rusefi
/
custom-board-bundle-sample-fork-of-rusefi
mirror of https://github.com/rusefi/custom-board-bundle-sample-fork-of-rusefi.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

TPS Initialization Testing (#1264) 

* test support

* stub for tests

* plumbing so we can test this

* add test

* comments
This commit is contained in:
Matthew Kennedy 2020-04-05 06:10:08 -07:00 committed by GitHub
parent c0f03fd8fb
commit 43d38a6691
11 changed files with 177 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
firmware/controllers/engine_controller.cpp
View File

@ -123,6 +123,8 @@ void initDataStructures(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
static void mostCommonInitEngineController(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
#if !EFI_UNIT_TEST
// This is tested independently - don't configure sensors for tests.
// This lets us selectively mock them for each test.
initNewSensors(sharedLogger);
#endif /* EFI_UNIT_TEST */

10
firmware/hw_layer/adc_subscription.cpp
View File

@ -8,7 +8,15 @@
EXTERN_ENGINE;
#if !EFI_UNIT_TEST
#if EFI_UNIT_TEST
void AdcSubscription::SubscribeSensor(FunctionalSensor &sensor,
adc_channel_e channel,
float voltsPerAdcVolt /*= 0.0f*/)
{
}
#else
struct AdcSubscriptionEntry {
FunctionalSensor *Sensor;

16
firmware/init/init.h
View File

@ -4,13 +4,25 @@
#pragma once
#include "globalaccess.h"
class Logging;
// Call this once at startup to initialize, configure, and subscribe sensors
void initNewSensors(Logging* logger);
void initNewSensors(Logging* logger DECLARE_ENGINE_PARAMETER_SUFFIX);
// Call this whenever the configuration may have changed, so any sensors
// can be reconfigured with the new settings.
// Note: this may not be necessarily possible for all sensors, so some may
// do nothing when this is called.
void reconfigureSensors();
void reconfigureSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE);
// Internal init functions for individual systems
// Sensor init/config
void initTps(DECLARE_ENGINE_PARAMETER_SIGNATURE);
void initOilPressure(DECLARE_ENGINE_PARAMETER_SIGNATURE);
void initCanSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE);
// Sensor reconfiguration
void reconfigureTps(DECLARE_ENGINE_PARAMETER_SIGNATURE);
void reconfigureOilPressure(DECLARE_ENGINE_PARAMETER_SIGNATURE);

7
firmware/init/sensor/init_oil_pressure.cpp
View File

@ -1,3 +1,4 @@
#include "init.h"
#include "adc_subscription.h"
#include "engine.h"
#include "error_handling.h"
@ -26,9 +27,9 @@ void configureOilPressure(LinearFunc func, const oil_pressure_config_s& cfg)
func.configure(cfg.v1, val1, cfg.v2, val2, /*minOutput*/ -5, greaterOutput);
}
void initOilPressure() {
void initOilPressure(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
// Only register if we have a sensor
auto channel = engineConfiguration->oilPressure.hwChannel;
auto channel = CONFIG(oilPressure.hwChannel);
if (channel == EFI_ADC_NONE) {
return;
}
@ -44,6 +45,6 @@ void initOilPressure() {
}
}
void reconfigureOilPressure() {
void reconfigureOilPressure(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
configureOilPressure(oilpSensorFunc, CONFIG(oilPressure));
}

24
firmware/init/sensor/init_sensors.cpp
View File

@ -2,37 +2,27 @@
* @file init_sensorss.cpp
*/
#include "global.h"
#include "cli_registry.h"
#include "init.h"
#include "cli_registry.h"
#include "sensor.h"
static void initSensorCli(Logging* logger);
// Sensor init/config
void initTps();
void initOilPressure();
void initCanSensors();
void initNewSensors(Logging* logger) {
void initNewSensors(Logging* logger DECLARE_ENGINE_PARAMETER_SUFFIX) {
#if EFI_CAN_SUPPORT
initCanSensors();
#endif
initTps();
initOilPressure();
initTps(PASS_ENGINE_PARAMETER_SIGNATURE);
initOilPressure(PASS_ENGINE_PARAMETER_SIGNATURE);
// Init CLI functionality for sensors (mocking)
initSensorCli(logger);
}
// Sensor reconfiguration
void reconfigureTps();
void reconfigureOilPressure();
void reconfigureSensors() {
reconfigureTps();
reconfigureOilPressure();
void reconfigureSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
reconfigureTps(PASS_ENGINE_PARAMETER_SIGNATURE);
reconfigureOilPressure(PASS_ENGINE_PARAMETER_SIGNATURE);
}
static Logging* s_logger;

31
firmware/init/sensor/init_tps.cpp
View File

@ -25,22 +25,21 @@ FunctionalSensor pedalSensor(SensorType::AcceleratorPedal, MS2NT(10));
// This sensor indicates the driver's throttle intent - Pedal if we have one, TPS if not.
ProxySensor driverIntent(SensorType::DriverThrottleIntent);
static void configureTps(LinearFunc& func, float closed, float open) {
static void configureTps(LinearFunc& func, float closed, float open, float min, float max) {
func.configure(
closed, 0,
open, 100,
CONFIG(tpsErrorDetectionTooLow),
CONFIG(tpsErrorDetectionTooHigh)
min, max
);
}
static void initTpsFunc(LinearFunc& func, FunctionalSensor& sensor, adc_channel_e channel, float closed, float open) {
static void initTpsFunc(LinearFunc& func, FunctionalSensor& sensor, adc_channel_e channel, float closed, float open, float min, float max) {
// Only register if we have a sensor
if (channel == EFI_ADC_NONE) {
return;
}
configureTps(func, closed, open);
configureTps(func, closed, open, min, max);
sensor.setFunction(func);
@ -51,10 +50,13 @@ static void initTpsFunc(LinearFunc& func, FunctionalSensor& sensor, adc_channel_
}
}
void initTps() {
initTpsFunc(tpsFunc1p, tpsSens1p, CONFIG(tps1_1AdcChannel), CONFIG(tpsMin), CONFIG(tpsMax));
initTpsFunc(tpsFunc2p, tpsSens2p, CONFIG(tps2_1AdcChannel), CONFIG(tps2Min), CONFIG(tps2Max));
initTpsFunc(pedalFunc, pedalSensor, CONFIG(throttlePedalPositionAdcChannel), CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage));
void initTps(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
float min = CONFIG(tpsErrorDetectionTooLow);
float max = CONFIG(tpsErrorDetectionTooHigh);
initTpsFunc(tpsFunc1p, tpsSens1p, CONFIG(tps1_1AdcChannel), CONFIG(tpsMin), CONFIG(tpsMax), min, max);
initTpsFunc(tpsFunc2p, tpsSens2p, CONFIG(tps2_1AdcChannel), CONFIG(tps2Min), CONFIG(tps2Max), min, max);
initTpsFunc(pedalFunc, pedalSensor, CONFIG(throttlePedalPositionAdcChannel), CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage), min, max);
// Route the pedal or TPS to driverIntent as appropriate
if (CONFIG(throttlePedalPositionAdcChannel) != EFI_ADC_NONE) {
@ -68,8 +70,11 @@ void initTps() {
}
}
void reconfigureTps() {
configureTps(tpsFunc1p, CONFIG(tpsMin), CONFIG(tpsMax));
configureTps(tpsFunc2p, CONFIG(tps2Min), CONFIG(tps2Max));
configureTps(pedalFunc, CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage));
void reconfigureTps(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
float min = CONFIG(tpsErrorDetectionTooLow);
float max = CONFIG(tpsErrorDetectionTooHigh);
configureTps(tpsFunc1p, CONFIG(tpsMin), CONFIG(tpsMax), min, max);
configureTps(tpsFunc2p, CONFIG(tps2Min), CONFIG(tps2Max), min, max);
configureTps(pedalFunc, CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage), min, max);
}

3
unit_tests/Makefile
View File

@ -102,6 +102,7 @@ include $(PROJECT_DIR)/hw_layer/hw_layer.mk
include $(PROJECT_DIR)/hw_layer/drivers/drivers.mk
include $(PROJECT_DIR)/hw_layer/sensors/sensors.mk
include $(PROJECT_DIR)/util/util.mk
include $(PROJECT_DIR)/init/init.mk
include test.mk
include tests/tests.mk
@ -138,6 +139,7 @@ CPPSRC = $(UTILSRC_CPP) \
$(HW_LAYER_EMS_CPP) \
$(HW_SENSORS_SRC) \
$(TRIGGER_SRC_CPP) \
$(INIT_SRC_CPP) \
$(PROJECT_DIR)/../unit_tests/main.cpp
@ -175,6 +177,7 @@ INCDIR = . \
$(PROJECT_DIR)/hw_layer \
$(PROJECT_DIR)/hw_layer/algo \
$(PROJECT_DIR)/hw_layer/sensors/ \
$(PROJECT_DIR)/init/ \
$(HW_LAYER_DRIVERS_INC) \
test_data_structures \
googletest/googlemock/include \

4
unit_tests/engine_test_helper.cpp
View File

@ -79,6 +79,10 @@ EngineTestHelper::EngineTestHelper(engine_type_e engineType, configuration_callb
EngineTestHelper::EngineTestHelper(engine_type_e engineType) : EngineTestHelper(engineType, &emptyCallbackWithConfiguration) {
}
EngineTestHelper::~EngineTestHelper() {
Sensor::resetRegistry();
}
/**
* mock a change of time and fire single RISE front event
*/

4
unit_tests/engine_test_helper.h
View File

@ -28,8 +28,10 @@ public:
*/
class EngineTestHelper : public EngineTestHelperBase {
public:
EngineTestHelper(engine_type_e engineType);
explicit EngineTestHelper(engine_type_e engineType);
EngineTestHelper(engine_type_e engineType, configuration_callback_t boardCallback);
~EngineTestHelper();
void applyTriggerWaveform();
void setTriggerType(trigger_type_e trigger DECLARE_ENGINE_PARAMETER_SUFFIX);
void fireRise(float delayMs);

110
unit_tests/tests/sensor/test_sensor_init.cpp Normal file
View File

@ -0,0 +1,110 @@
#include "unit_test_framework.h"
#include "init.h"
#include "sensor.h"
#include "functional_sensor.h"
#include "engine_test_helper.h"
#include <gtest/gtest.h>
static void postToFuncSensor(Sensor* s, float value) {
static_cast<FunctionalSensor*>(s)->postRawValue(value, getTimeNowNt());
}
#define EXPECT_POINT_VALID(s, raw, expect) \
{\
postToFuncSensor(s, raw); \
auto res = s->get(); \
EXPECT_TRUE(res.Valid); \
EXPECT_NEAR(res.Value, expect, EPS4D); \
}
#define EXPECT_POINT_INVALID(s, raw) \
{\
postToFuncSensor(s, raw); \
auto res = s->get(); \
EXPECT_FALSE(res.Valid); \
}
TEST(SensorInit, Tps) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
CONFIG(tpsMin) = 200; // 1 volt
CONFIG(tpsMax) = 800; // 4 volts
initTps(PASS_ENGINE_PARAMETER_SIGNATURE);
// Ensure the sensors were registered
auto s = const_cast<Sensor*>(Sensor::getSensorOfType(SensorType::Tps1));
ASSERT_NE(nullptr, s);
// Test in range
EXPECT_POINT_VALID(s, 1.0f, 0.0f); // closed throttle
EXPECT_POINT_VALID(s, 2.5f, 50.0f); // half throttle
EXPECT_POINT_VALID(s, 4.0f, 100.0f) // full throttle
// Test out of range
EXPECT_POINT_INVALID(s, 0.0f);
EXPECT_POINT_INVALID(s, 5.0f);
}
TEST(SensorInit, Pedal) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
CONFIG(throttlePedalPositionAdcChannel) = EFI_ADC_0;
CONFIG(throttlePedalUpVoltage) = 1;
CONFIG(throttlePedalWOTVoltage) = 4;
initTps(PASS_ENGINE_PARAMETER_SIGNATURE);
// Ensure the sensors were registered
auto s = const_cast<Sensor*>(Sensor::getSensorOfType(SensorType::AcceleratorPedal));
ASSERT_NE(nullptr, s);
// Test in range
EXPECT_POINT_VALID(s, 1.0f, 0.0f); // closed throttle
EXPECT_POINT_VALID(s, 2.5f, 50.0f); // half throttle
EXPECT_POINT_VALID(s, 4.0f, 100.0f) // full throttle
// Test out of range
EXPECT_POINT_INVALID(s, 0.0f);
EXPECT_POINT_INVALID(s, 5.0f);
}
TEST(SensorInit, DriverIntentNoPedal) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
// We have no pedal - so we should get the TPS
CONFIG(throttlePedalPositionAdcChannel) = EFI_ADC_NONE;
initTps(PASS_ENGINE_PARAMETER_SIGNATURE);
// Ensure a sensor got set
ASSERT_TRUE(Sensor::hasSensor(SensorType::DriverThrottleIntent));
// Set values so we can identify which one got proxied
Sensor::setMockValue(SensorType::Tps1, 25);
Sensor::setMockValue(SensorType::AcceleratorPedal, 75);
// Should get the TPS
EXPECT_EQ(Sensor::get(SensorType::DriverThrottleIntent).Value, 25);
}
TEST(SensorInit, DriverIntentWith) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
// We have a pedal, so we should get it
CONFIG(throttlePedalPositionAdcChannel) = EFI_ADC_0;
initTps(PASS_ENGINE_PARAMETER_SIGNATURE);
// Ensure a sensor got set
ASSERT_TRUE(Sensor::hasSensor(SensorType::DriverThrottleIntent));
// Set values so we can identify which one got proxied
Sensor::setMockValue(SensorType::Tps1, 25);
Sensor::setMockValue(SensorType::AcceleratorPedal, 75);
// Should get the pedal
EXPECT_EQ(Sensor::get(SensorType::DriverThrottleIntent).Value, 75);
}

4
unit_tests/tests/tests.mk
View File

@ -45,4 +45,6 @@ TESTS_SRC_CPP = \
tests/sensor/resist_func.cpp \
tests/sensor/therm_func.cpp \
tests/sensor/func_chain.cpp \
tests/sensor/redundant.cpp
tests/sensor/redundant.cpp \
tests/sensor/test_sensor_init.cpp \