Etb wastegate hookup (#1888)

* remove

* cleanup

* implement ETB parts

* hook up to boost controller

* tests

firmware/controllers/actuators/boost_control.cpp

@@ -15,14 +15,11 @@
 #include "boost_control.h"
 #include "sensor.h"
 #include "map.h"
-#include "io_pins.h"
-#include "engine_configuration.h"
-#include "pwm_generator_logic.h"
-#include "engine_controller.h"
 #include "pin_repository.h"
 #include "pwm_generator_logic.h"
 #include "pid_auto_tune.h"
-#include "local_version_holder.h"
+#include "electronic_throttle.h"
+
 #define NO_PIN_PERIOD 500
 
 #if defined(HAS_OS_ACCESS)
@@ -148,6 +145,8 @@ void BoostController::setOutput(expected<float> output) {
 	if (m_pwm) {
 		m_pwm->setSimplePwmDutyCycle(duty);
 	}
+
+	setEtbWastegatePosition(duty PASS_ENGINE_PARAMETER_SUFFIX);
 }
 
 void BoostController::PeriodicTask() {

firmware/controllers/actuators/electronic_throttle.cpp

@@ -199,6 +199,10 @@ void EtbController::setIdlePosition(percent_t pos) {
 	m_idlePosition = pos;
 }
 
+void EtbController::setWastegatePosition(percent_t pos) {
+	m_wastegatePosition = pos;
+}
+
 expected<percent_t> EtbController::getSetpoint() const {
 	switch (m_function) {
 		case ETB_Throttle1:
@@ -223,8 +227,7 @@ expected<percent_t> EtbController::getSetpointIdleValve() const {
 }
 
 expected<percent_t> EtbController::getSetpointWastegate() const {
-	// TODO: implement me!
-	return unexpected;
+	return clampF(0, m_wastegatePosition, 100);
 }
 
 expected<percent_t> EtbController::getSetpointEtb() const {
@@ -721,9 +724,7 @@ void etbAutocal(size_t throttleIndex) {
 		return;
 	}
 
-	auto etb = engine->etbControllers[throttleIndex];
-
-	if (etb) {
+	if (auto etb = engine->etbControllers[throttleIndex]) {
 		etb->autoCalibrateTps();
 	}
 }
@@ -894,12 +895,18 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 void setEtbIdlePosition(percent_t pos DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	for (int i = 0; i < ETB_COUNT; i++) {
-		auto etb = engine->etbControllers[i];
-
-		if (etb) {
+		if (auto etb = engine->etbControllers[i]) {
 			etb->setIdlePosition(pos);
 		}
 	}
 }
 
+void setEtbWastegatePosition(percent_t pos DECLARE_ENGINE_PARAMETER_SUFFIX) {
+	for (int i = 0; i < ETB_COUNT; i++) {
+		if (auto etb = engine->etbControllers[i]) {
+			etb->setWastegatePosition(pos);
+		}
+	}
+}
+
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */

firmware/controllers/actuators/electronic_throttle.h

@@ -33,6 +33,7 @@ public:
 	virtual bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
 	virtual void reset() = 0;
 	virtual void setIdlePosition(percent_t pos) = 0;
+	virtual void setWastegatePosition(percent_t pos) = 0;
 	virtual void update() = 0;
 	virtual void autoCalibrateTps() = 0;
 };
@@ -41,6 +42,7 @@ class EtbController : public IEtbController {
 public:
 	bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
 	void setIdlePosition(percent_t pos) override;
+	void setWastegatePosition(percent_t pos) override;
 	void reset() override;
 
 	// Update the controller's state: read sensors, send output, etc
@@ -91,6 +93,7 @@ private:
 	const ValueProvider3D* m_pedalMap = nullptr;
 
 	float m_idlePosition = 0;
+	float m_wastegatePosition = 0;
 
 	// Autotune helpers
 	bool m_lastIsPositive = false;
@@ -109,7 +112,9 @@ private:
 
 void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+
 void setEtbIdlePosition(percent_t pos DECLARE_ENGINE_PARAMETER_SUFFIX);
+void setEtbWastegatePosition(percent_t pos DECLARE_ENGINE_PARAMETER_SUFFIX);
 
 void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);

unit_tests/mocks.h

@@ -15,6 +15,7 @@ public:
 	MOCK_METHOD(void, update, (), (override));
 	MOCK_METHOD(bool, init, (etb_function_e function, DcMotor* motor, pid_s* pidParameters, const ValueProvider3D* pedalMap), (override));
 	MOCK_METHOD(void, setIdlePosition, (percent_t pos), (override));
+	MOCK_METHOD(void, setWastegatePosition, (percent_t pos), (override));
 	MOCK_METHOD(void, autoCalibrateTps, (), (override));
 
 	// ClosedLoopController mocks

unit_tests/tests/test_boost.cpp

@@ -106,16 +106,23 @@ TEST(BoostControl, ClosedLoop) {
 }
 
 TEST(BoostControl, SetOutput) {
-	StrictMock<MockPwm> pwm;
-	BoostController bc;
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
 
+	StrictMock<MockPwm> pwm;
+	StrictMock<MockEtb> etb;
+	BoostController bc;
+	INJECT_ENGINE_REFERENCE(&bc);
+
+	// ETB wastegate position & PWM should both be set
+	EXPECT_CALL(etb, setWastegatePosition(0.25f));
 	EXPECT_CALL(pwm, setSimplePwmDutyCycle(0.25f));
 
 	// Don't crash if not init'd (don't deref null ptr m_pwm)
 	EXPECT_NO_THROW(bc.setOutput(25.0f));
 
-	// Init with mock PWM device
+	// Init with mock PWM device and ETB
 	bc.init(&pwm, nullptr, nullptr, nullptr);
+	engine->etbControllers[0] = &etb;
 
 	bc.setOutput(25.0f);
 }

unit_tests/tests/test_etb.cpp

@@ -289,6 +289,25 @@ TEST(etb, setpointIdleValveController) {
 	EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
 }
 
+TEST(etb, setpointWastegateController) {
+	EtbController etb;
+
+	etb.init(ETB_Wastegate, nullptr, nullptr, nullptr);
+
+	etb.setWastegatePosition(0);
+	EXPECT_FLOAT_EQ(0, etb.getSetpoint().value_or(-1));
+	etb.setWastegatePosition(50);
+	EXPECT_FLOAT_EQ(50, etb.getSetpoint().value_or(-1));
+	etb.setWastegatePosition(100);
+	EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
+
+	// Out of range should be clamped
+	etb.setWastegatePosition(-10);
+	EXPECT_FLOAT_EQ(0, etb.getSetpoint().value_or(-1));
+	etb.setWastegatePosition(110);
+	EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
+}
+
 TEST(etb, etbTpsSensor) {
 	// Throw some distinct values on the TPS sensors so we can identify that we're getting the correct one
 	Sensor::setMockValue(SensorType::Tps1, 25.0f);