trim table for throttle #2 (#4472)

* add table and wire it up

* trim table ui

* initialization

* changelog

* add a test

firmware/CHANGELOG.md

@@ -27,6 +27,7 @@ Release template (copy/paste this for new release):
 
 ### Added
  - Time delay before DFCO #4292
+ - Manual electronic throttle synchronization #3680
 
 ### Fixed
  - Inverted vvt control #4464

firmware/controllers/actuators/electronic_throttle.cpp

@@ -94,6 +94,7 @@
 #endif /* ETB_MAX_COUNT */
 
 static pedal2tps_t pedal2tpsMap;
+static Map3D<6, 6, int8_t, uint8_t, uint8_t> throttle2TrimTable;
 
 constexpr float etbPeriodSeconds = 1.0f / ETB_LOOP_FREQUENCY;
 
@@ -384,9 +385,8 @@ float EtbController::getLuaAdjustment() const {
 	}
 }
 
-percent_t EtbController2::getThrottleTrim(float /*rpm*/, percent_t /*targetPosition*/) const {
-	// TODO: implement me #3680
-	return 0;
+percent_t EtbController2::getThrottleTrim(float rpm, percent_t targetPosition) const {
+	return m_throttle2Trim.getValue(rpm, targetPosition);
 }
 
 expected<percent_t> EtbController::getOpenLoop(percent_t target) {
@@ -614,8 +614,13 @@ void EtbController::autoCalibrateTps() {
  */
 #include "periodic_thread_controller.h"
 
+#include <utility>
+
 template <typename TBase>
 struct EtbImpl final : public TBase {
+	template <typename... TArgs>
+	EtbImpl(TArgs&&... args) : TBase(std::forward<TArgs>(args)...) { }
+
 	void update() override {
 #if EFI_TUNER_STUDIO
 	if (TBase::m_isAutocal) {
@@ -688,7 +693,7 @@ struct EtbImpl final : public TBase {
 
 // real implementation (we mock for some unit tests)
 static EtbImpl<EtbController1> etb1;
-static EtbImpl<EtbController2> etb2;
+static EtbImpl<EtbController2> etb2(throttle2TrimTable);
 
 static_assert(ETB_COUNT == 2);
 static EtbController* etbControllers[] = { &etb1, &etb2 };
@@ -961,6 +966,7 @@ void doInitElectronicThrottle() {
 #endif /* EFI_PROD_CODE */
 
 	pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
+	throttle2TrimTable.init(config->throttle2TrimTable, config->throttle2TrimTpsBins, config->throttle2TrimRpmBins);
 
 	bool shouldInitThrottles = Sensor::hasSensor(SensorType::AcceleratorPedalPrimary);
 	bool anyEtbConfigured = false;

firmware/controllers/actuators/electronic_throttle_impl.h

@@ -115,5 +115,13 @@ class EtbController1 : public EtbController { };
 
 class EtbController2 : public EtbController {
 public:
+	EtbController2(const ValueProvider3D& throttle2TrimTable)
+		: m_throttle2Trim(throttle2TrimTable)
+	{
+	}
+
 	percent_t getThrottleTrim(float rpm, percent_t /*targetPosition*/) const override;
+
+private:
+	const ValueProvider3D& m_throttle2Trim;
 };

firmware/integration/rusefi_config.txt

@@ -1715,7 +1715,11 @@ uint8_t[8] tcu_tccUnlockSpeed;;"MPH", 1, 0, 0, 255, 0
 
 uint8_t[8] tcu_32SpeedBins;;"KPH", 1, 0, 0, 255, 0
 uint8_t[8] tcu_32Vals;;"%", 1, 0, 0, 255, 0
-	
+
+int8_t[6 x 6] autoscale throttle2TrimTable;;"%", 0.1, 0, -10, 10, 1
+uint8_t[6] throttle2TrimTpsBins;;"%", 1, 0, 0, 120, 0
+uint8_t[6] autoscale throttle2TrimRpmBins;;"RPM", 100, 0, 0, 25000, 0
+
 end_struct
 
 ! Pedal Position Sensor

firmware/tunerstudio/rusefi.input

@@ -952,6 +952,11 @@ curve = 32Curve, "3-2 Shift Solenoid Percent by Speed"
       gridOrient  = 250,   0, 340 ; Space 123 rotation of grid in degrees.
       upDownLabel = "(Later)", "(Sooner)"
 
+   table = throttle2TrimTbl, throttle2TrimMap,  "ETB #2 Trim",   1
+      xBins       = throttle2TrimRpmBins,  RPMValue
+      yBins       = throttle2TrimTpsBins,  TPSValue
+      zBins       = throttle2TrimTable
+      gridOrient  = 250,   0, 340 ; Space 123 rotation of grid in degrees.
 
 #if LAMBDA
    table = lambdaTableTbl,  lambdaTableMap,  "Target Lambda Table",   1
@@ -1551,6 +1556,7 @@ menuDialog = main
 		subMenu = etbDialog,				"Electronic throttle body" @@if_ts_show_etb
 		subMenu = etbTpsBiasCurve,			"ETB bias curve (feed forward)" @@if_ts_show_etb
 		subMenu = pedalToTpsTbl,			"ETB pedal target" @@if_ts_show_etb
+		subMenu = throttle2TrimTbl,			"ETB #2 Trim", { tps2_1AdcChannel != @@ADC_CHANNEL_NONE@@ } @@if_ts_show_etb
 
 		subMenu = std_separator
 		subMenu = vvtPidDialog,				"VVT outputs and PID", { vvtMode1 != @@vvt_mode_e_VVT_INACTIVE@@ }

unit_tests/tests/actuators/test_etb.cpp

@@ -15,6 +15,7 @@
 
 using ::testing::_;
 using ::testing::Ne;
+using ::testing::Return;
 using ::testing::StrictMock;
 
 TEST(etb, initializationNoPedal) {
@@ -323,6 +324,37 @@ TEST(etb, testSetpointOnlyPedal) {
 	EXPECT_EQ(90, etb.getSetpoint().value_or(-1));
 }
 
+TEST(etb, setpointSecondThrottleTrim) {
+	EngineTestHelper eth(TEST_ENGINE);
+
+	// Don't use ETB for idle, we aren't testing that yet - just pedal table for now
+	engineConfiguration->useETBforIdleControl = false;
+
+
+	// Mock pedal map that's just passthru pedal -> target
+	StrictMock<MockVp3d> pedalMap;
+	EXPECT_CALL(pedalMap, getValue(_, _))
+		.WillRepeatedly([](float xRpm, float y) {
+			return y;
+		});
+
+	// Should get called with the un-adjusted setpoint
+	StrictMock<MockVp3d> throttleTrimTable;
+	EXPECT_CALL(throttleTrimTable, getValue(0, 47))
+		.WillOnce(Return(4));
+
+	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
+	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
+
+	EtbController2 etb(throttleTrimTable);
+	etb.init(ETB_Throttle1, nullptr, nullptr, &pedalMap, true);
+
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 47, true);
+	EXPECT_EQ(51, etb.getSetpoint().value_or(-1));
+}
+
 TEST(etb, setpointIdle) {
 	EngineTestHelper eth(TEST_ENGINE);