Split shifting code into new classes per algo

src/adaptation/shift_adaptation.cpp

@@ -120,6 +120,7 @@ void ShiftAdaptationSystem::record_shift_start(uint64_t time_into_shift, int ove
     }
 }
 
+/*
 void ShiftAdaptationSystem::record_shift_end(ShiftStage c_stage, uint64_t time_into_phase, uint16_t mpc, uint16_t spc) {
     ESP_LOGI("ADAPT", "Shift ended. %d mBar on MPC, %d mBar on SPC", mpc, spc);
 }
@@ -129,6 +130,7 @@ void ShiftAdaptationSystem::record_flare(ShiftStage when, uint64_t elapsed){
     this->flare_location = when;
     this->flare_time = elapsed;
 }
+*/
 
 uint16_t ShiftAdaptationSystem::get_overlap_end_shift_pressure(ProfileGearChange change, uint16_t selected_prefill_pressure) {
     uint16_t ret = selected_prefill_pressure*2;
@@ -142,7 +144,7 @@ uint32_t ShiftAdaptationSystem::check_prefill_adapt_conditions_start(SensorData*
     uint32_t ret = (int)AdaptCancelFlag::ADAPTABLE;
     this->current_change = change;
     this->flared = false;
-    this->flare_location = ShiftStage::Bleed;
+    //this->flare_location = ShiftStage::Bleed;
     this->flare_time = 0;
 
     if (sensors->input_rpm < ADP_CURRENT_SETTINGS.min_input_rpm) {

src/adaptation/shift_adaptation.h

@@ -43,9 +43,9 @@ class ShiftAdaptationSystem  {
     uint32_t check_prefill_adapt_conditions_start(SensorData* sensors, ProfileGearChange change);
 
     void record_shift_start(uint64_t time_into_shift, int overlap_start_ts, uint16_t mpc, uint16_t spc, ShiftClutchVelocity vel, uint16_t delta_rpm);
-    void record_shift_end(ShiftStage c_stage, uint64_t time_into_phase, uint16_t mpc, uint16_t spc);
+    //void record_shift_end(ShiftStage c_stage, uint64_t time_into_phase, uint16_t mpc, uint16_t spc);
 
-    void record_flare(ShiftStage when, uint64_t elapsed);
+    //void record_flare(ShiftStage when, uint64_t elapsed);
     uint16_t get_overlap_end_shift_pressure(ProfileGearChange change, uint16_t selected_prefill_pressure);
 
     AdaptPrefillData get_prefill_adapt_data(ProfileGearChange change);
@@ -67,7 +67,6 @@ class ShiftAdaptationSystem  {
     ProfileGearChange current_change;
 
     bool flared = false;
-    ShiftStage flare_location = ShiftStage::Bleed;
     uint64_t flare_time = 0;
 };
 

src/common_structs.h

@@ -10,35 +10,6 @@
 typedef int16_t pressure_map[11];
 typedef float rpm_modifier_map[9];
 
-/**
- * @brief Shifting state
- */
-enum class ShiftStage {
-    /**
-     * @brief Hydralic bleed phase.
-     * In this phase, Shift pressure fluid is bled in order to not over pressurise the overlap valve
-     * The shift solenoid is not active
-    */
-    Bleed = 1,
-    /**
-     * @brief Clutch filling phase.
-     * In this phase, the shift solenoid is engaged, and Shift pressure is ramped in order to clear
-     * the tolorance between the engaging clutch pack, without actually applying it.
-     */
-    Fill = 2,
-    /**
-     * @brief Clutch overlap phase.
-     * In this phase, the engaging clutch's pressure is raised, whilst the disengaging clutch's pressure
-     * is reduced, causing (Via the overlap hydralic valve), the gearbox to transition clutch packs.
-     */
-    Overlap = 3,
-    /**
-     * @brief Shift pressure is increased to its maximum via a ramp in order to lock the engaging clutch in place.
-     * Then, the shift solenoid turns off, completing the gear change.
-     */
-    MaxPressure = 4
-};
-
 enum class Clutch {
     K1 = 0,
     K2 = 1,
@@ -169,7 +140,7 @@ enum class ShiftCircuit {
  * @brief Shift data request structure
  * 
  */
-struct ShiftData{
+struct CircuitInfo{
     ShiftCircuit shift_circuit;
     uint8_t targ_g;
     uint8_t curr_g;

src/common_structs_ops.cpp

@@ -1,18 +1,5 @@
 #include "common_structs_ops.h"
 
-ShiftStage next_shift_stage(ShiftStage now) {
-    switch(now) {
-        case ShiftStage::Bleed:
-            return ShiftStage::Fill;
-        case ShiftStage::Fill:
-            return ShiftStage::Overlap;
-        case ShiftStage::Overlap:
-        case ShiftStage::MaxPressure:
-        default:
-            return ShiftStage::MaxPressure;
-    }
-}
-
 Clutch get_clutch_to_apply(ProfileGearChange change) {
     switch(change) {
         case ProfileGearChange::ONE_TWO:

src/common_structs_ops.h

@@ -4,7 +4,6 @@
 #include "common_structs.h"
 #include "shifter/shifter.h"
 
-ShiftStage next_shift_stage(ShiftStage now);
 Clutch get_clutch_to_apply(ProfileGearChange change);
 Clutch get_clutch_to_release(ProfileGearChange change);
 

src/diag/diag_data.cpp

@@ -51,7 +51,7 @@ DATA_GEARBOX_SENSORS get_gearbox_sensors(Gearbox* g) {
 
 DATA_SOLENOIDS get_solenoid_data(Gearbox* gb_ptr) {
     DATA_SOLENOIDS ret = {};
-    if (gb_ptr == nullptr) {
+    if (sol_mpc == nullptr) {
         memset(&ret, 0xFF, sizeof(ret));
         return ret;
     }

src/diag/kwp2000.cpp

@@ -1276,9 +1276,14 @@ void Kwp2000_server::run_solenoid_test() {
 
     SolRtRes res{};
     res.lid = this->routine_id;
-    res.atf_temp = this->gearbox_ptr->sensor_data.atf_temp;
-
-    this->gearbox_ptr->diag_inhibit_control();
+    int16_t tmp = 0;
+    if (Sensors::read_atf_temp(&tmp) != ESP_OK) {
+        return;
+    }
+    res.atf_temp = tmp;
+    if (nullptr != this->gearbox_ptr) {
+        this->gearbox_ptr->diag_inhibit_control();
+    }
     Solenoids::notify_diag_test_start();
 
     PwmSolenoid* order[6] = {sol_mpc, sol_spc, sol_tcc, sol_y3, sol_y4, sol_y5};
@@ -1297,7 +1302,9 @@ void Kwp2000_server::run_solenoid_test() {
     }
     this->routine_running = false;
     Solenoids::notify_diag_test_end();
-    this->gearbox_ptr->diag_regain_control();
+    if (nullptr != this->gearbox_ptr) {
+        this->gearbox_ptr->diag_regain_control();
+    }
     memcpy(this->routine_result, &res, sizeof(SolRtRes));
     vTaskDelete(nullptr);
 }