GCC Code Coverage Report

Directory: ./
File: firmware/controllers/algo/fuel/injector_model.cpp
Date: 2025-10-03 00:57:22
Coverage Exec Excl Total
Lines: 79.9% 119 0 149
Functions: 76.9% 20 0 26
Branches: 82.9% 58 0 70
Decisions: 85.4% 41 - 48
Line Branch Decision Exec Source
1 #include "pch.h"
2
3 #include "injector_model.h"
4 #include "fuel_computer.h"
5
6 1130 void InjectorModelBase::prepare() {
7 1130 float flowRatio = getInjectorFlowRatio();
8
9 // "large pulse" flow rate
10 1130 m_massFlowRate = flowRatio * getBaseFlowRate();
11 1130 m_deadtime = getDeadtime();
12
13
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 1130 if (getNonlinearMode() == INJ_FordModel) {
14 1 m_smallPulseFlowRate = flowRatio * getSmallPulseFlowRate();
15 1 m_smallPulseBreakPoint = getSmallPulseBreakPoint();
16
17 // amount added to small pulses to correct for the "kink" from low flow region
18 1 m_smallPulseOffset = 1000 * ((m_smallPulseBreakPoint / m_massFlowRate) - (m_smallPulseBreakPoint / m_smallPulseFlowRate));
19 }
20 1130 }
21
22 1123 constexpr float convertToGramsPerSecond(float ccPerMinute) {
23 1123 return ccPerMinute * (fuelDensity / 60.f);
24 }
25
26 // returns: grams per second flow
27 1126 float InjectorModelWithConfig::getBaseFlowRate() const {
28
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 1126 if (engineConfiguration->injectorFlowAsMassFlow) {
29 3 return m_cfg->flow;
30 } else {
31 1123 return convertToGramsPerSecond(m_cfg->flow);
32 }
33 }
34
35 ✗ float InjectorModelPrimary::getSmallPulseFlowRate() const {
36 ✗ return engineConfiguration->fordInjectorSmallPulseSlope;
37 }
38
39 ✗ float InjectorModelPrimary::getSmallPulseBreakPoint() const {
40 // convert milligrams -> grams
41 // todo: make UI deal with scaling?!
42 ✗ return 0.001f * engineConfiguration->fordInjectorSmallPulseBreakPoint;
43 }
44
45 2811 InjectorNonlinearMode InjectorModelPrimary::getNonlinearMode() const {
46 2811 return engineConfiguration->injectorNonlinearMode;
47 }
48
49 2857 injector_compensation_mode_e InjectorModelPrimary::getInjectorCompensationMode() const {
50 2857 return engineConfiguration->injectorCompensationMode;
51 }
52
53 43 float InjectorModelPrimary::getFuelReferencePressure() const {
54 43 return engineConfiguration->fuelReferencePressure;
55 }
56
57 ✗ float InjectorModelSecondary::getSmallPulseFlowRate() const {
58 // not supported on second bank
59 ✗ return 0;
60 }
61
62 ✗ float InjectorModelSecondary::getSmallPulseBreakPoint() const {
63 // not supported on second bank
64 ✗ return 0;
65 }
66
67 10 injector_compensation_mode_e InjectorModelSecondary::getInjectorCompensationMode() const {
68 10 return engineConfiguration->secondaryInjectorCompensationMode;
69 }
70
71 1 float InjectorModelSecondary::getFuelReferencePressure() const {
72 1 return engineConfiguration->secondaryInjectorFuelReferencePressure;
73 }
74
75 2 InjectorNonlinearMode InjectorModelSecondary::getNonlinearMode() const {
76 // nonlinear not supported on second bank
77 2 return InjectorNonlinearMode::INJ_None;
78 }
79
80 ✗ void InjectorModelWithConfig::updateState() {
81 ✗ pressureCorrectionReference = getFuelDifferentialPressure().Value;
82 ✗ }
83
84 ✗ expected<float> InjectorModelWithConfig::getFuelPressure() const {
85 ✗ return getFuelDifferentialPressure().Value + Sensor::get(SensorType::Map).value_or(STD_ATMOSPHERE);
86 }
87
88 44 expected<float> InjectorModelWithConfig::getFuelDifferentialPressure() const {
89
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 44 auto map = Sensor::get(SensorType::Map);
90
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 44 auto baro = Sensor::get(SensorType::BarometricPressure);
91
92 44 float baroKpa = baro.Value;
93 // todo: extract baro sensor validation logic
94
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 44 if (!baro || baro.Value > 120 || baro.Value < 50) {
95 24 baroKpa = STD_ATMOSPHERE;
96 }
97
98
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 44 switch (getInjectorCompensationMode()) {
99
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 20 case ICM_FixedRailPressure:
100 // Add barometric pressure, as "fixed" really means "fixed pressure above atmosphere"
101
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 20 return getFuelReferencePressure()
102 20 + baroKpa
103 40 - map.value_or(STD_ATMOSPHERE);
104
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 20 case ICM_SensedRailPressure: {
105
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 20 if (!Sensor::hasSensor(SensorType::FuelPressureInjector)) {
106
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 1 warning(ObdCode::OBD_Fuel_Pressure_Sensor_Missing, "Fuel pressure compensation is set to use a pressure sensor, but none is configured.");
107 1 return unexpected;
108 }
109
110
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 19 auto fps = Sensor::get(SensorType::FuelPressureInjector);
111
112 // TODO: what happens when the sensor fails?
113
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 19 if (!fps) {
114 1 return unexpected;
115 }
116
117
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 18 switch (engineConfiguration->fuelPressureSensorMode) {
118
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 5 case FPM_Differential:
119 // This sensor directly measures delta-P, no math needed!
120 5 return fps.Value;
121
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 5 case FPM_Gauge:
122
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 5 if (!map) {
123 ✗ return unexpected;
124 }
125
126 5 return fps.Value + baroKpa - map.Value;
127
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 8 case FPM_Absolute:
128 default:
129
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 8 if (!map) {
130 ✗ return unexpected;
131 }
132
133 8 return fps.Value - map.Value;
134 }
135
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 4 } default: return unexpected;
136 }
137 }
138
139 1136 float InjectorModelWithConfig::getInjectorFlowRatio() {
140 // Compensation disabled, use reference flow.
141
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 1136 auto compensationMode = getInjectorCompensationMode();
142
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 1136 if (compensationMode == ICM_None || compensationMode == ICM_HPFP_Manual_Compensation) {
143 1112 return 1.0f;
144 }
145
146
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 24 const float referencePressure = getFuelReferencePressure();
147
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 24 if (referencePressure < 50) {
149 // impossibly low fuel ref pressure
150 ✗ criticalError("Impossible fuel reference pressure: %f", referencePressure);
151
152 ✗ return 1.0f;
153 }
154
155
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 24 expected<float> diffPressure = getFuelDifferentialPressure();
156
157 // If sensor failed, best we can do is disable correction
158
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 24 if (!diffPressure) {
159 2 return 1.0f;
160 }
161
162 22 pressureDelta = diffPressure.Value;
163
164 // Somehow pressure delta is less than 0, assume failed sensor and return default flow
165
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 22 if (pressureDelta <= 0) {
166 1 return 1.0f;
167 }
168
169 21 pressureRatio = pressureDelta / referencePressure;
170 // todo: live data model?
171 21 float flowRatio = sqrtf(pressureRatio);
172
173 // TODO: should the flow ratio be clamped?
174 21 return flowRatio;
175 }
176
177 1131 float InjectorModelWithConfig::getDeadtime() const {
178 2262 return interpolate3d(
179 1131 m_cfg->battLagCorrTable,
180 1131 m_cfg->battLagCorrPressBins, pressureCorrectionReference,
181
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 3393 m_cfg->battLagCorrBattBins, Sensor::get(SensorType::BatteryVoltage).value_or(VBAT_FALLBACK_VALUE)
182 2262 );
183 }
184
185 //TODO: only used in the tests, refactor pending to InjectorModelWithConfig
186 4 floatms_t InjectorModelBase::getInjectionDuration(float fuelMassGram) const {
187
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 4 if (fuelMassGram <= 0) {
188 // If 0 mass, don't do any math, just skip the injection.
189 ✗ return 0.0f;
190 }
191
192 // Get the no-offset duration
193 4 floatms_t baseDuration = getBaseDurationImpl(fuelMassGram);
194
195 4 return baseDuration + m_deadtime;
196 }
197
198 9587 floatms_t InjectorModelWithConfig::getInjectionDuration(float fuelMassGram) const {
199
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 9587 if (fuelMassGram <= 0) {
200 // If 0 mass, don't do any math, just skip the injection.
201 7900 return 0.0f;
202 }
203
204 // hopefully one day we pick between useInjectorFlowLinearizationTable and ICM_HPFP_Manual_Compensation approaches
205 // and not more than one of these would stay
206
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 1687 if (engineConfiguration->useInjectorFlowLinearizationTable) {
207 ✗ auto fps = Sensor::get(SensorType::FuelPressureInjector);
208 // todo: KPA vs BAR mess?!
209 ✗ return interpolate3d(config->injectorFlowLinearization,
210 ✗ config->injectorFlowLinearizationPressureBins, KPA2BAR(fps.Value),// array values are on bar
211 ✗ config->injectorFlowLinearizationFuelMassBins, fuelMassGram * 1000); // array values are on mg
212 }
213
214 // Get the no-offset duration
215 1687 floatms_t baseDuration = getBaseDurationImpl(fuelMassGram);
216
217 // default non GDI case
218
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 1687 if (getInjectorCompensationMode() != ICM_HPFP_Manual_Compensation) {
219 // Add deadtime offset
220 1685 return baseDuration + m_deadtime;
221 }
222
223
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 2 if (!Sensor::hasSensor(SensorType::FuelPressureHigh)) {
224 2 return baseDuration + m_deadtime;
225 }
226
227 ✗ auto fps = Sensor::get(SensorType::FuelPressureHigh);
228 // todo: KPA vs BAR mess in code and UI?!
229 ✗ float fuelMassCompensation = interpolate3d(config->hpfpFuelMassCompensation,
230 ✗ config->hpfpFuelMassCompensationFuelPressure, KPA2BAR(fps.Value),// array values are on bar
231 ✗ config->hpfpFuelMassCompensationFuelMass, fuelMassGram * 1000); // array values are on mg
232
233 // recalculate base duration with fuel mass compensation
234 ✗ baseDuration = getBaseDurationImpl(fuelMassGram * fuelMassCompensation);
235 ✗ return baseDuration + m_deadtime;
236 }
237
238 1124 float InjectorModelBase::getFuelMassForDuration(floatms_t duration) const {
239 // Convert from ms -> grams
240 1124 return duration * m_massFlowRate * 0.001f;
241 }
242
243 // todo: all that *1000 and *0.001f is pretty annoying, we need a cleaner approach for units!
244 1712 floatms_t InjectorModelBase::getBaseDurationImpl(float fuelMassGram) const {
245 1712 floatms_t baseDuration = fuelMassGram / m_massFlowRate * 1000;
246
247
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 1712 switch (getNonlinearMode()) {
248
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 21 case INJ_FordModel:
249
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 21 if (fuelMassGram < m_smallPulseBreakPoint) {
250 // Small pulse uses a different slope, and adds the "zero fuel pulse" offset
251 7 return (fuelMassGram / m_smallPulseFlowRate * 1000) + m_smallPulseOffset;
252 } else {
253 // Large pulse
254 14 return baseDuration;
255 }
256 ✗ case INJ_PolynomialAdder:
257 ✗ return correctInjectionPolynomial(baseDuration);
258
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 1691 case INJ_None:
259 default:
260
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 1691 return baseDuration;
261 }
262 }
263
264 9 floatms_t InjectorModelBase::correctInjectionPolynomial(floatms_t baseDuration) const {
265
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 9 if (baseDuration > engineConfiguration->applyNonlinearBelowPulse) {
266 // Large pulse, skip correction.
267 1 return baseDuration;
268 }
269
270 8 auto& is = engineConfiguration->injectorCorrectionPolynomial;
271 8 float xi = 1;
272
273 8 float adder = 0;
274
275 // Add polynomial terms, starting with x^0
276
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 72 for (size_t i = 0; i < efi::size(is); i++) {
277 64 adder += is[i] * xi;
278 64 xi *= baseDuration;
279 }
280
281 8 return baseDuration + adder;
282 }
283
284 1371 InjectorModelWithConfig::InjectorModelWithConfig(const injector_s* const cfg)
285 1371 : m_cfg(cfg)
286 {
287 1371 }
288
289 694 InjectorModelPrimary::InjectorModelPrimary()
290 694 : InjectorModelWithConfig(&engineConfiguration->injector)
291 {
292 694 }
293
294 // TODO: actual separate config for second bank!
295 677 InjectorModelSecondary::InjectorModelSecondary()
296 677 : InjectorModelWithConfig(&engineConfiguration->injectorSecondary)
297 {
298 677 }
299