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Begin "vehicleSpeed" refactoring. Module switched to "FunctionalPointerSensor" class. #3106 #3107 #3108. (#3132) 

* Add new sensor type "VehicleSpeed"

* Add "Vehicle speed" sensor to name list

* Add Vehicle speed sensor initialization with function pointer sensor.

* Add init_vehicle_speed_sensor.cpp to Makefile

* Replace dependencies from "getVehicleSpeed" to OOP-like "Sensor::get()"

* Add warning and TODO to "mock vehicle speed" call

* Replace get & mock "VehicleSpeed" methods in tests

* Remove #warning directive (cause error by current settings)

* Remove stray tab

* Remove explicitly type casting.

* Add "InitVehicleSpeedSensor" function declaration to init.h

* Add "VehicleSpeedSensor" initialization call into "InitNewSensors"

Co-authored-by: alxrMironov <330OMcorporative>
This commit is contained in:
alxrMironov 2021-08-12 22:16:51 +03:00 committed by GitHub
parent 5bf52023e7
commit 7ebebd6922
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GPG Key ID: 4AEE18F83AFDEB23
17 changed files with 65 additions and 27 deletions
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2
firmware/console/status_loop.cpp
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@ -689,7 +689,7 @@ void updateTunerStudioState(TunerStudioOutputChannels *tsOutputChannels DECLARE_
tsOutputChannels->isCylinderCleanupActivated = engine->isCylinderCleanupMode;
#if EFI_VEHICLE_SPEED
float vehicleSpeed = getVehicleSpeed();
float vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
tsOutputChannels->vehicleSpeedKph = vehicleSpeed;
tsOutputChannels->speedToRpmRatio = vehicleSpeed / rpm;

3
firmware/controllers/actuators/idle_thread.cpp
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@ -478,7 +478,8 @@ float IdleController::getClosedLoop(IIdleController::Phase phase, float tpsPos,
float crankingTaper = getCrankingTaperFraction();
// Determine what operation phase we're in - idling or not
auto phase = determinePhase(rpm, targetRpm, tps, getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE), crankingTaper);
float vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
auto phase = determinePhase(rpm, targetRpm, tps, vehicleSpeed, crankingTaper);
m_lastPhase = phase;
engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;

2
firmware/controllers/algo/dynoview.cpp
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@ -18,7 +18,7 @@ void DynoView::update(vssSrc src) {
efitimeus_t timeNow, deltaTime = 0.0;
float speed,deltaSpeed = 0.0;
timeNow = getTimeNowUs();
speed = getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
speed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
if (src == ICU) {
speed = efiRound(speed,1.0);
} else {

2
firmware/controllers/algo/launch_control.cpp
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@ -55,7 +55,7 @@ bool LaunchControlBase::isInsideSwitchCondition() const {
* then we have to return true, and trust that we would disable by other condition!
*/
bool LaunchControlBase::isInsideSpeedCondition() const {
int speed = getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
int speed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
return (CONFIG(launchSpeedTreshold) > speed) || (!(CONFIG(launchActivationMode) == ALWAYS_ACTIVE_LAUNCH));
}

11
firmware/controllers/can/can_dash.cpp
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@ -173,7 +173,7 @@ void canMazdaRX8(CanCycle cycle) {
{
CanTxMessage msg(CAN_MAZDA_RX_RPM_SPEED);
float kph = getVehicleSpeed();
float kph = Sensor::get(SensorType::VehicleSpeed).value_or(0);
msg.setShortValue(SWAP_UINT16(GET_RPM() * 4), 0);
msg.setShortValue(0xFFFF, 2);
@ -497,7 +497,8 @@ void canDashboardBMWE90(CanCycle cycle)
}
{ //E90_SPEED
float mph = getVehicleSpeed() * 0.6213712;
auto vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
float mph = vehicleSpeed * 0.6213712;
mph_ctr = ((TIME_I2MS(chVTGetSystemTime()) - mph_timer) / 50);
mph_a = (mph_ctr * mph / 2);
mph_2a = mph_a + mph_last;
@ -753,7 +754,8 @@ void canDashboardHaltech(CanCycle cycle) {
{
CanTxMessage msg(0x36C, 8);
/* Wheel Speed Front Left */
tmp = (getVehicleSpeed() * 10 );
auto vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
tmp = (vehicleSpeed * 10 );
msg[0] = (tmp >> 8);
msg[1] = (tmp & 0x00ff);
/* Wheel Speed Front Right */
@ -815,7 +817,8 @@ void canDashboardHaltech(CanCycle cycle) {
{
CanTxMessage msg(0x370, 8);
/* Vehicle Speed */
tmp = (getVehicleSpeed() * 10 );
auto vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
tmp = (vehicleSpeed * 10 );
msg[0] = (tmp >> 8);
msg[1] = (tmp & 0x00ff);
/* unused */

2
firmware/controllers/can/can_verbose.cpp
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@ -63,7 +63,7 @@ static void populateFrame(Speeds& msg) {
msg.injDuty = getInjectorDutyCycle(rpm);
msg.coilDuty = getCoilDutyCycle(rpm);
msg.vssKph = getVehicleSpeed();
msg.vssKph = Sensor::get(SensorType::VehicleSpeed).value_or(0);
}
struct PedalAndTps {

2
firmware/controllers/can/obd2.cpp
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@ -136,7 +136,7 @@ static void handleGetDataRequest(const CANRxFrame& rx) {
obdSendValue(_1_MODE, pid, 2, GET_RPM() * ODB_RPM_MULT); // rotation/min. (A*256+B)/4
break;
case PID_SPEED:
obdSendValue(_1_MODE, pid, 1, getVehicleSpeed());
obdSendValue(_1_MODE, pid, 1, Sensor::get(SensorType::VehicleSpeed).value_or(0));
break;
case PID_TIMING_ADVANCE: {
float timing = engine->engineState.timingAdvance;

2
firmware/controllers/sensors/sensor.cpp
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@ -49,6 +49,8 @@ static const char* const s_sensorNames[] = {
"Aux 2",
"Aux 3",
"Aux 4",
"Vehicle speed",
};
// This struct represents one sensor in the registry.

4
firmware/controllers/sensors/sensor_type.h
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@ -73,6 +73,8 @@ enum class SensorType : unsigned char {
Aux3 = 32,
Aux4 = 33,
VehicleSpeed = 34,
// Leave me at the end!
PlaceholderLast = 34,
PlaceholderLast = 35,
};

1
firmware/controllers/settings.cpp
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@ -1052,6 +1052,7 @@ const command_f_s commandsF[] = {
{"fsio_curve_2_value", setFsioCurve2Value},
#if EFI_PROD_CODE
#if EFI_VEHICLE_SPEED
//todo: This function become deprecated soon
{"mock_vehicle_speed", setMockVehicleSpeed},
#endif /* EFI_VEHICLE_SPEED */
#if EFI_IDLE_CONTROL

1
firmware/init/init.h
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@ -29,6 +29,7 @@ void initFlexSensor(DECLARE_CONFIG_PARAMETER_SIGNATURE);
void initFuelLevel(DECLARE_CONFIG_PARAMETER_SIGNATURE);
void initBaro(DECLARE_CONFIG_PARAMETER_SIGNATURE);
void initAuxSensors(DECLARE_CONFIG_PARAMETER_SIGNATURE);
void initVehicleSpeedSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE);
// Sensor reconfiguration
void reconfigureVbatt(DECLARE_CONFIG_PARAMETER_SIGNATURE);

1
firmware/init/init.mk
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@ -12,3 +12,4 @@ INIT_SRC_CPP = $(PROJECT_DIR)/init/sensor/init_sensors.cpp \
$(PROJECT_DIR)/init/sensor/init_baro.cpp \
$(PROJECT_DIR)/init/sensor/init_fuel_level.cpp \
$(PROJECT_DIR)/init/sensor/init_aux.cpp \
$(PROJECT_DIR)/init/sensor/init_vehicle_speed_sensor.cpp \

1
firmware/init/sensor/init_sensors.cpp
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@ -23,6 +23,7 @@ void initNewSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
initFlexSensor(PASS_CONFIG_PARAMETER_SIGNATURE);
initBaro(PASS_CONFIG_PARAMETER_SIGNATURE);
initAuxSensors(PASS_CONFIG_PARAMETER_SIGNATURE);
initVehicleSpeedSensor(PASS_ENGINE_PARAMETER_SIGNATURE);
#if !EFI_UNIT_TEST
initFuelLevel(PASS_CONFIG_PARAMETER_SIGNATURE);

26
firmware/init/sensor/init_vehicle_speed_sensor.cpp Normal file
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@ -0,0 +1,26 @@
#include "pch.h"
#include "init.h"
#include "vehicle_speed.h"
#include "function_pointer_sensor.h"
struct GetVehicleSpeedWrapper {
DECLARE_ENGINE_PTR;
float getVehicleSpeed() {
return ::getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
}
};
static GetVehicleSpeedWrapper vehicleSpeedWrapper;
static FunctionPointerSensor vehicleSpeedSensor(SensorType::VehicleSpeed,
[]() {
return vehicleSpeedWrapper.getVehicleSpeed();
});
void initVehicleSpeedSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
INJECT_ENGINE_REFERENCE(&vehicleSpeedWrapper);
vehicleSpeedSensor.Register();
}

14
unit_tests/tests/test_dynoview.cpp
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@ -27,11 +27,11 @@ TEST(DynoView, VSS_T1) {
engineConfiguration->vehicleWeight = 900;
eth.moveTimeForwardMs(50);
setMockVehicleSpeed(18.0 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 18.0);
dut.update(ICU);
eth.moveTimeForwardAndInvokeEventsSec(20);
setMockVehicleSpeed(126.0 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 126.0);
dut.update(ICU);
ASSERT_EQ(1.5, dut.getAcceleration());
@ -47,7 +47,7 @@ TEST(DynoView, algo) {
engineConfiguration->vehicleWeight = 900;
//to capture vss
setMockVehicleSpeed(35*3.6 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 35*3.6);
dut.update(ICU);
dut.setAcceleration(1.5);
@ -73,12 +73,12 @@ TEST(DynoView, VSS_fast) {
engine->rpmCalculator.mockRpm = 2200;
eth.moveTimeForwardMs(50);
setMockVehicleSpeed(50.0 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 50.0);
dut.update(CAN);
//delay 50ms
eth.moveTimeForwardMs(50);
setMockVehicleSpeed(50.252 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 50.252);
dut.update(CAN);
ASSERT_EQ(1259, dut.getEngineForce());
@ -97,12 +97,12 @@ TEST(DynoView, VSS_Torque) {
engine->rpmCalculator.mockRpm = 2200;
eth.moveTimeForwardMs(50);
setMockVehicleSpeed(80.0 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 80.0);
dut.update(CAN);
//delay 50ms
eth.moveTimeForwardMs(50);
setMockVehicleSpeed(80.504 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 80.504);
dut.update(CAN);
ASSERT_EQ(242, dut.getEngineTorque());

6
unit_tests/tests/test_idle_controller.cpp
View File

@ -425,7 +425,7 @@ TEST(idle_v2, IntegrationManual) {
float expectedClt = 37;
Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
Sensor::setMockValue(SensorType::Clt, expectedClt);
setMockVehicleSpeed(15 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
ENGINE(rpmCalculator.mockRpm) = 950;
// Target of 1000 rpm
@ -460,7 +460,7 @@ TEST(idle_v2, IntegrationAutomatic) {
float expectedClt = 37;
Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
Sensor::setMockValue(SensorType::Clt, expectedClt);
setMockVehicleSpeed(15 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
ENGINE(rpmCalculator.mockRpm) = 950;
// Target of 1000 rpm
@ -498,7 +498,7 @@ TEST(idle_v2, IntegrationClamping) {
float expectedClt = 37;
Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
Sensor::setMockValue(SensorType::Clt, expectedClt);
setMockVehicleSpeed(15 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
ENGINE(rpmCalculator.mockRpm) = 950;
// Target of 1000 rpm

12
unit_tests/tests/test_launch.cpp
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@ -35,10 +35,10 @@ TEST(LaunchControl, VSSCondition) {
engineConfiguration->launchActivationMode = ALWAYS_ACTIVE_LAUNCH;
engineConfiguration->launchSpeedTreshold = 30;
engineConfiguration->launchDisableBySpeed = 1;
setMockVehicleSpeed(10 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 10.0);
EXPECT_TRUE(dut.isInsideSpeedCondition());
setMockVehicleSpeed(40 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 40.0);
EXPECT_FALSE(dut.isInsideSpeedCondition());
}
@ -114,7 +114,7 @@ TEST(LaunchControl, CombinedCondition) {
//valid TPS
Sensor::setMockValue(SensorType::DriverThrottleIntent, 20.0f);
setMockVehicleSpeed(10 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 10.0);
engine->rpmCalculator.mockRpm = 1200;
EXPECT_FALSE(dut.isLaunchConditionMet(1200));
@ -122,7 +122,7 @@ TEST(LaunchControl, CombinedCondition) {
engine->rpmCalculator.mockRpm = 3200;
EXPECT_TRUE(dut.isLaunchConditionMet(3200));
setMockVehicleSpeed(40 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 40.0);
EXPECT_FALSE(dut.isLaunchConditionMet(3200));
}
@ -146,7 +146,7 @@ TEST(LaunchControl, CompleteRun) {
//valid TPS
Sensor::setMockValue(SensorType::DriverThrottleIntent, 20.0f);
setMockVehicleSpeed(10 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 10.0);
engine->rpmCalculator.mockRpm = 1200;
//update condition check
@ -184,7 +184,7 @@ TEST(LaunchControl, CompleteRun) {
EXPECT_TRUE(spark);
EXPECT_FALSE(fuel);
setMockVehicleSpeed(40 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::VehicleSpeed, 40.0);
updateLaunchConditions(PASS_ENGINE_PARAMETER_SIGNATURE);
spark = false;
fuel = false;