| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | #include "pch.h" | |||
| 2 | ||||
| 3 | #include "vvt.h" | |||
| 4 | ||||
| 5 | using ::testing::StrictMock; | |||
| 6 | using ::testing::Return; | |||
| 7 | ||||
| 8 | 4 | TEST(Vvt, TestSetPoint) { | ||
| 9 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 10 | ||||
| 11 | // Set up a mock target map & pwm output | |||
| 12 |
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1 | StrictMock<MockVp3d> targetMap; | |
| 13 |
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1 | StrictMock<MockPwm> pwm; | |
| 14 | ||||
| 15 |
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3 | EXPECT_CALL(targetMap, getValue(1500, 55)) | |
| 16 |
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3 | .WillRepeatedly(Return(20)); // one from onFastCallback() then getSetpoint() | |
| 17 |
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1 | EXPECT_CALL(pwm, setSimplePwmDutyCycle(0.730005)); | |
| 18 | ||||
| 19 | // set up VVT config | |||
| 20 | 1 | engineConfiguration->vvtActivationDelayMs = 5; | ||
| 21 | 1 | engineConfiguration->vvtControlMinRpm = 500; | ||
| 22 | ||||
| 23 | // mock RPM | |||
| 24 |
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1 | engine->rpmCalculator.setRpmValue(1500); | |
| 25 |
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1 | ASSERT_EQ(1500, Sensor::getOrZero(SensorType::Rpm)); | |
| 26 |
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1 | ASSERT_TRUE(engine->rpmCalculator.isRunning()); | |
| 27 |
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1 | advanceTimeUs(0.5e6); | |
| 28 | ||||
| 29 |
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1 | VvtController dut(0); | |
| 30 |
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1 | dut.init(&targetMap, &pwm); | |
| 31 | ||||
| 32 | // Mock necessary inputs | |||
| 33 | 1 | engine->engineState.fuelingLoad = 55; | ||
| 34 | ||||
| 35 | // update m_engineRunningLongEnough / m_isRpmHighEnough flags | |||
| 36 |
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1 | dut.onFastCallback(); | |
| 37 | // Test dut | |||
| 38 |
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1 | EXPECT_EQ(20, dut.getSetpoint().value_or(0)); | |
| 39 | 1 | } | ||
| 40 | ||||
| 41 | 4 | TEST(Vvt, observePlant) { | ||
| 42 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 43 | ||||
| 44 | 1 | engine->triggerCentral.vvtPosition[0][0] = 23; | ||
| 45 | ||||
| 46 |
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1 | VvtController dut(0); | |
| 47 |
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1 | dut.init(nullptr, nullptr); | |
| 48 | ||||
| 49 |
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1 | EXPECT_EQ(23, dut.observePlant().value_or(0)); | |
| 50 | 2 | } | ||
| 51 | ||||
| 52 | 4 | TEST(Vvt, openLoop) { | ||
| 53 |
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1 | VvtController dut(0); | |
| 54 | ||||
| 55 | // No open loop for now | |||
| 56 |
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1 | EXPECT_EQ(dut.getOpenLoop(10), 0); | |
| 57 | 1 | } | ||
| 58 | ||||
| 59 | 4 | TEST(Vvt, ClosedLoopNotInverted) { | ||
| 60 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 61 | ||||
| 62 |
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1 | VvtController dut(/* second cam on second bank*/3); | |
| 63 | 1 | int camIndex = 1; | ||
| 64 |
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1 | ASSERT_EQ(dut.getCamIndex(), camIndex); | |
| 65 |
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1 | dut.init(nullptr, nullptr); | |
| 66 | ||||
| 67 | 1 | engineConfiguration->auxPid[camIndex].pFactor = 1.5f; | ||
| 68 | 1 | engineConfiguration->auxPid[camIndex].iFactor = 0; | ||
| 69 | 1 | engineConfiguration->auxPid[camIndex].dFactor = 0; | ||
| 70 | 1 | engineConfiguration->auxPid[camIndex].offset = 0; | ||
| 71 | ||||
| 72 | // Target of 30 with position 20 should yield positive duty, P=1.5 means 15% duty for 10% error | |||
| 73 |
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1 | EXPECT_EQ(dut.getClosedLoop(30, 20).value_or(0), 15); | |
| 74 | 1 | } | ||
| 75 | ||||
| 76 | 4 | TEST(Vvt, ClosedLoopInverted) { | ||
| 77 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); | |
| 78 | ||||
| 79 |
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1 | VvtController dut(/*first cam on second bank*/2); | |
| 80 | 1 | int camIndex = 0; | ||
| 81 |
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1 | ASSERT_EQ(dut.getCamIndex(), camIndex); | |
| 82 |
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1 | dut.init(nullptr, nullptr); | |
| 83 | ||||
| 84 | 1 | engineConfiguration->invertVvtControlIntake = true; | ||
| 85 | 1 | engineConfiguration->auxPid[camIndex].pFactor = 1.5f; | ||
| 86 | 1 | engineConfiguration->auxPid[camIndex].iFactor = 0; | ||
| 87 | 1 | engineConfiguration->auxPid[camIndex].dFactor = 0; | ||
| 88 | 1 | engineConfiguration->auxPid[camIndex].offset = 0; | ||
| 89 | ||||
| 90 | // Target of -30 with position -20 should yield positive duty, P=1.5 means 15% duty for 10% error | |||
| 91 |
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1 | EXPECT_EQ(dut.getClosedLoop(-30, -20).value_or(0), 15); | |
| 92 | 1 | } | ||
| 93 |