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Redundant accelerator pedal (#1470) 

* add second boudns

* init logic

* test changes

* reconfigure correctly

* rams
This commit is contained in:
Matthew Kennedy 2020-05-23 16:48:32 -07:00 committed by GitHub
parent 39671f3c33
commit 0290a268ab
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 16 additions and 6 deletions
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2
firmware/controllers/engine_controller.cpp
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@ -696,7 +696,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
* UNUSED_SIZE contants.
*/
#ifndef RAM_UNUSED_SIZE
#define RAM_UNUSED_SIZE 8900
#define RAM_UNUSED_SIZE 8800
#endif
#ifndef CCM_UNUSED_SIZE
#define CCM_UNUSED_SIZE 2900

14
firmware/init/sensor/init_tps.cpp
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@ -23,8 +23,12 @@ FunctionalSensor tpsSens2s(SensorType::Tps2Secondary, MS2NT(10));
RedundantSensor tps1(SensorType::Tps1, SensorType::Tps1Primary, SensorType::Tps1Secondary);
RedundantSensor tps2(SensorType::Tps2, SensorType::Tps2Primary, SensorType::Tps2Secondary);
LinearFunc pedalFunc;
FunctionalSensor pedalSensor(SensorType::AcceleratorPedal, MS2NT(10));
LinearFunc pedalFuncPrimary;
LinearFunc pedalFuncSecondary;
FunctionalSensor pedalSensorPrimary(SensorType::AcceleratorPedalPrimary, MS2NT(10));
FunctionalSensor pedalSensorSecondary(SensorType::AcceleratorPedalSecondary, MS2NT(10));
RedundantSensor pedal(SensorType::AcceleratorPedal, SensorType::AcceleratorPedalPrimary, SensorType::AcceleratorPedalSecondary);
// This sensor indicates the driver's throttle intent - Pedal if we have one, TPS if not.
ProxySensor driverIntent(SensorType::DriverThrottleIntent);
@ -75,7 +79,8 @@ void initTps(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
initTpsFuncAndRedund(tps1, tpsFunc1s, tpsSens1s, CONFIG(tps1_2AdcChannel), CONFIG(tps1SecondaryMin), CONFIG(tps1SecondaryMax), min, max);
initTpsFunc(tpsFunc2p, tpsSens2p, CONFIG(tps2_1AdcChannel), CONFIG(tps2Min), CONFIG(tps2Max), min, max);
initTpsFuncAndRedund(tps2, tpsFunc2s, tpsSens2s, CONFIG(tps2_2AdcChannel), CONFIG(tps2SecondaryMin), CONFIG(tps2SecondaryMax), min, max);
initTpsFunc(pedalFunc, pedalSensor, CONFIG(throttlePedalPositionAdcChannel), CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage), min, max);
initTpsFunc(pedalFuncPrimary, pedalSensorPrimary, CONFIG(throttlePedalPositionAdcChannel), CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage), min, max);
initTpsFuncAndRedund(pedal, pedalFuncSecondary, pedalSensorSecondary, CONFIG(throttlePedalPositionSecondAdcChannel), CONFIG(throttlePedalSecondaryUpVoltage), CONFIG(throttlePedalSecondaryWOTVoltage), min, max);
// Route the pedal or TPS to driverIntent as appropriate
if (CONFIG(throttlePedalPositionAdcChannel) != EFI_ADC_NONE) {
@ -98,5 +103,6 @@ void reconfigureTps(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
configureTps(tpsFunc2p, CONFIG(tps2Min), CONFIG(tps2Max), min, max);
configureTps(tpsFunc2s, CONFIG(tps2SecondaryMin), CONFIG(tps2SecondaryMax), min, max);
configureTps(pedalFunc, CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage), min, max);
configureTps(pedalFuncPrimary, CONFIG(throttlePedalUpVoltage), CONFIG(throttlePedalWOTVoltage), min, max);
configureTps(pedalFuncSecondary, CONFIG(throttlePedalSecondaryUpVoltage), CONFIG(throttlePedalSecondaryWOTVoltage), min, max);
}

6
unit_tests/tests/sensor/test_sensor_init.cpp
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@ -61,7 +61,7 @@ TEST(SensorInit, Pedal) {
initTps(PASS_ENGINE_PARAMETER_SIGNATURE);
// Ensure the sensors were registered
auto s = const_cast<Sensor*>(Sensor::getSensorOfType(SensorType::AcceleratorPedal));
auto s = const_cast<Sensor*>(Sensor::getSensorOfType(SensorType::AcceleratorPedalPrimary));
ASSERT_NE(nullptr, s);
// Test in range
@ -72,6 +72,10 @@ TEST(SensorInit, Pedal) {
// Test out of range
EXPECT_POINT_INVALID(s, 0.0f);
EXPECT_POINT_INVALID(s, 5.0f);
// Test that the passthru (redundant sensor) is working
EXPECT_POINT_VALID(s, 2.5f, 50.0f);
EXPECT_NEAR(50.0f, Sensor::get(SensorType::AcceleratorPedal).value_or(-1), EPS2D);
}
TEST(SensorInit, DriverIntentNoPedal) {