baro fully in sensor model (#3829)

* consumers and api

* dead test

* baro uses sensor model

* remove old (copy of?) map lookup logic

* I guess we don't need FastInterpolation any more?

* don't double init analog input

firmware/controllers/can/can_dash.cpp

@@ -953,7 +953,7 @@ void canDashboardHaltech(CanCycle cycle) {
 			msg[4] = 0x00;
 			msg[5] = 0x00;
 			/* Barometric pressure */
-			tmp = (uint16_t)(getBaroPressure()*10);
+			tmp = (uint16_t)(Sensor::getOrZero(SensorType::BarometricPressure) * 10);
 			msg[6] = (tmp >> 8);
 			msg[7] = (tmp & 0x00ff);
 		}

firmware/controllers/gauges/lcd_controller.cpp

@@ -198,7 +198,7 @@ static void showLine(lcd_line_e line, int /*screenY*/) {
 #if	EFI_ANALOG_SENSORS
 	case LL_BARO:
 		if (Sensor::hasSensor(SensorType::BarometricPressure)) {
-			lcdPrintf("Baro: %.2f", getBaroPressure());
+			lcdPrintf("Baro: %.2f", Sensor::getOrZero(SensorType::BarometricPressure));
 		} else {
 			lcdPrintf("Baro: none");
 		}

firmware/controllers/sensors/map.cpp

@@ -7,164 +7,24 @@
  */
 #include "pch.h"
 
-#if EFI_PROD_CODE
-#include "digital_input_icu.h"
-#include "digital_input_exti.h"
-#endif
-
 #if EFI_ANALOG_SENSORS
 
-static FastInterpolation customMap;
-
-// See 'useFixedBaroCorrFromMap'
-static float storedInitialBaroPressure = NAN;
-
-/**
- * @brief	MAP value decoded for a 1.83 Honda sensor
- * -6.64kPa at zero volts
- * 182.78kPa at 5 volts
- *
- * about 3 volts at 100kPa
- *
- * @returns kPa value
- */
-static FastInterpolation denso183(0, -6.64, 5, 182.78);
-
-/**
- * MAP sensor output voltage of 3.0v = a gauge reading of 0 in. Hg
- * MAP sensor output voltage of 0.5v = a gauge reading of 27 in. Hg
- */
-static FastInterpolation honda3bar(0.5, 91.422, 3.0, 0);
-
-static FastInterpolation subyDenso(0, 0, 5, 200);
-
-static FastInterpolation gm3bar(0.631, 40, 4.914, 304);
-
-static FastInterpolation gm2bar(0, 8.8, 5, 208);
-
-static FastInterpolation gm1bar(0, 10, 5, 105);
-
-static FastInterpolation mpx4250(0, 8, 5, 260);
-
-static FastInterpolation mpx4250A(0.25, 20, 4.875, 250);
-
-static FastInterpolation mpxh6400(1 /*volts*/, 90 /*kPa*/, 3 /*volts*/, 250 /*kPa*/);
-
-static FastInterpolation mpx4100(0.3, 20, 4.9, 105);
-
-/**
- * http://easyautodiagnostics.com/chrysler/2.0L-2.4L/map-sensor-diagnostic-test-1
- * or maybe
- * https://books.google.com/books?id=3q85p56_PxIC page 132
- * https://books.google.com/books?id=3q85p56_PxIC&q=chrysler+map#v=snippet&q=chrysler%20map&f=false
- */
-//static FastInterpolation dodgeNeon2003(0.5 /* volts */, 0 /* kPa */, 4.5 /* volts */ , 100 /* kPa */);
-static FastInterpolation dodgeNeon2003(0.4 /* volts */, 15.34 /* kPa */, 4.5 /* volts */ , 100 /* kPa */);
-
-static FastInterpolation densoToyota(3.7 - 2 /* volts */, 33.322271 /* kPa */, 3.7 /* volts */ , 100 /* kPa */);
-
-/**
- * Open question how to get this Miata NB2 sensor read MAP
- */
-static FastInterpolation mazda1bar(0 /* volts */, 2.5 /* kPa */, 5 /* volts */ , 117 /* kPa */);
-
-/**
- * Bosch 2.5 Bar TMap Map Sensor with IAT
- */
-static FastInterpolation bosch2_5(0.4 /* volts */, 20 /* kPa */, 4.65 /* volts */ , 250 /* kPa */);
-
-static FastInterpolation *getDecoder(air_pressure_sensor_type_e type);
-
-float decodePressure(float voltage, air_pressure_sensor_config_s * mapConfig) {
-	switch (mapConfig->type) {
-	case MT_CUSTOM:
-		// todo: migrate to 'FastInterpolation customMap'
-		return interpolateMsg("map", engineConfiguration->mapLowValueVoltage, mapConfig->lowValue,
-				engineConfiguration->mapHighValueVoltage, mapConfig->highValue, voltage);
-	case MT_DENSO183:
-	case MT_MPX4250:
-	case MT_MPX4250A:
-	case MT_HONDA3BAR:
-	case MT_DODGE_NEON_2003:
-	case MT_SUBY_DENSO:
-	case MT_GM_3_BAR:
-	case MT_GM_2_BAR:
-	case MT_GM_1_BAR:
-	case MT_TOYOTA_89420_02010:
-	case MT_MPX4100:
-	case MT_BOSCH_2_5:
-	case MT_MAZDA_1_BAR:
-	case MT_MPXH6400:
-		return getDecoder(mapConfig->type)->getValue(voltage);
-	default:
-		firmwareError(CUSTOM_ERR_MAP_TYPE, "Unknown MAP type: pressure %d", mapConfig->type);
-		return NAN;
-	}
-}
-
 /**
  * This function checks if Baro/MAP sensor value is inside of expected range
  * @return unchanged mapKPa parameter or NaN
  */
 static float validateBaroMap(float mapKPa) {
 	const float atmoPressure = 100.0f;
-	const float atmoPressureRange = 15.0f;	// 85..115
+
-	if (cisnan(mapKPa) || absF(mapKPa - atmoPressure) > atmoPressureRange) {
+	// Highest interstate is the Eisenhower Tunnel at 11158 feet -> 66 kpa
+	// Lowest point is the Dead Sea, -1411 feet -> 106 kpa
+	if (cisnan(mapKPa) || mapKPa > 110 || mapKPa < 60) {
 		warning(OBD_Barometric_Press_Circ, "Invalid start-up baro pressure = %.2fkPa", mapKPa);
 		return NAN;
 	}
 	return mapKPa;
 }
 
-float getBaroPressure() {
-	// Override the real Baro sensor with the stored initial MAP value, if the option is set.
-	if (engineConfiguration->useFixedBaroCorrFromMap)
-		return storedInitialBaroPressure;
-	float voltage = getVoltageDivided("baro", engineConfiguration->baroSensor.hwChannel);
-	return decodePressure(voltage, &engineConfiguration->baroSensor);
-}
-
-static FastInterpolation *getDecoder(air_pressure_sensor_type_e type) {
-	switch (type) {
-	case MT_DENSO183:
-		return &denso183;
-	case MT_MPX4250:
-		return &mpx4250;
-	case MT_MPX4100:
-		return &mpx4100;
-	case MT_MPX4250A:
-		return &mpx4250A;
-	case MT_MPXH6400:
-		return &mpxh6400;
-	case MT_HONDA3BAR:
-		return &honda3bar;
-	case MT_DODGE_NEON_2003:
-		return &dodgeNeon2003;
-	case MT_SUBY_DENSO:
-		return &subyDenso;
-	case MT_GM_3_BAR:
-		return &gm3bar;
-	case MT_GM_2_BAR:
-		return &gm2bar;
-	case MT_GM_1_BAR:
-		return &gm1bar;
-	case MT_TOYOTA_89420_02010:
-		return &densoToyota;
-	case MT_MAZDA_1_BAR:
-		return &mazda1bar;
-	case MT_BOSCH_2_5:
-		return &bosch2_5;
-	default:
-		firmwareError(CUSTOM_ERR_MAP_TYPE, "Unknown MAP type: decoder %d", type);
-		return &customMap;
-	}
-}
-
-static void applyConfiguration() {
-	air_pressure_sensor_config_s * apConfig = &engineConfiguration->map.sensor;
-	customMap.init(0, apConfig->lowValue, 5, apConfig->highValue);
-}
-
 #if EFI_PROD_CODE
 
 extern int mapMinBufferLength;
@@ -207,18 +67,18 @@ static void printMAPInfo() {
 }
 #endif /* EFI_PROD_CODE */
 
-
 void initMapDecoder() {
-	applyConfiguration();
-
 	if (engineConfiguration->useFixedBaroCorrFromMap) {
 		// Read initial MAP sensor value and store it for Baro correction.
-		storedInitialBaroPressure = Sensor::get(SensorType::MapSlow).value_or(101.325);
+		float storedInitialBaroPressure = Sensor::get(SensorType::MapSlow).value_or(101.325);
 		efiPrintf("Get initial baro MAP pressure = %.2fkPa", storedInitialBaroPressure);
 		// validate if it's within a reasonable range (the engine should not be spinning etc.)
 		storedInitialBaroPressure = validateBaroMap(storedInitialBaroPressure);
 		if (!cisnan(storedInitialBaroPressure)) {
 			efiPrintf("Using this fixed MAP pressure to override the baro correction!");
+
+			// TODO: do literally anything other than this
+			Sensor::setMockValue(SensorType::BarometricPressure, storedInitialBaroPressure);
 		} else {
 			efiPrintf("The baro pressure is invalid. The fixed baro correction will be disabled!");
 		}

firmware/controllers/sensors/map.h

@@ -11,10 +11,6 @@ struct air_pressure_sensor_config_s;
 
 void initMapDecoder();
 
-float getBaroPressure();
-
-float decodePressure(float voltage, air_pressure_sensor_config_s * mapConfig);
-
 #define KPA_PER_PSI 6.89475728f
 
 #define PSI2KPA(psi)  (KPA_PER_PSI * (psi))

firmware/init/sensor/init_map.cpp

@@ -7,18 +7,8 @@
 #include "function_pointer_sensor.h"
 #include "identity_func.h"
 
-struct GetBaroWrapper {
+static LinearFunc baroConverter;
-	float getBaro() {
+static FunctionalSensor baroSensor(SensorType::BarometricPressure, MS2NT(50));
-		return ::getBaroPressure();
-	}
-};
-
-static GetBaroWrapper baroWrapper;
-
-static FunctionPointerSensor baroSensor(SensorType::BarometricPressure,
-[]() {
-	return baroWrapper.getBaro();
-});
 
 // This converter is shared between both fast and slow: the only difference is
 // how the *voltage* is determined, not how its converted to a pressure.
@@ -51,8 +41,7 @@ struct MapCfg {
 	float map2;
 };
 
-static MapCfg getMapCfg() {
+static MapCfg getMapCfg(air_pressure_sensor_type_e sensorType) {
-	auto sensorType = engineConfiguration->map.sensor.type;
 	switch (sensorType) {
 	case MT_DENSO183:
 		return {0, -6.64, 5, 182.78};
@@ -97,10 +86,10 @@ static MapCfg getMapCfg() {
 	}}
 }
 
-void configureMapFunction() {
+void configureMapFunction(LinearFunc& converter, air_pressure_sensor_type_e sensorType) {
-	auto cfg = getMapCfg();
+	auto cfg = getMapCfg(engineConfiguration->map.sensor.type);
 
-	mapConverter.configure(
+	converter.configure(
 		cfg.v1,
 		cfg.map1,
 		cfg.v2,
@@ -111,12 +100,10 @@ void configureMapFunction() {
 }
 
 void initMap() {
-
 	auto mapChannel = engineConfiguration->map.sensor.hwChannel;
-
 	if (isAdcChannelValid(mapChannel)) {
 		// Set up the conversion function
-		configureMapFunction();
+		configureMapFunction(mapConverter, engineConfiguration->map.sensor.type);
 
 		slowMapSensor.setFunction(mapConverter);
 		fastMapSensor.setFunction(identityFunction);
@@ -129,12 +116,18 @@ void initMap() {
 		AdcSubscription::SubscribeSensor(slowMapSensor, mapChannel, 100);
 	}
 
-	// Only register if configured
+	auto baroChannel = engineConfiguration->baroSensor.hwChannel;
-	if (isAdcChannelValid(engineConfiguration->baroSensor.hwChannel)) {
+	if (isAdcChannelValid(baroChannel)) {
+		configureMapFunction(baroConverter, engineConfiguration->baroSensor.type);
+
+		baroSensor.setFunction(baroConverter);
 		baroSensor.Register();
+
+		AdcSubscription::SubscribeSensor(baroSensor, baroChannel, 10);
 	}
 }
 
 void deinitMap() {
 	AdcSubscription::UnsubscribeSensor(slowMapSensor);
+	AdcSubscription::UnsubscribeSensor(baroSensor);
 }

firmware/init/sensor/init_sensors.cpp

@@ -33,7 +33,6 @@ void deInitIfValid(const char* msg, adc_channel_e channel) {
 
 static void initOldAnalogInputs() {
 	initIfValid("AFR", engineConfiguration->afr.hwChannel);
-	initIfValid("Baro", engineConfiguration->baroSensor.hwChannel);
 	initIfValid("AUXF#1", engineConfiguration->auxFastSensor1_adcChannel);
 	initIfValid("CJ125 UR", engineConfiguration->cj125ur);
 	initIfValid("CJ125 UA", engineConfiguration->cj125ua);
@@ -41,7 +40,6 @@ static void initOldAnalogInputs() {
 
 static void deInitOldAnalogInputs() {
 	deInitIfValid("AFR", activeConfiguration.afr.hwChannel);
-	deInitIfValid("Baro", activeConfiguration.baroSensor.hwChannel);
 	deInitIfValid("AUXF#1", activeConfiguration.auxFastSensor1_adcChannel);
 	deInitIfValid("CJ125 UR", activeConfiguration.cj125ur);
 	deInitIfValid("CJ125 UA", activeConfiguration.cj125ua);

firmware/util/math/interpolation.cpp

@@ -60,27 +60,6 @@ static void testBinary() {
 
 #endif
 
-FastInterpolation::FastInterpolation() {
-	init(0, 0, 1, 1);
-}
-
-FastInterpolation::FastInterpolation(float x1, float y1, float x2, float y2) {
-	init(x1, y1, x2, y2);
-}
-
-void FastInterpolation::init(float x1, float y1, float x2, float y2) {
-	if (x1 == x2) {
-		firmwareError(CUSTOM_ERR_INTERPOLATE, "init: Same x1 and x2 in interpolate: %.2f/%.2f", x1, x2);
-		return;
-	}
-	a = INTERPOLATION_A(x1, y1, x2, y2);
-	b = y1 - a * x1;
-}
-
-float FastInterpolation::getValue(float x) const {
-	return a * x + b;
-}
-
 /** @brief	Linear interpolation by two points
  *
  * @param	x1 key of the first point
@@ -176,5 +155,4 @@ void initInterpolation() {
 #if BINARY_PERF && ! EFI_UNIT_TEST
 	addConsoleAction("binarytest", testBinary);
 #endif
-
 }

firmware/util/math/interpolation.h

@@ -219,13 +219,3 @@ void setCurveValue(const kType bins[], VType values[], int size, float key, floa
 }
 
 void initInterpolation();
-
-class FastInterpolation {
-public:
-	FastInterpolation();
-	FastInterpolation(float x1, float y1, float x2, float y2);
-	void init(float x1, float y1, float x2, float y2);
-	float getValue(float x) const;
-private:
-	float a, b;
-};

unit_tests/tests/test_sensors.cpp

@@ -1,22 +0,0 @@
-/**
- * @file	test_sensors.cpp
- *
- * @date Dec 7, 2013
- * @author Andrey Belomutskiy, (c) 2012-2020
- */
-
-#include "pch.h"
-
-TEST(sensors, mapDecoding) {
-	EngineTestHelper eth(FORD_INLINE_6_1995);
-
-	air_pressure_sensor_config_s s;
-	s.type = MT_DENSO183;
-
-	assertEqualsM("denso 0 volts", -6.64, decodePressure(0, &s));
-	ASSERT_FLOAT_EQ(31.244, decodePressure(1, &s));
-
-	s.type = MT_MPX4250;
-	ASSERT_EQ( 8,  decodePressure(0, &s)) << "MPX_4250 0 volts";
-	ASSERT_FLOAT_EQ(58.4, decodePressure(1, &s));
-}

unit_tests/tests/tests.mk

@@ -63,7 +63,6 @@ TESTS_SRC_CPP = \
 	tests/test_log_buffer.cpp \
 	tests/test_signal_executor.cpp \
 	tests/test_cpp_memory_layout.cpp \
-	tests/test_sensors.cpp \
 	tests/test_pid_auto.cpp \
 	tests/test_pid.cpp \
 	tests/test_accel_enrichment.cpp \