move AEM xseries lambda to new sensor (#1764)

* lambda sens

* fix init

* new sensor aem

* comment

* g

* format

* x

* guard

* fix init for tests

* fix

* put back

* put back

* fix

* fix init

* why is this different

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

firmware/controllers/can/can_rx.cpp

@@ -27,7 +27,6 @@ static void printPacket(const CANRxFrame& rx, Logging* logger) {
 	}
 }
 
-volatile float aemXSeriesLambda = 0;
 volatile float canMap = 0;
 
 CanSensorBase* cansensors_head = nullptr;
@@ -56,18 +55,13 @@ void processCanRxMessage(const CANRxFrame& frame, Logging* logger, efitick_t now
 	//Vss is configurable, should we handle it here:
 	processCanRxVss(frame, nowNt);
 
-	// TODO: if/when we support multiple lambda sensors, sensor N
-	// has address 0x0180 + N where N = [0, 15]
-	if (frame.SID == 0x0180) {
-		// AEM x-series lambda sensor reports in 0.0001 lambda per bit
-		uint16_t lambdaInt = SWAP_UINT16(frame.data16[0]);
-		aemXSeriesLambda = 0.0001f * lambdaInt;
 #if EFI_CANBUS_SLAVE
-	} else if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
+	if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
 		int16_t mapScaled = *reinterpret_cast<const int16_t*>(&frame.data8[0]);
 		canMap = mapScaled / (1.0 * PACK_MULT_PRESSURE);
+	} else
 #endif
-	} else {
+	{
 		obdOnCanPacketRx(frame);
 	}
 }

firmware/controllers/sensors/AemXSeriesLambda.cpp

@@ -0,0 +1,40 @@
+#include "global.h"
+
+#if EFI_CAN_SUPPORT
+#include "AemXSeriesLambda.h"
+#include "efilib.h"
+
+AemXSeriesWideband::AemXSeriesWideband(uint8_t sensorIndex, SensorType type)
+	: CanSensorBase(
+		0x180 + sensorIndex,	// 0th sensor is 0x180, others sequential above that
+		type,
+		MS2NT(21)	// sensor transmits at 100hz, allow a frame to be missed
+	)
+{}
+
+void AemXSeriesWideband::decodeFrame(const CANRxFrame& frame, efitick_t nowNt) {
+	if (frame.DLC != 8) {
+		invalidate();
+		return;
+	}
+
+	// bit 6 indicates sensor fault
+	bool sensorFault = frame.data8[7] & 0x40;
+	if (sensorFault) {
+		invalidate();
+		return;
+	}
+
+	// bit 7 indicates valid
+	bool valid = frame.data8[6] & 0x80;
+	if (!valid) {
+		invalidate();
+		return;
+	}
+
+	// reports in 0.0001 lambda per LSB
+	uint16_t lambdaInt = SWAP_UINT16(frame.data16[0]);
+	setValidValue(0.0001f * lambdaInt, nowNt);
+}
+
+#endif

firmware/controllers/sensors/AemXSeriesLambda.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "can_sensor.h"
+
+class AemXSeriesWideband final : public CanSensorBase {
+public:
+	AemXSeriesWideband(uint8_t sensorIndex, SensorType type);
+
+protected:
+	void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) override;
+};

firmware/controllers/sensors/can_sensor.h

@@ -121,4 +121,3 @@ public:
 	int PID;
 	float Scale;
 };
-

firmware/controllers/sensors/ego.cpp

@@ -108,16 +108,9 @@ bool hasAfrSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	return engineConfiguration->afr.hwChannel != EFI_ADC_NONE;
 }
 
-extern float aemXSeriesLambda;
 extern float InnovateLC2AFR;
 
 float getAfr(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-#if EFI_CAN_SUPPORT
-	if (CONFIG(enableAemXSeries)) {
-		return aemXSeriesLambda * 14.7f;
-	}
-#endif
-
 #if EFI_AUX_SERIAL
 	if (CONFIG(enableInnovateLC2))
 		return InnovateLC2AFR;

firmware/controllers/sensors/sensors.mk

@@ -13,6 +13,7 @@ CONTROLLERS_SENSORS_SRC_CPP = 	$(PROJECT_DIR)/controllers/sensors/thermistors.cp
 	$(PROJECT_DIR)/controllers/sensors/sensor_info_printing.cpp \
 	$(PROJECT_DIR)/controllers/sensors/functional_sensor.cpp \
 	$(PROJECT_DIR)/controllers/sensors/redundant_sensor.cpp \
+	$(PROJECT_DIR)/controllers/sensors/AemXSeriesLambda.cpp \
 	$(PROJECT_DIR)/controllers/sensors/software_knock.cpp \
 	$(PROJECT_DIR)/controllers/sensors/converters/linear_func.cpp \
 	$(PROJECT_DIR)/controllers/sensors/converters/resistance_func.cpp \

firmware/init/sensor/init_lambda.cpp

@@ -23,9 +23,22 @@ static FunctionPointerSensor lambdaSensor(SensorType::Lambda,
 	return afrWrapper.getLambda();
 });
 
+#if EFI_CAN_SUPPORT
+#include "AemXSeriesLambda.h"
+static AemXSeriesWideband aem(0, SensorType::Lambda);
+#endif
+
 void initLambda(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	INJECT_ENGINE_REFERENCE(&afrWrapper);
 
+#if EFI_CAN_SUPPORT
+	if (CONFIG(enableAemXSeries)) {
+		registerCanSensor(aem);
+
+		return;
+	}
+#endif
+
 	if (!lambdaSensor.Register()) {
 		warning(OBD_PCM_Processor_Fault, "Duplicate lambda sensor registration, ignoring");
 	}