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rusefi/firmware/controllers/actuators/electronic_throttle.cpp

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/**
* @file electronic_throttle.cpp
* @brief Electronic Throttle driver
*
* todo: make this more universal if/when we get other hardware options
*
* Sep 2019 two-wire TLE9201 official driving around the block! https://www.youtube.com/watch?v=1vCeICQnbzI
* May 2019 two-wire TLE7209 now behaves same as three-wire VNH2SP30 "eBay red board" on BOSCH 0280750009
* Apr 2019 two-wire TLE7209 support added
* Mar 2019 best results so far achieved with three-wire H-bridges like VNH2SP30 on BOSCH 0280750009
* Jan 2019 actually driven around the block but still need some work.
* Jan 2017 status:
* Electronic throttle body with it's spring is definitely not linear - both P and I factors of PID are required to get any results
* PID implementation tested on a bench only
* it is believed that more than just PID would be needed, as is this is probably
* not usable on a real vehicle. Needs to be tested :)
*
* https://raw.githubusercontent.com/wiki/rusefi/rusefi_documentation/oem_docs/VAG/Bosch_0280750009_pinout.jpg
*
* ETB is controlled according to pedal position input (pedal position sensor is a potentiometer)
* pedal 0% means pedal not pressed / idle
* pedal 100% means pedal all the way down
* (not TPS - not the one you can calibrate in TunerStudio)
*
*
* See also pid.cpp
*
* Relevant console commands:
*
* ETB_BENCH_ENGINE
* set engine_type 58
*
* enable verbose_etb
* disable verbose_etb
* ethinfo
* set mock_pedal_position X
*
*
* set debug_mode 17
* for PID outputs
*
* set etb_p X
* set etb_i X
* set etb_d X
* set etb_o X
*
* set_etb_duty X
*
* http://rusefi.com/forum/viewtopic.php?f=5&t=592
*
* @date Dec 7, 2013
* @author Andrey Belomutskiy, (c) 2012-2018
*
* This file is part of rusEfi - see http://rusefi.com
*
* rusEfi is free software; you can redistribute it and/or modify it under the terms of
* the GNU General Public License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "global.h"
#if EFI_ELECTRONIC_THROTTLE_BODY
#include "electronic_throttle.h"
#include "tps.h"
#include "io_pins.h"
#include "engine_configuration.h"
#include "pwm_generator_logic.h"
#include "pid.h"
#include "engine_controller.h"
#include "periodic_task.h"
#include "pin_repository.h"
#include "pwm_generator.h"
#include "dc_motor.h"
#include "pid_auto_tune.h"
#if defined(HAS_OS_ACCESS)
#error "Unexpected OS ACCESS HERE"
#endif
#ifndef ETB_MAX_COUNT
#define ETB_MAX_COUNT 2
#endif /* ETB_MAX_COUNT */
static bool shouldResetPid = false;
static pid_s tuneWorkingPidSettings;
static Pid tuneWorkingPid(&tuneWorkingPidSettings);
static PID_AutoTune autoTune;
static LoggingWithStorage logger("ETB");
static pedal2tps_t pedal2tpsMap("Pedal2Tps", 1);
EXTERN_ENGINE;
static bool startupPositionError = false;
#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
class EtbHardware {
private:
OutputPin m_pinEnable;
OutputPin m_pinDir1;
OutputPin m_pinDir2;
SimplePwm m_pwmEnable;
SimplePwm m_pwmDir1;
SimplePwm m_pwmDir2;
SimplePwm etbPwmUp;
public:
EtbHardware() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
TwoPinDcMotor dcMotor;
void setFrequency(int frequency) {
m_pwmEnable.setFrequency(frequency);
m_pwmDir1.setFrequency(frequency);
m_pwmDir2.setFrequency(frequency);
}
void start(bool useTwoWires,
brain_pin_e pinEnable,
// since we have pointer magic here we cannot simply have value parameter
pin_output_mode_e *pinEnableMode,
brain_pin_e pinDir1,
brain_pin_e pinDir2,
ExecutorInterface* executor,
int frequency) {
dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
m_pinEnable.initPin("ETB Enable", pinEnable, pinEnableMode);
m_pinDir1.initPin("ETB Dir 1", pinDir1);
m_pinDir2.initPin("ETB Dir 2", pinDir2);
// Clamp to >100hz
int clampedFrequency = maxI(100, frequency);
// no need to complicate event queue with ETB PWM in unit tests
#if ! EFI_UNIT_TEST
startSimplePwm(&m_pwmEnable, "ETB Enable",
executor,
&m_pinEnable,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir1, "ETB Dir 1",
executor,
&m_pinDir1,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir2, "ETB Dir 2",
executor,
&m_pinDir2,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState);
#endif /* EFI_UNIT_TEST */
}
};
#define ETB_COUNT 2
static EtbHardware etbHardware[ETB_COUNT];
extern percent_t mockPedalPosition;
Pid etbPid;
static percent_t directPwmValue = NAN;
static percent_t currentEtbDuty;
#define ETB_DUTY_LIMIT 0.9
// this macro clamps both positive and negative percentages from about -100% to 100%
#define ETB_PERCENT_TO_DUTY(X) (maxF(minF((X * 0.01), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))
EtbController::EtbController(DcMotor *motor)
: m_motor(motor)
{
}
int EtbController::getPeriodMs() {
return GET_PERIOD_LIMITED(&engineConfiguration->etb);
}
void EtbController::PeriodicTask() {
// set debug_mode 17
if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
#if EFI_TUNER_STUDIO
etbPid.postState(&tsOutputChannels);
tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
#endif /* EFI_TUNER_STUDIO */
} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
#if EFI_TUNER_STUDIO
// set debug_mode 29
tsOutputChannels.debugFloatField1 = directPwmValue;
#endif /* EFI_TUNER_STUDIO */
}
if (!m_motor) {
return;
}
if (startupPositionError) {
m_motor->set(0);
return;
}
if (shouldResetPid) {
etbPid.reset();
shouldResetPid = false;
}
if (!cisnan(directPwmValue)) {
m_motor->set(directPwmValue);
return;
}
if (boardConfiguration->pauseEtbControl) {
m_motor->set(0);
return;
}
percent_t actualThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
if (engine->etbAutoTune) {
autoTune.input = actualThrottlePosition;
bool result = autoTune.Runtime(&logger);
tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
float value = tuneWorkingPid.getOutput(50, actualThrottlePosition);
scheduleMsg(&logger, "AT input=%f output=%f PID=%f", autoTune.input,
autoTune.output,
value);
scheduleMsg(&logger, "AT PID=%f", value);
m_motor->set(ETB_PERCENT_TO_DUTY(value));
if (result) {
scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
}
return;
}
percent_t pedalPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
int rpm = GET_RPM();
engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition);
percent_t etbIdleAddition = CONFIGB(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
percent_t targetPosition = engine->engineState.targetFromTable + etbIdleAddition;
if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
#if EFI_TUNER_STUDIO
tsOutputChannels.debugFloatField1 = engine->engineState.targetFromTable;
tsOutputChannels.debugFloatField2 = engine->engineState.idle.etbIdleAddition;
#endif /* EFI_TUNER_STUDIO */
}
engine->engineState.etbFeedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);
etbPid.iTermMin = engineConfiguration->etb_iTermMin;
etbPid.iTermMax = engineConfiguration->etb_iTermMax;
currentEtbDuty = engine->engineState.etbFeedForward +
etbPid.getOutput(targetPosition, actualThrottlePosition);
m_motor->set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
if (engineConfiguration->isVerboseETB) {
etbPid.showPidStatus(&logger, "ETB");
}
DISPLAY_STATE(Engine)
DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
DISPLAY_TEXT(Electronic_Throttle);
DISPLAY_SENSOR(TPS)
DISPLAY_TEXT(eol);
DISPLAY_TEXT(Pedal);
DISPLAY_SENSOR(PPS);
DISPLAY(DISPLAY_CONFIG(throttlePedalPositionAdcChannel));
DISPLAY_TEXT(eol);
DISPLAY_TEXT(Feed_forward);
DISPLAY(DISPLAY_FIELD(etbFeedForward));
DISPLAY_TEXT(eol);
DISPLAY_STATE(ETB_pid)
DISPLAY_TEXT(input);
DISPLAY(DISPLAY_FIELD(input));
DISPLAY_TEXT(Output);
DISPLAY(DISPLAY_FIELD(output));
DISPLAY_TEXT(iTerm);
DISPLAY(DISPLAY_FIELD(iTerm));
DISPLAY_TEXT(eol);
DISPLAY(DISPLAY_FIELD(errorAmplificationCoef));
DISPLAY(DISPLAY_FIELD(previousError));
DISPLAY_TEXT(eol);
DISPLAY_TEXT(Settings);
DISPLAY(DISPLAY_CONFIG(ETB_PFACTOR));
DISPLAY(DISPLAY_CONFIG(ETB_IFACTOR));
DISPLAY(DISPLAY_CONFIG(ETB_DFACTOR));
DISPLAY_TEXT(eol);
DISPLAY(DISPLAY_CONFIG(ETB_OFFSET));
DISPLAY(DISPLAY_CONFIG(ETB_PERIODMS));
DISPLAY_TEXT(eol);
DISPLAY(DISPLAY_CONFIG(ETB_MINVALUE));
DISPLAY(DISPLAY_CONFIG(ETB_MAXVALUE));
/* DISPLAY_ELSE */
DISPLAY_TEXT(No_Pedal_Sensor);
/* DISPLAY_ENDIF */
#if EFI_TUNER_STUDIO
// 312
tsOutputChannels.etbTarget = targetPosition;
// 316
tsOutputChannels.etb1DutyCycle = currentEtbDuty;
// 320
// Error is positive if the throttle needs to open further
tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
#endif /* EFI_TUNER_STUDIO */
}
EtbController etbController(&etbHardware[0].dcMotor);
/**
* At the moment there are TWO ways to use this
* set_etb_duty X
* set etb X
* manual duty cycle control without PID. Percent value from 0 to 100
*/
void setThrottleDutyCycle(percent_t level) {
scheduleMsg(&logger, "setting ETB duty=%f%%", level);
if (cisnan(level)) {
directPwmValue = NAN;
return;
}
float dc = ETB_PERCENT_TO_DUTY(level);
directPwmValue = dc;
for (int i = 0 ; i < ETB_COUNT; i++) {
etbHardware[i].dcMotor.set(dc);
}
scheduleMsg(&logger, "duty ETB duty=%f", dc);
}
static bool etbOperational = false;
static void showEthInfo(void) {
#if EFI_PROD_CODE
static char pinNameBuffer[16];
if (!etbOperational) {
scheduleMsg(&logger, "ETB DISABLED since no PPS");
}
scheduleMsg(&logger, "etbAutoTune=%d",
engine->etbAutoTune);
scheduleMsg(&logger, "throttlePedal=%.2f %.2f/%.2f @%s",
getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE),
engineConfiguration->throttlePedalUpVoltage,
engineConfiguration->throttlePedalWOTVoltage,
getPinNameByAdcChannel("tPedal", engineConfiguration->throttlePedalPositionAdcChannel, pinNameBuffer));
scheduleMsg(&logger, "TPS=%.2f", getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
scheduleMsg(&logger, "etbControlPin1=%s duty=%.2f freq=%d",
hwPortname(CONFIGB(etb1.controlPin1)),
currentEtbDuty,
engineConfiguration->etbFreq);
scheduleMsg(&logger, "dir1=%s", hwPortname(CONFIGB(etb1.directionPin1)));
scheduleMsg(&logger, "dir2=%s", hwPortname(CONFIGB(etb1.directionPin2)));
for (int i = 0 ; i < ETB_COUNT; i++) {
EtbHardware *etb = &etbHardware[i];
scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
}
etbPid.showPidStatus(&logger, "ETB");
#endif /* EFI_PROD_CODE */
}
#if EFI_PROD_CODE
static void setEtbFrequency(int frequency) {
engineConfiguration->etbFreq = frequency;
for (int i = 0 ; i < ETB_COUNT; i++) {
etbHardware[i].setFrequency(frequency);
}
}
static void etbReset() {
scheduleMsg(&logger, "etbReset");
for (int i = 0 ; i < ETB_COUNT; i++) {
etbHardware[i].dcMotor.set(0);
}
etbPid.reset();
mockPedalPosition = MOCK_UNDEFINED;
}
#endif /* EFI_PROD_CODE */
#if !EFI_UNIT_TEST
/**
* set etb_p X
*/
void setEtbPFactor(float value) {
engineConfiguration->etb.pFactor = value;
etbPid.reset();
showEthInfo();
}
/**
* set etb_i X
*/
void setEtbIFactor(float value) {
engineConfiguration->etb.iFactor = value;
etbPid.reset();
showEthInfo();
}
/**
* set etb_d X
*/
void setEtbDFactor(float value) {
engineConfiguration->etb.dFactor = value;
etbPid.reset();
showEthInfo();
}
/**
* set etb_o X
*/
void setEtbOffset(int value) {
engineConfiguration->etb.offset = value;
etbPid.reset();
showEthInfo();
}
#endif /* EFI_UNIT_TEST */
void setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
engineConfiguration->etbBiasBins[0] = 0;
engineConfiguration->etbBiasBins[1] = 1;
engineConfiguration->etbBiasBins[2] = 5;
/**
* This specific throttle has default position of about 7% open
*/
engineConfiguration->etbBiasBins[3] = 7;
engineConfiguration->etbBiasBins[4] = 14;
engineConfiguration->etbBiasBins[5] = 65;
engineConfiguration->etbBiasBins[6] = 66;
engineConfiguration->etbBiasBins[7] = 100;
/**
* Some negative bias for below-default position
*/
engineConfiguration->etbBiasValues[0] = -15;
engineConfiguration->etbBiasValues[1] = -15;
engineConfiguration->etbBiasValues[2] = -10;
/**
* Zero bias for index which corresponds to default throttle position, when no current is applied
* This specific throttle has default position of about 7% open
*/
engineConfiguration->etbBiasValues[3] = 0;
engineConfiguration->etbBiasValues[4] = 19;
engineConfiguration->etbBiasValues[5] = 20;
engineConfiguration->etbBiasValues[6] = 26;
engineConfiguration->etbBiasValues[7] = 28;
}
void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
CONFIG(etbIdleThrottleRange) = 5;
setLinearCurve(config->pedalToTpsPedalBins, /*from*/0, /*to*/100, 1);
setLinearCurve(config->pedalToTpsRpmBins, /*from*/0, /*to*/8000 / RPM_1_BYTE_PACKING_MULT, 1);
for (int pedalIndex = 0;pedalIndex<PEDAL_TO_TPS_SIZE;pedalIndex++) {
for (int rpmIndex = 0;rpmIndex<PEDAL_TO_TPS_SIZE;rpmIndex++) {
config->pedalToTpsTable[pedalIndex][rpmIndex] = config->pedalToTpsPedalBins[pedalIndex];
}
}
engineConfiguration->throttlePedalUpVoltage = 0; // that's voltage, not ADC like with TPS
engineConfiguration->throttlePedalWOTVoltage = 6; // that's voltage, not ADC like with TPS
engineConfiguration->etb.pFactor = 1;
engineConfiguration->etb.iFactor = 0.05;
engineConfiguration->etb.dFactor = 0.0;
engineConfiguration->etb.periodMs = (1000 / DEFAULT_ETB_LOOP_FREQUENCY);
engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;
engineConfiguration->etb_iTermMin = -300;
engineConfiguration->etb_iTermMax = 300;
// values are above 100% since we have feedforward part of the total summation
engineConfiguration->etb.minValue = -200;
engineConfiguration->etb.maxValue = 200;
}
static bool isEtbPinsChanged(etb_io *current, etb_io *active) {
return current->controlPin1 != active->controlPin1 ||
current->controlPinMode != active->controlPinMode ||
current->directionPin1 != active->directionPin1 ||
current->directionPin2 != active->directionPin2;
}
#if EFI_PROD_CODE
bool isETBRestartNeeded(void) {
/**
* We do not want any interruption in HW pin while adjusting other properties
*/
return isEtbPinsChanged(&engineConfiguration->bc.etb1, &activeConfiguration.bc.etb1);
}
void stopETBPins(void) {
brain_pin_markUnused(activeConfiguration.bc.etb1.controlPin1);
brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin1);
brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin2);
}
#endif /* EFI_PROD_CODE */
void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
shouldResetPid = !etbPid.isSame(&previousConfiguration->etb);
}
void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
// controlPinMode is a strange feature - it's simply because I am short on 5v I/O on Frankenso with Miata NB2 test mule
etbHardware[0].start(
CONFIG(etb1_use_two_wires),
CONFIGB(etb1.controlPin1),
&CONFIGB(etb1.controlPinMode),
CONFIGB(etb1.directionPin1),
CONFIGB(etb1.directionPin2),
&ENGINE(executor),
CONFIG(etbFreq)
);
}
#if EFI_PROD_CODE && 0
static void setTempOutput(float value) {
autoTune.output = value;
}
/**
* set_etbat_step X
*/
static void setAutoStep(float value) {
autoTune.reset();
autoTune.SetOutputStep(value);
}
static void setAutoPeriod(int period) {
tuneWorkingPidSettings.periodMs = period;
autoTune.reset();
}
static void setAutoOffset(int offset) {
tuneWorkingPidSettings.offset = offset;
autoTune.reset();
}
#endif /* EFI_PROD_CODE */
void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
engineConfiguration->etbBiasBins[0] = 0;
engineConfiguration->etbBiasBins[1] = 1;
engineConfiguration->etbBiasBins[2] = 2;
/**
* This specific throttle has default position of about 4% open
*/
engineConfiguration->etbBiasBins[3] = 4;
engineConfiguration->etbBiasBins[4] = 7;
engineConfiguration->etbBiasBins[5] = 98;
engineConfiguration->etbBiasBins[6] = 99;
engineConfiguration->etbBiasBins[7] = 100;
/**
* Some negative bias for below-default position
*/
engineConfiguration->etbBiasValues[0] = -20;
engineConfiguration->etbBiasValues[1] = -18;
engineConfiguration->etbBiasValues[2] = -17;
/**
* Zero bias for index which corresponds to default throttle position, when no current is applied
* This specific throttle has default position of about 4% open
*/
engineConfiguration->etbBiasValues[3] = 0;
engineConfiguration->etbBiasValues[4] = 20;
engineConfiguration->etbBiasValues[5] = 21;
engineConfiguration->etbBiasValues[6] = 22;
engineConfiguration->etbBiasValues[7] = 25;
}
void unregisterEtbPins() {
}
void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
#if EFI_PROD_CODE
addConsoleAction("ethinfo", showEthInfo);
addConsoleAction("etbreset", etbReset);
addConsoleActionI("etb_freq", setEtbFrequency);
#endif /* EFI_PROD_CODE */
etbPid.initPidClass(&engineConfiguration->etb);
INJECT_ENGINE_REFERENCE(etbController);
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
engine->engineState.hasEtbPedalPositionSensor = hasPedalPositionSensor(PASS_ENGINE_PARAMETER_SIGNATURE);
if (!engine->engineState.hasEtbPedalPositionSensor) {
return;
}
etbOperational = true;
#if 0
// not alive code
autoTune.SetOutputStep(0.1);
#endif
#if 0 && ! EFI_UNIT_TEST
percent_t startupThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
if (absF(startupThrottlePosition - engineConfiguration->etbNeutralPosition) > STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD) {
/**
* Unexpected electronic throttle start-up position is worth a fatal error
*/
firmwareError(OBD_Throttle_Actuator_Control_Range_Performance_Bank_1, "startup ETB position %.2f not %d",
startupThrottlePosition,
engineConfiguration->etbNeutralPosition);
startupPositionError = true;
}
#endif /* EFI_UNIT_TEST */
startETBPins(PASS_ENGINE_PARAMETER_SIGNATURE);
#if EFI_PROD_CODE
if (engineConfiguration->etbCalibrationOnStart) {
for (int i = 0 ; i < ETB_COUNT; i++) {
EtbHardware *etb = &etbHardware[i];
etb->dcMotor.set(70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsWideOpen();
etb->dcMotor.set(-70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsClosed();
}
}
// manual duty cycle control without PID. Percent value from 0 to 100
addConsoleActionNANF(CMD_ETB_DUTY, setThrottleDutyCycle);
#endif /* EFI_PROD_CODE */
#if EFI_PROD_CODE && 0
tuneWorkingPidSettings.pFactor = 1;
tuneWorkingPidSettings.iFactor = 0;
tuneWorkingPidSettings.dFactor = 0;
// tuneWorkingPidSettings.offset = 10; // todo: not hard-coded value
//todo tuneWorkingPidSettings.periodMs = 10;
tuneWorkingPidSettings.minValue = 0;
tuneWorkingPidSettings.maxValue = 100;
tuneWorkingPidSettings.periodMs = 100;
// this is useful once you do "enable etb_auto"
addConsoleActionF("set_etbat_output", setTempOutput);
addConsoleActionF("set_etbat_step", setAutoStep);
addConsoleActionI("set_etbat_period", setAutoPeriod);
addConsoleActionI("set_etbat_offset", setAutoOffset);
#endif /* EFI_PROD_CODE */
etbPid.reset();
etbController.Start();
}
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
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