From 3bb36b4f994bbacbcf1bdf77165e775a07a92715 Mon Sep 17 00:00:00 2001
From: Ben Hall <rcmast3r1@gmail.com>
Date: Fri, 13 Sep 2024 19:44:13 -0400
Subject: [PATCH] updating pedals systems test, version of shared firmware
 interfaces and to the latest pedals parameters

---
 include/MCU_rev15_defs.h               | 16 +++++++-------
 platformio.ini                         |  2 +-
 test/test_systems/pedals_system_test.h | 29 ++++++++++++++++----------
 3 files changed, 27 insertions(+), 20 deletions(-)

diff --git a/include/MCU_rev15_defs.h b/include/MCU_rev15_defs.h
index e2399cb33..a11ee99dc 100644
--- a/include/MCU_rev15_defs.h
+++ b/include/MCU_rev15_defs.h
@@ -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;
diff --git a/platformio.ini b/platformio.ini
index e1b05a785..9de9847a3 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -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
diff --git a/test/test_systems/pedals_system_test.h b/test/test_systems/pedals_system_test.h
index 36fa6a812..dc0f19a1c 100644
--- a/test/test_systems/pedals_system_test.h
+++ b/test/test_systems/pedals_system_test.h
@@ -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);
@@ -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);
 
@@ -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)
@@ -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