| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | #include "pch.h" | |||
| 2 | ||||
| 3 | #include "boost_control.h" | |||
| 4 | ||||
| 5 | using ::testing::_; | |||
| 6 | using ::testing::StrictMock; | |||
| 7 | ||||
| 8 | static Map2D<BOOST_CURVE_SIZE, float, float> testBoostCltCorr { "clt" }; | |||
| 9 | static Map2D<BOOST_CURVE_SIZE, float, float> testBoostIatCorr { "iat" }; | |||
| 10 | static Map2D<BOOST_CURVE_SIZE, float, float> testBoostCltAdder { "clt (adder)" }; | |||
| 11 | static Map2D<BOOST_CURVE_SIZE, float, float> testBoostIatAdder { "iat (adder)" }; | |||
| 12 | ||||
| 13 | 4 | TEST(BoostControl, Setpoint) { | ||
| 14 |
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1 | MockVp3d targetMap; | |
| 15 | ||||
| 16 | // Just pass TPS input to output | |||
| 17 |
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3 | EXPECT_CALL(targetMap, getValue(_, _)) | |
| 18 |
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3 | .WillRepeatedly([](float xRpm, float tps) { return tps; }); | |
| 19 | ||||
| 20 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 21 | 1 | engineConfiguration->boostType = CLOSED_LOOP; | ||
| 22 | ||||
| 23 |
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1 | BoostController bc; | |
| 24 | ||||
| 25 | // Should return unexpected without a pedal map cfg'd | |||
| 26 |
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1 | EXPECT_EQ(bc.getSetpoint(), unexpected); | |
| 27 | ||||
| 28 | 1 | testBoostCltCorr.initTable(config->cltBoostCorr, config->cltBoostCorrBins); | ||
| 29 | 1 | testBoostIatCorr.initTable(config->iatBoostCorr, config->iatBoostCorrBins); | ||
| 30 | 1 | testBoostCltAdder.initTable(config->cltBoostAdder, config->cltBoostAdderBins); | ||
| 31 | 1 | testBoostIatAdder.initTable(config->iatBoostAdder, config->iatBoostAdderBins); | ||
| 32 | ||||
| 33 | // Now init with mock target map | |||
| 34 |
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1 | bc.init(nullptr, nullptr, &targetMap, testBoostCltCorr, testBoostIatCorr, testBoostCltAdder, testBoostIatAdder, nullptr); | |
| 35 | ||||
| 36 | // Should still return unxepected since TPS is invalid | |||
| 37 |
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1 | EXPECT_EQ(bc.getSetpoint(), unexpected); | |
| 38 | ||||
| 39 | // Configure TPS, should get passthru of tps value | |||
| 40 |
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1 | Sensor::setMockValue(SensorType::DriverThrottleIntent, 35.0f); | |
| 41 |
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1 | EXPECT_FLOAT_EQ(bc.getSetpoint().value_or(-1), 35.0f); | |
| 42 | ||||
| 43 | // Back in open loop mode, setpoint should be 0 | |||
| 44 | 1 | engineConfiguration->boostType = OPEN_LOOP; | ||
| 45 |
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1 | EXPECT_FLOAT_EQ(bc.getSetpoint().value_or(-1), 0); | |
| 46 | 2 | } | ||
| 47 | ||||
| 48 | 4 | TEST(BoostControl, ObservePlant) { | ||
| 49 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 50 | 1 | engineConfiguration->boostType = CLOSED_LOOP; | ||
| 51 | ||||
| 52 |
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1 | BoostController bc; | |
| 53 | ||||
| 54 |
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1 | Sensor::resetMockValue(SensorType::Map); | |
| 55 | // Check that invalid MAP returns unexpected | |||
| 56 |
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1 | EXPECT_EQ(bc.observePlant(), unexpected); | |
| 57 | ||||
| 58 | // Test valid MAP value | |||
| 59 |
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1 | Sensor::setMockValue(SensorType::Map, 150); | |
| 60 | ||||
| 61 |
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1 | EXPECT_FLOAT_EQ(bc.observePlant().value_or(0), 150.0f); | |
| 62 | 2 | } | ||
| 63 | ||||
| 64 | 4 | TEST(BoostControl, OpenLoop) { | ||
| 65 |
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1 | MockVp3d openMap; | |
| 66 | ||||
| 67 | // Just pass MAP input to output | |||
| 68 |
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3 | EXPECT_CALL(openMap, getValue(_, _)) | |
| 69 |
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3 | .WillRepeatedly([](float xRpm, float tps) { return tps; }); | |
| 70 | ||||
| 71 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 72 | ||||
| 73 |
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1 | BoostController bc; | |
| 74 | ||||
| 75 | // Without table set, should return unexpected | |||
| 76 |
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1 | EXPECT_EQ(bc.getOpenLoop(0), unexpected); | |
| 77 | ||||
| 78 | ||||
| 79 | 1 | testBoostCltCorr.initTable(config->cltBoostCorr, config->cltBoostCorrBins); | ||
| 80 | 1 | testBoostIatCorr.initTable(config->iatBoostCorr, config->iatBoostCorrBins); | ||
| 81 | 1 | testBoostCltAdder.initTable(config->cltBoostAdder, config->cltBoostAdderBins); | ||
| 82 | 1 | testBoostIatAdder.initTable(config->iatBoostAdder, config->iatBoostAdderBins); | ||
| 83 | ||||
| 84 |
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1 | bc.init( | |
| 85 | nullptr, | |||
| 86 | &openMap, | |||
| 87 | nullptr, | |||
| 88 | testBoostCltCorr, | |||
| 89 | testBoostIatCorr, | |||
| 90 | testBoostCltAdder, | |||
| 91 | testBoostIatAdder, | |||
| 92 | nullptr | |||
| 93 | ); | |||
| 94 | ||||
| 95 | // Should pass TPS value thru | |||
| 96 |
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1 | Sensor::setMockValue(SensorType::Tps1, 47.0f); | |
| 97 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), 47.0f); | |
| 98 | 2 | } | ||
| 99 | ||||
| 100 | 4 | TEST(BoostControl, BoostOpenLoopYAxis) | ||
| 101 | { | |||
| 102 |
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1 | MockVp3d openMap; | |
| 103 | // Just pass MAP input to output | |||
| 104 |
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3 | EXPECT_CALL(openMap, getValue(_, _)) | |
| 105 |
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3 | .WillRepeatedly([](float xRpm, float tps) { return tps; }); | |
| 106 | ||||
| 107 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 108 |
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1 | BoostController bc; | |
| 109 | ||||
| 110 | 1 | testBoostCltCorr.initTable(config->cltBoostCorr, config->cltBoostCorrBins); | ||
| 111 | 1 | testBoostIatCorr.initTable(config->iatBoostCorr, config->iatBoostCorrBins); | ||
| 112 | 1 | testBoostCltAdder.initTable(config->cltBoostAdder, config->cltBoostAdderBins); | ||
| 113 | 1 | testBoostIatAdder.initTable(config->iatBoostAdder, config->iatBoostAdderBins); | ||
| 114 | ||||
| 115 |
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1 | bc.init( | |
| 116 | nullptr, | |||
| 117 | &openMap, | |||
| 118 | nullptr, | |||
| 119 | testBoostCltCorr, | |||
| 120 | testBoostIatCorr, | |||
| 121 | testBoostCltAdder, | |||
| 122 | testBoostIatAdder, | |||
| 123 | nullptr | |||
| 124 | ); | |||
| 125 | ||||
| 126 | 1 | constexpr float RPM_TEST_VALUE = 42.0f; | ||
| 127 |
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1 | Sensor::setMockValue(SensorType::Rpm, RPM_TEST_VALUE); | |
| 128 | 1 | constexpr float TPS1_TEST_VALUE = 42.1f; | ||
| 129 |
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1 | Sensor::setMockValue(SensorType::Tps1, TPS1_TEST_VALUE); | |
| 130 | 1 | constexpr float MAP_TEST_VALUE = 42.3f; | ||
| 131 |
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1 | Sensor::setMockValue(SensorType::Map, MAP_TEST_VALUE); | |
| 132 | 1 | constexpr float CLT_TEST_VALUE = 42.4f; | ||
| 133 |
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1 | Sensor::setMockValue(SensorType::Clt, CLT_TEST_VALUE); | |
| 134 | 1 | constexpr float IAT_TEST_VALUE = 42.5f; | ||
| 135 |
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1 | Sensor::setMockValue(SensorType::Iat, IAT_TEST_VALUE); | |
| 136 | 1 | constexpr float LUA_GAUGE1_TEST_VALUE = 42.6f; | ||
| 137 |
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1 | Sensor::setMockValue(SensorType::LuaGauge1, LUA_GAUGE1_TEST_VALUE); | |
| 138 | 1 | constexpr float LUA_GAUGE2_TEST_VALUE = 42.7f; | ||
| 139 |
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1 | Sensor::setMockValue(SensorType::LuaGauge2, LUA_GAUGE2_TEST_VALUE); | |
| 140 | 1 | constexpr float AUX_TEMP1_TEST_VALUE = 42.7f; | ||
| 141 |
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1 | Sensor::setMockValue(SensorType::AuxTemp1, AUX_TEMP1_TEST_VALUE); | |
| 142 | 1 | constexpr float AUX_TEMP2_TEST_VALUE = 42.8f; | ||
| 143 |
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1 | Sensor::setMockValue(SensorType::AuxTemp2, AUX_TEMP2_TEST_VALUE); | |
| 144 | 1 | constexpr float ACCELERATOR_PEDAL_TEST_VALUE = 42.9f; | ||
| 145 |
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1 | Sensor::setMockValue(SensorType::AcceleratorPedal, ACCELERATOR_PEDAL_TEST_VALUE); | |
| 146 | 1 | constexpr float BATTERY_VOLTAGE_TEST_VALUE = 43.0f; | ||
| 147 |
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1 | Sensor::setMockValue(SensorType::BatteryVoltage, BATTERY_VOLTAGE_TEST_VALUE); | |
| 148 | 1 | constexpr float FUEL_ETANOL_PERCENT_TEST_VALUE = 43.1f; | ||
| 149 |
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1 | Sensor::setMockValue(SensorType::FuelEthanolPercent, FUEL_ETANOL_PERCENT_TEST_VALUE); | |
| 150 | 1 | constexpr float AUX_LINEAR1_TEST_VALUE = 43.2f; | ||
| 151 |
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1 | Sensor::setMockValue(SensorType::AuxLinear1, AUX_LINEAR1_TEST_VALUE); | |
| 152 | 1 | constexpr float AUX_LINEAR2_TEST_VALUE = 43.3f; | ||
| 153 |
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1 | Sensor::setMockValue(SensorType::AuxLinear2, AUX_LINEAR2_TEST_VALUE); | |
| 154 | // we cannot use value 43.4f for the DetectedGear sensor because gear should be less then TCU_GEAR_COUNT | |||
| 155 | 1 | constexpr float DETECTED_GEAR_TEST_VALUE = TCU_GEAR_COUNT - 1; | ||
| 156 |
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1 | Sensor::setMockValue(SensorType::DetectedGear, DETECTED_GEAR_TEST_VALUE); | |
| 157 | 1 | constexpr float BAROMETRIC_PRESSURE_TEST_VALUE = 43.5f; | ||
| 158 |
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1 | Sensor::setMockValue(SensorType::BarometricPressure, BAROMETRIC_PRESSURE_TEST_VALUE); | |
| 159 | 1 | constexpr float EGT1_TEST_VALUE = 43.6f; | ||
| 160 |
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1 | Sensor::setMockValue(SensorType::EGT1, EGT1_TEST_VALUE); | |
| 161 | 1 | constexpr float EGT2_TEST_VALUE = 43.7f; | ||
| 162 |
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1 | Sensor::setMockValue(SensorType::EGT2, EGT2_TEST_VALUE); | |
| 163 | ||||
| 164 |
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1 | EXPECT_EQ(engineConfiguration->boostOpenLoopYAxis, gppwm_channel_e::GPPWM_Tps); // default value | |
| 165 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), TPS1_TEST_VALUE); | |
| 166 | ||||
| 167 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Zero; | ||
| 168 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), 0.0f); | |
| 169 | ||||
| 170 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Rpm; | ||
| 171 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), RPM_TEST_VALUE); | |
| 172 | ||||
| 173 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Tps; | ||
| 174 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), TPS1_TEST_VALUE); | |
| 175 | ||||
| 176 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Map; | ||
| 177 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), MAP_TEST_VALUE); | |
| 178 | ||||
| 179 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Clt; | ||
| 180 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), CLT_TEST_VALUE); | |
| 181 | ||||
| 182 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Iat; | ||
| 183 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), IAT_TEST_VALUE); | |
| 184 | ||||
| 185 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_LuaGauge1; | ||
| 186 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), LUA_GAUGE1_TEST_VALUE); | |
| 187 | ||||
| 188 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_LuaGauge2; | ||
| 189 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), LUA_GAUGE2_TEST_VALUE); | |
| 190 | ||||
| 191 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_FuelLoad; | ||
| 192 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), engine->engineState.fuelingLoad); | |
| 193 | ||||
| 194 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_IgnLoad; | ||
| 195 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), engine->engineState.ignitionLoad); | |
| 196 | ||||
| 197 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_AuxTemp1; | ||
| 198 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), AUX_TEMP1_TEST_VALUE); | |
| 199 | ||||
| 200 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_AuxTemp2; | ||
| 201 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), AUX_TEMP2_TEST_VALUE); | |
| 202 | ||||
| 203 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_AccelPedal; | ||
| 204 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), ACCELERATOR_PEDAL_TEST_VALUE); | |
| 205 | ||||
| 206 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Vbatt; | ||
| 207 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), BATTERY_VOLTAGE_TEST_VALUE); | |
| 208 | ||||
| 209 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_VVT_1I; | ||
| 210 |
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1 | EXPECT_FLOAT_EQ( | |
| 211 | bc.getOpenLoop(0).value_or(-1), | |||
| 212 | engine->triggerCentral.getVVTPosition(/*bankIndex*/0, /*camIndex*/0) | |||
| 213 | 1 | ); | ||
| 214 | ||||
| 215 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_VVT_1E; | ||
| 216 |
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1 | EXPECT_FLOAT_EQ( | |
| 217 | bc.getOpenLoop(0).value_or(-1), | |||
| 218 | engine->triggerCentral.getVVTPosition(/*bankIndex*/0, /*camIndex*/1) | |||
| 219 | 1 | ); | ||
| 220 | ||||
| 221 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_VVT_2I; | ||
| 222 |
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1 | EXPECT_FLOAT_EQ( | |
| 223 | bc.getOpenLoop(0).value_or(-1), | |||
| 224 | engine->triggerCentral.getVVTPosition(/*bankIndex*/1, /*camIndex*/0) | |||
| 225 | 1 | ); | ||
| 226 | ||||
| 227 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_VVT_2E; | ||
| 228 |
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1 | EXPECT_FLOAT_EQ( | |
| 229 | bc.getOpenLoop(0).value_or(-1), | |||
| 230 | engine->triggerCentral.getVVTPosition(/*bankIndex*/1, /*camIndex*/1) | |||
| 231 | 1 | ); | ||
| 232 | ||||
| 233 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_EthanolPercent; | ||
| 234 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), FUEL_ETANOL_PERCENT_TEST_VALUE); | |
| 235 | ||||
| 236 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_AuxLinear1; | ||
| 237 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), AUX_LINEAR1_TEST_VALUE); | |
| 238 | ||||
| 239 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_AuxLinear2; | ||
| 240 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), AUX_LINEAR2_TEST_VALUE); | |
| 241 | ||||
| 242 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_GppwmOutput1; | ||
| 243 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), (float)engine->outputChannels.gppwmOutput[0]); | |
| 244 | ||||
| 245 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_GppwmOutput2; | ||
| 246 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), (float)engine->outputChannels.gppwmOutput[1]); | |
| 247 | ||||
| 248 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_GppwmOutput3; | ||
| 249 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), (float)engine->outputChannels.gppwmOutput[2]); | |
| 250 | ||||
| 251 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_GppwmOutput4; | ||
| 252 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), (float)engine->outputChannels.gppwmOutput[3]); | |
| 253 | ||||
| 254 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_DetectedGear; | ||
| 255 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), DETECTED_GEAR_TEST_VALUE); | |
| 256 | ||||
| 257 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_BaroPressure; | ||
| 258 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), BAROMETRIC_PRESSURE_TEST_VALUE); | |
| 259 | ||||
| 260 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Egt1; | ||
| 261 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), EGT1_TEST_VALUE); | |
| 262 | ||||
| 263 | 1 | engineConfiguration->boostOpenLoopYAxis = GPPWM_Egt2; | ||
| 264 |
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1 | EXPECT_FLOAT_EQ(bc.getOpenLoop(0).value_or(-1), EGT2_TEST_VALUE); | |
| 265 | 2 | } | ||
| 266 | ||||
| 267 | 4 | TEST(BoostControl, TestClosedLoop) { | ||
| 268 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 269 | ||||
| 270 |
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1 | BoostController bc; | |
| 271 | ||||
| 272 | 1 | pid_s pidCfg = { | ||
| 273 | 1, 0, 0, // P controller, easier to test | |||
| 274 | 0, // no offset | |||
| 275 | 5, // 5ms period | |||
| 276 | -100, 100 // min/max output | |||
| 277 | }; | |||
| 278 | ||||
| 279 |
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1 | bc.init( | |
| 280 | nullptr, | |||
| 281 | nullptr, | |||
| 282 | nullptr, | |||
| 283 | testBoostCltCorr, | |||
| 284 | testBoostIatCorr, | |||
| 285 | testBoostCltAdder, | |||
| 286 | testBoostIatAdder, | |||
| 287 | &pidCfg | |||
| 288 | ); | |||
| 289 | ||||
| 290 | // Enable closed loop | |||
| 291 | 1 | engineConfiguration->boostType = CLOSED_LOOP; | ||
| 292 | // Minimum 75kpa | |||
| 293 | 1 | engineConfiguration->minimumBoostClosedLoopMap = 75; | ||
| 294 | ||||
| 295 | // At 0 RPM, closed loop is disabled | |||
| 296 |
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1 | Sensor::setMockValue(SensorType::Rpm, 0); | |
| 297 |
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1 | EXPECT_EQ(0, bc.getClosedLoop(150, 100).value_or(-1000)); | |
| 298 | ||||
| 299 | // Stopped engine, disable closed loop | |||
| 300 |
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1 | Sensor::setMockValue(SensorType::Rpm, 0); | |
| 301 |
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1 | EXPECT_EQ(0, bc.getClosedLoop(150, 50).value_or(-1000)); | |
| 302 | ||||
| 303 | // With RPM, we should get an output | |||
| 304 |
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1 | Sensor::setMockValue(SensorType::Rpm, 1000); | |
| 305 | // Actual is below target -> positive output | |||
| 306 |
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1 | EXPECT_FLOAT_EQ(50, bc.getClosedLoop(150, 100).value_or(-1000)); | |
| 307 | // MAP below target -> returns 0, closed loop disabled | |||
| 308 |
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1 | EXPECT_FLOAT_EQ(0, bc.getClosedLoop(150, 50).value_or(-1000)); | |
| 309 | // Actual is above target -> negative output | |||
| 310 |
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1 | EXPECT_FLOAT_EQ(-25.0f, bc.getClosedLoop(150, 175).value_or(-1000)); | |
| 311 | ||||
| 312 | // Disabling closed loop should return 0 | |||
| 313 | 1 | engineConfiguration->boostType = OPEN_LOOP; | ||
| 314 |
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1 | EXPECT_FLOAT_EQ(0, bc.getClosedLoop(150, 175).value_or(-1000)); | |
| 315 | 2 | } | ||
| 316 | ||||
| 317 | ||||
| 318 | 4 | TEST(BoostControl, TestClosedLoopUint8Overflow) { | ||
| 319 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 320 | ||||
| 321 |
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1 | BoostController bc; | |
| 322 | ||||
| 323 | 1 | pid_s pidCfg = { | ||
| 324 | 1, 0, 0, // P controller, easier to test | |||
| 325 | 0, // no offset | |||
| 326 | 5, // 5ms period | |||
| 327 | -100, 100 // min/max output | |||
| 328 | }; | |||
| 329 | ||||
| 330 |
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1 | bc.init( | |
| 331 | nullptr, | |||
| 332 | nullptr, | |||
| 333 | nullptr, | |||
| 334 | testBoostCltCorr, | |||
| 335 | testBoostIatCorr, | |||
| 336 | testBoostCltAdder, | |||
| 337 | testBoostIatAdder, | |||
| 338 | &pidCfg | |||
| 339 | ); | |||
| 340 | ||||
| 341 | // Enable closed loop | |||
| 342 | 1 | engineConfiguration->boostType = CLOSED_LOOP; | ||
| 343 | // Minimum 260kpa | |||
| 344 | 1 | engineConfiguration->minimumBoostClosedLoopMap = 260; | ||
| 345 | ||||
| 346 | // At 0 RPM, closed loop is disabled | |||
| 347 |
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1 | Sensor::setMockValue(SensorType::Rpm, 0); | |
| 348 |
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1 | EXPECT_EQ(0, bc.getClosedLoop(350, 100).value_or(-1000)); | |
| 349 | ||||
| 350 | // too low MAP, disable closed loop | |||
| 351 |
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1 | Sensor::setMockValue(SensorType::Rpm, 0); | |
| 352 |
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1 | EXPECT_EQ(0, bc.getClosedLoop(350, 50).value_or(-1000)); | |
| 353 | ||||
| 354 | // With RPM, we should get an output | |||
| 355 |
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1 | Sensor::setMockValue(SensorType::Rpm, 1000); | |
| 356 | ||||
| 357 | // Actual is above target -> negative output | |||
| 358 |
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1 | EXPECT_FLOAT_EQ(-53.0f, bc.getClosedLoop(650, 575).value_or(-1000)); | |
| 359 | ||||
| 360 | // Disabling closed loop should return 0 | |||
| 361 | 1 | engineConfiguration->boostType = OPEN_LOOP; | ||
| 362 |
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1 | EXPECT_FLOAT_EQ(0, bc.getClosedLoop(350, 375).value_or(-1000)); | |
| 363 | 2 | } | ||
| 364 | ||||
| 365 | ||||
| 366 | 4 | TEST(BoostControl, SetOutputPWM) { | ||
| 367 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 368 | ||||
| 369 | 1 | engineConfiguration->isBoostControlEnabled = true; | ||
| 370 | 1 | engineConfiguration->boostControlPin = Gpio::A0; | ||
| 371 | ||||
| 372 |
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1 | StrictMock<MockPwm> pwm; | |
| 373 |
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1 | StrictMock<MockEtb> etb; | |
| 374 |
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1 | BoostController bc; | |
| 375 | ||||
| 376 | // only PWM should be set | |||
| 377 |
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1 | EXPECT_CALL(etb, setWastegatePosition(25.0f)).Times(0); | |
| 378 |
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1 | EXPECT_CALL(pwm, setSimplePwmDutyCycle(0.25f)); | |
| 379 | ||||
| 380 | // Don't crash if not init'd (don't deref null ptr m_pwm) | |||
| 381 |
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1 | EXPECT_NO_THROW(bc.setOutput(25.0f)); | |
| 382 | ||||
| 383 | // Init with mock PWM device and ETB | |||
| 384 |
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1 | bc.init(&pwm, nullptr, nullptr, testBoostCltCorr, testBoostIatCorr, testBoostCltAdder, testBoostIatAdder, nullptr); | |
| 385 | 1 | engine->etbControllers[0] = &etb; | ||
| 386 | ||||
| 387 |
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1 | bc.setOutput(25.0f); | |
| 388 | 2 | } | ||
| 389 | ||||
| 390 | 4 | TEST(BoostControl, SetOutputETB) { | ||
| 391 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 392 | ||||
| 393 | 1 | engineConfiguration->isBoostControlEnabled = true; | ||
| 394 | ||||
| 395 |
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1 | StrictMock<MockPwm> pwm; | |
| 396 |
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1 | StrictMock<MockEtb> etb; | |
| 397 |
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1 | BoostController bc; | |
| 398 | ||||
| 399 | // only ETB should be set | |||
| 400 |
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1 | EXPECT_CALL(etb, setWastegatePosition(25.0f)); | |
| 401 |
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1 | EXPECT_CALL(pwm, setSimplePwmDutyCycle(0.25f)).Times(0); | |
| 402 | ||||
| 403 | // Don't crash if not init'd (don't deref null ptr m_pwm) | |||
| 404 |
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1 | EXPECT_NO_THROW(bc.setOutput(25.0f)); | |
| 405 | ||||
| 406 | // Init with mock PWM device and ETB | |||
| 407 |
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1 | bc.init(&pwm, nullptr, nullptr, testBoostCltCorr, testBoostIatCorr, testBoostCltAdder, testBoostIatAdder, nullptr); | |
| 408 | 1 | engine->etbControllers[0] = &etb; | ||
| 409 | ||||
| 410 |
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1 | bc.setOutput(25.0f); | |
| 411 | 2 | } | ||
| 412 |