSERT_NEAR(50.8302, getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE), EPS4D);
 	engine->etbControllers[0]->PeriodicTask();
 	ASSERT_NEAR(50.8302, engine->engineState.targetFromTable, EPS4D);
 
-	setMockThrottlePedalSensorVoltage(3.1 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 51.6605f);
 	engine->etbControllers[0]->PeriodicTask();
 	ASSERT_NEAR(51.6605, engine->engineState.targetFromTable, EPS4D);
 }