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ETB: inject pedal map (#1334) 

* add clampf

* more tests

* public

* missed a mock

* fix output duty clamping

* do it that way

* more

* ah ha!

* test negative too

* clamp pedal

* inject pedal map

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2020-04-20 11:34:45 -07:00 committed by GitHub
parent 934898f903
commit e04008610a
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 49 additions and 22 deletions
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16
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -112,10 +112,11 @@ static percent_t currentEtbDuty;
// this macro clamps both positive and negative percentages from about -100% to 100%
#define ETB_PERCENT_TO_DUTY(x) (clampF(-ETB_DUTY_LIMIT, 0.01f * (x), ETB_DUTY_LIMIT))
void EtbController::init(DcMotor *motor, int ownIndex, pid_s *pidParameters) {
void EtbController::init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) {
m_motor = motor;
m_myIndex = ownIndex;
m_pid.initPidClass(pidParameters);
m_pedalMap = pedalMap;
}
void EtbController::reset() {
@ -150,6 +151,11 @@ expected<percent_t> EtbController::getSetpoint() const {
return unexpected;
}
// If the pedal map hasn't been set, we can't provide a setpoint.
if (!m_pedalMap) {
return unexpected;
}
auto pedalPosition = Sensor::get(SensorType::AcceleratorPedal);
if (!pedalPosition.Valid) {
return unexpected;
@ -158,7 +164,7 @@ expected<percent_t> EtbController::getSetpoint() const {
float sanitizedPedal = clampF(0, pedalPosition.Value, 100);
float rpm = GET_RPM();
engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, sanitizedPedal);
engine->engineState.targetFromTable = m_pedalMap->getValue(rpm / RPM_1_BYTE_PACKING_MULT, sanitizedPedal);
percent_t etbIdleAddition = CONFIG(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
float target = engine->engineState.targetFromTable + etbIdleAddition;
@ -572,6 +578,8 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
return;
}
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
engine->etbActualCount = Sensor::hasSensor(SensorType::Tps2) ? 2 : 1;
for (int i = 0 ; i < engine->etbActualCount; i++) {
@ -580,13 +588,11 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
// If this motor is actually set up, init the etb
if (motor)
{
engine->etbControllers[i]->init(motor, i, &engineConfiguration->etb);
engine->etbControllers[i]->init(motor, i, &engineConfiguration->etb, &pedal2tpsMap);
INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
}
}
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
#if 0 && ! EFI_UNIT_TEST
percent_t startupThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
if (absF(startupThrottlePosition - engineConfiguration->etbNeutralPosition) > STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD) {

11
firmware/controllers/actuators/electronic_throttle.h
View File

@ -22,13 +22,13 @@ class Logging;
class IEtbController : public PeriodicTimerController, public ClosedLoopController<percent_t, percent_t> {
public:
DECLARE_ENGINE_PTR;
virtual void init(DcMotor *motor, int ownIndex, pid_s *pidParameters) = 0;
virtual void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
virtual void reset() = 0;
};
class EtbController final : public IEtbController {
public:
void init(DcMotor *motor, int ownIndex, pid_s *pidParameters) override;
void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
// PeriodicTimerController implementation
int getPeriodMs() override;
@ -55,11 +55,14 @@ public:
const pid_state_s* getPidState() const { return &m_pid; };
private:
int m_myIndex;
DcMotor *m_motor;
int m_myIndex = 0;
DcMotor *m_motor = nullptr;
Pid m_pid;
bool m_shouldResetPid = false;
// Pedal -> target map
const ValueProvider3D* m_pedalMap = nullptr;
// Autotune helpers
bool m_lastIsPositive = false;
efitick_t m_cycleStartTime = 0;

44
unit_tests/tests/test_etb.cpp
View File

@ -12,6 +12,7 @@
#include "sensor.h"
using ::testing::_;
using ::testing::Ne;
using ::testing::StrictMock;
class MockEtb : public IEtbController {
@ -23,7 +24,7 @@ public:
// IEtbController mocks
MOCK_METHOD(void, reset, (), ());
MOCK_METHOD(void, Start, (), (override));
MOCK_METHOD(void, init, (DcMotor* motor, int ownIndex, pid_s* pidParameters));
MOCK_METHOD(void, init, (DcMotor* motor, int ownIndex, pid_s* pidParameters, const ValueProvider3D* pedalMap), (override));
// ClosedLoopController mocks
MOCK_METHOD(expected<percent_t>, getSetpoint, (), (const, override));
@ -42,6 +43,11 @@ public:
MOCK_METHOD(bool, isOpenDirection, (), (const, override));
};
class MockVp3d : public ValueProvider3D {
public:
MOCK_METHOD(float, getValue, (float xRpm, float y), (const, override));
};
TEST(etb, initializationNoPedal) {
StrictMock<MockEtb> mocks[ETB_COUNT];
@ -70,7 +76,7 @@ TEST(etb, initializationSingleThrottle) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
// Expect mock0 to be init with index 0, and PID params
EXPECT_CALL(mocks[0], init(_, 0, &engineConfiguration->etb));
EXPECT_CALL(mocks[0], init(_, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], Start);
@ -95,12 +101,12 @@ TEST(etb, initializationDualThrottle) {
Sensor::setMockValue(SensorType::Tps2, 25.0f);
// Expect mock0 to be init with index 0, and PID params
EXPECT_CALL(mocks[0], init(_, 0, &engineConfiguration->etb));
EXPECT_CALL(mocks[0], init(_, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], Start);
// Expect mock1 to be init with index 2, and PID params
EXPECT_CALL(mocks[1], init(_, 1, &engineConfiguration->etb));
EXPECT_CALL(mocks[1], init(_, 1, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[1], reset);
EXPECT_CALL(mocks[1], Start);
@ -118,8 +124,19 @@ TEST(etb, testSetpointOnlyPedal) {
Sensor::setMockValue(SensorType::Tps1, 0);
EtbController etb;
engine->etbControllers[0] = &etb;
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
INJECT_ENGINE_REFERENCE(&etb);
// Mock pedal map that's just passthru pedal -> target
StrictMock<MockVp3d> pedalMap;
EXPECT_CALL(pedalMap, getValue(_, _))
.WillRepeatedly([](float xRpm, float y) {
return y;
});
// Uninitialized ETB must return unexpected (and not deference a null pointer)
EXPECT_EQ(etb.getSetpoint(), unexpected);
etb.init(nullptr, 0, nullptr, &pedalMap);
// Check endpoints and midpoint
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
@ -154,14 +171,14 @@ TEST(etb, etbTpsSensor) {
// Test first throttle
{
EtbController etb;
etb.init(nullptr, 0, nullptr);
etb.init(nullptr, 0, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 25.0f);
}
// Test second throttle
{
EtbController etb;
etb.init(nullptr, 1, nullptr);
etb.init(nullptr, 1, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 75.0f);
}
}
@ -170,7 +187,7 @@ TEST(etb, setOutputInvalid) {
StrictMock<MockMotor> motor;
EtbController etb;
etb.init(&motor, 0, nullptr);
etb.init(&motor, 0, nullptr, nullptr);
// Should be disabled in case of unexpected
EXPECT_CALL(motor, disable());
@ -182,7 +199,7 @@ TEST(etb, setOutputValid) {
StrictMock<MockMotor> motor;
EtbController etb;
etb.init(&motor, 0, nullptr);
etb.init(&motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -196,7 +213,8 @@ TEST(etb, setOutputValid2) {
StrictMock<MockMotor> motor;
EtbController etb;
etb.init(&motor, 0, nullptr);
etb.init(&motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -210,7 +228,7 @@ TEST(etb, setOutputOutOfRangeHigh) {
StrictMock<MockMotor> motor;
EtbController etb;
etb.init(&motor, 0, nullptr);
etb.init(&motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -224,7 +242,7 @@ TEST(etb, setOutputOutOfRangeLow) {
StrictMock<MockMotor> motor;
EtbController etb;
etb.init(&motor, 0, nullptr);
etb.init(&motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());