HW CI has failed 11 times since Oct 2 #1849

Revert "ETB function config (#1831)"

This reverts commit af59c45a

firmware/controllers/actuators/electronic_throttle.cpp

@@ -172,8 +172,6 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
 	m_pid.initPidClass(pidParameters);
 	m_pedalMap = pedalMap;
 
-	reset();
-
 	return true;
 }
 
@@ -758,10 +756,6 @@ void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 		}
 	}
 
-	// Default is to run each throttle off its respective hbridge
-	engineConfiguration->etbFunctions[0] = ETB_Throttle1;
-	engineConfiguration->etbFunctions[1] = ETB_Throttle2;
-
 	engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;
 
 	// voltage, not ADC like with TPS
@@ -828,42 +822,29 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleActionI("etb_freq", setEtbFrequency);
 #endif /* EFI_PROD_CODE */
 
+	// If you don't have a pedal we have no business here.
+	if (!Sensor::hasSensor(SensorType::AcceleratorPedalPrimary)) {
+		return;
+	}
+
 	pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
 
-	// TODO: remove etbActualCount
+	engine->etbActualCount = Sensor::hasSensor(SensorType::Tps2) ? 2 : 1;
-	engine->etbActualCount = ETB_COUNT;
 
-	bool mustHaveEtbConfigured = Sensor::hasSensor(SensorType::AcceleratorPedalPrimary);
+	for (int i = 0 ; i < engine->etbActualCount; i++) {
-	bool anyEtbConfigured = false;
-
-	for (int i = 0 ; i < ETB_COUNT; i++) {
 		auto motor = initDcMotor(i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);
 
 		// If this motor is actually set up, init the etb
 		if (motor)
 		{
-			auto controller = engine->etbControllers[i];
+			// TODO: configure per-motor in config so wastegate/VW idle works
-			if (!controller) {
+			auto func = i == 0 ? ETB_Throttle1 : ETB_Throttle2;
-				continue;
-			}
 
-			auto func = CONFIG(etbFunctions[i]);
+			engine->etbControllers[i]->init(func, motor, &engineConfiguration->etb, &pedal2tpsMap);
-
-			anyEtbConfigured |= controller->init(func, motor, &engineConfiguration->etb, &pedal2tpsMap);
 			INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
 		}
 	}
 
-	if (!anyEtbConfigured) {
-		// It's not valid to have a PPS without any ETBs - check that at least one ETB was enabled along with the pedal
-		if (mustHaveEtbConfigured) {
-			firmwareError(OBD_PCM_Processor_Fault, "A pedal position sensor was configured, but no electronic throttles are configured.");
-		}
-
-		// Don't start the thread if no throttles are in use.
-		return;
-	}
-
 #if 0 && ! EFI_UNIT_TEST
 	percent_t startupThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
 	if (absF(startupThrottlePosition - engineConfiguration->etbNeutralPosition) > STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD) {
@@ -877,6 +858,8 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	}
 #endif /* EFI_UNIT_TEST */
 
+	etbPidReset(PASS_ENGINE_PARAMETER_SIGNATURE);
+
 #if !EFI_UNIT_TEST
 	etbThread.Start();
 #endif

firmware/controllers/core/error_handling.cpp

@@ -236,10 +236,6 @@ void onUnlockHook(void) {
 #endif /* ENABLE_PERF_TRACE */
 }
 
-#if EFI_SIMULATOR || EFI_UNIT_TEST
-#include <stdexcept>
-#endif
-
 void firmwareError(obd_code_e code, const char *fmt, ...) {
 #if EFI_PROD_CODE
 	if (hasFirmwareErrorFlag)
@@ -289,7 +285,7 @@ void firmwareError(obd_code_e code, const char *fmt, ...) {
 	printf("\r\n");
 
 #if EFI_SIMULATOR || EFI_UNIT_TEST
-	throw std::logic_error(fmt);
+	throw "fatal error";
 #endif /* EFI_SIMULATOR */
 #endif
 }

firmware/integration/rusefi_config.txt

@@ -951,8 +951,7 @@ custom maf_sensor_type_e 4 bits, S32, @OFFSET@, [0:1], @@maf_sensor_type_e_enum@
 
 	output_pin_e[TCU_SOLENOID_COUNT iterate] tcu_solenoid;
 
-	custom etb_function_e 1 bits, U08, @OFFSET@, [0:2], "None", "Throttle 1", "Throttle 2", "Idle Valve", "Wastegate"
+	uint8_t[2] solenoidPadding;;"units", 1, 0, -20, 100, 0
-	etb_function_e[ETB_COUNT iterate] etbFunctions
 
 	spi_device_e drv8860spiDevice;
 	brain_pin_e       drv8860_cs;

firmware/tunerstudio/rusefi.input

@@ -3044,8 +3044,6 @@ cmd_set_engine_type_default					= "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
 		field = "https://rusefi.com/s/etb"
 		field = "Detailed status in console",			isVerboseETB
 		field = "Disable ETB Motor",					pauseEtbControl
-		field = "H-Bridge #1 function",					etbFunctions1
-		field = "H-Bridge #2 function",					etbFunctions2
 		; we need the term about stepper idle in here, because there's a bug in TS that you can't have different visibility
 		; criteria for the same panel when used in multiple places
 		panel = hbridgeHardware,						{ throttlePedalPositionAdcChannel != @@ADC_CHANNEL_NONE@@ || (useStepperIdle && useHbridges) }

unit_tests/tests/test_etb.cpp

@@ -27,34 +27,9 @@ TEST(etb, initializationNoPedal) {
 		engine->etbControllers[i] = &mocks[i];
 	}
 
-	EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, _, _)).WillOnce(Return(false));
+	// We expect no throttle init stuff to be called - lack of pedal should disable ETB
-	EXPECT_CALL(mocks[1], init(ETB_Throttle2, _, _, _)).WillOnce(Return(false));
 
-	// This shouldn't throw, since no throttles are configured, but no pedal is configured either
+	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
-	EXPECT_NO_FATAL_ERROR(doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE));
-}
-
-TEST(etb, initializationMissingThrottle) {
-	StrictMock<MockEtb> mocks[ETB_COUNT];
-
-	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
-
-	for (int i = 0; i < ETB_COUNT; i++) {
-		engine->etbControllers[i] = &mocks[i];
-	}
-
-	engineConfiguration->etbFunctions[0] = ETB_None;
-	engineConfiguration->etbFunctions[1] = ETB_None;
-
-	EXPECT_CALL(mocks[0], init(ETB_None, _, _, _)).WillOnce(Return(false));
-	EXPECT_CALL(mocks[1], init(ETB_None, _, _, _)).WillOnce(Return(false));
-
-	// Must have a sensor configured before init
-	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
-	Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
-
-	// This should throw: a pedal is configured but no throttles
-	EXPECT_FATAL_ERROR(doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE));
 }
 
 TEST(etb, initializationSingleThrottle) {
@@ -70,39 +45,11 @@ TEST(etb, initializationSingleThrottle) {
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
 	Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
 
-	engineConfiguration->etbFunctions[0] = ETB_Throttle1;
-	engineConfiguration->etbFunctions[1] = ETB_None;
-
 	// Expect mock0 to be init as throttle 1, and PID params
 	EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
+	EXPECT_CALL(mocks[0], reset);
 
-	// Expect mock1 to be init as none
+	// We do not expect throttle #2 to be initialized
-	EXPECT_CALL(mocks[1], init(ETB_None, _, _, _)).WillOnce(Return(true));
-
-	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
-}
-
-TEST(etb, initializationSingleThrottleInSecondSlot) {
-	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_None;
-	engineConfiguration->etbFunctions[1] = ETB_Throttle1;
-
-	// Expect mock0 to be init as none
-	EXPECT_CALL(mocks[0], init(ETB_None, _, _, _)).WillOnce(Return(true));
-
-	// Expect mock1 to be init as throttle 1, and PID params
-	EXPECT_CALL(mocks[1], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
 
 	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
 }
@@ -123,14 +70,13 @@ TEST(etb, initializationDualThrottle) {
 	// The presence of a second TPS indicates dual throttle
 	Sensor::setMockValue(SensorType::Tps2, 25.0f);
 
-	engineConfiguration->etbFunctions[0] = ETB_Throttle1;
-	engineConfiguration->etbFunctions[1] = ETB_Throttle2;
-
 	// Expect mock0 to be init as throttle 1, and PID params
 	EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
+	EXPECT_CALL(mocks[0], reset);
 
 	// Expect mock1 to be init as throttle 2, and PID params
 	EXPECT_CALL(mocks[1], init(ETB_Throttle2, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
+	EXPECT_CALL(mocks[1], reset);
 
 	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
 }

unit_tests/unit_test_framework.h

@@ -32,5 +32,3 @@ void assertEqualsM(const char *msg, float expected, float actual);
 void assertEqualsLM(const char *msg, long expected, long actual);
 void assertEqualsM4(const char *prefix, const char *msg, float expected, float actual);
 
-#define EXPECT_NO_FATAL_ERROR EXPECT_NO_THROW
-#define EXPECT_FATAL_ERROR(expr) EXPECT_THROW((expr), std::logic_error)