TPS consumers: idle and ignition and obd2 and lcd (#1254)

* advance_map

* tests

* unneeded

* idle

* use driver intent instead

* and obd and lcd

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/controllers/actuators/idle_thread.cpp

@@ -231,7 +231,7 @@ static bool isOutOfAutomaticIdleCondition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 /**
  * @return idle valve position percentage for automatic closed loop mode
  */
-static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	if (isOutOfAutomaticIdleCondition(PASS_ENGINE_PARAMETER_SIGNATURE)) {
 		// Don't store old I and D terms if PID doesn't work anymore.
 		// Otherwise they will affect the idle position much later, when the throttle is closed.
@@ -287,7 +287,6 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	}
 	
 	// Apply PID Deactivation Threshold as a smooth taper for TPS transients.
-	percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
 	// if tps==0 then PID just works as usual, or we completely disable it if tps>=threshold
 	newValue = interpolateClamped(0.0f, newValue, CONFIG(idlePidDeactivationTpsThreshold), engine->engineState.idle.baseIdlePosition, tpsPos);
 
@@ -326,7 +325,9 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 		idlePid.iTermMin = engineConfiguration->idlerpmpid_iTermMin;
 		idlePid.iTermMax = engineConfiguration->idlerpmpid_iTermMax;
 
-		engine->engineState.isAutomaticIdle = engineConfiguration->idleMode == IM_AUTO;
+		SensorResult tps = Sensor::get(SensorType::DriverThrottleIntent);
+
+		engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
 
 		if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) {
 			// todo: print each bit using 'getIdle_state_e' method
@@ -402,19 +403,21 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 			lastCrankingCyclesCounter = engine->rpmCalculator.getRevolutionCounterSinceStart();
 			engine->engineState.idle.baseIdlePosition = iacPosition;
 		} else {
-			if (engineConfiguration->idleMode == IM_MANUAL) {
+			if (!tps.Valid || engineConfiguration->idleMode == IM_MANUAL) {
 				// let's re-apply CLT correction
 				iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
 			} else {
-				iacPosition = automaticIdleController(PASS_ENGINE_PARAMETER_SIGNATURE);
+				iacPosition = automaticIdleController(tps.Value PASS_ENGINE_PARAMETER_SUFFIX);
 			}
 			
 			// store 'base' iacPosition without adjustments
 			engine->engineState.idle.baseIdlePosition = iacPosition;
-			
+
-			percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
 			float additionalAir = (float)engineConfiguration->iacByTpsTaper;
-			iacPosition += interpolateClamped(0.0f, 0.0f, CONFIG(idlePidDeactivationTpsThreshold), additionalAir, tpsPos);
+
+			if (tps.Valid) {
+				iacPosition += interpolateClamped(0.0f, 0.0f, CONFIG(idlePidDeactivationTpsThreshold), additionalAir, tps.Value);
+			}
 
 			// taper transition from cranking to running (uint32_t to float conversion is safe here)
 			if (engineConfiguration->afterCrankingIACtaperDuration > 0)

firmware/controllers/algo/advance_map.cpp

@@ -24,7 +24,7 @@
 #include "advance_map.h"
 #include "interpolation.h"
 #include "engine_math.h"
-#include "tps.h"
+#include "sensor.h"
 #include "idle_thread.h"
 #include "allsensors.h"
 #include "launch_control.h"
@@ -86,8 +86,9 @@ static angle_t getRunningAdvance(int rpm, float engineLoad DECLARE_ENGINE_PARAME
 
 	float advanceAngle;
 	if (CONFIG(useTPSAdvanceTable)) {
-		float tps = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
+		// TODO: what do we do about multi-TPS?
-		advanceAngle = advanceTpsMap.getValue((float) rpm, tps);
+		float tps = Sensor::get(SensorType::Tps1).value_or(0);
+		advanceAngle = advanceTpsMap.getValue(rpm, tps);
 	} else {
 		advanceAngle = advanceMap.getValue((float) rpm, engineLoad);
 	}
@@ -95,9 +96,12 @@ static angle_t getRunningAdvance(int rpm, float engineLoad DECLARE_ENGINE_PARAME
 	// get advance from the separate table for Idle
 	if (CONFIG(useSeparateAdvanceForIdle)) {
 		float idleAdvance = interpolate2d("idleAdvance", rpm, config->idleAdvanceBins, config->idleAdvance);
-		// interpolate between idle table and normal (running) table using TPS threshold
+
-		float tps = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
+		auto [valid, tps] = Sensor::get(SensorType::DriverThrottleIntent);
-		advanceAngle = interpolateClamped(0.0f, idleAdvance, CONFIG(idlePidDeactivationTpsThreshold), advanceAngle, tps);
+		if (valid) {
+			// interpolate between idle table and normal (running) table using TPS threshold
+			advanceAngle = interpolateClamped(0.0f, idleAdvance, CONFIG(idlePidDeactivationTpsThreshold), advanceAngle, tps);
+		}
 	}
 
 	
@@ -130,8 +134,11 @@ angle_t getAdvanceCorrections(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	if (CONFIG(useIdleTimingPidControl)) {
 		int targetRpm = getTargetRpmForIdleCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
 		int rpmDelta = absI(rpm - targetRpm);
-		float tps = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
+
-		if (tps >= CONFIG(idlePidDeactivationTpsThreshold)) {
+		auto [valid, tps] = Sensor::get(SensorType::Tps1);
+
+		// If TPS is invalid, or we aren't in the region, so reset state and don't apply PID
+		if (!valid || tps >= CONFIG(idlePidDeactivationTpsThreshold)) {
 			// we are not in the idle mode anymore, so the 'reset' flag will help us when we return to the idle.
 			shouldResetTimingPid = true;
 		} 

firmware/controllers/can/obd2.cpp

@@ -34,7 +34,7 @@
 #include "vehicle_speed.h"
 #include "map.h"
 #include "maf.h"
-#include "tps.h"
+#include "sensor.h"
 #include "engine_math.h"
 #include "fuel_math.h"
 #include "thermistors.h"
@@ -167,7 +167,7 @@ static void handleGetDataRequest(const CANRxFrame& rx) {
 		break;
 	case PID_THROTTLE:
 		scheduleMsg(&logger, "Got throttle request");
-		obdSendValue(1, pid, 1, getTPS(PASS_ENGINE_PARAMETER_SIGNATURE) * 2.55f);	// (A*100/255)
+		obdSendValue(1, pid, 1, Sensor::get(SensorType::Tps1).value_or(0) * 2.55f);	// (A*100/255)
 		break;
 	case PID_FUEL_RATE:
 		scheduleMsg(&logger, "Got fuel rate request");

firmware/controllers/gauges/lcd_controller.cpp

@@ -40,6 +40,7 @@
 #include "mmc_card.h"
 #include "idle_thread.h"
 #include "fuel_math.h"
+#include "sensor.h"
 
 
 EXTERN_ENGINE;
@@ -190,7 +191,7 @@ static void showLine(lcd_line_e line, int screenY) {
 	case LL_TPS:
 		getPinNameByAdcChannel("tps", engineConfiguration->tps1_1AdcChannel, buffer);
 
-		lcdPrintf("Throttle %s %.2f%%", buffer, getTPS());
+		lcdPrintf("Throttle %s %.2f%%", buffer, Sensor::get(SensorType::Tps1).value_or(0));
 		return;
 	case LL_FUEL_CLT_CORRECTION:
 		lcdPrintf("CLT corr %.2f", getCltFuelCorrection(PASS_ENGINE_PARAMETER_SIGNATURE));

unit_tests/engine_test_helper.cpp

@@ -14,6 +14,7 @@
 #include "allsensors.h"
 #include "engine_controller.h"
 #include "advance_map.h"
+#include "sensor.h"
 
 extern int timeNowUs;
 extern WarningCodeState unitTestWarningCodeState;
@@ -28,6 +29,7 @@ EngineTestHelperBase::EngineTestHelperBase() {
 }
 
 EngineTestHelper::EngineTestHelper(engine_type_e engineType, configuration_callback_t boardCallback) {
+	Sensor::resetRegistry();
 	unitTestWarningCodeState.clear();
 
 	testMafValue = 0;

unit_tests/tests/test_idle_controller.cpp

@@ -14,6 +14,7 @@
 #include "allsensors.h"
 #include "engine_controller.h"
 #include "electronic_throttle.h"
+#include "sensor.h"
 
 extern IdleController idleControllerInstance;
 extern int timeNowUs;
@@ -80,10 +81,8 @@ TEST(idle, timingPid) {
 	eth.engine.engineState.cltTimingCorrection = 0;
 
 	// configure TPS
-	engineConfiguration->tpsMin = 0;
-	engineConfiguration->tpsMax = 100;
 	engineConfiguration->idlePidDeactivationTpsThreshold = 10;
-	setMockTpsAdc(0 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::Tps1, 0);
 
 	// disable temperature sensors
 	eth.engine.sensors.clt = NAN;
@@ -117,12 +116,12 @@ TEST(idle, timingPid) {
 	ASSERT_FLOAT_EQ(-5.75f, corr) << "getAdvanceCorrections#5";
 
 	// check if PID correction is disabled in running mode (tps > threshold):
-	setMockTpsAdc(engineConfiguration->idlePidDeactivationTpsThreshold + 1 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::Tps1, engineConfiguration->idlePidDeactivationTpsThreshold + 1);
 	corr = getAdvanceCorrections(idleRpmTarget PASS_ENGINE_PARAMETER_SUFFIX);
 	ASSERT_EQ(0, corr) << "getAdvanceCorrections#6";
 
 	// check if PID correction is interpolated for transient idle-running TPS positions
-	setMockTpsAdc(engineConfiguration->idlePidDeactivationTpsThreshold / 2 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::Tps1, engineConfiguration->idlePidDeactivationTpsThreshold / 2);
 	corr = getAdvanceCorrections(baseTestRpm PASS_ENGINE_PARAMETER_SUFFIX);
 	ASSERT_FLOAT_EQ(-5.0f, corr) << "getAdvanceCorrections#7";