kill off helpers to get heater/sampler stuff

firmware/can.cpp

@@ -137,6 +137,9 @@ void SendRusefiFormat(uint8_t ch)
 {
     auto baseAddress = WB_DATA_BASE_ADDR + 2 * (ch + configuration->CanIndexOffset);
 
+    const auto& sampler = GetSampler(ch);
+    const auto& heater = GetHeaterController(ch);
+
     {
         CanTxTyped<wbo::StandardData> frame(baseAddress + 0);
 
@@ -145,17 +148,17 @@ void SendRusefiFormat(uint8_t ch)
 
         uint16_t lambda = GetLambda(ch) * 10000;
         frame.get().Lambda = lambda;
-        frame.get().TemperatureC = GetSensorTemperature(ch);
-        frame.get().Valid = IsRunningClosedLoop(ch) ? 0x01 : 0x00;
+        frame.get().TemperatureC = sampler.GetSensorTemperature();
+        frame.get().Valid = heater.IsRunningClosedLoop() ? 0x01 : 0x00;
     }
 
     {
-        auto esr = GetSensorInternalResistance(ch);
+        auto esr = sampler.GetSensorInternalResistance();
 
         CanTxTyped<wbo::DiagData> frame(baseAddress + 1);
 
         frame.get().Esr = esr;
-        frame.get().NernstDc = GetNernstDc(ch) * 1000;
+        frame.get().NernstDc = sampler.GetNernstDc() * 1000;
         frame.get().PumpDuty = GetPumpOutputDuty(ch) * 255;
         frame.get().Status = GetCurrentFault(ch);
         frame.get().HeaterDuty = GetHeaterDuty(ch) * 255;

firmware/heater_control.cpp

@@ -68,7 +68,7 @@ static constexpr int preheatTimeCounter = HEATER_PREHEAT_TIME / HEATER_CONTROL_P
 static constexpr int batteryStabTimeCounter = HEATER_BATTERY_STAB_TIME / HEATER_CONTROL_PERIOD;
 static const struct sensorHeaterParams *heater;
 
-class HeaterController
+class HeaterController : public IHeaterController
 {
 public:
     HeaterController(int ch, int pwm_ch)
@@ -76,14 +76,28 @@ public:
     {
     }
 
-    void Update(const ISampler& sampler, HeaterAllow heaterAllowState);
+    void Update(const ISampler& sampler, HeaterAllow heaterAllowState) override;
+
+    bool IsRunningClosedLoop() const override
+    {
+        return heaterState == HeaterState::ClosedLoop;
+    }
+
+    float GetHeaterEffectiveVoltage() const override
+    {
+        return heaterVoltage;
+    }
+
+    HeaterState GetHeaterState() const override
+    {
+        return heaterState;
+    }
 
 protected:
     HeaterState GetNextState(HeaterAllow haeterAllowState, float batteryVoltage, float sensorTemp);
     float GetVoltageForState(float heaterEsr);
 
-// private:
-public:
+private:
     Pid heaterPid =
         {
             0.3f,      // kP
@@ -101,6 +115,9 @@ public:
 #ifdef HEATER_MAX_DUTY
     int cycle;
 #endif
+
+// TODO: private:
+public:
     const uint8_t ch;
     const uint8_t pwm_ch;
 };
@@ -114,6 +131,11 @@ HeaterController heaterControllers[AFR_CHANNELS] =
 #endif
 };
 
+const IHeaterController& GetHeaterController(int ch)
+{
+    return heaterControllers[ch];
+}
+
 HeaterState HeaterController::GetNextState(HeaterAllow heaterAllowState, float batteryVoltage, float sensorTemp)
 {
     bool heaterAllowed = heaterAllowState == HeaterAllow::Allowed;
@@ -320,24 +342,14 @@ void StartHeaterControl()
     chThdCreateStatic(waHeaterThread, sizeof(waHeaterThread), NORMALPRIO + 1, HeaterThread, nullptr);
 }
 
-bool IsRunningClosedLoop(int ch)
-{
-    return heaterControllers[ch].heaterState == HeaterState::ClosedLoop;
-}
-
 float GetHeaterDuty(int ch)
 {
     return heaterPwm.GetLastDuty(heaterControllers[ch].pwm_ch);
 }
 
-float GetHeaterEffVoltage(int ch)
-{
-    return heaterControllers[ch].heaterVoltage;
-}
-
 HeaterState GetHeaterState(int ch)
 {
-    return heaterControllers[ch].heaterState;
+    return heaterControllers[ch].GetHeaterState();
 }
 
 const char* describeHeaterState(HeaterState state)

firmware/heater_control.h

@@ -2,6 +2,8 @@
 
 #include <cstdint>
 
+#include "can.h"
+
 enum class HeaterState
 {
     Preheat,
@@ -11,9 +13,19 @@ enum class HeaterState
     NoHeaterSupply,
 };
 
+struct ISampler;
+
+struct IHeaterController
+{
+    virtual void Update(const ISampler& sampler, HeaterAllow heaterAllowState) = 0;
+    virtual bool IsRunningClosedLoop() const = 0;
+    virtual float GetHeaterEffectiveVoltage() const = 0;
+    virtual HeaterState GetHeaterState() const = 0;
+};
+
+const IHeaterController& GetHeaterController(int ch);
+
 void StartHeaterControl();
-bool IsRunningClosedLoop(int ch);
 float GetHeaterDuty(int ch);
-float GetHeaterEffVoltage(int ch);
 HeaterState GetHeaterState(int ch);
 const char* describeHeaterState(HeaterState state);

firmware/indication.cpp

@@ -49,7 +49,7 @@ static void IndicationThread(void *ptr)
             palToggleLine(data->line);
 
             // Slow blink if closed loop, fast if not
-            chThdSleepMilliseconds(IsRunningClosedLoop(data->idx) ? LED_BLINK_SLOW : LED_BLINK_FAST);
+            chThdSleepMilliseconds(GetHeaterController(data->idx).IsRunningClosedLoop() ? LED_BLINK_SLOW : LED_BLINK_FAST);
         }
         else
         {

firmware/lambda_conversion.cpp

@@ -65,7 +65,7 @@ static float GetPhi(float pumpCurrent) {
 
 float GetLambda(int ch)
 {
-    float pumpCurrent = GetPumpNominalCurrent(ch);
+    float pumpCurrent = GetSampler(ch).GetPumpNominalCurrent();
 
     // Lambda is reciprocal of phi
     return 1 / GetPhi(pumpCurrent);

firmware/livedata.cpp

@@ -20,15 +20,18 @@ void SamplingUpdateLiveData()
     {
         volatile struct livedata_afr_s *data = &livedata_afr[ch];
 
+        const auto& sampler = GetSampler(ch);
+        const auto& heater = GetHeaterController(ch);
+
         data->lambda = GetLambda(ch);
-        data->temperature = GetSensorTemperature(ch) * 10;
-        data->nernstDc = GetNernstDc(ch) * 1000;
-        data->nernstAc = GetNernstAc(ch) * 1000;
+        data->temperature = sampler.GetSensorTemperature() * 10;
+        data->nernstDc = sampler.GetNernstDc() * 1000;
+        data->nernstAc = sampler.GetNernstAc() * 1000;
         data->pumpCurrentTarget = GetPumpCurrent(ch);
-        data->pumpCurrentMeasured = GetPumpNominalCurrent(ch);
+        data->pumpCurrentMeasured = sampler.GetPumpNominalCurrent();
         data->heaterDuty = GetHeaterDuty(ch) * 1000;    // 0.1 %
-        data->heaterEffectiveVoltage = GetHeaterEffVoltage(ch) * 100;
-        data->esr = GetSensorInternalResistance(ch);
+        data->heaterEffectiveVoltage = heater.GetHeaterEffectiveVoltage() * 100;
+        data->esr = sampler.GetSensorInternalResistance();
         data->fault = (uint8_t)GetCurrentFault(ch);
         data->heaterState = (uint8_t)GetHeaterState(ch);
     }

firmware/main.cpp

@@ -67,7 +67,7 @@ int main() {
             palTogglePad(LED_GREEN_PORT, LED_GREEN_PIN);
 
             // Slow blink if closed loop, fast if not
-            chThdSleepMilliseconds(IsRunningClosedLoop(0) ? 700 : 50);
+            chThdSleepMilliseconds(GetHeaterController(0).IsRunningClosedLoop() ? 700 : 50);
         }
         else
         {

firmware/pump_control.cpp

@@ -34,10 +34,13 @@ static void PumpThread(void*)
         {
             pump_control_state &s = state[ch];
 
+            const auto& sampler = GetSampler(ch);
+            const auto& heater = GetHeaterController(ch);
+
             // Only actuate pump when running closed loop!
-            if (IsRunningClosedLoop(ch))
+            if (heater.IsRunningClosedLoop())
             {
-                float nernstVoltage = GetNernstDc(ch);
+                float nernstVoltage = sampler.GetNernstDc();
 
                 float result = s.pumpPid.GetOutput(NERNST_TARGET, nernstVoltage);
 

firmware/pump_dac.cpp

@@ -91,7 +91,7 @@ void InitPumpDac()
 void SetPumpCurrentTarget(int ch, int32_t microampere)
 {
     // Don't allow pump current when the sensor isn't hot
-    if (!IsRunningClosedLoop(ch))
+    if (!GetHeaterController(ch).IsRunningClosedLoop())
     {
         microampere = 0;
     }

firmware/sampling.cpp

@@ -95,7 +95,7 @@ private:
 
 static Sampler samplers[AFR_CHANNELS];
 
-ISampler& GetSampler(int ch)
+const ISampler& GetSampler(int ch)
 {
     return samplers[ch];
 }
@@ -174,32 +174,7 @@ void StartSampling()
     chThdCreateStatic(waSamplingThread, sizeof(waSamplingThread), NORMALPRIO + 5, SamplingThread, nullptr);
 }
 
-float GetNernstAc(int ch)
-{
-    return samplers[ch].GetNernstAc();
-}
-
 // TODO: remove these helpers
-float GetSensorInternalResistance(int ch)
-{
-    return samplers[ch].GetSensorInternalResistance();
-}
-
-float GetSensorTemperature(int ch)
-{
-    return samplers[ch].GetSensorTemperature();
-}
-
-float GetNernstDc(int ch)
-{
-    return samplers[ch].GetNernstDc();
-}
-
-float GetPumpNominalCurrent(int ch)
-{
-    return samplers[ch].GetPumpNominalCurrent();
-}
-
 float GetInternalBatteryVoltage(int ch)
 {
     return samplers[ch].GetInternalBatteryVoltage();

firmware/sampling.h

@@ -11,13 +11,8 @@ struct ISampler
 };
 
 // Get the sampler for a particular channel
-ISampler& GetSampler(int ch);
+const ISampler& GetSampler(int ch);
 
 void StartSampling();
 
-float GetNernstAc(int ch);
-float GetSensorInternalResistance(int ch);
-float GetSensorTemperature(int ch);
-float GetNernstDc(int ch);
-float GetPumpNominalCurrent(int ch);
 float GetInternalBatteryVoltage(int ch);

firmware/uart.cpp

@@ -46,11 +46,11 @@ static void UartThread(void*)
                 "[AFR%d]: %d.%03d DC: %4d mV AC: %4d mV ESR: %5d T: %4d C Ipump: %6d uA Vheater: %5d heater: %s (%d)\tfault: %s\r\n",
                 ch,
                 lambdaIntPart, lambdaThousandths,
-                (int)(GetNernstDc(ch) * 1000.0),
-                (int)(GetNernstAc(ch) * 1000.0),
-                (int)GetSensorInternalResistance(ch),
-                (int)GetSensorTemperature(ch),
-                (int)(GetPumpNominalCurrent(ch) * 1000),
+                (int)(GetSampler(ch).GetNernstDc(ch) * 1000.0),
+                (int)(GetSampler(ch).GetNernstAc(ch) * 1000.0),
+                (int)GetSampler(ch).GetSensorInternalResistance(ch),
+                (int)GetSampler(ch).GetSensorTemperature(ch),
+                (int)(GetSampler(ch).GetPumpNominalCurrent(ch) * 1000),
                 batteryVoltageMv,
                 describeHeaterState(GetHeaterState(ch)), duty,
                 describeFault(GetCurrentFault(ch)));