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updating pedals systems test, version of shared firmware interfaces a…
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…nd to the latest pedals parameters
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@RCMast3r
RCMast3r committed Sep 13, 2024
1 parent df03ce2 commit 3bb36b4
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Showing 3 changed files with 27 additions and 20 deletions.
16 changes: 8 additions & 8 deletions include/MCU_rev15_defs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,17 +52,17 @@ const unsigned long TELEM_CAN_BAUDRATE = 500000;
// All of these values are the PEDAL min/max
// the sensor min/max that trip implaus are calculated
// in the PedalsSystem constructor
const int ACCEL1_PEDAL_MAX = 3409; // 3330
const int ACCEL2_PEDAL_MAX = 259; // 388
const int ACCEL1_PEDAL_MAX = 3491;
const int ACCEL2_PEDAL_MAX = 189;

const int ACCEL1_PEDAL_MIN = 2129;
const int ACCEL2_PEDAL_MIN = 1517;
const int ACCEL1_PEDAL_MIN = 2244;
const int ACCEL2_PEDAL_MIN = 1405;

const int BRAKE1_PEDAL_MAX = 1945; // 2200;
const int BRAKE2_PEDAL_MAX = 1742; // 2200;
const int BRAKE1_PEDAL_MAX = 1945;
const int BRAKE2_PEDAL_MAX = 1742;

const int BRAKE1_PEDAL_MIN = 1230; // 785; // 1230 to 1750
const int BRAKE2_PEDAL_MIN = 2437; // 785; // 2450 to 1930
const int BRAKE1_PEDAL_MIN = 1192;
const int BRAKE2_PEDAL_MIN = 2476;

const int ACCEL1_PEDAL_OOR_MIN = 90;
const int ACCEL2_PEDAL_OOR_MIN = 90;
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2 changes: 1 addition & 1 deletion platformio.ini
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Expand Up @@ -55,7 +55,7 @@ extra_scripts = pre:extra_script.py
lib_deps =
${common.lib_deps_shared}
SPI
https://github.com/hytech-racing/shared_firmware_interfaces.git#feature/thermistor-template
https://github.com/hytech-racing/shared_firmware_interfaces.git#shared_types
https://github.com/tonton81/FlexCAN_T4
https://github.com/ssilverman/QNEthernet#v0.26.0
https://github.com/RCMast3r/hytech_can#testing_new_inv_ids
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29 changes: 18 additions & 11 deletions test/test_systems/pedals_system_test.h
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Original file line number Diff line number Diff line change
Expand Up @@ -273,12 +273,15 @@ TEST(PedalsSystemTesting, test_accel_and_brake_pressed_at_same_time_and_activati
TEST(PedalsSystemTesting, test_implausibility_duration)
{
AnalogConversion_s test_accel1_val = {2583, 0.37, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_accel2_val = {1068, 0.37, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_brake_val = {1510, get_pedal_conversion_val(BRAKE1_PEDAL_MIN, BRAKE1_PEDAL_MAX, 1510), AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_accel2_val = {1068, 1.00, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_brake_val = {1510, get_pedal_conversion_val(BRAKE1_PEDAL_MIN, BRAKE1_PEDAL_MAX, BRAKE1_PEDAL_MAX), AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};

PedalsSystem pedals(get_real_accel_pedal_params(), get_real_brake_pedal_params());

auto data = pedals.evaluate_pedals(test_accel1_val, test_accel1_val, test_brake_val, test_brake_val, 1000);

std::cout << data.accelPressed <<std::endl;
std::cout << data.brakePressed <<std::endl;
EXPECT_TRUE(data.brakeAndAccelPressedImplausibility);
EXPECT_TRUE(data.brakePressed);
EXPECT_FALSE(data.implausibilityExceededMaxDuration);
Expand All @@ -301,16 +304,19 @@ TEST(PedalsSystemTesting, implausibility_latching_until_accel_released_double_br
{
AnalogConversion_s test_accel1_val = {2583, 0.37, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_accel2_val = {1068, 0.37, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_brake_val = {1510, get_pedal_conversion_val(BRAKE1_PEDAL_MIN, BRAKE1_PEDAL_MAX, 1510), AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_brake1_val = {((BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN) /2), get_pedal_conversion_val(BRAKE1_PEDAL_MIN, BRAKE1_PEDAL_MAX, ((BRAKE1_PEDAL_MAX- BRAKE1_PEDAL_MIN) /2)), AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_brake2_val = {((BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN) /2), get_pedal_conversion_val(BRAKE2_PEDAL_MIN, BRAKE2_PEDAL_MAX, ((BRAKE2_PEDAL_MAX- BRAKE2_PEDAL_MIN) /2)), AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};

PedalsSystem pedals(get_real_accel_pedal_params(), get_real_brake_pedal_params());

// should stay im
EXPECT_TRUE(get_result_of_double_brake_test(pedals, test_accel1_val, test_accel2_val, test_brake_val, test_brake_val));
EXPECT_TRUE(get_result_of_double_brake_test(pedals, test_accel1_val, test_accel2_val, test_brake1_val, test_brake2_val));

test_brake_val.raw = 870;
test_brake_val.conversion = 0.0;
auto data = pedals.evaluate_pedals(test_accel1_val, test_accel2_val, test_brake_val, test_brake_val, 1600);
test_brake1_val.raw = BRAKE1_PEDAL_MIN;
test_brake1_val.conversion = 0.0;
test_brake2_val.raw = BRAKE2_PEDAL_MIN;
test_brake2_val.conversion = 0.0;
auto data = pedals.evaluate_pedals(test_accel1_val, test_accel2_val, test_brake1_val, test_brake2_val, 1600);
// this should still be implause since accel is still pressed
EXPECT_TRUE(data.implausibilityExceededMaxDuration);

Expand All @@ -319,9 +325,10 @@ TEST(PedalsSystemTesting, implausibility_latching_until_accel_released_double_br
test_accel2_val.raw = ACCEL2_PEDAL_MIN;
test_accel1_val.conversion = 0.0;
test_accel2_val.conversion = 0.0;
data = pedals.evaluate_pedals(test_accel1_val, test_accel2_val, test_brake_val, test_brake_val, 1650);
data = pedals.evaluate_pedals(test_accel1_val, test_accel2_val, test_brake1_val, test_brake2_val, 1650);

EXPECT_FALSE(data.implausibilityExceededMaxDuration);
std::cout << data.accelImplausible << " " << data.brakeImplausible << " "<<std::endl;
EXPECT_FALSE(data.implausibilityExceededMaxDuration);
}

TEST(PedalsSystemTesting, implausibility_latching_until_accel_released_single_brake)
Expand All @@ -331,14 +338,14 @@ TEST(PedalsSystemTesting, implausibility_latching_until_accel_released_single_br
////////////////////
AnalogConversion_s test_accel1_val = {2583, 0.37, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_accel2_val = {1068, 0.37, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_brake_val = {1510, get_pedal_conversion_val(BRAKE1_PEDAL_MIN, BRAKE1_PEDAL_MAX, 1510), AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
AnalogConversion_s test_brake_val = {((BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN) /2), get_pedal_conversion_val(BRAKE1_PEDAL_MIN, BRAKE1_PEDAL_MAX, ((BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN) /2)), AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};

PedalsSystem pedals2(get_real_accel_pedal_params(), get_real_brake_pedal_params());

// first we fail
EXPECT_TRUE(get_result_of_single_brake_test(pedals2, test_accel1_val, test_accel2_val, test_brake_val));

test_brake_val.raw = 870;
test_brake_val.raw = BRAKE1_PEDAL_MIN;
test_brake_val.conversion = 0.0;
auto data2 = pedals2.evaluate_pedals(test_accel1_val, test_accel2_val, test_brake_val, 1600);
// this should still be implause since accel is still pressed
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