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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); | |
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1 | ASSERT_EQ(1500, Sensor::getOrZero(SensorType::Rpm)); | |
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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 | |||
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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 | ||||
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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; | ||
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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 |