second PID config for wastegate (#1889)

* remove

* cleanup

* implement ETB parts

* hook up to boost controller

* tests

* consume

* add cfg field

* ui maybe

* fix

* fix

* add wastegate config test

firmware/controllers/actuators/electronic_throttle.cpp

@@ -820,6 +820,13 @@ void unregisterEtbPins() {
 	// todo: we probably need an implementation here?!
 }
 
+static pid_s* getEtbPidForFunction(etb_function_e function DECLARE_ENGINE_PARAMETER_SUFFIX) {
+	switch (function) {
+		case ETB_Wastegate: return &CONFIG(etbWastegatePid);
+		default: return &CONFIG(etb);
+	}
+}
+
 void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	efiAssertVoid(OBD_PCM_Processor_Fault, engine->etbControllers != NULL, "etbControllers NULL");
 #if EFI_PROD_CODE
@@ -845,8 +852,9 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 			}
 
 			auto func = CONFIG(etbFunctions[i]);
+			auto pid = getEtbPidForFunction(func PASS_ENGINE_PARAMETER_SUFFIX);
 
-			anyEtbConfigured |= controller->init(func, motor, &engineConfiguration->etb, &pedal2tpsMap);
+			anyEtbConfigured |= controller->init(func, motor, pid, &pedal2tpsMap);
 			INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
 		}
 	}

firmware/integration/rusefi_config.txt

@@ -1246,7 +1246,8 @@ tle8888_mode_e tle8888mode;
 	ThermistorConf auxTempSensor2;todo: finish implementation #332
 	uint8_t[6] unused2508;;"units", 1, 0, -20, 100, 0
 	int16_t etbFreq;;"Hz",      1,     0,    0, 30000,      0
-	uint8_t[24] unused2516;;"units", 1, 0, -20, 100, 0
+	pid_s etbWastegatePid;
+	uint8_t[4] unused2536;;"units", 1, 0, -20, 100, 0
 
 	custom cfg_float_t_1f 4 scalar,  F32,   @OFFSET@, 		"Val",	   1,	   0,       -20000000, 20000000,	  1
 	cfg_float_t_1f[IGNITION_PIN_COUNT iterate] timing_offset_cylinder;per-cylinder timing correction

firmware/tunerstudio/rusefi.input

@@ -1340,7 +1340,8 @@ menuDialog = main
 
 	menu = "&Advanced"
         subMenu = boostDialog,          "Boost Control"
-		subMenu = boostPidDialog,        "Closed Loop Boost",    { boostType == 1 }
+		subMenu = boostPidDialog,        "Closed Loop Boost",    { isBoostControlEnabled && boostType == 1 }
+		subMenu = boostEtbPid,			"ETB-style Wastegate Actuator", { isBoostControlEnabled }
 
 		subMenu = std_separator
 		subMenu = gppwm1, "General Purpose PWM 1"
@@ -2999,6 +3000,16 @@ cmd_set_engine_type_default					= "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
                 panel = boostPidleft, West
                 panel = boostTableDialog, Center
 
+	dialog = boostEtbPid, ""
+		field = "!This section is for advanced users only!"
+		field = "H-Bridge #1 function",					etbFunctions1
+		field = "H-Bridge #2 function",					etbFunctions2
+		field = "P gain",							etbWastegatePid_pFactor,  { isBoostControlEnabled }
+		field = "I gain",							etbWastegatePid_iFactor,  { isBoostControlEnabled }
+		field = "D gain",							etbWastegatePid_dFactor,  { isBoostControlEnabled }
+		field = "PID min",							etbWastegatePid_minValue, { isBoostControlEnabled }
+		field = "PID max",							etbWastegatePid_maxValue, { isBoostControlEnabled }
+
 	help = veTableDialogHelp, "Volumetric Efficiency"
         text = "Volumetric Efficiency is used to calculate fuel in Speed Density mode"
         webHelp = "https://rusefi.com/s/fuel"

unit_tests/tests/test_etb.cpp

@@ -135,6 +135,31 @@ TEST(etb, initializationDualThrottle) {
 	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
 }
 
+TEST(etb, initializationWastegate) {
+	StrictMock<MockEtb> mocks[ETB_COUNT];
+
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
+
+	for (int i = 0; i < ETB_COUNT; i++) {
+		engine->etbControllers[i] = &mocks[i];
+	}
+
+	// Must have a sensor configured before init
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
+	Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
+
+	engineConfiguration->etbFunctions[0] = ETB_Wastegate;
+	engineConfiguration->etbFunctions[1] = ETB_None;
+
+	// Expect mock0 to be init as throttle 1, and PID wastegate params
+	EXPECT_CALL(mocks[0], init(ETB_Wastegate, _, &engineConfiguration->etbWastegatePid, Ne(nullptr))).WillOnce(Return(true));
+
+	// Expect mock1 to be init as none
+	EXPECT_CALL(mocks[1], init(ETB_None, _, _, _)).WillOnce(Return(true));
+
+	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
+}
+
 TEST(etb, initializationNoFunction) {
 	StrictMock<MockMotor> motor;