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two throttles one thread (#1806) 

* two throttles one thread

* look at all this RAM!
This commit is contained in:
Matthew Kennedy 2020-09-18 10:47:49 -07:00 committed by GitHub
parent dfbbdff4b1
commit 1fc55da3ca
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 27 additions and 24 deletions
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37
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -395,7 +395,7 @@ void EtbController::setOutput(expected<percent_t> outputValue) {
}
}
void EtbController::update(efitick_t) {
void EtbController::update() {
#if EFI_TUNER_STUDIO
// Only debug throttle #0
if (m_myIndex == 0) {
@ -484,11 +484,8 @@ void EtbController::autoCalibrateTps() {
* Since ETB is a safety critical device, we need the hard RTOS guarantee that it will be scheduled over other less important tasks.
*/
#include "periodic_thread_controller.h"
struct EtbImpl final : public EtbController, public PeriodicController<512> {
EtbImpl() : PeriodicController("ETB", NORMALPRIO + 3, ETB_LOOP_FREQUENCY) {}
void PeriodicTask(efitick_t nowNt) override {
struct EtbImpl final : public EtbController {
void update() override {
#if EFI_TUNER_STUDIO
if (m_isAutocal) {
// Don't allow if engine is running!
@ -547,16 +544,26 @@ struct EtbImpl final : public EtbController, public PeriodicController<512> {
}
#endif /* EFI_TUNER_STUDIO */
EtbController::update(nowNt);
}
void start() override {
Start();
EtbController::update();
}
};
// real implementation (we mock for some unit tests)
EtbImpl etbControllers[ETB_COUNT];
static EtbImpl etbControllers[ETB_COUNT];
struct EtbThread final : public PeriodicController<512> {
EtbThread() : PeriodicController("ETB", NORMALPRIO + 3, ETB_LOOP_FREQUENCY) {}
void PeriodicTask(efitick_t) override {
// Simply update all controllers
for (int i = 0 ; i < engine->etbActualCount; i++) {
etbControllers[i].update();
}
}
};
static EtbThread etbThread;
#endif
static void showEthInfo(void) {
@ -820,9 +827,9 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
etbPidReset(PASS_ENGINE_PARAMETER_SIGNATURE);
for (int i = 0 ; i < engine->etbActualCount; i++) {
engine->etbControllers[i]->start();
}
#if !EFI_UNIT_TEST
etbThread.Start();
#endif
}
void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {

6
firmware/controllers/actuators/electronic_throttle.h
View File

@ -30,7 +30,7 @@ public:
virtual void init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
virtual void reset() = 0;
virtual void setIdlePosition(percent_t pos) = 0;
virtual void start() = 0;
virtual void update() = 0;
virtual void autoCalibrateTps() = 0;
};
@ -39,9 +39,9 @@ public:
void init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
void setIdlePosition(percent_t pos) override;
void reset() override;
void start() override {}
void update(efitick_t nowNt);
// Update the controller's state: read sensors, send output, etc
void update();
// Called when the configuration may have changed. Controller will
// reset if necessary.

2
firmware/controllers/engine_controller.cpp
View File

@ -710,7 +710,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
* UNUSED_SIZE constants.
*/
#ifndef RAM_UNUSED_SIZE
#define RAM_UNUSED_SIZE 6100
#define RAM_UNUSED_SIZE 7500
#endif
#ifndef CCM_UNUSED_SIZE
#define CCM_UNUSED_SIZE 2900

2
unit_tests/mocks.h
View File

@ -12,7 +12,7 @@ class MockEtb : public IEtbController {
public:
// IEtbController mocks
MOCK_METHOD(void, reset, (), ());
MOCK_METHOD(void, start, (), (override));
MOCK_METHOD(void, update, (), (override));
MOCK_METHOD(void, init, (SensorType positionSensor, DcMotor* motor, int ownIndex, pid_s* pidParameters, const ValueProvider3D* pedalMap), (override));
MOCK_METHOD(void, setIdlePosition, (percent_t pos), (override));
MOCK_METHOD(void, autoCalibrateTps, (), (override));

4
unit_tests/tests/test_etb.cpp
View File

@ -48,7 +48,6 @@ TEST(etb, initializationSingleThrottle) {
// Expect mock0 to be init with TPS 1, index 0, and PID params
EXPECT_CALL(mocks[0], init(SensorType::Tps1, _, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], start);
// We do not expect throttle #2 to be initialized
@ -74,12 +73,10 @@ TEST(etb, initializationDualThrottle) {
// Expect mock0 to be init with TPS 1, index 0, and PID params
EXPECT_CALL(mocks[0], init(SensorType::Tps1, _, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], start);
// Expect mock1 to be init with TPS 2, index 1, and PID params
EXPECT_CALL(mocks[1], init(SensorType::Tps2, _, 1, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[1], reset);
EXPECT_CALL(mocks[1], start);
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
}
@ -102,7 +99,6 @@ TEST(etb, initializationDcMotorIdleValveMode) {
// Expect mock0 to be init with TPS 2, index 0, and PID params
EXPECT_CALL(mocks[0], init(SensorType::Tps2, _, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], start);
// We do not expect throttle #2 to be initialized