sanity in IMU data names/ranges

FOME-Tech · Nov 27, 2023 · c7cc2de · c7cc2de
1 parent 28fbe86
commit c7cc2de
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Showing 8 changed files with 25 additions and 54 deletions.
diff --git a/firmware/console/binary/output_channels.txt b/firmware/console/binary/output_channels.txt
@@ -113,9 +113,8 @@ int16_t rpmAcceleration;dRPM;"RPM acceleration",1, 0, 0, 5, 2
 
 	int16_t autoscale rawWastegatePosition;;"V",{1/@@PACK_MULT_VOLTAGE@@}, 0, 0, 5, 3
 
-! todo: reimplement { LIS302DLCsPin != 0 || imuType != 0  }
-	int16_t autoscale accelerationX;@@GAUGE_NAME_ACCEL_X@@;"G",{1/@@PACK_MULT_PERCENT@@}, 0, 0, 0, 2
-	int16_t autoscale accelerationY;@@GAUGE_NAME_ACCEL_Y@@;"G",{1/@@PACK_MULT_PERCENT@@}, 0, 0, 0, 2
+	int16_t autoscale accelerationLat;@@GAUGE_NAME_ACCEL_LAT@@;"G",{1/1000}, 0, 0, 0, 0
+	int16_t autoscale accelerationLon;@@GAUGE_NAME_ACCEL_LON@@;"G",{1/1000}, 0, 0, 0, 0
 
 	uint8_t detectedGear;@@GAUGE_NAME_DETECTED_GEAR@@;"", 1, 0, 0, @@GEARS_COUNT@@, 0
 	uint8_t maxTriggerReentrant;;"", 1, 0, 0, 100, 0
@@ -203,9 +202,8 @@ int16_t rpmAcceleration;dRPM;"RPM acceleration",1, 0, 0, 5, 2
 
 	int16_t autoscale rawTps2Secondary;;"V",{1/@@PACK_MULT_VOLTAGE@@}, 0, 0, 5, 3
 
-	int16_t autoscale accelerationZ;@@GAUGE_NAME_ACCEL_Z@@;"G",{1/@@PACK_MULT_PERCENT@@}, 0, 0, 0, 0
-	int16_t autoscale accelerationRoll;@@GAUGE_NAME_ACCEL_ROLL@@;"G",{1/@@PACK_MULT_PERCENT@@}, 0, 0, 0, 0
-	int16_t autoscale accelerationYaw;@@GAUGE_NAME_ACCEL_YAW@@;"G",{1/@@PACK_MULT_PERCENT@@}, 0, 0, 0, 0
+	int16_t autoscale accelerationVert;@@GAUGE_NAME_ACCEL_VERT@@;"G",{1/1000}, 0, 0, 0, 0
+	int16_t autoscale gyroYaw;@@GAUGE_NAME_GYRO_YAW@@;"deg/sec",{1/1000}, 0, 0, 0, 0
 
 	int8_t[4 iterate] vvtTargets;;"deg",1, 0, 0, 0, 0
 	uint16_t turboSpeed;@@GAUGE_NAME_TURBO_SPEED@@;"hz",1, 0, 0, 0, 0

diff --git a/firmware/console/status_loop.cpp b/firmware/console/status_loop.cpp
@@ -620,13 +620,10 @@ void updateTunerStudioState() {
 	// 120
 	tsOutputChannels->firmwareVersion = getRusEfiVersion();
 
-	// 276
-	tsOutputChannels->accelerationX = engine->sensors.accelerometer.x;
-	// 278
-	tsOutputChannels->accelerationY = engine->sensors.accelerometer.y;
-	tsOutputChannels->accelerationZ = engine->sensors.accelerometer.z;
-	tsOutputChannels->accelerationRoll = engine->sensors.accelerometer.roll;
-	tsOutputChannels->accelerationYaw = engine->sensors.accelerometer.yaw;
+	tsOutputChannels->accelerationLat = engine->sensors.accelerometer.lat;
+	tsOutputChannels->accelerationLon = engine->sensors.accelerometer.lon;
+	tsOutputChannels->accelerationVert = engine->sensors.accelerometer.vert;
+	tsOutputChannels->gyroYaw = engine->sensors.accelerometer.yawRate;
 
 #if EFI_DYNO_VIEW
 	tsOutputChannels->VssAcceleration = getDynoviewAcceleration();

diff --git a/firmware/controllers/algo/engine_parts.h b/firmware/controllers/algo/engine_parts.h
@@ -13,11 +13,10 @@
 #define MOCK_ADC_SIZE 26
 
 struct Accelerometer {
-	float x = 0; // G value
-	float y = 0;
-	float z = 0;
-	float yaw = 0;
-	float roll = 0;
+	float lat = 0; // G value
+	float lon = 0;
+	float vert = 0;
+	float yawRate = 0;
 };
 
 struct SensorsState {

diff --git a/firmware/controllers/can/can_rx.cpp b/firmware/controllers/can/can_rx.cpp
@@ -139,23 +139,21 @@ static void processCanRxImu_BoschM5_10_YawY(const CANRxFrame& frame) {
 	float accY = getShiftedLSB_intel(frame, 4);
 
 	efiPrintf("CAN_rx MM5_10_YAW_Y %f %f", yaw, accY);
-	engine->sensors.accelerometer.yaw = yaw * MM5_10_RATE_QUANT;
-	engine->sensors.accelerometer.y = accY * MM5_10_ACC_QUANT;
+	engine->sensors.accelerometer.yawRate = yaw * MM5_10_RATE_QUANT;
+	engine->sensors.accelerometer.lat = accY * MM5_10_ACC_QUANT;
 }
 
 static void processCanRxImu_BoschM5_10_RollX(const CANRxFrame& frame) {
-	float roll = getShiftedLSB_intel(frame, 0);
 	float accX = getShiftedLSB_intel(frame, 4);
-	efiPrintf("CAN_rx MM5_10_ROLL_X %f %f", roll, accX);
+	efiPrintf("CAN_rx MM5_10_ROLL_X %f", accX);
 
-	engine->sensors.accelerometer.roll = roll * MM5_10_RATE_QUANT;
-	engine->sensors.accelerometer.x = accX * MM5_10_ACC_QUANT;
+	engine->sensors.accelerometer.lon = accX * MM5_10_ACC_QUANT;
 }
 
 static void processCanRxImu_BoschM5_10_Z(const CANRxFrame& frame) {
 	float accZ = getShiftedLSB_intel(frame, 4);
 	efiPrintf("CAN_rx MM5_10_Z %f", accZ);
-	engine->sensors.accelerometer.z = accZ * MM5_10_ACC_QUANT;
+	engine->sensors.accelerometer.vert = accZ * MM5_10_ACC_QUANT;
 }
 
 static void processCanRxImu(const CANRxFrame& frame) {

diff --git a/firmware/hw_layer/sensors/accelerometer.cpp b/firmware/hw_layer/sensors/accelerometer.cpp
@@ -94,12 +94,3 @@ void initAccelerometer() {
 }
 
 #endif /* EFI_MEMS */
-
-
-float getLongitudinalAcceleration() {
-	return engine->sensors.accelerometer.x;
-}
-
-float getTransverseAcceleration() {
-	return engine->sensors.accelerometer.y;
-}
diff --git a/firmware/hw_layer/sensors/accelerometer.h b/firmware/hw_layer/sensors/accelerometer.h
@@ -8,13 +8,3 @@
 #pragma once
 
 void initAccelerometer();
-
-/**
- * Acceleration/braking
- */
-float getLongitudinalAcceleration();
-/**
- * Turns
- */
-float getTransverseAcceleration();
-
diff --git a/firmware/integration/rusefi_config_shared.txt b/firmware/integration/rusefi_config_shared.txt
@@ -90,11 +90,10 @@
 #define GAUGE_NAME_FUEL_PRESSURE_HIGH_UNITS "bar"
 #define GAUGE_NAME_FLEX "Flex Ethanol %"
 
-#define GAUGE_NAME_ACCEL_X "Acceleration: X"
-#define GAUGE_NAME_ACCEL_Y "Acceleration: Y"
-#define GAUGE_NAME_ACCEL_Z "Acceleration: Z"
-#define GAUGE_NAME_ACCEL_ROLL "Acceleration: Roll"
-#define GAUGE_NAME_ACCEL_YAW "Acceleration: Yaw"
+#define GAUGE_NAME_ACCEL_LAT "Accel: Lateral"
+#define GAUGE_NAME_ACCEL_LON "Accel: Longitudinal"
+#define GAUGE_NAME_ACCEL_VERT "Accel: Vertical"
+#define GAUGE_NAME_GYRO_YAW "Gyro: Yaw rate"
 
 #define GAUGE_NAME_BARO_PRESSURE "Barometric pressure"
 

diff --git a/firmware/tunerstudio/rusefi.input b/firmware/tunerstudio/rusefi.input
@@ -1357,11 +1357,10 @@ gaugeCategory = Sensors - Extra 1
 	AuxL2Gauge		= auxLinear2,	@@GAUGE_NAME_AUX_LINEAR_2@@, "", -100, 100, -100, -100, 100, 100, 2, 2
 
 gaugeCategory = Sensors - Extra 2
-	accelerationXGauge = accelerationX,		@@GAUGE_NAME_ACCEL_X@@,		"acc",		-11,	11,	1.0,	1.2,		100,	100,	3, 1
-	accelerationYGauge = accelerationY,		@@GAUGE_NAME_ACCEL_Y@@,		"acc",		-11,	11,	1.0,	1.2,		100,	100,	3, 1
-	accelerationZGauge = accelerationZ,		@@GAUGE_NAME_ACCEL_Z@@,		"acc",		-11,	11,	1.0,	1.2,		100,	100,	3, 1
-	accelerationRollGauge=accelerationRoll,	@@GAUGE_NAME_ACCEL_ROLL@@,	"acc",		-11,	11,	1.0,	1.2,		100,	100,	3, 1
-	accelerationYawGauge=accelerationYaw,	@@GAUGE_NAME_ACCEL_YAW@@,	"acc",		-11,	11,	1.0,	1.2,		100,	100,	3, 1
+	accelerationLatGauge = accelerationLat,		@@GAUGE_NAME_ACCEL_LAT@@,		"acc",		-2,	2,	-2,	-1,		1,	2,	3, 1
+	accelerationLonGauge = accelerationLon,		@@GAUGE_NAME_ACCEL_LON@@,		"acc",		-2,	2,	-2,	-1,		1,	2,	3, 1
+	accelerationVertGauge = accelerationVert,	@@GAUGE_NAME_ACCEL_VERT@@,		"acc",		0,	1.5,	0.5,	0.6,		1.4,	1.5,	3, 1
+	gyroYawGauge 		  = gyroYaw,			@@GAUGE_NAME_GYRO_YAW@@,		"acc",		-100,	100, -100, -100, 100, 100, 3, 1
 	egt1Gauge			= egt1, "EGT#1", "C", 0, 2000
 	egt2Gauge			= egt2, "EGT#2", "C", 0, 2000
 	rpmAccelerationGa = rpmAcceleration,	"rpm delta",		"RPM/s",		-2000,		2000,		-2000,		2000,		-2000,	2000,	0,	0