ETB target is using integer values #945

first we will write a unit test

firmware/config/engines/custom_engine.cpp

@@ -18,10 +18,13 @@
 #include "engine_math.h"
 #include "fsio_impl.h"
 
+#if EFI_ELECTRONIC_THROTTLE_BODY
+#include "electronic_throttle.h"
+#endif
+
 #if EFI_PROD_CODE
 #include "can_hw.h"
 #include "scheduler.h"
-#include "electronic_throttle.h"
 #endif /* EFI_PROD_CODE */
 
 EXTERN_ENGINE;

firmware/controllers/actuators/electronic_throttle.cpp

@@ -117,6 +117,8 @@ private:
 	SimplePwm etbPwmUp;
 
 public:
+	DECLARE_ENGINE_PTR;
+
 	EtbControl() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
 
 	TwoPinDcMotor dcMotor;
@@ -163,7 +165,7 @@ static EtbControl etb1;
 
 extern percent_t mockPedalPosition;
 
-Pid etbPid(&engineConfiguration->etb);
+Pid etbPid;
 
 static percent_t directPwmValue = NAN;
 static percent_t currentEtbDuty;
@@ -173,6 +175,8 @@ static percent_t currentEtbDuty;
 #define ETB_PERCENT_TO_DUTY(X) (maxF(minF((X * 0.01), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))
 
 class EtbController : public PeriodicTimerController {
+public:
+	DECLARE_ENGINE_PTR;
 
 	int getPeriodMs() override {
 		return GET_PERIOD_LIMITED(&engineConfiguration->etb);
@@ -396,7 +400,7 @@ void setEtbOffset(int value) {
 	showEthInfo();
 }
 
-void setBoschVNH2SP30Curve(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+void setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	engineConfiguration->etbBiasBins[0] = 0;
 	engineConfiguration->etbBiasBins[1] = 1;
 	engineConfiguration->etbBiasBins[2] = 5;
@@ -426,7 +430,7 @@ void setBoschVNH2SP30Curve(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->etbBiasValues[7] = 28;
 }
 
-void setDefaultEtbParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	CONFIG(etbIdleThrottleRange) = 5;
 
 	setLinearCurveAny<uint8_t>(config->pedalToTpsPedalBins, PEDAL_TO_TPS_SIZE, /*from*/0, /*to*/100, 1);
@@ -462,6 +466,7 @@ static bool isSamePins(etb_io *current, etb_io *active) {
 			current->directionPin2 != active->directionPin2;
 }
 
+#if EFI_PROD_CODE
 bool isETBRestartNeeded(void) {
 	/**
 	 * We do not want any interruption in HW pin while adjusting other properties
@@ -474,6 +479,7 @@ void stopETBPins(void) {
 	brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin1);
 	brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin2);
 }
+#endif /* EFI_PROD_CODE */
 
 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
 	shouldResetPid = !etbPid.isSame(&previousConfiguration->etb);
@@ -513,7 +519,7 @@ static void setAutoOffset(int offset) {
 	autoTune.reset();
 }
 
-void setDefaultEtbBiasCurve(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 	engineConfiguration->etbBiasBins[0] = 0;
 	engineConfiguration->etbBiasBins[1] = 1;
 	engineConfiguration->etbBiasBins[2] = 2;
@@ -547,12 +553,18 @@ void unregisterEtbPins() {
 
 }
 
-void initElectronicThrottle(void) {
+void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleAction("ethinfo", showEthInfo);
 	addConsoleAction("etbreset", etbReset);
+
+	etbPid.initPidClass(&engineConfiguration->etb);
+
+	INJECT_ENGINE_REFERENCE(etb1);
+	INJECT_ENGINE_REFERENCE(etbController);
+
 	pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
 
-	engine->engineState.hasEtbPedalPositionSensor = hasPedalPositionSensor();
+	engine->engineState.hasEtbPedalPositionSensor = hasPedalPositionSensor(PASS_ENGINE_PARAMETER_SIGNATURE);
 	if (!engine->engineState.hasEtbPedalPositionSensor) {
 		return;
 	}

firmware/controllers/actuators/electronic_throttle.h

@@ -13,10 +13,10 @@
 #define DEFAULT_ETB_PWM_FREQUENCY 300
 
 #include "engine.h"
-void initElectronicThrottle(void);
+void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
-void setDefaultEtbBiasCurve(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
-void setDefaultEtbParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
-void setBoschVNH2SP30Curve(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+void setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void setEtbPFactor(float value);
 void setEtbIFactor(float value);
 void setEtbDFactor(float value);

firmware/controllers/actuators/idle_thread.cpp

@@ -555,11 +555,7 @@ static void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	logger = sharedLogger;
-	idleControllerInstance.engine = engine;
+	INJECT_ENGINE_REFERENCE(idleControllerInstance);
-	idleControllerInstance.engineConfiguration = engineConfiguration;
-	idleControllerInstance.config = config;
-	idleControllerInstance.boardConfiguration = boardConfiguration;
-
 
 	idlePid.initPidClass(&engineConfiguration->idleRpmPid);
 

firmware/controllers/actuators/idle_thread.h

@@ -14,10 +14,7 @@
 
 class IdleController : public PeriodicTimerController {
 public:
-	Engine *engine = NULL;
+	DECLARE_ENGINE_PTR;
-	engine_configuration_s *engineConfiguration = NULL;
-	persistent_config_s *config = NULL;
-	board_configuration_s *boardConfiguration = NULL;
 
 	int getPeriodMs() override;
 	void PeriodicTask() override;

firmware/controllers/algo/engine_configuration.cpp

@@ -587,8 +587,8 @@ static void setDefaultEngineConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 
 #if EFI_ELECTRONIC_THROTTLE_BODY
-	setDefaultEtbParameters(PASS_ENGINE_PARAMETER_SIGNATURE);
+	setDefaultEtbParameters(PASS_CONFIG_PARAMETER_SIGNATURE);
-	setDefaultEtbBiasCurve(PASS_ENGINE_PARAMETER_SIGNATURE);
+	setDefaultEtbBiasCurve(PASS_CONFIG_PARAMETER_SIGNATURE);
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 
 	CONFIGB(mafSensorType) = Bosch0280218037;

firmware/controllers/core/common_headers.h

@@ -65,4 +65,17 @@
 #define DISPLAY_SENSOR(x) {}
 #define DISPLAY_IF(x) x
 
+#define DECLARE_ENGINE_PTR                              \
+	Engine *engine = NULL;                              \
+	engine_configuration_s *engineConfiguration = NULL; \
+	persistent_config_s *config = NULL;                 \
+	board_configuration_s *boardConfiguration = NULL;
+
+
+#define INJECT_ENGINE_REFERENCE(x)              \
+	x.engine = engine;                           \
+	x.engineConfiguration = engineConfiguration; \
+	x.config = config;                           \
+	x.boardConfiguration = boardConfiguration;
+
 #endif /* CONTROLLERS_CORE_COMMON_HEADERS_H_ */

firmware/controllers/sensors/tps.cpp

@@ -212,7 +212,7 @@ percent_t getPedalPosition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	DISPLAY_TEXT(Analog_MCU_reads);
 
 	float voltage = getVoltageDivided("pPS", CONFIG(DISPLAY_CONFIG(throttlePedalPositionAdcChannel)));
-	float result = interpolateMsg("pedal", engineConfiguration->throttlePedalUpVoltage, 0, engineConfiguration->throttlePedalWOTVoltage, 100, voltage);
+	percent_t result = interpolateMsg("pedal", engineConfiguration->throttlePedalUpVoltage, 0, engineConfiguration->throttlePedalWOTVoltage, 100, voltage);
 
 	// this would put the value into the 0-100 range
 	return maxF(0, minF(100, result));