Merge branch 'master' of https://github.com/rusefi/rusefi

firmware/config/boards/ST_STM32F4/board.c

@@ -134,3 +134,17 @@ void boardInit(void) {
  */
 void setBoardConfigurationOverrides(void) {
 }
+
+/**
+ * @brief   Board-specific Serial configuration code overrides. Needed by bootloader code.
+ * @todo    Add your board-specific code, if any.
+ */
+void setSerialConfigurationOverrides(void) {
+}
+
+/**
+ * @brief   Board-specific SD card configuration code overrides. Needed by bootloader code.
+ * @todo    Add your board-specific code, if any.
+ */
+void setSdCardConfigurationOverrides(void) {
+}

firmware/config/boards/ST_STM32F4/board.h

@@ -1345,6 +1345,8 @@ extern "C" {
 #endif
   void boardInit(void);
   void setBoardConfigurationOverrides(void);
+  void setSerialConfigurationOverrides(void);
+  void setSdCardConfigurationOverrides(void);
 #ifdef __cplusplus
 }
 #endif

firmware/console/binary/tunerstudio_io.cpp

@@ -20,7 +20,6 @@ extern LoggingWithStorage tsLogger;
 #if EFI_PROD_CODE || defined(__DOXYGEN__)
 #include "pin_repository.h"
 #include "usbconsole.h"
-#include "map_averaging.h"
 
 #if HAL_USE_SERIAL_USB || defined(__DOXYGEN__)
 extern SerialUSBDriver SDU1;
@@ -152,17 +151,21 @@ void sr5WriteData(ts_channel_s *tsChannel, const uint8_t * buffer, int size) {
 	}
 }
 
-int sr5ReadData(ts_channel_s *tsChannel, uint8_t * buffer, int size) {
+int sr5ReadDataTimeout(ts_channel_s *tsChannel, uint8_t * buffer, int size, int timeout) {
 #if TS_UART_DMA_MODE || defined(__DOXYGEN__)
 	UNUSED(tsChannel);
-	return (int)chIQReadTimeout(&tsUartDma.fifoRxQueue, (uint8_t * )buffer, (size_t)size, SR5_READ_TIMEOUT);
+	return (int)chIQReadTimeout(&tsUartDma.fifoRxQueue, (uint8_t * )buffer, (size_t)size, timeout);
 #else /* TS_UART_DMA_MODE */
 	if (tsChannel->channel == NULL)
 		return 0;
-	return chnReadTimeout(tsChannel->channel, (uint8_t * )buffer, size, SR5_READ_TIMEOUT);
+	return chnReadTimeout(tsChannel->channel, (uint8_t * )buffer, size, timeout);
 #endif /* TS_UART_DMA_MODE */
 }
 
+int sr5ReadData(ts_channel_s *tsChannel, uint8_t * buffer, int size) {
+	return sr5ReadDataTimeout(tsChannel, buffer, size, SR5_READ_TIMEOUT);
+}
+
 
 /**
  * Adds size to the beginning of a packet and a crc32 at the end. Then send the packet.

firmware/console/binary/tunerstudio_io.h

@@ -101,6 +101,7 @@ void sr5WriteData(ts_channel_s *tsChannel, const uint8_t * buffer, int size);
 void sr5WriteCrcPacket(ts_channel_s *tsChannel, const uint8_t responseCode, const void *buf, const uint16_t size);
 void sr5SendResponse(ts_channel_s *tsChannel, ts_response_format_e mode, const uint8_t * buffer, int size);
 int sr5ReadData(ts_channel_s *tsChannel, uint8_t * buffer, int size);
+int sr5ReadDataTimeout(ts_channel_s *tsChannel, uint8_t * buffer, int size, int timeout);
 bool sr5IsReady(bool isConsoleRedirect);
 
 #endif /* CONSOLE_TUNERSTUDIO_TUNERSTUDIO_IO_H_ */

firmware/controllers/algo/aux_pid.cpp

@@ -35,7 +35,7 @@ static SimplePwm auxPidPwm[AUX_PID_COUNT];
 static OutputPin auxPidPin[AUX_PID_COUNT];
 
 static pid_s *auxPidS = &persistentState.persistentConfiguration.engineConfiguration.auxPid[0];
-static Pid auxPid(auxPidS, 0, 90);
+static Pid auxPid(auxPidS);
 static Logging *logger;
 
 static bool isEnabled(int index) {
@@ -89,7 +89,6 @@ static msg_t auxPidThread(int param) {
 
 
 			if (engineConfiguration->debugMode == AUX_PID_1) {
-				tsOutputChannels.debugFloatField1 = pwm;
 				auxPid.postState(&tsOutputChannels);
 				tsOutputChannels.debugIntField3 = (int)(10 * targetValue);
 			}

firmware/controllers/algo/engine.cpp

@@ -264,7 +264,7 @@ void Engine::setConfig(persistent_config_s *config) {
 	this->config = config;
 	engineConfiguration = &config->engineConfiguration;
 	memset(config, 0, sizeof(persistent_config_s));
-	engineState.warmupAfrPid.init(&config->engineConfiguration.warmupAfrPid,  0.5, 1.5);
+	engineState.warmupAfrPid.init(&config->engineConfiguration.warmupAfrPid);
 }
 
 void Engine::printKnockState(void) {

firmware/controllers/algo/engine_configuration.cpp

@@ -344,6 +344,37 @@ void setDefaultBasePins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->configResetPin = GPIOB_1;
 }
 
+// needed also by bootloader code
+void setDefaultSerialParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	boardConfiguration->startConsoleInBinaryMode = true;
+	boardConfiguration->useSerialPort = true;
+	engineConfiguration->binarySerialTxPin = GPIOC_10;
+	engineConfiguration->binarySerialRxPin = GPIOC_11;
+	engineConfiguration->consoleSerialTxPin = GPIOC_10;
+	engineConfiguration->consoleSerialRxPin = GPIOC_11;
+	boardConfiguration->tunerStudioSerialSpeed = TS_DEFAULT_SPEED;
+	engineConfiguration->uartConsoleSerialSpeed = 115200;
+
+#if EFI_PROD_CODE || defined(__DOXYGEN__)
+	// call overrided board-specific serial configuration setup, if needed (for custom boards only)
+	setSerialConfigurationOverrides();
+#endif
+}
+
+// needed also by bootloader code
+void setDefaultSdCardParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	boardConfiguration->is_enabled_spi_3 = true;
+	engineConfiguration->sdCardSpiDevice = SPI_DEVICE_3;
+	boardConfiguration->sdCardCsPin = GPIOD_4;
+	boardConfiguration->isSdCardEnabled = true;
+
+#if EFI_PROD_CODE || defined(__DOXYGEN__)
+	// call overrided board-specific SD card configuration setup, if needed (for custom boards only)
+	setSdCardConfigurationOverrides();
+#endif
+}
+
+
 // todo: move injector calibration somewhere else?
 // todo: add a enum? if we have enough data?
 static void setBosch02880155868(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
@@ -527,8 +558,6 @@ void setDefaultConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	boardConfiguration->mafSensorType = Bosch0280218037;
 	setBosch0280218037(config);
 
-	boardConfiguration->startConsoleInBinaryMode = true;
-
 	setBosch02880155868(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	engineConfiguration->acCutoffLowRpm = 700;
@@ -765,7 +794,6 @@ void setDefaultConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 	engineConfiguration->externalKnockSenseAdc = EFI_ADC_NONE;
 
-	boardConfiguration->useSerialPort = true;
 	boardConfiguration->useStepperIdle = false;
 
 	setDefaultStepperIdleParameters(PASS_ENGINE_PARAMETER_SIGNATURE);
@@ -820,11 +848,8 @@ void setDefaultConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->communicationPin = GPIOD_15; // blue LED on discovery
 	engineConfiguration->runningPin = GPIOD_12; // greeb LED on discovery
 	setDefaultBasePins(PASS_ENGINE_PARAMETER_SIGNATURE);
-	engineConfiguration->binarySerialTxPin = GPIOC_10;
+	
-	engineConfiguration->binarySerialRxPin = GPIOC_11;
+	setDefaultSerialParameters(PASS_ENGINE_PARAMETER_SIGNATURE);
-	engineConfiguration->consoleSerialTxPin = GPIOC_10;
-	engineConfiguration->consoleSerialRxPin = GPIOC_11;
-
 
 	boardConfiguration->triggerSimulatorPins[0] = GPIOD_1;
 	boardConfiguration->triggerSimulatorPins[1] = GPIOD_2;
@@ -900,17 +925,13 @@ void setDefaultConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	setHip9011FrankensoPinout();
 #endif
 
-	engineConfiguration->sdCardSpiDevice = SPI_DEVICE_3;
+	setDefaultSdCardParameters(PASS_ENGINE_PARAMETER_SIGNATURE);
-	boardConfiguration->sdCardCsPin = GPIOD_4;
+	
-	boardConfiguration->isSdCardEnabled = true;
 	boardConfiguration->isFastAdcEnabled = true;
 	boardConfiguration->isEngineControlEnabled = true;
 
 	boardConfiguration->isVerboseAlternator = false;
 
-	boardConfiguration->tunerStudioSerialSpeed = TS_DEFAULT_SPEED;
-	engineConfiguration->uartConsoleSerialSpeed = 115200;
-
 	engineConfiguration->warmupAfrPid.offset = 1;
 	engineConfiguration->warmupAfrThreshold = 60;
 

firmware/controllers/algo/engine_configuration.h

@@ -53,6 +53,10 @@ void setWholeTimingTable(angle_t value DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setConstantDwell(floatms_t dwellMs DECLARE_ENGINE_PARAMETER_SUFFIX);
 void printFloatArray(const char *prefix, float array[], int size);
 
+// needed by bootloader
+void setDefaultSerialParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+void setDefaultSdCardParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+
 void rememberCurrentConfiguration(void);
 void incrementGlobalConfigurationVersion(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 int getGlobalConfigurationVersion(void);

firmware/controllers/algo/engine_configuration_generated_structures.h

@@ -1,4 +1,4 @@
-// this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sun May 28 22:30:58 EDT 2017
+// this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Mon May 29 23:12:19 EDT 2017
 // begin
 #ifndef ENGINE_CONFIGURATION_GENERATED_H_
 #define ENGINE_CONFIGURATION_GENERATED_H_
@@ -1165,11 +1165,7 @@ typedef struct {
 	/**
 	 * offset 572
 	 */
-	int16_t pedalPositionMin;
+	int unusedAnother;
-	/**
-	 * offset 574
-	 */
-	int16_t pedalPositionMax;
 	/**
 	 * maximum total number of degrees to subtract from ignition advance
 	 * when knocking
@@ -1208,6 +1204,7 @@ typedef struct {
 	offset 1488 bit 2 */
 	bool isVerboseIAC : 1;
 	/**
+	 * enable verbose_etb
 	offset 1488 bit 3 */
 	bool isVerboseETB : 1;
 	/**
@@ -1538,7 +1535,16 @@ typedef struct {
 	/**
 	 * offset 2012
 	 */
-	float unusedetb[4];
+	float throttlePedalUpVoltage;
+	/**
+	 * Pedal in the floor
+	 * offset 2016
+	 */
+	float throttlePedalWOTVoltage;
+	/**
+	 * offset 2020
+	 */
+	float unusedetb[2];
 	/**
 	 * CLT-based target RPM for automatic idle controller
 	 * offset 2028
@@ -2107,4 +2113,4 @@ typedef struct {
 
 #endif
 // end
-// this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sun May 28 22:30:58 EDT 2017
+// this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Mon May 29 23:12:19 EDT 2017

firmware/controllers/algo/rusefi_generated.h

@@ -319,10 +319,8 @@
 #define hip9011SpiDevice_offset_hex 234
 #define globalFuelCorrection_offset 568
 #define globalFuelCorrection_offset_hex 238
-#define pedalPositionMin_offset 572
+#define unusedAnother_offset 572
-#define pedalPositionMin_offset_hex 23c
+#define unusedAnother_offset_hex 23c
-#define pedalPositionMax_offset 574
-#define pedalPositionMax_offset_hex 23e
 #define maxKnockSubDeg_offset 576
 #define maxKnockSubDeg_offset_hex 240
 #define mafAdcChannel_offset 580
@@ -1097,8 +1095,12 @@
 #define knockNoise_offset_hex 79c
 #define knockNoiseRpmBins_offset 1980
 #define knockNoiseRpmBins_offset_hex 7bc
-#define unusedetb_offset 2012
+#define throttlePedalUpVoltage_offset 2012
-#define unusedetb_offset_hex 7dc
+#define throttlePedalUpVoltage_offset_hex 7dc
+#define throttlePedalWOTVoltage_offset 2016
+#define throttlePedalWOTVoltage_offset_hex 7e0
+#define unusedetb_offset 2020
+#define unusedetb_offset_hex 7e4
 #define cltIdleRpmBins_offset 2028
 #define cltIdleRpmBins_offset_hex 7ec
 #define cltIdleRpm_offset 2092

firmware/controllers/alternatorController.cpp

@@ -29,7 +29,7 @@ int alternatorPidResetCounter = 0;
 
 static SimplePwm alternatorControl;
 static pid_s *altPidS = &persistentState.persistentConfiguration.engineConfiguration.alternatorControl;
-static Pid altPid(altPidS, 1, 90);
+static Pid altPid(altPidS);
 
 static THD_WORKING_AREA(alternatorControlThreadStack, UTILITY_THREAD_STACK_SIZE);
 
@@ -64,7 +64,6 @@ static msg_t AltCtrlThread(int param) {
 		if (engineConfiguration->debugMode == DBG_ALTERNATOR_PID) {
 			// this block could be executed even in on/off alternator control mode
 			// but at least we would reflect latest state
-			tsOutputChannels.debugFloatField1 = currentAltDuty;
 			altPid.postState(&tsOutputChannels);
 			tsOutputChannels.debugIntField3 = alternatorPidResetCounter;
 		}

firmware/controllers/electronic_throttle.cpp

@@ -22,6 +22,11 @@
  *
  * See also pid.cpp
  *
+ * Relevant console commands:
+ *
+ * enable verbose_etb
+ * disable verbose_etb
+ * ethinfo
  *
  * http://rusefi.com/forum/viewtopic.php?f=5&t=592
  *
@@ -57,8 +62,6 @@
 extern TunerStudioOutputChannels tsOutputChannels;
 static bool shouldResetPid = false;
 
-#define ETB_FREQ 400
-
 static LoggingWithStorage logger("ETB");
 /**
  * @brief Control Thread stack
@@ -75,7 +78,7 @@ static OutputPin outputDirectionClose CCM_OPTIONAL;
 
 EXTERN_ENGINE;
 
-static Pid pid(&engineConfiguration->etb, 0, 100);
+static Pid pid(&engineConfiguration->etb);
 
 static float prevTps;
 
@@ -93,14 +96,14 @@ static msg_t etbThread(void *arg) {
 		}
 
 
-		percent_t pedal = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
+		percent_t throttlePedal = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
 		percent_t tps = getTPS();
 
-		currentEtbDuty = pid.getValue(pedal, getTPS());
+		currentEtbDuty = pid.getValue(throttlePedal, getTPS());
 
 		etbPwmUp.setSimplePwmDutyCycle(currentEtbDuty / 100);
 
-		bool needEtbBraking = absF(pedal - tps) < 3;
+		bool needEtbBraking = absF(throttlePedal - tps) < 3;
 		if (needEtbBraking != wasEtbBraking) {
 			scheduleMsg(&logger, "need ETB braking: %d", needEtbBraking);
 			wasEtbBraking = needEtbBraking;
@@ -111,7 +114,7 @@ static msg_t etbThread(void *arg) {
 			pid.postState(&tsOutputChannels);
 		}
 		if (engineConfiguration->isVerboseETB) {
-			pid.showPidStatus(&logger, "ETB", engineConfiguration->etb.period);
+			pid.showPidStatus(&logger, "ETB");
 		}
 
 
@@ -139,18 +142,20 @@ static void setThrottleConsole(int level) {
 static void showEthInfo(void) {
 	static char pinNameBuffer[16];
 
-	scheduleMsg(&logger, "pedal=%f %d/%d @", getPedalPosition(), engineConfiguration->pedalPositionMin, engineConfiguration->pedalPositionMax,
+	scheduleMsg(&logger, "throttlePedal=%f %f/%f @%s",
-			getPinNameByAdcChannel("etb", engineConfiguration->pedalPositionChannel, pinNameBuffer));
+			getPedalPosition(),
+			engineConfiguration->throttlePedalUpVoltage,
+			engineConfiguration->throttlePedalWOTVoltage,
+			getPinNameByAdcChannel("tPedal", engineConfiguration->pedalPositionChannel, pinNameBuffer));
 
 	scheduleMsg(&logger, "TPS=%f", getTPS());
 
-	scheduleMsg(&logger, "etbControlPin1=%s duty=%f", hwPortname(boardConfiguration->etbControlPin1),
+	scheduleMsg(&logger, "etbControlPin1=%s duty=%f freq=%d",
-			currentEtbDuty);
+			hwPortname(boardConfiguration->etbControlPin1),
+			currentEtbDuty,
+			engineConfiguration->etbFreq);
 	scheduleMsg(&logger, "close dir=%s", hwPortname(boardConfiguration->etbDirectionPin2));
-	scheduleMsg(&logger, "etb P=%f I=%f D=%f dT=%d", engineConfiguration->etb.pFactor,
+	pid.showPidStatus(&logger, "ETB");
-			engineConfiguration->etb.iFactor,
-			0.0,
-			engineConfiguration->etb.period);
 }
 
 static void apply(void) {
@@ -170,10 +175,23 @@ void setEtbIFactor(float value) {
 }
 
 void setDefaultEtbParameters(void) {
-	engineConfiguration->pedalPositionMax = 6;
+	engineConfiguration->throttlePedalUpVoltage = 0; // that's voltage, not ADC like with TPS
+	engineConfiguration->throttlePedalWOTVoltage = 6; // that's voltage, not ADC like with TPS
+
 	engineConfiguration->etb.pFactor = 1;
 	engineConfiguration->etb.iFactor = 0.5;
 	engineConfiguration->etb.period = 100;
+	engineConfiguration->etbFreq = 300;
+}
+
+bool isETBRestartNeeded(void) {
+	/**
+	 * We do not want any interruption in HW pin while adjusting other properties
+	 */
+	return engineConfiguration->bc.etbControlPin1 != activeConfiguration.bc.etbControlPin1 ||
+		   engineConfiguration->bc.etbControlPin2 != activeConfiguration.bc.etbControlPin2 ||
+		   engineConfiguration->bc.etbDirectionPin1 != activeConfiguration.bc.etbDirectionPin1 ||
+		   engineConfiguration->bc.etbDirectionPin2 != activeConfiguration.bc.etbDirectionPin2;
 }
 
 void stopETBPins(void) {
@@ -188,17 +206,20 @@ void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *pre
 }
 
 void startETBPins(void) {
+
+	int freq = maxI(100, engineConfiguration->etbFreq);
+
 	// this line used for PWM
 	startSimplePwmExt(&etbPwmUp, "etb1",
 			boardConfiguration->etbControlPin1,
 			&enginePins.etbOutput1,
-			ETB_FREQ,
+			freq,
 			0.80,
 			applyPinState);
 	startSimplePwmExt(&etbPwmDown, "etb2",
 			boardConfiguration->etbControlPin2,
 			&enginePins.etbOutput2,
-			ETB_FREQ,
+			freq,
 			0.80,
 			applyPinState);
 
@@ -211,6 +232,7 @@ void initElectronicThrottle(void) {
 //	outputPinRegister("etb1", ELECTRONIC_THROTTLE_CONTROL_1, ETB_CONTROL_LINE_1_PORT, ETB_CONTROL_LINE_1_PIN);
 //	outputPinRegister("etb2", ELECTRONIC_THROTTLE_CONTROL_2, ETB_CONTROL_LINE_2_PORT, ETB_CONTROL_LINE_2_PIN);
 
+	addConsoleAction("ethinfo", showEthInfo);
 	if (!hasPedalPositionSensor()) {
 		return;
 	}
@@ -219,8 +241,6 @@ void initElectronicThrottle(void) {
 
 	addConsoleActionI("e", setThrottleConsole);
 
-	addConsoleAction("ethinfo", showEthInfo);
-
 	apply();
 
 	chThdCreateStatic(etbTreadStack, sizeof(etbTreadStack), NORMALPRIO, (tfunc_t) etbThread, NULL);

firmware/controllers/electronic_throttle.h

@@ -13,6 +13,7 @@ void initElectronicThrottle(void);
 void setDefaultEtbParameters(void);
 void setEtbPFactor(float value);
 void setEtbIFactor(float value);
+bool isETBRestartNeeded(void);
 void stopETBPins(void);
 void startETBPins(void);
 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);

firmware/controllers/idle_thread.cpp

@@ -45,7 +45,7 @@ EXTERN_ENGINE
 
 static bool shouldResetPid = false;
 
-static Pid idlePid(&engineConfiguration->idleRpmPid, 1, 99);
+static Pid idlePid(&engineConfiguration->idleRpmPid);
 
 // todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
 static SimplePwm idleSolenoid;
@@ -83,7 +83,7 @@ static void showIdleInfo(void) {
 
 
 	if (engineConfiguration->idleMode == IM_AUTO) {
-		idlePid.showPidStatus(logger, "idle", engineConfiguration->idleRpmPid.period);
+		idlePid.showPidStatus(logger, "idle");
 	}
 }
 
@@ -239,7 +239,7 @@ static msg_t ivThread(int param) {
 		}
 
 		if (engineConfiguration->isVerboseIAC && engineConfiguration->idleMode == IM_AUTO) {
-			idlePid.showPidStatus(logger, "idle", engineConfiguration->idleRpmPid.period);
+			idlePid.showPidStatus(logger, "idle");
 
 		}
 

firmware/controllers/math/pid.cpp

@@ -12,17 +12,15 @@
 #include "math.h"
 
 Pid::Pid() {
-    init(NULL, NAN, NAN);
+    init(NULL);
 }
 
-Pid::Pid(pid_s *pid, float minResult, float maxResult) {
+Pid::Pid(pid_s *pid) {
-	init(pid, minResult, maxResult);
+	init(pid);
 }
 
-void Pid::init(pid_s *pid, float minResult, float maxResult) {
+void Pid::init(pid_s *pid) {
 	this->pid = pid;
-	this->minResult = minResult;
-	this->maxResult = maxResult;
 
 	dTerm = iTerm = 0;
 	prevResult = prevInput = prevTarget = prevError = 0;
@@ -52,17 +50,17 @@ float Pid::getValue(float target, float input, float dTime) {
 	 * If we have exceeded the ability of the controlled device to hit target, the I factor will keep accumulating and approach infinity.
 	 * Here we limit the I-term #353
 	 */
-	if (iTerm > maxResult - (pTerm + dTerm + pid->offset))
+	if (iTerm > pid->maxValue - (pTerm + dTerm + pid->offset))
-		iTerm = maxResult - (pTerm + dTerm + pid->offset);
+		iTerm = pid->maxValue - (pTerm + dTerm + pid->offset);
 
-	if (iTerm < minResult - (pTerm + dTerm + pid->offset))
+	if (iTerm < pid->minValue - (pTerm + dTerm + pid->offset))
-		iTerm = minResult - (pTerm + dTerm + pid->offset);
+		iTerm = pid->minValue - (pTerm + dTerm + pid->offset);
 
 	float result = pTerm + iTerm + dTerm + pid->offset;
-	if (result > maxResult) {
+	if (result > pid->maxValue) {
-		result = maxResult;
+		result = pid->maxValue;
-	} else if (result < minResult) {
+	} else if (result < pid->minValue) {
-		result = minResult;
+		result = pid->minValue;
 	}
 	prevResult = result;
 	return result;
@@ -106,12 +104,13 @@ float Pid::getOffset(void) {
 
 #if EFI_PROD_CODE || EFI_SIMULATOR
 void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
+	tsOutputChannels->debugFloatField1 = prevResult;
 	tsOutputChannels->debugFloatField2 = iTerm;
 	tsOutputChannels->debugFloatField3 = getPrevError();
 	tsOutputChannels->debugFloatField4 = getI();
 	tsOutputChannels->debugFloatField5 = getD();
-	tsOutputChannels->debugFloatField6 = minResult;
+	tsOutputChannels->debugFloatField6 = pid->minValue;
-	tsOutputChannels->debugFloatField7 = maxResult;
+	tsOutputChannels->debugFloatField7 = pid->maxValue;
 	tsOutputChannels->debugIntField1 = getP();
 	tsOutputChannels->debugIntField2 = getOffset();
 	tsOutputChannels->debugFloatField6 = dTerm;
@@ -125,17 +124,17 @@ void Pid::sleep() {
 #endif /* EFI_UNIT_TEST */
 }
 
-void Pid::showPidStatus(Logging *logging, const char*msg, int dTime) {
+void Pid::showPidStatus(Logging *logging, const char*msg) {
-	// todo: dTime should be taken from pid_s
+	scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f dT=%d",
-	scheduleMsg(logging, "%s o=%f P=%.5f I=%.5f D=%.5f dT=%d",
 			msg,
 			pid->offset,
 			pid->pFactor,
 			pid->iFactor,
 			pid->dFactor,
-			dTime);
+			pid->period);
 
-	scheduleMsg(logging, "%f input=%d/target=%f iTerm=%.5f dTerm=%.5f",
+	scheduleMsg(logging, "%s status: value=%f input=%f/target=%f iTerm=%.5f dTerm=%.5f",
+			msg,
 			prevResult,
 			prevInput,
 			prevTarget,

firmware/controllers/math/pid.h

@@ -20,8 +20,8 @@ class Pid {
 
 public:
 	Pid();
-	Pid(pid_s *pid, float minResult, float maxResult);
+	Pid(pid_s *pid);
-	void init(pid_s *pid, float minResult, float maxResult);
+	void init(pid_s *pid);
 	bool isSame(pid_s *pid);
 
 	float getValue(float target, float input);
@@ -42,7 +42,7 @@ public:
 	float maxResult;
 	float iTerm;
 	float dTerm; // we are remembering this only for debugging purposes
-	void showPidStatus(Logging *logging, const char*msg, int dTime);
+	void showPidStatus(Logging *logging, const char*msg);
 	void sleep();
 private:
 	pid_s *pid;

firmware/controllers/sensors/tps.cpp

@@ -124,7 +124,7 @@ bool hasPedalPositionSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 percent_t getPedalPosition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	float voltage = getVoltageDivided("pPS", engineConfiguration->pedalPositionChannel);
-	float result = interpolate(engineConfiguration->pedalPositionMin, 0, engineConfiguration->pedalPositionMax, 100, voltage);
+	float result = interpolate(engineConfiguration->throttlePedalUpVoltage, 0, engineConfiguration->throttlePedalWOTVoltage, 100, voltage);
 
 	// this would put the value into the 0-100 range
 	return maxF(0, minF(100, result));
@@ -144,6 +144,14 @@ percent_t getTPS(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	return getPrimatyRawTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
 }
 
+void setBosch0280750009(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	// see http://rusefi.com/wiki/index.php?title=Vehicle:VW_Passat_2002_1.8
+	engineConfiguration->tpsMin = 159;
+	engineConfiguration->tpsMax = 957;
+
+	// todo: add 2nd TPS sensor calibration
+}
+
 int convertVoltageTo10bitADC(float voltage) {
 	// divided by 2 because of voltage divider, then converted into 10bit ADC value (TunerStudio format)
 	return (int) (voltage / 2 * 1024 / 3.3);

firmware/controllers/sensors/tps.h

@@ -29,6 +29,7 @@ int convertVoltageTo10bitADC(float voltage);
 int getTPS12bitAdc(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 float getTPSVoltage(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 percent_t getTpsValue(int adc DECLARE_ENGINE_PARAMETER_SUFFIX);
+void setBosch0280750009(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 
 typedef struct {
 	efitimeus_t prevTime;

firmware/controllers/settings.cpp

@@ -882,6 +882,8 @@ static void enableOrDisable(const char *param, bool isEnabled) {
 		incrementGlobalConfigurationVersion(PASS_ENGINE_PARAMETER_SIGNATURE);
 	} else if (strEqualCaseInsensitive(param, "HIP9011")) {
 		boardConfiguration->isHip9011Enabled = isEnabled;
+	} else if (strEqualCaseInsensitive(param, "verbose_etb")) {
+		engineConfiguration->isVerboseETB = isEnabled;
 	} else if (strEqualCaseInsensitive(param, "verbose_idle")) {
 		engineConfiguration->isVerboseIAC = isEnabled;
 	} else if (strEqualCaseInsensitive(param, "auxdebug1")) {

firmware/controllers/system/pwm_generator_logic.cpp

@@ -123,7 +123,7 @@ static efitimeus_t togglePwmState(PwmConfig *state) {
 	efitimeus_t nextSwitchTimeUs = getNextSwitchTimeUs(state);
 #if DEBUG_PWM
 	scheduleMsg(&logger, "%s: nextSwitchTime %d", state->name, nextSwitchTime);
-#endif
+#endif /* DEBUG_PWM */
 	// signed value is needed here
 //	int64_t timeToSwitch = nextSwitchTimeUs - getTimeNowUs();
 //	if (timeToSwitch < 1) {

firmware/controllers/trigger/main_trigger_callback.cpp

@@ -69,7 +69,7 @@ static const char *prevOutputName = NULL;
 static Logging *logger;
 #if ! EFI_UNIT_TEST
 static pid_s *fuelPidS = &persistentState.persistentConfiguration.engineConfiguration.fuelClosedLoopPid;
-static Pid fuelPid(fuelPidS, -100, 100);
+static Pid fuelPid(fuelPidS);
 extern TunerStudioOutputChannels tsOutputChannels;
 #endif
 

firmware/hw_layer/HIP9011.h

@@ -55,7 +55,9 @@ typedef enum {
 
 void initHip9011(Logging *sharedLogger);
 void setHip9011FrankensoPinout(void);
+#if HAL_USE_ADC
 void hipAdcCallback(adcsample_t value);
+#endif /* HAL_USE_ADC */
 void setHipGain(float value);
 void setHipBand(float value);
 void setPrescalerAndSDO(int value);

firmware/hw_layer/hardware.cpp

@@ -234,7 +234,10 @@ void applyNewHardwareSettings(void) {
     stopInjectionPins();
 	stopIgnitionPins();
 	stopCanPins();
-	stopETBPins();
+	bool etbRestartNeeded = isETBRestartNeeded();
+	if (etbRestartNeeded) {
+		stopETBPins();
+	}
 	stopVSSPins();
 	stopAuxPins();
 
@@ -293,7 +296,9 @@ void applyNewHardwareSettings(void) {
 	startInjectionPins();
 	startIgnitionPins();
 	startCanPins();
-	startETBPins();
+	if (etbRestartNeeded) {
+		startETBPins();
+	}
 	startVSSPins();
 	startAuxPins();
 

firmware/hw_layer/io_pins.cpp

@@ -90,10 +90,11 @@ iomode_t getInputMode(pin_input_mode_e mode) {
 	}
 }
 
+#if HAL_USE_ICU || defined(__DOXYGEN__)
 void efiIcuStart(ICUDriver *icup, const ICUConfig *config) {
 	  efiAssertVoid((icup->state == ICU_STOP) || (icup->state == ICU_READY),
 	              "input already used?");
 
 	icuStart(icup, config);
 }
-
+#endif /* HAL_USE_ICU */

firmware/hw_layer/io_pins.h

@@ -58,7 +58,9 @@ void efiSetPadMode(const char *msg, brain_pin_e pin, iomode_t mode);
 bool efiReadPin(brain_pin_e pin);
 
 iomode_t getInputMode(pin_input_mode_e mode);
+#if HAL_USE_ICU || defined(__DOXYGEN__)
 void efiIcuStart(ICUDriver *icup, const ICUConfig *config);
+#endif /* HAL_USE_ICU */
 #endif /* EFI_GPIO_HARDWARE */
 
 

firmware/integration/rusefi_config.txt

@@ -374,9 +374,7 @@ custom spi_device_e 4 bits,U32,   @OFFSET@, [0:1], "Off", "SPI1", "SPI2", "SPI3"
 	
 float globalFuelCorrection;;"coef",    1,      0.0,       0,  1000.0,        2
 
-
+	int unusedAnother;
-int16_t pedalPositionMin;;"ADC",      1,     0,    0, 1023,      0
-int16_t pedalPositionMax;;"ADC",      1,     0,    0, 1023,      0
 	float maxKnockSubDeg;maximum total number of degrees to subtract from ignition advance\nwhen knocking
 	adc_channel_e mafAdcChannel;See hasMafSensor	
 	
@@ -591,7 +589,7 @@ board_configuration_s bc;
 bit vvtDisplayInverted
 	bit fuelClosedLoopCorrectionEnabled
 	bit isVerboseIAC
-	bit isVerboseETB
+	bit isVerboseETB;enable verbose_etb
 	bit useConstantDwellDuringCranking 
 	bit isEngineChartEnabled;This options enables data for 'engine sniffer' tab in console, which comes at some CPU price 
 	bit silentTriggerError
@@ -705,7 +703,10 @@ custom pin_mode_e 4 bits,    U32,   @OFFSET@, [0:5], @@pin_mode_e_enum@@
 	brain_pin_e consoleSerialRxPin;todo: finish pin migration from hard-coded to configurable?
 	float[ENGINE_NOISE_CURVE_SIZE] knockNoise;Knock sensor output knock detection threshold depending on current RPM;"v",      1,     0,   0.0,    10,   2
 	float[ENGINE_NOISE_CURVE_SIZE] knockNoiseRpmBins;;"RPM",      1,     0,   0.0,    18000,   2
-	float[4] unusedetb;
+
+	float throttlePedalUpVoltage;;"voltage",      1,     0,    -6,   6,      2
+	float throttlePedalWOTVoltage;+Pedal in the floor;"voltage",      1,     0,    -6,   6,      2
+	float[2] unusedetb;
 	
 	float[CLT_CURVE_SIZE] cltIdleRpmBins;CLT-based target RPM for automatic idle controller;"C",        1,     0,   -100.0,    250.0,  2
 	float[CLT_CURVE_SIZE] cltIdleRpm;;"RPM",      1,     0,      0.0,    400.0,   0
@@ -782,7 +783,7 @@ float[MAP_ACCEL_TAPER] mapAccelTaperMult;;"mult",      1,     0,   0.0,    300,
 	int16_t fuelClosedLoopCltThreshold;;"C",        1,     0,  0,    100,  0
 	int16_t fuelClosedLoopTpsThreshold;;"%",        1,     0,  0,    100,  0
 	int16_t fuelClosedLoopRpmThreshold;;"rpm",        1,     0,  0,    5000,  0
-int16_t etbFreq;;"Hz",      1,     0,    0, 500,      10
+	int16_t etbFreq;;"Hz",      1,     0,    0, 1500,      0
 	pid_s fuelClosedLoopPid;
 	float fuelClosedLoopAfrHighThreshold;;"ratio",        1,     0,  0,    100,  1
 	pin_mode_e stepperEnablePinMode;

firmware/rusefi.cpp

@@ -251,5 +251,5 @@ int getRusEfiVersion(void) {
 		return 123; // this is here to make the compiler happy about the unused array
 	if (UNUSED_CCM_SIZE[0] * 0 != 0)
 		return 3211; // this is here to make the compiler happy about the unused array
-	return 20170528;
+	return 20170529;
 }

firmware/tunerstudio/rusefi.ini

@@ -45,7 +45,7 @@ enable2ndByteCanID = false
 
 ; see PAGE_0_SIZE in C source code    
 ; CONFIG_DEFINITION_START
-; this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sun May 28 22:30:58 EDT 2017
+; this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Mon May 29 22:21:18 EDT 2017
 
 pageSize            = 16376
 page = 1
@@ -169,8 +169,7 @@ page = 1
 	trigger_unusedcustomUseRiseEdge	 = bits, U32, 560, [0:0], "false", "true"
 	hip9011SpiDevice			 = bits,U32, 564, [0:1], "Off", "SPI1", "SPI2", "SPI3"
 	globalFuelCorrection			= scalar, F32,	568,	"coef", 1, 0.0, 0, 1000.0, 2
-	pedalPositionMin				= scalar, S16,	572,	"ADC", 1, 0, 0, 1023, 0
+;skipping unusedAnother offset 572
-	pedalPositionMax				= scalar, S16,	574,	"ADC", 1, 0, 0, 1023, 0
 ;skipping maxKnockSubDeg offset 576
 	mafAdcChannel				 = bits, U32, 580, [0:4] "PA0", "PA1", "PA2", "PA3", "PA4", "PA5", "PA6", "PA7", "PB0", "PB1", "PC0", "PC1", "PC2", "PC3", "PC4", "PC5", "Disabled", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID"
 	afr_hwChannel				 = bits, U32, 584, [0:4] "PA0", "PA1", "PA2", "PA3", "PA4", "PA5", "PA6", "PA7", "PB0", "PB1", "PC0", "PC1", "PC2", "PC3", "PC4", "PC5", "Disabled", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID"
@@ -550,7 +549,9 @@ page = 1
 	consoleSerialRxPin			 = bits, U32, 1944, [0:6], "PA0", "PA1", "PA2", "PA3", "PA4", "PA5", "PA6", "PA7", "PA8", "PA9", "PA10", "PA11", "PA12", "PA13", "PA14", "PA15", "PB0", "PB1", "PB2", "PB3", "PB4", "PB5", "PB6", "PB7", "PB8", "PB9", "PB10", "PB11", "PB12", "PB13", "PB14", "PB15", "PC0", "PC1", "PC2", "PC3", "PC4", "PC5", "PC6", "PC7", "PC8", "PC9", "PC10", "PC11", "PC12", "PC13", "PC14", "PC15", "PD0", "PD1", "PD2", "PD3", "PD4", "PD5", "PD6", "PD7", "PD8", "PD9", "PD10", "PD11", "PD12", "PD13", "PD14", "PD15", "PE0", "PE1", "PE2", "PE3", "PE4", "PE5", "PE6", "PE7", "PE8", "PE9", "PE10", "PE11", "PE12", "PE13", "PE14", "PE15", "NONE", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID", "INVALID"
 	knockNoise						= array, F32,	1948,	[8],	"v", 1, 0, 0.0, 10, 2
 	knockNoiseRpmBins				= array, F32,	1980,	[8],	"RPM", 1, 0, 0.0, 18000, 2
-;skipping unusedetb offset 2012
+	throttlePedalUpVoltage			= scalar, F32,	2012,	"voltage", 1, 0, -6, 6, 2
+	throttlePedalWOTVoltage			= scalar, F32,	2016,	"voltage", 1, 0, -6, 6, 2
+;skipping unusedetb offset 2020
 	cltIdleRpmBins					= array, F32,	2028,	[16],	"C", 1, 0, -100.0, 250.0, 2
 	cltIdleRpm						= array, F32,	2092,	[16],	"RPM", 1, 0, 0.0, 400.0, 0
 	targetVBatt						= scalar, F32,	2156,	"Volts", 1, 0, 0,30, 1
@@ -643,7 +644,7 @@ page = 1
 	fuelClosedLoopCltThreshold		= scalar, S16,	2732,	"C", 1, 0, 0, 100, 0
 	fuelClosedLoopTpsThreshold		= scalar, S16,	2734,	"%", 1, 0, 0, 100, 0
 	fuelClosedLoopRpmThreshold		= scalar, S16,	2736,	"rpm", 1, 0, 0, 5000, 0
-	etbFreq							= scalar, S16,	2738,	"Hz", 1, 0, 0, 500, 10
+	etbFreq							= scalar, S16,	2738,	"Hz", 1, 0, 0, 1500, 0
 	fuelClosedLoopPid_pFactor		= scalar, F32,	2740,	"value", 1, 0, -1000, 1000, 5
 	fuelClosedLoopPid_iFactor		= scalar, F32,	2744,	"value", 1, 0, -1000, 1000, 5
 	fuelClosedLoopPid_dFactor		= scalar, F32,	2748,	"value", 1, 0, -1000, 1000, 5
@@ -806,6 +807,7 @@ page = 1
 	ignMathCalculateAtIndex = "At what trigger index should some ignition-related math be executed? This is a performance trick to reduce load on synchronization trigger callback."
 	mapAveragingSchedulingAtIndex = "At what trigger index should some MAP-related math be executed? This is a performance trick to reduce load on synchronization trigger callback."
 	tachPulseTriggerIndex = "Trigger cycle index at which we start tach pulse (performance consideration)"
+	throttlePedalWOTVoltage = "Pedal in the floor"
 	slowAdcAlpha = "ExpAverage alpha coefficient"
 	dizzySparkOutputPin = "This implementation makes a pulse every time one of the coils is charged. See also tachOutputPin"
 
@@ -2388,8 +2390,8 @@ cmd_call_from_pit            = "w\x00\x20\x34\x56"
 	dialog = etbDialog, "Electronic Thtottle Body (alpha)"			
 		field = "pedal Position Channel", 				pedalPositionChannel
 		field = "verbose",								isVerboseETB
-		field = "Pedal min",							pedalPositionMin
+		field = "Throttle Pedal Up",					throttlePedalUpVoltage
-		field = "Pedal max",							pedalPositionMax
+		field = "Throttle Pedal Wide Open",				throttlePedalWOTVoltage
 		field = "PWM Frequency",						etbFreq
 		field = "Dir #1",								etbDirectionPin1
 		field = "Dir #2",								etbDirectionPin2

firmware/tunerstudio/rusefi.input

@@ -1626,8 +1626,8 @@ cmd_call_from_pit            = "w\x00\x20\x34\x56"
 	dialog = etbDialog, "Electronic Thtottle Body (alpha)"			
 		field = "pedal Position Channel", 				pedalPositionChannel
 		field = "verbose",								isVerboseETB
-		field = "Pedal min",							pedalPositionMin
+		field = "Throttle Pedal Up",					throttlePedalUpVoltage
-		field = "Pedal max",							pedalPositionMax
+		field = "Throttle Pedal Wide Open",				throttlePedalWOTVoltage
 		field = "PWM Frequency",						etbFreq
 		field = "Dir #1",								etbDirectionPin1
 		field = "Dir #2",								etbDirectionPin2

java_console/models/src/com/rusefi/config/Fields.java

@@ -1,6 +1,6 @@
 package com.rusefi.config;
 
-// this file was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sun May 28 22:30:58 EDT 2017
+// this file was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Mon May 29 22:21:18 EDT 2017
 public class Fields {
 	public static final int LE_COMMAND_LENGTH = 200;
 	public static final int FSIO_ADC_COUNT = 4;
@@ -249,8 +249,7 @@ public class Fields {
 	public static final int hip9011SpiDevice_offset_hex = 234;
 	public static final int globalFuelCorrection_offset = 568;
 	public static final int globalFuelCorrection_offset_hex = 238;
-	public static final int pedalPositionMin_offset = 572;
+	public static final int unusedAnother_offset = 572;
-	public static final int pedalPositionMax_offset = 574;
 	public static final int maxKnockSubDeg_offset = 576;
 	public static final int maxKnockSubDeg_offset_hex = 240;
 	public static final int mafAdcChannel_offset = 580;
@@ -799,7 +798,9 @@ public class Fields {
 	public static final int consoleSerialRxPin_offset_hex = 798;
 	public static final int knockNoise_offset = 1948;
 	public static final int knockNoiseRpmBins_offset = 1980;
-	public static final int unusedetb_offset = 2012;
+	public static final int throttlePedalUpVoltage_offset = 2012;
+	public static final int throttlePedalWOTVoltage_offset = 2016;
+	public static final int unusedetb_offset = 2020;
 	public static final int cltIdleRpmBins_offset = 2028;
 	public static final int cltIdleRpm_offset = 2092;
 	public static final int targetVBatt_offset = 2156;
@@ -1207,8 +1208,7 @@ public class Fields {
 	public static final Field TRIGGER_UNUSEDCUSTOMUSERISEEDGE = Field.create("TRIGGER_UNUSEDCUSTOMUSERISEEDGE", 560, FieldType.INT);
 	public static final Field HIP9011SPIDEVICE = Field.create("HIP9011SPIDEVICE", 564, FieldType.INT);
 	public static final Field GLOBALFUELCORRECTION = Field.create("GLOBALFUELCORRECTION", 568, FieldType.FLOAT);
-	public static final Field PEDALPOSITIONMIN = Field.create("PEDALPOSITIONMIN", 572, FieldType.INT);
+	public static final Field UNUSEDANOTHER = Field.create("UNUSEDANOTHER", 572, FieldType.INT);
-	public static final Field PEDALPOSITIONMAX = Field.create("PEDALPOSITIONMAX", 574, FieldType.INT);
 	public static final Field MAXKNOCKSUBDEG = Field.create("MAXKNOCKSUBDEG", 576, FieldType.FLOAT);
 	public static final Field MAFADCCHANNEL = Field.create("MAFADCCHANNEL", 580, FieldType.INT, adc_channel_e);
 	public static final Field AFR_HWCHANNEL = Field.create("AFR_HWCHANNEL", 584, FieldType.INT, adc_channel_e);
@@ -1586,6 +1586,8 @@ public class Fields {
 	public static final Field BINARYSERIALRXPIN = Field.create("BINARYSERIALRXPIN", 1936, FieldType.INT, brain_pin_e);
 	public static final Field CONSOLESERIALTXPIN = Field.create("CONSOLESERIALTXPIN", 1940, FieldType.INT, brain_pin_e);
 	public static final Field CONSOLESERIALRXPIN = Field.create("CONSOLESERIALRXPIN", 1944, FieldType.INT, brain_pin_e);
+	public static final Field THROTTLEPEDALUPVOLTAGE = Field.create("THROTTLEPEDALUPVOLTAGE", 2012, FieldType.FLOAT);
+	public static final Field THROTTLEPEDALWOTVOLTAGE = Field.create("THROTTLEPEDALWOTVOLTAGE", 2016, FieldType.FLOAT);
 	public static final Field TARGETVBATT = Field.create("TARGETVBATT", 2156, FieldType.FLOAT);
 	public static final Field ALTERNATOROFFABOVETPS = Field.create("ALTERNATOROFFABOVETPS", 2160, FieldType.FLOAT);
 	public static final Field TPSACCELLENGTH = Field.create("TPSACCELLENGTH", 2184, FieldType.INT);

java_tools/bin2header/Bin2Header.iml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
+

java_tools/bin2header/build.xml

@@ -0,0 +1,24 @@
+<project default="jar">
+
+    <target name="clean">
+        <delete dir="build"/>
+    </target>
+
+    <target name="compile">
+        <mkdir dir="build/classes"/>
+        <javac destdir="build/classes" classpath="lib/junit.jar:lib/annotations.jar">
+		<src path="src"/>
+	</javac>
+    </target>
+
+    <target name="jar" depends="compile">
+        <mkdir dir="build/jar"/>
+        <jar destfile="../bin2header.jar" basedir="build/classes">
+            <manifest>
+                <attribute name="Main-Class" value="rusefi.Bin2Header"/>
+            </manifest>
+		<zipfileset dir="build/classes" includes="**/*.class"/>
+        </jar>
+    </target>
+
+</project>

java_tools/bin2header/src/rusefi/Bin2Header.java

@@ -0,0 +1,64 @@
+package rusefi;
+
+import java.io.*;
+import java.nio.file.*;
+import java.util.Date;
+
+public class Bin2Header {
+    private static final String NL = "\n";//System.getProperty("line.separator");
+    private final static char[] hexChars = "0123456789abcdef".toCharArray();
+
+    private Bin2Header() {
+    }
+
+    public static void main(String[] args) throws IOException {
+        if (args.length < 3) {
+            System.out.println("This tool converts a binary file to C/C++ header file");
+            System.out.println("usage:");
+            System.out.println("Bin2Header in_file.bin out_file.h arrayVariableDecl");
+            return;
+        }
+
+        String binFile = args[0];
+        String hFile = args[1];
+        String arrayVariableDecl = args[2];
+
+        System.out.println("Converting " + binFile + " into " + hFile);
+
+        // This will reference one line at a time
+        String line = null;
+
+        
+        BufferedWriter bw = new BufferedWriter(new FileWriter(hFile));
+        Path path = Paths.get(binFile);
+        byte[] data =  Files.readAllBytes(path);
+
+        String headerTag = hFile;
+        int pos = headerTag.lastIndexOf("/");
+		if (pos >= 0)
+    		headerTag = headerTag.substring(pos + 1);
+    	headerTag = headerTag.toUpperCase().replace(".", "_") + "_";
+
+        bw.write("// This file was generated by Bin2Header" + NL);
+        bw.write("// " + new Date() + NL);
+        bw.write("#ifndef " + headerTag + NL);
+        bw.write("#define " + headerTag + NL + NL);
+ 
+        bw.write(arrayVariableDecl + " = {");
+
+		for (int i = 0; i < data.length; i++) {
+			if ((i & 0xf) == 0)
+				bw.write(NL + "\t");
+			int b = data[i] & 0xFF;
+			bw.write("0x");
+        	bw.write(hexChars[b >>> 4]);
+        	bw.write(hexChars[b & 0xf]);
+        	bw.write(", ");
+		}   
+
+        bw.write(NL + "};" + NL + NL);
+        bw.write("#endif /* " + headerTag + " */" + NL + NL);
+        bw.close();
+    }
+ 
+}

unit_tests/test_idle_controller.cpp

@@ -19,8 +19,10 @@ void testPidController(void) {
 	pidS.iFactor = 0.5;
 	pidS.dFactor = 0;
 	pidS.offset = 0;
+	pidS.minValue = 10;
+	pidS.maxValue = 90;
 
-	Pid pid(&pidS, 10, 90);
+	Pid pid(&pidS);
 
 	assertEqualsM("getValue#90", 90, pid.getValue(14, 12, 0.1));