put vbatt in sensor model (#2261)

* vbatt in sensor model

* sensor name

* vbatt

* s

* oy vei

* a little bit of cleanup

* memory apparently

* cj125 test

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

firmware/controllers/algo/engine.cpp

@@ -268,7 +268,8 @@ void Engine::updateSlowSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 				CONFIG(fuelLevelFullTankVoltage), 100,
 				fuelLevelVoltage);
 	}
-	sensors.vBatt = hasVBatt(PASS_ENGINE_PARAMETER_SIGNATURE) ? getVBatt(PASS_ENGINE_PARAMETER_SIGNATURE) : 12;
+
+	sensors.vBatt = Sensor::get(SensorType::BatteryVoltage).value_or(12);
 
 #if (BOARD_TLE8888_COUNT > 0)
 	// nasty value injection into C driver which would not be able to access Engine class

firmware/controllers/engine_controller.cpp

@@ -711,7 +711,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
  * UNUSED_SIZE constants.
  */
 #ifndef RAM_UNUSED_SIZE
-#define RAM_UNUSED_SIZE 3200
+#define RAM_UNUSED_SIZE 3150
 #endif
 #ifndef CCM_UNUSED_SIZE
 #define CCM_UNUSED_SIZE 2800

firmware/controllers/sensors/sensor.cpp

@@ -41,6 +41,8 @@ static const char* s_sensorNames[] = {
 	"Idle Valve Position",
 
 	"Flex Fuel",
+
+	"Battery Voltage",
 };
 
 // This struct represents one sensor in the registry.

firmware/controllers/sensors/sensor_type.h

@@ -60,6 +60,8 @@ enum class SensorType : unsigned char {
 
 	FuelEthanolPercent,
 
+	BatteryVoltage,
+
 	// Leave me at the end!
 	PlaceholderLast
 };

firmware/controllers/sensors/voltage.cpp

@@ -14,10 +14,6 @@
 
 EXTERN_ENGINE;
 
-bool hasVBatt(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	return isAdcChannelValid(engineConfiguration->vbattAdcChannel);
-}
-
 float getVBatt(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #ifdef USE_ADC3_VBATT_HACK
 	extern adcsample_t vbattSampleProteus;

firmware/controllers/sensors/voltage.h

@@ -16,6 +16,5 @@
 #include "engine_configuration.h"
 
 float getVBatt(DECLARE_ENGINE_PARAMETER_SIGNATURE);
-bool hasVBatt(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 
 #endif /* __cplusplus */

firmware/init/init.h

@@ -19,6 +19,7 @@ void reconfigureSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 
 // Internal init functions for individual systems
 // Sensor init/config
+void initVbatt(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void initMap(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void initTps(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void initOilPressure(DECLARE_CONFIG_PARAMETER_SIGNATURE);
@@ -28,6 +29,7 @@ void initLambda(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void initFlexSensor(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 
 // Sensor reconfiguration
+void reconfigureVbatt(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void reconfigureTps(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void reconfigureThermistors(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void reconfigureOilPressure(DECLARE_CONFIG_PARAMETER_SIGNATURE);

firmware/init/init.mk

@@ -7,3 +7,4 @@ INIT_SRC_CPP =	$(PROJECT_DIR)/init/sensor/init_sensors.cpp \
 				$(PROJECT_DIR)/init/sensor/init_lambda.cpp \
 				$(PROJECT_DIR)/init/sensor/init_map.cpp \
 				$(PROJECT_DIR)/init/sensor/init_flex.cpp \
+				$(PROJECT_DIR)/init/sensor/init_vbatt.cpp \

firmware/init/sensor/init_sensors.cpp

@@ -13,6 +13,7 @@ void initNewSensors(Logging* logger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	initCanSensors();
 #endif
 
+	initVbatt(PASS_CONFIG_PARAMETER_SIGNATURE);
 	initMap(PASS_ENGINE_PARAMETER_SIGNATURE);
 	initTps(PASS_CONFIG_PARAMETER_SIGNATURE);
 	initOilPressure(PASS_CONFIG_PARAMETER_SIGNATURE);
@@ -25,6 +26,7 @@ void initNewSensors(Logging* logger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 }
 
 void reconfigureSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	reconfigureVbatt(PASS_CONFIG_PARAMETER_SIGNATURE);
 	reconfigureTps(PASS_CONFIG_PARAMETER_SIGNATURE);
 	reconfigureOilPressure(PASS_CONFIG_PARAMETER_SIGNATURE);
 	reconfigureThermistors(PASS_CONFIG_PARAMETER_SIGNATURE);

firmware/init/sensor/init_vbatt.cpp

@@ -0,0 +1,29 @@
+#include "init.h"
+#include "adc_inputs.h"
+#include "adc_subscription.h"
+#include "engine.h"
+#include "functional_sensor.h"
+#include "linear_func.h"
+
+EXTERN_ENGINE;
+
+static LinearFunc vbattFunc;
+static FunctionalSensor vbattSensor(SensorType::BatteryVoltage, /* timeout = */ MS2NT(100));
+
+void initVbatt(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
+	vbattFunc.configure(0, 0, 1, engineConfiguration->vbattDividerCoeff, 0, 50);
+	vbattSensor.setFunction(vbattFunc);
+
+	if (!isAdcChannelValid(engineConfiguration->vbattAdcChannel)) {
+		return;
+	}
+
+	// adcVoltsPerVolt is set to 1.0 because vbatt doesn't go thru the analog input divider
+	AdcSubscription::SubscribeSensor(vbattSensor, CONFIG(vbattAdcChannel), /* filter HZ = */ 20, /* adcVoltsPerVolt = */ 1.0f);
+
+	vbattSensor.Register();
+}
+
+void reconfigureVbatt(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
+	vbattFunc.configure(0, 0, 1, engineConfiguration->vbattDividerCoeff, 0, 50);
+}

unit_tests/tests/test_cj125.cpp

@@ -26,7 +26,6 @@ TEST(testCJ125, testInitialState) {
 	ASSERT_EQ(cj.heaterDuty, 0);
 
 	WITH_ENGINE_TEST_HELPER(FORD_ASPIRE_1996);
-	ASSERT_EQ(engine->sensors.vBatt, 0);
 
 	cj.StartHeaterControl((pwm_gen_callback*)&applyHeaterPinState PASS_ENGINE_PARAMETER_SUFFIX);
 	ASSERT_EQ(cj.heaterDuty, CJ125_HEATER_IDLE_RATE);