#604 fix

firmware/controllers/core/interpolation.h

@@ -78,8 +78,14 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
 		if (needInterpolationLogging())
 			printf("Y is smaller than smallest cell in table: %d\r\n", yIndex);
 #endif /* DEBUG_INTERPOLATION */
-		// no interpolation should be fine here.
+		if (xIndex == xBinSize - 1)
 			return map[xIndex][0];
+		float key1 = xBin[xIndex];
+		float key2 = xBin[xIndex + 1];
+		float value1 = map[xIndex][0];
+		float value2 = map[xIndex + 1][0];
+
+		return interpolateMsg("out3d", key1, value1, key2, value2, x);
 	}
 
 	if (xIndex == xBinSize - 1 && yIndex == yBinSize - 1) {
@@ -95,8 +101,14 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
 		if (needInterpolationLogging())
 			printf("TODO BETTER LOGGING x overflow %d\r\n", yIndex);
 #endif /* DEBUG_INTERPOLATION */
-		// todo: implement better handling - y interpolation
+		// here yIndex is less than yBinSize - 1, we've checked that condition already
-		return map[xBinSize - 1][yIndex];
+
+		float key1 = yBin[yIndex];
+		float key2 = yBin[yIndex + 1];
+		float value1 = map[xIndex][yIndex];
+		float value2 = map[xIndex][yIndex + 1];
+
+		return interpolateMsg("out3d", key1, value1, key2, value2, y);
 	}
 
 	if (yIndex == yBinSize - 1) {
@@ -104,8 +116,14 @@ float interpolate3d(float x, float xBin[], int xBinSize, float y, float yBin[],
 		if (needInterpolationLogging())
 			printf("Y is larger than largest cell in table: %d\r\n", yIndex);
 #endif /* DEBUG_INTERPOLATION */
-		// todo: implement better handling - x interpolation
+		// here xIndex is less than xBinSize - 1, we've checked that condition already
-		return map[xIndex][yBinSize - 1];
+
+		float key1 = xBin[xIndex];
+		float key2 = xBin[xIndex + 1];
+		float value1 = map[xIndex][yIndex];
+		float value2 = map[xIndex + 1][yIndex];
+
+		return interpolateMsg("out3d", key1, value1, key2, value2, x);
 	}
 
 	/*

firmware/controllers/engine_controller.cpp

@@ -733,5 +733,5 @@ int getRusEfiVersion(void) {
 	if (initBootloader() != 0)
 		return 123;
 #endif /* EFI_BOOTLOADER_INCLUDE_CODE */
-	return 20180808;
+	return 20180819;
 }

unit_tests/test_basic_math/test_interpolation_3d.cpp

@@ -61,50 +61,54 @@ static void newTestToComfirmInterpolation() {
 	assertEqualsM("middle cell    ", 54.25, getValue(/*rpm*/250, 2.5));
 
 	// issue #604: interpolation outside of the table
-	assertEqualsM("800 @ 2.1  ",200, getValue(/*rpm*/800, 2.1));
+	// X above the range
-	assertEqualsM("800 @ 2.3  ",200, getValue(/*rpm*/800, 2.3));
+	assertEqualsM("800 @ 2.1  ",230, getValue(/*rpm*/800, 2.1));
-	assertEqualsM("800 @ 3.3  ",500, getValue(/*rpm*/800, 3.3));
+	assertEqualsM("800 @ 2.3  ",290, getValue(/*rpm*/800, 2.3));
+	assertEqualsM("800 @ 3.3  ",530, getValue(/*rpm*/800, 3.3));
 
+	// X below the range
+	assertEqualsM("-810 @ 2.1  ",2.1, getValue(/*rpm*/-810, 2.1));
+	assertEqualsM("-820 @ 2.3  ",2.3, getValue(/*rpm*/-820, 2.3));
 
+	// Y above the range
+	assertEqualsM("310 @ 12.1  ", 330, getValue(/*rpm*/310, 12.1));
+	assertEqualsM("320 @ 12.3  ", 360, getValue(/*rpm*/320, 12.3));
+
+	// Y below the range
+	assertEqualsM("310 @ -12.1  ", 3.1, getValue(/*rpm*/310, -12.1));
+	assertEqualsM("320 @ -12.3  ", 3.2, getValue(/*rpm*/320, -12.3));
 }
 
 void testInterpolate3d(void) {
 	printf("*************************************************** testInterpolate3d\r\n");
-	float dwell;
+
 	printf("*** no interpolation here 1\r\n");
-	dwell = getValue(100, 2);
+	assertEquals(2, getValue(100, 2));
-	assertEquals(2, dwell);
 
 	printf("*** no interpolation here 2\r\n");
-	dwell = getValue(200, 4);
+	assertEquals(5, getValue(200, 4));
-	assertEquals(5, dwell);
 
 	printf("*** rpm interpolated value expected1\r\n");
-	dwell = getValue(150, 2);
+	assertEquals(2.5, getValue(150, 2));
-	assertEquals(2.5, dwell);
 
 	printf("*** rpm interpolated value expected2\r\n");
-	dwell = getValue(250, 3);
+	assertEquals(102, getValue(250, 3));
-	assertEquals(102, dwell);
 
 	printf("*** both rpm and maf interpolated value expected\r\n");
-	dwell = getValue(335.3, 3.551);
+	assertEquals(361, getValue(335.3, 3.551));
-	assertEquals(361, dwell);
 
 	printf("*** both rpm and maf interpolated value expected 2\r\n");
-	dwell = getValue(410.01, 2.012);
+	assertEquals(203.6, getValue(410.01, 2.012));
-	assertEquals(203.6, dwell);
 
 	printf("*** both rpm and maf interpolated value expected 3\r\n");
-	dwell = getValue(1000000, 1000);
+	assertEquals(600, getValue(1000000, 1000));
-	assertEquals(600, dwell);
 
 	printf("*** both rpm and maf interpolated value expected 4\r\n");
-	dwell = getValue(410.01, -1);
-	assertEquals(4, dwell);
 
-	dwell = getValue(-1, -1);
+	assertEquals(4, getValue(410.01, -1));
-	assertEquals(1, dwell);
+
+
+	assertEquals(1, getValue(-1, -1));
 
 	newTestToComfirmInterpolation();