logging cleanup 2: sensors, pid, etb, etc (#2567)

* ts logger * sensors * wideband too * missed one * init * motors, pid, etc Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
2021-04-18 17:02:32 -07:00 · 2021-04-18 17:02:32 -07:00 · 5145ee4b62
parent e3fcbdc7c0
commit 5145ee4b62
35 changed files with 103 additions and 120 deletions
--- a/firmware/controllers/actuators/dc_motors.cpp
+++ b/firmware/controllers/actuators/dc_motors.cpp
@ -113,9 +113,9 @@ void setDcMotorDuty(size_t index, float duty) {
 }


-void showDcMotorInfo(Logging* logger, int i) {
+void showDcMotorInfo(int i) {
 	DcHardware *dc = &dcHardware[i];

-	scheduleMsg(logger, " motor: dir=%d DC=%f", dc->dcMotor.isOpenDirection(), dc->dcMotor.get());
+	efiPrintf(" motor: dir=%d DC=%f", dc->dcMotor.isOpenDirection(), dc->dcMotor.get());
 }

--- a/firmware/controllers/actuators/dc_motors.h
+++ b/firmware/controllers/actuators/dc_motors.h
@ -11,7 +11,6 @@
 #include "global.h"

 class DcMotor;
-class Logger;

 DcMotor* initDcMotor(const dc_io& io, size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX);

@ -19,5 +18,5 @@ DcMotor* initDcMotor(const dc_io& io, size_t index, bool useTwoWires DECLARE_ENG
 void setDcMotorFrequency(size_t index, int hz);
 void setDcMotorDuty(size_t index, float duty);

-void showDcMotorInfo(Logging* logger, int i);
+void showDcMotorInfo(int i);

--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@ -225,8 +225,8 @@ void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
 	}
 }

-void EtbController::showStatus(Logging* logger) {
-	m_pid.showPidStatus(logger, "ETB");
+void EtbController::showStatus() {
+	m_pid.showPidStatus("ETB");
 }

 expected<percent_t> EtbController::observePlant() const {
@ -540,7 +540,7 @@ void EtbController::update() {
 	m_pid.iTermMax = engineConfiguration->etb_iTermMax;

 	if (engineConfiguration->isVerboseETB) {
-		m_pid.showPidStatus(&logger, "ETB");
+		m_pid.showPidStatus("ETB");
 	}

 	// Update local state about autotune
@ -714,7 +714,7 @@ static void showEthInfo(void) {
 		scheduleMsg(&logger, " dir2=%s", hwPortname(CONFIG(etbIo[i].directionPin2)));
 		scheduleMsg(&logger, " control=%s", hwPortname(CONFIG(etbIo[i].controlPin1)));
 		scheduleMsg(&logger, " disable=%s", hwPortname(CONFIG(etbIo[i].disablePin)));
-		showDcMotorInfo(&logger, i);
+		showDcMotorInfo(i);
 	}

 #endif /* EFI_PROD_CODE */
--- a/firmware/controllers/actuators/electronic_throttle_impl.h
+++ b/firmware/controllers/actuators/electronic_throttle_impl.h
@ -23,8 +23,6 @@
 #define ETB_LOOP_FREQUENCY 500
 #define DEFAULT_ETB_PWM_FREQUENCY 800

-class Logging;
-
 class EtbController : public IEtbController {
 public:
 	bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap, bool initializeThrottles) override;
@ -40,7 +38,7 @@ public:
 	void onConfigurationChange(pid_s* previousConfiguration);
 	
 	// Print this throttle's status.
-	void showStatus(Logging* logger);
+	void showStatus();

 	// Helpers for individual parts of throttle control
 	expected<percent_t> observePlant() const override;
--- a/firmware/controllers/actuators/idle_thread.cpp
+++ b/firmware/controllers/actuators/idle_thread.cpp
@ -142,11 +142,11 @@ static void showIdleInfo(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 			scheduleMsg(logger, "Coil A:");
 			scheduleMsg(logger, " pin1=%s", hwPortname(CONFIG(stepperDcIo[0].directionPin1)));
 			scheduleMsg(logger, " pin2=%s", hwPortname(CONFIG(stepperDcIo[0].directionPin2)));
-			showDcMotorInfo(logger, 2);
+			showDcMotorInfo(2);
 			scheduleMsg(logger, "Coil B:");
 			scheduleMsg(logger, " pin1=%s", hwPortname(CONFIG(stepperDcIo[1].directionPin1)));
 			scheduleMsg(logger, " pin2=%s", hwPortname(CONFIG(stepperDcIo[1].directionPin2)));
-			showDcMotorInfo(logger, 3);
+			showDcMotorInfo(3);
 		} else {
 			scheduleMsg(logger, "directionPin=%s reactionTime=%.2f", hwPortname(CONFIG(idle).stepperDirectionPin),
 					engineConfiguration->idleStepperReactionTime);
@ -167,7 +167,7 @@ static void showIdleInfo(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	}

 	if (engineConfiguration->idleMode == IM_AUTO) {
-		getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus(logger, "idle");
+		getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus("idle");
 	}
 }

@ -479,8 +479,8 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm,
 		engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;

 		if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) {
-			scheduleMsg(logger, "Idle state %s", getIdle_state_e(engine->engineState.idle.idleState));
-			getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus(logger, "idle");
+			efiPrintf("Idle state %s", getIdle_state_e(engine->engineState.idle.idleState));
+			getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus("idle");
 		}

 		finishIdleTestIfNeeded();
--- a/firmware/controllers/bench_test.cpp
+++ b/firmware/controllers/bench_test.cpp
@ -285,7 +285,7 @@ private:

 		if (widebandUpdatePending) {
 #if EFI_WIDEBAND_FIRMWARE_UPDATE && EFI_CAN_SUPPORT
-			updateWidebandFirmware(logger);
+			updateWidebandFirmware();
 #endif
 			widebandUpdatePending = false;
 		}
@ -437,7 +437,7 @@ void executeTSCommand(uint16_t subsystem, uint16_t index) {
 		break;
 #ifdef EFI_WIDEBAND_FIRMWARE_UPDATE
 	case 0x15:
-		setWidebandOffset(logger, index);
+		setWidebandOffset(index);
 		break;
 #endif // EFI_WIDEBAND_FIRMWARE_UPDATE
 	case CMD_TS_BENCH_CATEGORY:
@ -506,7 +506,7 @@ void initBenchTest(Logging *sharedLogger) {

 #if EFI_WIDEBAND_FIRMWARE_UPDATE
 	addConsoleAction("update_wideband", []() { widebandUpdatePending = true; });
-	addConsoleActionI("set_wideband_index", [](int index) { setWidebandOffset(logger, index); });
+	addConsoleActionI("set_wideband_index", [](int index) { setWidebandOffset(index); });
 #endif // EFI_WIDEBAND_FIRMWARE_UPDATE

 	addConsoleAction(CMD_STARTER_BENCH, starterRelayBench);
--- a/firmware/controllers/can/can.h
+++ b/firmware/controllers/can/can.h
@ -30,9 +30,9 @@ void registerCanSensor(CanSensorBase& sensor);
 // Indicate that an ack response was received from the wideband bootloader
 void handleWidebandBootloaderAck();
 // Update the firmware on any connected wideband controller
-void updateWidebandFirmware(Logging*);
+void updateWidebandFirmware();
 // Set the CAN index offset of any attached wideband controller
-void setWidebandOffset(Logging* logging, uint8_t index);
+void setWidebandOffset(uint8_t index);

 class CanWrite final : public PeriodicController<512> {
 public:
--- a/firmware/controllers/can/wideband_bootloader.cpp
+++ b/firmware/controllers/can/wideband_bootloader.cpp
@ -24,17 +24,17 @@ bool waitAck() {
 	return chEvtWaitAnyTimeout(EVT_BOOTLOADER_ACK, TIME_MS2I(1000)) != 0;
 }

-void updateWidebandFirmware(Logging* logging) {
+void updateWidebandFirmware() {
 	// Clear any pending acks for this thread
 	chEvtGetAndClearEvents(EVT_BOOTLOADER_ACK);

 	// Send messages to the current thread when acks come in
 	waitingBootloaderThread = chThdGetSelfX();

-	scheduleMsg(logging, "***************************************");
-	scheduleMsg(logging, "        WIDEBAND FIRMWARE UPDATE");
-	scheduleMsg(logging, "***************************************");
-	scheduleMsg(logging, "Wideband Update: Rebooting to bootloader...");
+	efiPrintf("***************************************");
+	efiPrintf("        WIDEBAND FIRMWARE UPDATE");
+	efiPrintf("***************************************");
+	efiPrintf("Wideband Update: Rebooting to bootloader...");

 	// The first request will reboot the chip (if necessary), and the second one will enable bootloader mode
 	// If the chip was already in bootloader (aka manual mode), then that's ok - the second request will
@ -46,7 +46,7 @@ void updateWidebandFirmware(Logging* logging) {
 		}

 		if (!waitAck()) {
-			scheduleMsg(logging, "Wideband Update ERROR: Expected ACK from entry to bootloader, didn't get one.");
+			efiPrintf("Wideband Update ERROR: Expected ACK from entry to bootloader, didn't get one.");
 			return;
 		}

@ -54,7 +54,7 @@ void updateWidebandFirmware(Logging* logging) {
 		chThdSleepMilliseconds(200);
 	}

-	scheduleMsg(logging, "Wideband Update: in update mode, erasing flash...");
+	efiPrintf("Wideband Update: in update mode, erasing flash...");

 	{
 		// Erase flash - opcode 1, magic value 0x5A5A
@ -62,13 +62,13 @@ void updateWidebandFirmware(Logging* logging) {
 	}

 	if (!waitAck()) {
-		scheduleMsg(logging, "Wideband Update ERROR: Expected ACK from flash erase command, didn't get one.");
+		efiPrintf("Wideband Update ERROR: Expected ACK from flash erase command, didn't get one.");
 		return;
 	}

 	size_t totalSize = sizeof(build_wideband_image_bin);

-	scheduleMsg(logging, "Wideband Update: Flash erased! Sending %d bytes...", totalSize);
+	efiPrintf("Wideband Update: Flash erased! Sending %d bytes...", totalSize);

 	// Send flash data 8 bytes at a time
 	for (size_t i = 0; i < totalSize; i += 8) {
@ -78,12 +78,12 @@ void updateWidebandFirmware(Logging* logging) {
 		}

 		if (!waitAck()) {
-			scheduleMsg(logging, "Wideband Update ERROR: Expected ACK from data write, didn't get one.");
+			efiPrintf("Wideband Update ERROR: Expected ACK from data write, didn't get one.");
 			return;
 		}
 	}

-	scheduleMsg(logging, "Wideband Update: Update complete! Rebooting controller.");
+	efiPrintf("Wideband Update: Update complete! Rebooting controller.");

 	{
 		// Reboot to firmware!
@ -95,17 +95,17 @@ void updateWidebandFirmware(Logging* logging) {
 	waitingBootloaderThread = nullptr;
 }

-void setWidebandOffset(Logging* logging, uint8_t index) {
+void setWidebandOffset(uint8_t index) {
 	// Clear any pending acks for this thread
 	chEvtGetAndClearEvents(EVT_BOOTLOADER_ACK);

 	// Send messages to the current thread when acks come in
 	waitingBootloaderThread = chThdGetSelfX();

-	scheduleMsg(logging, "***************************************");
-	scheduleMsg(logging, "          WIDEBAND INDEX SET");
-	scheduleMsg(logging, "***************************************");
-	scheduleMsg(logging, "Setting all connected widebands to index %d...", index);
+	efiPrintf("***************************************");
+	efiPrintf("          WIDEBAND INDEX SET");
+	efiPrintf("***************************************");
+	efiPrintf("Setting all connected widebands to index %d...", index);

 	{
 		CanTxMessage m(0xEF4'0000, 1, true);
--- a/firmware/controllers/engine_controller.cpp
+++ b/firmware/controllers/engine_controller.cpp
@ -565,7 +565,7 @@ void commonInitEngineController(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_S
 #if !EFI_UNIT_TEST
 	// This is tested independently - don't configure sensors for tests.
 	// This lets us selectively mock them for each test.
-	initNewSensors(sharedLogger);
+	initNewSensors();
 #endif /* EFI_UNIT_TEST */

 	initSensors(sharedLogger PASS_ENGINE_PARAMETER_SUFFIX);
--- a/firmware/controllers/engine_cycle/rpm_calculator.h
+++ b/firmware/controllers/engine_cycle/rpm_calculator.h
@ -122,7 +122,7 @@ public:

 protected:
 	// Print sensor info - current RPM state
-	void showInfo(Logging* logger, const char* sensorName) const override;
+	void showInfo(const char* sensorName) const override;

 private:
 	/**
--- a/firmware/controllers/sensors/Lps25Sensor.h
+++ b/firmware/controllers/sensors/Lps25Sensor.h
@ -8,7 +8,7 @@ public:
 	explicit Lps25Sensor(Lps25& sensor);
 	void update();

-	void showInfo(Logging* logger, const char* sensorName) const override;
+	void showInfo(const char* sensorName) const override;

 private:
 	Lps25* m_sensor;
--- a/firmware/controllers/sensors/can_sensor.h
+++ b/firmware/controllers/sensors/can_sensor.h
@ -26,7 +26,7 @@ public:
 	{
 	}

-	void showInfo(Logging* logger, const char* sensorName) const override;
+	void showInfo(const char* sensorName) const override;
 };

 template <typename TStorage, int TScale>
--- a/firmware/controllers/sensors/converters/func_chain.h
+++ b/firmware/controllers/sensors/converters/func_chain.h
@ -25,9 +25,8 @@ protected:
 		return input;
 	}

-	void showInfo(Logging* logger, float testInputValue) const {
+	void showInfo(float testInputValue) const {
 		// base case does nothing
-		(void)logger;
 		(void)testInputValue;
 	}
 };
@ -64,14 +63,14 @@ public:
 		return TBase::template get<TGet>();
 	}

-	void showInfo(Logging* logger, float testInputValue) const {
+	void showInfo(float testInputValue) const {
 		// Print info about this level
-		m_f.showInfo(logger, testInputValue);
+		m_f.showInfo(testInputValue);

 		// If valid, recurse down
 		auto res = m_f.convert(testInputValue);
 		if (res.Valid) {
-			TBase::showInfo(logger, res.Value);
+			TBase::showInfo(res.Value);
 		}
 	}

@ -94,8 +93,8 @@ public:
 		return m_fs.template get<TGet>();
 	}

-	void showInfo(Logging* logger, float testInputValue) const override {
-		m_fs.showInfo(logger, testInputValue);
+	void showInfo(float testInputValue) const override {
+		m_fs.showInfo(testInputValue);
 	}

 private:
--- a/firmware/controllers/sensors/converters/linear_func.h
+++ b/firmware/controllers/sensors/converters/linear_func.h
@ -10,7 +10,7 @@ public:

 	SensorResult convert(float inputValue) const override;

-	void showInfo(Logging* logger, float testRawValue) const override;
+	void showInfo(float testRawValue) const override;

 	float getDivideInput() const {
 		return m_divideInput;
--- a/firmware/controllers/sensors/converters/resistance_func.h
+++ b/firmware/controllers/sensors/converters/resistance_func.h
@ -16,7 +16,7 @@ public:

 	SensorResult convert(float inputValue) const override;

-	void showInfo(Logging* logger, float testInputValue) const override;
+	void showInfo(float testInputValue) const override;

 private:
 	float m_supplyVoltage = 5.0f;
--- a/firmware/controllers/sensors/converters/sensor_converter_func.h
+++ b/firmware/controllers/sensors/converters/sensor_converter_func.h
@ -2,8 +2,6 @@

 #include "sensor.h"

-class Logging;
-
 struct SensorConverter {
 	// Trying to copy a converter func by value is almost guaranteed to be a bug - disallow it
 	SensorConverter(const SensorConverter&) = delete;
@ -11,9 +9,8 @@ struct SensorConverter {
 	SensorConverter() = default;

 	virtual SensorResult convert(float raw) const = 0;
-	virtual void showInfo(Logging* logger, float testRawValue) const {
+	virtual void showInfo(float testRawValue) const {
 		// Unused base - nothing to print
-		(void)logger;
 		(void)testRawValue;
 	}
 };
--- a/firmware/controllers/sensors/converters/table_func.h
+++ b/firmware/controllers/sensors/converters/table_func.h
@ -26,7 +26,7 @@ public:
 		return interpolate2d(inputValue, m_bins, m_values) * TOutputScale::asFloat();
 	}

-	void showInfo(Logging* /*logger*/, float /*testInputValue*/) const override { }
+	void showInfo(float /*testInputValue*/) const override { }

 private:
 	TBin (&m_bins)[TSize];
--- a/firmware/controllers/sensors/converters/thermistor_func.h
+++ b/firmware/controllers/sensors/converters/thermistor_func.h
@ -16,7 +16,7 @@ public:

 	void configure(thermistor_conf_s &cfg);

-	void showInfo(Logging* logger, float testRawValue) const override;
+	void showInfo(float testRawValue) const override;

 	// Steinhart-Hart coefficients
 	float m_a = 0;
--- a/firmware/controllers/sensors/flex_sensor.h
+++ b/firmware/controllers/sensors/flex_sensor.h
@ -11,7 +11,7 @@ public:

 	void onEdge(efitick_t nowNt);

-	void showInfo(Logging* /*logger*/, const char* /*sensorName*/) const override { }
+	void showInfo(const char* /*sensorName*/) const override { }

 private:
 	Timer m_edgeTimer;
--- a/firmware/controllers/sensors/function_pointer_sensor.h
+++ b/firmware/controllers/sensors/function_pointer_sensor.h
@ -33,7 +33,7 @@ public:
 		return result;
 	}

-	void showInfo(Logging* /*logger*/, const char* /*sensorName*/) const override {}
+	void showInfo(const char* /*sensorName*/) const override {}

 private:
 	float (*m_func)();
--- a/firmware/controllers/sensors/functional_sensor.h
+++ b/firmware/controllers/sensors/functional_sensor.h
@ -38,7 +38,7 @@ public:
 		return m_rawValue;
 	}

-	void showInfo(Logging* logger, const char* sensorName) const override;
+	void showInfo(const char* sensorName) const override;

 private:
 	// Conversion function for this sensor
--- a/firmware/controllers/sensors/proxy_sensor.h
+++ b/firmware/controllers/sensors/proxy_sensor.h
@ -21,7 +21,7 @@ public:
 		m_proxiedSensor = proxiedSensor;
 	}

-	void showInfo(Logging* logger, const char* sensorName) const override;
+	void showInfo(const char* sensorName) const override;

 private:
 	SensorResult get() const override {
--- a/firmware/controllers/sensors/redundant_ford_tps.h
+++ b/firmware/controllers/sensors/redundant_ford_tps.h
@ -19,7 +19,7 @@ public:
 		return true;
 	}

-	void showInfo(Logging* logger, const char* sensorName) const override;
+	void showInfo(const char* sensorName) const override;

 private:
 	// The two sensors we interpret to form one redundant sensor
--- a/firmware/controllers/sensors/redundant_sensor.h
+++ b/firmware/controllers/sensors/redundant_sensor.h
@ -20,7 +20,7 @@ public:
 		return !m_ignoreSecond;
 	}

-	void showInfo(Logging* logger, const char* sensorName) const override;
+	void showInfo(const char* sensorName) const override;

 private:
 	// The two sensors we interpret to form one redundant sensor
--- a/firmware/controllers/sensors/sensor.cpp
+++ b/firmware/controllers/sensors/sensor.cpp
@ -110,16 +110,16 @@ public:
 		return unexpected;
 	}

-	void showInfo(Logging* logger, const char* sensorName) const {
+	void showInfo(const char* sensorName) const {
 		if (m_useMock) {
-			scheduleMsg(logger, "Sensor \"%s\" mocked with value %.2f", sensorName, m_mockValue);
+			efiPrintf("Sensor \"%s\" mocked with value %.2f", sensorName, m_mockValue);
 		} else {
 			const auto sensor = m_sensor;

 			if (sensor) {
-				sensor->showInfo(logger, sensorName);
+				sensor->showInfo(sensorName);
 			} else {
-				scheduleMsg(logger, "Sensor \"%s\" is not configured.", sensorName);
+				efiPrintf("Sensor \"%s\" is not configured.", sensorName);
 			}
 		}
 	}
@ -258,20 +258,20 @@ bool Sensor::Register() {
 }

 // Print information about all sensors
-/*static*/ void Sensor::showAllSensorInfo(Logging* logger) {
+/*static*/ void Sensor::showAllSensorInfo() {
 	for (size_t i = 1; i < efi::size(s_sensorRegistry); i++) {
 		auto& entry = s_sensorRegistry[i];
 		const char* name = s_sensorNames[i];

-		entry.showInfo(logger, name);
+		entry.showInfo(name);
 	}
 }

 // Print information about a particular sensor
-/*static*/ void Sensor::showInfo(Logging* logger, SensorType type) {
+/*static*/ void Sensor::showInfo(SensorType type) {
 	auto entry = getEntryForType(type);

 	if (entry) {
-		entry->showInfo(logger, getSensorName(type));
+		entry->showInfo(getSensorName(type));
 	}
 }
--- a/firmware/controllers/sensors/sensor.h
+++ b/firmware/controllers/sensors/sensor.h
@ -56,7 +56,6 @@ using SensorResult = expected<float>;

 // Fwd declare - nobody outside of Sensor.cpp needs to see inside this type
 class SensorRegistryEntry;
-class Logging;

 class Sensor {
 public:
@ -66,13 +65,13 @@ public:
 	bool Register();

 	// Print information about this sensor
-	virtual void showInfo(Logging* logger, const char* sensorName) const = 0;
+	virtual void showInfo(const char* sensorName) const = 0;

 	// Print information about all sensors
-	static void showAllSensorInfo(Logging* logger);
+	static void showAllSensorInfo();

 	// Print information about a particular sensor
-	static void showInfo(Logging* logger, SensorType type);
+	static void showInfo(SensorType type);

 	// Remove all sensors from the sensor registry - tread carefully if you use this outside of a unit test
 	static void resetRegistry();
--- a/firmware/controllers/sensors/sensor_info_printing.cpp
+++ b/firmware/controllers/sensors/sensor_info_printing.cpp
@ -11,39 +11,39 @@
 #include "efilib.h"
 #include "loggingcentral.h"

-void ProxySensor::showInfo(Logging* logger, const char* sensorName) const {
-	scheduleMsg(logger, "Sensor \"%s\" proxied from sensor \"%s\"", sensorName, getSensorName(m_proxiedSensor));
+void ProxySensor::showInfo(const char* sensorName) const {
+	efiPrintf("Sensor \"%s\" proxied from sensor \"%s\"", sensorName, getSensorName(m_proxiedSensor));
 }

-void FunctionalSensor::showInfo(Logging* logger, const char* sensorName) const {
+void FunctionalSensor::showInfo(const char* sensorName) const {
 	const auto [valid, value] = get();
-	scheduleMsg(logger, "Sensor \"%s\": Raw value: %.2f Valid: %s Converted value %.2f", sensorName, m_rawValue, boolToString(valid), value);
+	efiPrintf("Sensor \"%s\": Raw value: %.2f Valid: %s Converted value %.2f", sensorName, m_rawValue, boolToString(valid), value);

 	// now print out the underlying function's info
 	if (auto func = m_function) {
-		func->showInfo(logger, m_rawValue);
+		func->showInfo(m_rawValue);
 	}
 }

 #if EFI_CAN_SUPPORT
 #include "can_sensor.h"

-void CanSensorBase::showInfo(Logging* logger, const char* sensorName) const {
+void CanSensorBase::showInfo(const char* sensorName) const {
 	const auto [valid, value] = get();
-	scheduleMsg(logger, "CAN Sensor \"%s\": valid: %s value: %.2f", sensorName, boolToString(valid), value);
+	efiPrintf("CAN Sensor \"%s\": valid: %s value: %.2f", sensorName, boolToString(valid), value);
 }
 #endif // EFI_CAN_SUPPORT

-void RedundantSensor::showInfo(Logging* logger, const char* sensorName) const {
-	scheduleMsg(logger, "Sensor \"%s\" is redundant combining \"%s\" and \"%s\"", sensorName, getSensorName(m_first), getSensorName(m_second));
+void RedundantSensor::showInfo(const char* sensorName) const {
+	efiPrintf("Sensor \"%s\" is redundant combining \"%s\" and \"%s\"", sensorName, getSensorName(m_first), getSensorName(m_second));
 }

-void RedundantFordTps::showInfo(Logging* logger, const char* sensorName) const {
-	scheduleMsg(logger, "Sensor \"%s\" is Ford-type redundant TPS combining \"%s\" and \"%s\"", sensorName, getSensorName(m_first), getSensorName(m_second));
+void RedundantFordTps::showInfo(const char* sensorName) const {
+	efiPrintf("Sensor \"%s\" is Ford-type redundant TPS combining \"%s\" and \"%s\"", sensorName, getSensorName(m_first), getSensorName(m_second));
 }

-void RpmCalculator::showInfo(Logging* logger, const char* /*sensorName*/) const {
-	scheduleMsg(logger, "RPM sensor: stopped: %d spinning up: %d cranking: %d running: %d rpm: %f", 
+void RpmCalculator::showInfo(const char* /*sensorName*/) const {
+	efiPrintf("RPM sensor: stopped: %d spinning up: %d cranking: %d running: %d rpm: %f", 
 		isStopped(),
 		isSpinningUp(),
 		isCranking(),
@ -52,22 +52,22 @@ void RpmCalculator::showInfo(Logging* logger, const char* /*sensorName*/) const
 	);
 }

-void Lps25Sensor::showInfo(Logging* logger, const char* sensorName) const {
-	scheduleMsg(logger, "%s: LPS25 baro %.2f kPa", sensorName, get().Value);
+void Lps25Sensor::showInfo(const char* sensorName) const {
+	efiPrintf("%s: LPS25 baro %.2f kPa", sensorName, get().Value);
 }

-void LinearFunc::showInfo(Logging* logger, float testRawValue) const {
-	scheduleMsg(logger, "    Linear function slope: %.2f offset: %.2f min: %.1f max: %.1f", m_a, m_b, m_minOutput, m_maxOutput);
+void LinearFunc::showInfo(float testRawValue) const {
+	efiPrintf("    Linear function slope: %.2f offset: %.2f min: %.1f max: %.1f", m_a, m_b, m_minOutput, m_maxOutput);
 	const auto [valid, value] = convert(testRawValue);
-	scheduleMsg(logger, "      raw value %.2f converts to %.2f valid: %s", testRawValue, value, boolToString(valid));
+	efiPrintf("      raw value %.2f converts to %.2f valid: %s", testRawValue, value, boolToString(valid));
 }

-void ResistanceFunc::showInfo(Logging* logger, float testInputValue) const {
+void ResistanceFunc::showInfo(float testInputValue) const {
 	const auto result = convert(testInputValue);
-	scheduleMsg(logger, "    %.2f volts -> %.1f ohms with supply voltage %.2f and pullup %.1f.", testInputValue, result.Value, m_supplyVoltage, m_pullupResistor);
+	efiPrintf("    %.2f volts -> %.1f ohms with supply voltage %.2f and pullup %.1f.", testInputValue, result.Value, m_supplyVoltage, m_pullupResistor);
 }

-void ThermistorFunc::showInfo(Logging* logger, float testInputValue) const {
+void ThermistorFunc::showInfo(float testInputValue) const {
 	const auto [valid, value] = convert(testInputValue);
-	scheduleMsg(logger, "    %.1f ohms -> valid: %s. %.1f deg C", testInputValue, boolToString(valid), value);
+	efiPrintf("    %.1f ohms -> valid: %s. %.1f deg C", testInputValue, boolToString(valid), value);
 }
--- a/firmware/controllers/serial/serial.h
+++ b/firmware/controllers/serial/serial.h
@ -18,8 +18,6 @@
 constexpr uint8_t lc2_header_mask = 162;
 constexpr uint16_t lc2_pcklen_mask = 383;

-class Logging;
-
 typedef enum {UNKNOWN, HEADER_FOUND, IDENTIFIED} innovate_serial_id_state_t;

 extern uint8_t ser_buffer[SERBUFFLEN]; //buffer for incoming serial data
--- a/firmware/controllers/settings.cpp
+++ b/firmware/controllers/settings.cpp
@ -331,7 +331,7 @@ void printTPSInfo(void) {

 static void printTemperatureInfo(void) {
 #if EFI_ANALOG_SENSORS
-	Sensor::showAllSensorInfo(&logger);
+	Sensor::showAllSensorInfo();

 	scheduleMsg(&logger, "fan=%s @ %s", boolToString(enginePins.fanRelay.getLogicValue()),
 			hwPortname(engineConfiguration->fanPin));
--- a/firmware/hw_layer/sensors/cj125.cpp
+++ b/firmware/hw_layer/sensors/cj125.cpp
@ -490,7 +490,7 @@ static bool cj125periodic(CJ125 *instance DECLARE_ENGINE_PARAMETER_SUFFIX) {
 				float duty = globalInstance.heaterPid.getOutput(globalInstance.vUr, globalInstance.vUrCal, MS2SEC(CJ125_TICK_DELAY));
 				instance->SetHeater(duty PASS_ENGINE_PARAMETER_SUFFIX);
 				if (engineConfiguration->isCJ125Verbose) {
-					globalInstance.heaterPid.showPidStatus(logger, "cj heater");
+					globalInstance.heaterPid.showPidStatus("cj heater");
 					cjPrintData();
 				}
 				instance->prevNt = nowNt;
--- a/firmware/init/init.h
+++ b/firmware/init/init.h
@ -6,10 +6,8 @@

 #include "engine_ptr.h"

-class Logging;
-
 // Call this once at startup to initialize, configure, and subscribe sensors
-void initNewSensors(Logging* logger DECLARE_ENGINE_PARAMETER_SUFFIX);
+void initNewSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE);

 // Call this whenever the configuration may have changed, so any sensors
 // can be reconfigured with the new settings.
--- a/firmware/init/sensor/init_sensors.cpp
+++ b/firmware/init/sensor/init_sensors.cpp
@ -6,9 +6,9 @@
 #include "cli_registry.h"
 #include "sensor.h"

-static void initSensorCli(Logging* logger);
+static void initSensorCli();

-void initNewSensors(Logging* logger DECLARE_ENGINE_PARAMETER_SUFFIX) {
+void initNewSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #if EFI_CAN_SUPPORT
 	initCanSensors();
 #endif
@ -27,7 +27,7 @@ void initNewSensors(Logging* logger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	#endif

 	// Init CLI functionality for sensors (mocking)
-	initSensorCli(logger);
+	initSensorCli();
 }

 void reconfigureSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
@ -37,17 +37,13 @@ void reconfigureSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	reconfigureThermistors(PASS_CONFIG_PARAMETER_SIGNATURE);
 }

-static Logging* s_logger;
-
 // Mocking/testing helpers
-static void initSensorCli(Logging* logger) {
-	s_logger = logger;
-
+static void initSensorCli() {
 	addConsoleActionIF("set_sensor_mock", Sensor::setMockValue);
 	addConsoleAction("reset_sensor_mocks", Sensor::resetAllMocks);
-	addConsoleAction("show_sensors", []() { Sensor::showAllSensorInfo(s_logger); });
-	addConsoleActionI("show_sensor", 
+	addConsoleAction("show_sensors", Sensor::showAllSensorInfo);
+	addConsoleActionI("show_sensor",
 		[](int idx) {
-			Sensor::showInfo(s_logger, static_cast<SensorType>(idx));
+			Sensor::showInfo(static_cast<SensorType>(idx));
 		});
 }
--- a/firmware/util/math/pid.cpp
+++ b/firmware/util/math/pid.cpp
@ -157,8 +157,8 @@ void Pid::sleep() {
 #endif /* EFI_UNIT_TEST */
 }

-void Pid::showPidStatus(Logging *logging, const char*msg) const {
-	scheduleMsg(logging, "%s settings: offset=%f P=%.5f I=%.5f D=%.5f period=%dms",
+void Pid::showPidStatus(const char*msg) const {
+	efiPrintf("%s settings: offset=%f P=%.5f I=%.5f D=%.5f period=%dms",
 			msg,
 			getOffset(),
 			parameters->pFactor,
@ -166,7 +166,7 @@ void Pid::showPidStatus(Logging *logging, const char*msg) const {
 			parameters->dFactor,
 			parameters->periodMs);

-	scheduleMsg(logging, "%s status: value=%.2f input=%.2f/target=%.2f iTerm=%.5f dTerm=%.5f",
+	efiPrintf("%s status: value=%.2f input=%.2f/target=%.2f iTerm=%.5f dTerm=%.5f",
 			msg,
 			output,
 			input,
--- a/firmware/util/math/pid.h
+++ b/firmware/util/math/pid.h
@ -30,7 +30,6 @@
 #define MS2SEC(x) (x * 0.001)

 struct pid_s;
-class Logging;

 /**
 * default basic implementation also known as PidParallelController
@ -69,7 +68,7 @@ public:
 	void postState(TunerStudioOutputChannels *tsOutputChannels) const;
 	void postState(TunerStudioOutputChannels *tsOutputChannels, int pMult) const;
 #endif /* EFI_TUNER_STUDIO */
-	void showPidStatus(Logging *logging, const char*msg) const;
+	void showPidStatus(const char* msg) const;
 	void sleep();
 	int resetCounter;
 	// todo: move this to pid_s one day
--- a/unit_tests/tests/sensor/mock/mock_sensor.h
+++ b/unit_tests/tests/sensor/mock/mock_sensor.h
@ -25,7 +25,7 @@ struct MockSensor final : public StoredValueSensor
 		m_hasSensor = h;
 	}

-	void showInfo(Logging* logger, const char* name) const override {}
+	void showInfo(const char* name) const override {}

 private:
 	bool m_hasSensor = true;