From 067aa0aeeea669692cd983ac67fa3e9dcbd90508 Mon Sep 17 00:00:00 2001
From: rusefi <rusefillc@gmail.com>
Date: Wed, 27 Nov 2019 22:07:36 -0500
Subject: [PATCH] steps towards dual ETB

---
 firmware/console/binary/tunerstudio.cpp       |  5 ++--
 .../actuators/electronic_throttle.cpp         | 27 ++++++++++---------
 .../actuators/electronic_throttle.h           |  2 ++
 firmware/controllers/engine_controller.cpp    |  2 +-
 4 files changed, 20 insertions(+), 16 deletions(-)

diff --git a/firmware/console/binary/tunerstudio.cpp b/firmware/console/binary/tunerstudio.cpp
index ebc46997bb..d02b9571e5 100644
--- a/firmware/console/binary/tunerstudio.cpp
+++ b/firmware/console/binary/tunerstudio.cpp
@@ -76,6 +76,7 @@
 #include "bluetooth.h"
 #include "tunerstudio_io.h"
 #include "tooth_logger.h"
+#include "electronic_throttle.h"
 
 #include <string.h>
 #include "engine_configuration.h"
@@ -256,7 +257,7 @@ static void onlineApplyWorkingCopyBytes(int currentPageId, uint32_t offset, int
 	}
 }
 
-extern Pid etbPid;
+extern EtbController etbController;
 
 static const void * getStructAddr(int structId) {
 	switch (structId) {
@@ -274,7 +275,7 @@ static const void * getStructAddr(int structId) {
 		return static_cast<trigger_state_s*>(&engine->triggerCentral.triggerState);
 #if EFI_ELECTRONIC_THROTTLE_BODY
 	case LDS_ETB_PID_STATE_INDEX:
-		return static_cast<pid_state_s*>(&etbPid);
+		return static_cast<pid_state_s*>(&etbController.etbPid);
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 
 #ifndef EFI_IDLE_CONTROL
diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 60d2f59150..ca2e6a3f90 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -90,8 +90,6 @@
 #define ETB_MAX_COUNT 2
 #endif /* ETB_MAX_COUNT */
 
-static bool shouldResetPid = false;
-
 static pid_s tuneWorkingPidSettings;
 static Pid tuneWorkingPid(&tuneWorkingPidSettings);
 static PID_AutoTune autoTune;
@@ -178,8 +176,6 @@ static EtbHardware etbHardware[ETB_COUNT];
 
 extern percent_t mockPedalPosition;
 
-Pid etbPid;
-
 static percent_t directPwmValue = NAN;
 static percent_t currentEtbDuty;
 
@@ -395,10 +391,14 @@ static void showEthInfo(void) {
 		scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
 	}
 
-	etbPid.showPidStatus(&logger, "ETB");
+	etbController.etbPid.showPidStatus(&logger, "ETB");
 #endif /* EFI_PROD_CODE */
 }
 
+static void etbPidReset() {
+	etbController.etbPid.reset();
+}
+
 #if EFI_PROD_CODE
 
 static void setEtbFrequency(int frequency) {
@@ -415,7 +415,7 @@ static void etbReset() {
 	for (int i = 0 ; i < ETB_COUNT; i++) {
 		etbHardware[i].dcMotor.set(0);
 	}
-	etbPid.reset();
+	etbPidReset();
 
 	mockPedalPosition = MOCK_UNDEFINED;
 }
@@ -427,7 +427,7 @@ static void etbReset() {
  */
 void setEtbPFactor(float value) {
 	engineConfiguration->etb.pFactor = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }
 
@@ -436,7 +436,7 @@ void setEtbPFactor(float value) {
  */
 void setEtbIFactor(float value) {
 	engineConfiguration->etb.iFactor = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }
 
@@ -445,7 +445,7 @@ void setEtbIFactor(float value) {
  */
 void setEtbDFactor(float value) {
 	engineConfiguration->etb.dFactor = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }
 
@@ -454,7 +454,7 @@ void setEtbDFactor(float value) {
  */
 void setEtbOffset(int value) {
 	engineConfiguration->etb.offset = value;
-	etbPid.reset();
+	etbPidReset();
 	showEthInfo();
 }
 
@@ -542,7 +542,8 @@ void stopETBPins(void) {
 #endif /* EFI_PROD_CODE */
 
 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
-	shouldResetPid = !etbPid.isSame(&previousConfiguration->etb);
+	bool shouldResetPid = !etbController.etbPid.isSame(&previousConfiguration->etb);
+	etbController.shouldResetPid = shouldResetPid;
 }
 
 void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
@@ -624,7 +625,7 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleActionI("etb_freq", setEtbFrequency);
 #endif /* EFI_PROD_CODE */
 
-	etbPid.initPidClass(&engineConfiguration->etb);
+	etbController.etbPid.initPidClass(&engineConfiguration->etb);
 
 	INJECT_ENGINE_REFERENCE(etbController);
 
@@ -695,7 +696,7 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #endif /* EFI_PROD_CODE */
 
 
-	etbPid.reset();
+	etbPidReset();
 
 	etbController.Start();
 }
diff --git a/firmware/controllers/actuators/electronic_throttle.h b/firmware/controllers/actuators/electronic_throttle.h
index 583b4df08a..da3c7902e3 100644
--- a/firmware/controllers/actuators/electronic_throttle.h
+++ b/firmware/controllers/actuators/electronic_throttle.h
@@ -23,6 +23,8 @@ public:
 
 	int getPeriodMs() override;
 	void PeriodicTask() override;
+	Pid etbPid;
+	bool shouldResetPid = false;
 
 private:
     DcMotor *m_motor;
diff --git a/firmware/controllers/engine_controller.cpp b/firmware/controllers/engine_controller.cpp
index 1597292dd4..80c1837c66 100644
--- a/firmware/controllers/engine_controller.cpp
+++ b/firmware/controllers/engine_controller.cpp
@@ -819,6 +819,6 @@ int getRusEfiVersion(void) {
 	if (initBootloader() != 0)
 		return 123;
 #endif /* EFI_BOOTLOADER_INCLUDE_CODE */
-	return 20191123;
+	return 20191127;
 }
 #endif /* EFI_UNIT_TEST */