mirror of https://github.com/FOME-Tech/fome-fw.git
1032 lines
29 KiB
C++
1032 lines
29 KiB
C++
/**
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* @file electronic_throttle.cpp
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* @brief Electronic Throttle driver
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*
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* @see test test_etb.cpp
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*
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*
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* Limited user documentation at https://github.com/rusefi/rusefi/wiki/HOWTO_electronic_throttle_body
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*
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*
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* ETB is controlled according to pedal position input (pedal position sensor is a potentiometer)
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* pedal 0% means pedal not pressed / idle
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* pedal 100% means pedal all the way down
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* (not TPS - not the one you can calibrate in TunerStudio)
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*
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*
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* See also pid.cpp
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*
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* Relevant console commands:
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*
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* ETB_BENCH_ENGINE
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* set engine_type 58
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*
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* enable verbose_etb
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* disable verbose_etb
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* etbinfo
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* set mock_pedal_position X
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*
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*
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* set debug_mode 17
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* for PID outputs
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*
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* set_etb_duty X
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*
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* http://rusefi.com/forum/viewtopic.php?f=5&t=592
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*
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* @date Dec 7, 2013
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* @author Andrey Belomutskiy, (c) 2012-2020
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*
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* This file is part of rusEfi - see http://rusefi.com
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*
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* rusEfi is free software; you can redistribute it and/or modify it under the terms of
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* the GNU General Public License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
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* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with this program.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "pch.h"
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#include "electronic_throttle_impl.h"
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#if EFI_ELECTRONIC_THROTTLE_BODY
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#include "dc_motor.h"
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#include "dc_motors.h"
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#include "defaults.h"
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#if HW_PROTEUS
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#include "proteus_meta.h"
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#endif // HW_PROTEUS
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#ifndef ETB_MAX_COUNT
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#define ETB_MAX_COUNT 2
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#endif /* ETB_MAX_COUNT */
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static pedal2tps_t pedal2tpsMap;
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constexpr float etbPeriodSeconds = 1.0f / ETB_LOOP_FREQUENCY;
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static bool startupPositionError = false;
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#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
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static const float hardCodedetbHitachiBiasBins[8] = {0.0, 19.0, 21.0, 22.0, 23.0, 25.0, 30.0, 100.0};
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static const float hardCodedetbHitachiBiasValues[8] = {-18.0, -17.0, -15.0, 0.0, 16.0, 20.0, 20.0, 20.0};
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/* Generated by TS2C on Thu Aug 20 21:10:02 EDT 2020*/
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void setHitachiEtbBiasBins() {
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copyArray(config->etbBiasBins, hardCodedetbHitachiBiasBins);
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copyArray(config->etbBiasValues, hardCodedetbHitachiBiasValues);
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}
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static SensorType functionToPositionSensor(dc_function_e func) {
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switch(func) {
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case DC_Throttle1: return SensorType::Tps1;
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case DC_Throttle2: return SensorType::Tps2;
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case DC_Wastegate: return SensorType::WastegatePosition;
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default: return SensorType::Invalid;
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}
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}
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static SensorType functionToTpsSensorPrimary(dc_function_e func) {
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switch(func) {
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case DC_Throttle1: return SensorType::Tps1Primary;
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default: return SensorType::Tps2Primary;
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}
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}
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static SensorType functionToTpsSensorSecondary(dc_function_e func) {
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switch(func) {
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case DC_Throttle1: return SensorType::Tps1Secondary;
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default: return SensorType::Tps2Secondary;
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}
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}
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#if EFI_TUNER_STUDIO
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static TsCalMode functionToCalModePriMin(dc_function_e func) {
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switch (func) {
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case DC_Throttle1: return TsCalMode::Tps1Min;
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default: return TsCalMode::Tps2Min;
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}
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}
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static TsCalMode functionToCalModePriMax(dc_function_e func) {
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switch (func) {
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case DC_Throttle1: return TsCalMode::Tps1Max;
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default: return TsCalMode::Tps2Max;
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}
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}
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static TsCalMode functionToCalModeSecMin(dc_function_e func) {
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switch (func) {
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case DC_Throttle1: return TsCalMode::Tps1SecondaryMin;
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default: return TsCalMode::Tps2SecondaryMin;
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}
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}
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static TsCalMode functionToCalModeSecMax(dc_function_e func) {
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switch (func) {
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case DC_Throttle1: return TsCalMode::Tps1SecondaryMax;
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default: return TsCalMode::Tps2SecondaryMax;
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}
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}
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#endif // EFI_TUNER_STUDIO
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#define ETB_DUTY_LIMIT 0.9
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// this macro clamps both positive and negative percentages from about -100% to 100%
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#define ETB_PERCENT_TO_DUTY(x) (clampF(-ETB_DUTY_LIMIT, 0.01f * (x), ETB_DUTY_LIMIT))
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bool EtbController::init(dc_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap, bool hasPedal) {
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if (function == DC_None) {
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// if not configured, don't init.
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etbErrorCode = (int8_t)TpsState::None;
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return false;
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}
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m_function = function;
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m_positionSensor = functionToPositionSensor(function);
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// If we are a throttle, require redundant TPS sensor
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if (isEtbMode()) {
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// We don't need to init throttles, so nothing to do here.
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if (!hasPedal) {
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etbErrorCode = (int8_t)TpsState::None;
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return false;
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}
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// If no sensor is configured for this throttle, skip initialization.
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if (!Sensor::hasSensor(functionToTpsSensorPrimary(function))) {
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etbErrorCode = (int8_t)TpsState::TpsError;
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return false;
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}
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if (!Sensor::isRedundant(m_positionSensor)) {
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firmwareError(
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ObdCode::OBD_TPS_Configuration,
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"Use of electronic throttle requires %s to be redundant.",
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Sensor::getSensorName(m_positionSensor)
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);
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etbErrorCode = (int8_t)TpsState::Redundancy;
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return false;
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}
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if (!Sensor::isRedundant(SensorType::AcceleratorPedal)) {
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firmwareError(
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ObdCode::OBD_TPS_Configuration,
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"Use of electronic throttle requires accelerator pedal to be redundant."
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);
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etbErrorCode = (int8_t)TpsState::Redundancy;
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return false;
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}
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}
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m_motor = motor;
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m_pid.initPidClass(pidParameters);
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m_pedalMap = pedalMap;
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reset();
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return true;
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}
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void EtbController::reset() {
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m_shouldResetPid = true;
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etbTpsErrorCounter = 0;
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etbPpsErrorCounter = 0;
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}
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void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
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if (m_motor && !m_pid.isSame(previousConfiguration)) {
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m_shouldResetPid = true;
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}
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doInitElectronicThrottle();
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}
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expected<percent_t> EtbController::observePlant() const {
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return Sensor::get(m_positionSensor);
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}
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void EtbController::setIdlePosition(percent_t pos) {
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m_idlePosition = pos;
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}
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void EtbController::setWastegatePosition(percent_t pos) {
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m_wastegatePosition = pos;
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}
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expected<percent_t> EtbController::getSetpoint() {
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switch (m_function) {
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case DC_Throttle1:
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case DC_Throttle2:
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return getSetpointEtb();
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case DC_Wastegate:
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return getSetpointWastegate();
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default:
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return unexpected;
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}
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}
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expected<percent_t> EtbController::getSetpointWastegate() const {
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return clampF(0, m_wastegatePosition, 100);
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}
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expected<percent_t> EtbController::getSetpointEtb() {
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// Autotune runs with 50% target position
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if (m_isAutotune) {
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return 50.0f;
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}
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// A few extra preconditions if throttle control is invalid
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if (startupPositionError) {
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return unexpected;
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}
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// If the pedal map hasn't been set, we can't provide a setpoint.
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if (!m_pedalMap) {
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return unexpected;
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}
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auto pedalPosition = Sensor::get(SensorType::AcceleratorPedal);
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// If the pedal has failed, just use 0 position.
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// This is safer than disabling throttle control - we can at least push the throttle closed
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// and let the engine idle.
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float sanitizedPedal = clampF(0, pedalPosition.value_or(0), 100);
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float rpm = Sensor::getOrZero(SensorType::Rpm);
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float baseTarget = m_pedalMap->getValue(rpm, sanitizedPedal);
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m_baseTarget = baseTarget;
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percent_t etbIdlePosition = clampF(0, m_idlePosition, 100);
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percent_t etbIdleAddition = PERCENT_DIV * engineConfiguration->etbIdleThrottleRange * etbIdlePosition;
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// Interpolate so that the idle adder just "compresses" the throttle's range upward.
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// [0, 100] -> [idle, 100]
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// 0% target from table -> idle position as target
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// 100% target from table -> 100% target position
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percent_t targetPosition = interpolateClamped(0, etbIdleAddition, 100, 100, baseTarget);
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// Adjust up/down by Lua adjustment
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targetPosition += getLuaAdjustment();
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#if EFI_ANTILAG_SYSTEM
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if (engine->antilagController.isAntilagCondition) {
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targetPosition += engineConfiguration->ALSEtbAdd;
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}
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#endif /* EFI_ANTILAG_SYSTEM */
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// Apply any adjustment that this throttle alone needs
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// Clamped to +-10 to prevent anything too wild
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float trim = clampF(-10, getThrottleTrim(rpm, targetPosition), 10);
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m_trim = trim;
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targetPosition += trim;
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// Clamp before rev limiter to avoid ineffective rev limit due to crazy out of range position target
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targetPosition = clampF(0, targetPosition, 100);
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// Lastly, apply ETB rev limiter
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auto etbRpmLimit = engineConfiguration->etbRevLimitStart;
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if (etbRpmLimit != 0) {
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auto fullyLimitedRpm = etbRpmLimit + engineConfiguration->etbRevLimitRange;
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float targetPositionBefore = targetPosition;
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// Linearly taper throttle to closed from the limit across the range
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targetPosition = interpolateClamped(etbRpmLimit, targetPosition, fullyLimitedRpm, 0, rpm);
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// rev limit active if the position was changed by rev limiter
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revLimitActive = std::abs(targetPosition - targetPositionBefore) > 0.1f;
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} else {
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revLimitActive = false;
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}
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float minPosition = engineConfiguration->etbMinimumPosition;
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// Keep the throttle just barely off the lower stop, and less than the user-configured maximum
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float maxPosition = engineConfiguration->etbMaximumPosition;
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// Don't allow max position over 100
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maxPosition = std::min(maxPosition, 100.0f);
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targetPosition = clampF(minPosition, targetPosition, maxPosition);
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m_adjustedTarget = targetPosition;
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return targetPosition;
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}
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void EtbController::setLuaAdjustment(float adjustment) {
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luaAdjustment = adjustment;
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m_luaAdjustmentTimer.reset();
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}
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float EtbController::getLuaAdjustment() const {
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// If the lua position hasn't been set in 0.2 second, don't adjust!
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// This avoids a stuck throttle due to hung/rogue/etc Lua script
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if (m_luaAdjustmentTimer.getElapsedSeconds() > 0.2f) {
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return 0;
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} else {
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return luaAdjustment;
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}
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}
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percent_t EtbController2::getThrottleTrim(float rpm, percent_t targetPosition) const {
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return interpolate3d(
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config->throttle2TrimTable,
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config->throttle2TrimTpsBins, targetPosition,
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config->throttle2TrimRpmBins, rpm
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);
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}
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expected<percent_t> EtbController::getOpenLoop(percent_t target) {
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// Don't apply open loop for wastegate/idle valve, only real ETB
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float feedForward = 0;
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if (m_function != DC_Wastegate) {
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feedForward = interpolate2d(target, config->etbBiasBins, config->etbBiasValues);
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}
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m_feedForward = feedForward;
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return feedForward;
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}
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expected<percent_t> EtbController::getClosedLoopAutotune(percent_t target, percent_t actualThrottlePosition) {
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// Estimate gain at current position - this should be well away from the spring and in the linear region
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// GetSetpoint sets this to 50%
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bool isPositive = actualThrottlePosition > target;
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float autotuneAmplitude = 20;
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// End of cycle - record & reset
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if (!isPositive && m_lastIsPositive) {
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efitick_t now = getTimeNowNt();
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// Determine period
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float tu = m_autotuneCycleStart.getElapsedSecondsAndReset(now);
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// Determine amplitude
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float a = m_maxCycleTps - m_minCycleTps;
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// Filter - it's pretty noisy since the ultimate period is not very many loop periods
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constexpr float alpha = 0.05;
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m_a = alpha * a + (1 - alpha) * m_a;
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m_tu = alpha * tu + (1 - alpha) * m_tu;
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// Reset bounds
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m_minCycleTps = 100;
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m_maxCycleTps = 0;
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// Math is for Åström–Hägglund (relay) auto tuning
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// https://warwick.ac.uk/fac/cross_fac/iatl/reinvention/archive/volume5issue2/hornsey
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// Publish to TS state
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#if EFI_TUNER_STUDIO
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// Amplitude of input (duty cycle %)
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float b = 2 * autotuneAmplitude;
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// Ultimate gain per A-H relay tuning rule
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float ku = 4 * b / (CONST_PI * m_a);
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// The multipliers below are somewhere near the "no overshoot"
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// and "some overshoot" flavors of the Ziegler-Nichols method
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// Kp
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float kp = 0.35f * ku;
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float ki = 0.25f * ku / m_tu;
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float kd = 0.08f * ku * m_tu;
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// Every 5 cycles (of the throttle), cycle to the next value
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if (m_autotuneCounter >= 5) {
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m_autotuneCounter = 0;
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m_autotuneCurrentParam = (m_autotuneCurrentParam + 1) % 3; // three ETB calibs: P-I-D
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}
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m_autotuneCounter++;
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// Multiplex 3 signals on to the {mode, value} format
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engine->outputChannels.calibrationMode = (uint8_t)static_cast<TsCalMode>((uint8_t)TsCalMode::EtbKp + m_autotuneCurrentParam);
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switch (m_autotuneCurrentParam) {
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case 0:
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engine->outputChannels.calibrationValue = kp;
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break;
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case 1:
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engine->outputChannels.calibrationValue = ki;
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break;
|
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case 2:
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engine->outputChannels.calibrationValue = kd;
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break;
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}
|
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|
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// Also output to debug channels if configured
|
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if (engineConfiguration->debugMode == DBG_ETB_AUTOTUNE) {
|
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// a - amplitude of output (TPS %)
|
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engine->outputChannels.debugFloatField1 = m_a;
|
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// b - amplitude of input (Duty cycle %)
|
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engine->outputChannels.debugFloatField2 = b;
|
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// Tu - oscillation period (seconds)
|
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engine->outputChannels.debugFloatField3 = m_tu;
|
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|
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engine->outputChannels.debugFloatField4 = ku;
|
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engine->outputChannels.debugFloatField5 = kp;
|
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engine->outputChannels.debugFloatField6 = ki;
|
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engine->outputChannels.debugFloatField7 = kd;
|
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}
|
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#endif
|
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}
|
||
|
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m_lastIsPositive = isPositive;
|
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|
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// Find the min/max of each cycle
|
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if (actualThrottlePosition < m_minCycleTps) {
|
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m_minCycleTps = actualThrottlePosition;
|
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}
|
||
|
||
if (actualThrottlePosition > m_maxCycleTps) {
|
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m_maxCycleTps = actualThrottlePosition;
|
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}
|
||
|
||
// Bang-bang control the output to induce oscillation
|
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return autotuneAmplitude * (isPositive ? -1 : 1);
|
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}
|
||
|
||
expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t observation) {
|
||
if (m_shouldResetPid) {
|
||
m_pid.reset();
|
||
m_shouldResetPid = false;
|
||
}
|
||
|
||
if (m_isAutotune) {
|
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return getClosedLoopAutotune(target, observation);
|
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} else {
|
||
checkJam(target, observation);
|
||
|
||
m_pid.iTermMin = engineConfiguration->etb_iTermMin;
|
||
m_pid.iTermMax = engineConfiguration->etb_iTermMax;
|
||
|
||
// Normal case - use PID to compute closed loop part
|
||
m_error = target - observation;
|
||
return m_pid.getOutput(target, observation, etbPeriodSeconds);
|
||
}
|
||
}
|
||
|
||
void EtbController::setOutput(expected<percent_t> outputValue) {
|
||
if (!m_motor) {
|
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return;
|
||
}
|
||
|
||
bool limpAllowThrottle = getLimpManager()->allowElectronicThrottle() || engine->etbIgnoreJamProtection;
|
||
|
||
// If not ETB, or ETB is allowed, output is valid, and we aren't paused, output to motor.
|
||
if (!isEtbMode() ||
|
||
(limpAllowThrottle
|
||
&& outputValue
|
||
&& !engineConfiguration->pauseEtbControl)) {
|
||
m_motor->enable();
|
||
m_motor->set(ETB_PERCENT_TO_DUTY(outputValue.Value));
|
||
m_outputDuty = outputValue.Value;
|
||
} else {
|
||
// Otherwise disable the motor.
|
||
m_motor->disable("setOutput");
|
||
m_outputDuty = 0;
|
||
}
|
||
}
|
||
|
||
bool EtbController::checkStatus() {
|
||
#if EFI_TUNER_STUDIO
|
||
// Only debug throttle #1
|
||
if (m_function == DC_Throttle1) {
|
||
m_pid.postState(engine->outputChannels.etbStatus);
|
||
} else if (m_function == DC_Wastegate) {
|
||
m_pid.postState(engine->outputChannels.wastegateDcStatus);
|
||
}
|
||
#endif /* EFI_TUNER_STUDIO */
|
||
|
||
if (!isEtbMode()) {
|
||
// no validation for h-bridge or idle mode
|
||
return true;
|
||
}
|
||
// ETB-specific code below. The whole mix-up between DC and ETB is shameful :(
|
||
|
||
// Only allow autotune with stopped engine, and on the first throttle
|
||
// Update local state about autotune
|
||
m_isAutotune = Sensor::getOrZero(SensorType::Rpm) == 0
|
||
&& engine->etbAutoTune
|
||
&& m_function == DC_Throttle1;
|
||
|
||
bool shouldCheckSensorFunction = engine->module<SensorChecker>()->analogSensorsShouldWork();
|
||
|
||
if (!m_isAutotune && shouldCheckSensorFunction) {
|
||
bool isTpsError = !Sensor::get(m_positionSensor).Valid;
|
||
|
||
// If we have an error that's new, increment the counter
|
||
if (isTpsError && !hadTpsError) {
|
||
etbTpsErrorCounter++;
|
||
}
|
||
|
||
hadTpsError = isTpsError;
|
||
|
||
bool isPpsError = !Sensor::get(SensorType::AcceleratorPedal).Valid;
|
||
|
||
// If we have an error that's new, increment the counter
|
||
if (isPpsError && !hadPpsError) {
|
||
etbPpsErrorCounter++;
|
||
}
|
||
|
||
hadPpsError = isPpsError;
|
||
} else {
|
||
// Either sensors are expected to not work, or autotune is running, so reset the error counter
|
||
etbTpsErrorCounter = 0;
|
||
etbPpsErrorCounter = 0;
|
||
}
|
||
|
||
TpsState localReason = TpsState::None;
|
||
if (etbTpsErrorCounter > 50) {
|
||
// TODO: https://github.com/FOME-Tech/fome-fw/issues/169
|
||
// localReason = TpsState::IntermittentTps;
|
||
#if EFI_SHAFT_POSITION_INPUT
|
||
} else if (engineConfiguration->disableEtbWhenEngineStopped && !engine->triggerCentral.engineMovedRecently()) {
|
||
localReason = TpsState::EngineStopped;
|
||
#endif // EFI_SHAFT_POSITION_INPUT
|
||
} else if (etbPpsErrorCounter > 50) {
|
||
// TODO: https://github.com/FOME-Tech/fome-fw/issues/169
|
||
// localReason = TpsState::IntermittentPps;
|
||
} else if (engine->engineState.lua.luaDisableEtb) {
|
||
localReason = TpsState::Lua;
|
||
}
|
||
|
||
etbErrorCode = (int8_t)localReason;
|
||
|
||
return localReason == TpsState::None;
|
||
}
|
||
|
||
void EtbController::update() {
|
||
#if !EFI_UNIT_TEST
|
||
// If we didn't get initialized, fail fast
|
||
if (!m_motor) {
|
||
return;
|
||
}
|
||
#endif // EFI_UNIT_TEST
|
||
|
||
bool isOk = checkStatus();
|
||
|
||
if (!isOk) {
|
||
// If engine is stopped and so configured, skip the ETB update entirely
|
||
// This is quieter and pulls less power than leaving it on all the time
|
||
m_motor->disable("etb status");
|
||
return;
|
||
}
|
||
|
||
ClosedLoopController::update();
|
||
}
|
||
|
||
void EtbController::checkJam(percent_t setpoint, percent_t observation) {
|
||
float absError = std::abs(setpoint - observation);
|
||
|
||
auto jamDetectThreshold = engineConfiguration->etbJamDetectThreshold;
|
||
auto jamTimeout = engineConfiguration->etbJamTimeout;
|
||
|
||
if (jamDetectThreshold != 0 && jamTimeout != 0) {
|
||
auto nowNt = getTimeNowNt();
|
||
|
||
if (absError > jamDetectThreshold && engine->module<IgnitionController>()->getIgnState()) {
|
||
if (m_jamDetectTimer.hasElapsedSec(jamTimeout)) {
|
||
// ETB is jammed!
|
||
jamDetected = true;
|
||
|
||
getLimpManager()->reportEtbProblem();
|
||
}
|
||
} else {
|
||
m_jamDetectTimer.reset(nowNt);
|
||
jamDetected = false;
|
||
}
|
||
|
||
jamTimer = m_jamDetectTimer.getElapsedSeconds(nowNt);
|
||
}
|
||
}
|
||
|
||
#if EFI_UNIT_TEST
|
||
#define chThdSleepMilliseconds(x) {}
|
||
#endif // EFI_UNIT_TEST
|
||
|
||
#include <utility>
|
||
|
||
template <typename TBase>
|
||
class EtbImpl final : public TBase {
|
||
private:
|
||
enum class ACPhase {
|
||
Stopped,
|
||
|
||
Start,
|
||
|
||
// Drive the motor open
|
||
Open,
|
||
|
||
// Drive the motor closed
|
||
Close,
|
||
|
||
// Write learned values to TS
|
||
TransmitPrimaryMax,
|
||
TransmitPrimaryMin,
|
||
TransmitSecondaryMax,
|
||
TransmitSecondaryMin,
|
||
};
|
||
|
||
public:
|
||
template <typename... TArgs>
|
||
EtbImpl(TArgs&&... args) : TBase(std::forward<TArgs>(args)...) { }
|
||
|
||
void update() override {
|
||
#if EFI_TUNER_STUDIO
|
||
if (m_autocalPhase != ACPhase::Stopped) {
|
||
ACPhase nextPhase = doAutocal(m_autocalPhase);
|
||
|
||
// if we changed phase, reset the phase timer
|
||
if (m_autocalPhase != nextPhase) {
|
||
m_autocalTimer.reset();
|
||
m_autocalPhase = nextPhase;
|
||
}
|
||
} else
|
||
#endif /* EFI_TUNER_STUDIO */
|
||
|
||
{
|
||
TBase::update();
|
||
}
|
||
}
|
||
|
||
void autoCalibrateTps() override {
|
||
// Only auto calibrate throttles
|
||
if (TBase::getFunction() == DC_Throttle1 || TBase::getFunction() == DC_Throttle2) {
|
||
m_autocalPhase = ACPhase::Start;
|
||
}
|
||
}
|
||
|
||
ACPhase doAutocal(ACPhase phase) {
|
||
// Don't allow if engine is running!
|
||
if (Sensor::getOrZero(SensorType::Rpm) > 0) {
|
||
return ACPhase::Stopped;
|
||
}
|
||
|
||
auto motor = TBase::getMotor();
|
||
if (!motor) {
|
||
return ACPhase::Stopped;
|
||
}
|
||
|
||
auto myFunction = TBase::getFunction();
|
||
|
||
switch (phase) {
|
||
case ACPhase::Start:
|
||
// Open the throttle
|
||
motor->set(0.5f);
|
||
motor->enable();
|
||
return ACPhase::Open;
|
||
case ACPhase::Open:
|
||
if (m_autocalTimer.hasElapsedMs(1000)) {
|
||
// Capture open position
|
||
m_primaryMax = Sensor::getRaw(functionToTpsSensorPrimary(myFunction));
|
||
m_secondaryMax = Sensor::getRaw(functionToTpsSensorSecondary(myFunction));
|
||
|
||
// Next: close the throttle
|
||
motor->set(-0.5f);
|
||
return ACPhase::Close;
|
||
}
|
||
break;
|
||
case ACPhase::Close:
|
||
if (m_autocalTimer.hasElapsedMs(1000)) {
|
||
// Capture closed position
|
||
m_primaryMin = Sensor::getRaw(functionToTpsSensorPrimary(myFunction));
|
||
m_secondaryMin = Sensor::getRaw(functionToTpsSensorSecondary(myFunction));
|
||
|
||
// Disable the motor, we're done
|
||
motor->disable("autotune");
|
||
|
||
// Check that the calibrate actually moved the throttle
|
||
if (std::abs(m_primaryMax - m_primaryMin) < 0.5f) {
|
||
firmwareError(ObdCode::OBD_TPS_Configuration, "Auto calibrate failed, check your wiring!\r\nClosed voltage: %.1fv Open voltage: %.1fv", m_primaryMin, m_primaryMax);
|
||
return ACPhase::Stopped;
|
||
}
|
||
|
||
// Next: start transmitting results
|
||
engine->outputChannels.calibrationMode = (uint8_t)functionToCalModePriMax(myFunction);
|
||
engine->outputChannels.calibrationValue = convertVoltageTo10bitADC(m_primaryMax);
|
||
return ACPhase::TransmitPrimaryMax;
|
||
}
|
||
break;
|
||
case ACPhase::TransmitPrimaryMax:
|
||
if (m_autocalTimer.hasElapsedMs(500)) {
|
||
engine->outputChannels.calibrationMode = (uint8_t)functionToCalModePriMin(myFunction);
|
||
engine->outputChannels.calibrationValue = convertVoltageTo10bitADC(m_primaryMin);
|
||
return ACPhase::TransmitPrimaryMin;
|
||
}
|
||
break;
|
||
case ACPhase::TransmitPrimaryMin:
|
||
if (m_autocalTimer.hasElapsedMs(500)) {
|
||
engine->outputChannels.calibrationMode = (uint8_t)functionToCalModeSecMax(myFunction);
|
||
engine->outputChannels.calibrationValue = convertVoltageTo10bitADC(m_secondaryMax);
|
||
return ACPhase::TransmitSecondaryMax;
|
||
}
|
||
break;
|
||
case ACPhase::TransmitSecondaryMax:
|
||
if (m_autocalTimer.hasElapsedMs(500)) {
|
||
engine->outputChannels.calibrationMode = (uint8_t)functionToCalModeSecMin(myFunction);
|
||
engine->outputChannels.calibrationValue = convertVoltageTo10bitADC(m_secondaryMin);
|
||
return ACPhase::TransmitSecondaryMin;
|
||
}
|
||
break;
|
||
case ACPhase::TransmitSecondaryMin:
|
||
if (m_autocalTimer.hasElapsedMs(500)) {
|
||
// Done!
|
||
engine->outputChannels.calibrationMode = (uint8_t)TsCalMode::None;
|
||
return ACPhase::Stopped;
|
||
}
|
||
break;
|
||
case ACPhase::Stopped: break;
|
||
}
|
||
|
||
// by default, stay in the same phase
|
||
return phase;
|
||
}
|
||
|
||
private:
|
||
ACPhase m_autocalPhase = ACPhase::Stopped;
|
||
Timer m_autocalTimer;
|
||
|
||
float m_primaryMax;
|
||
float m_secondaryMax;
|
||
float m_primaryMin;
|
||
float m_secondaryMin;
|
||
};
|
||
|
||
// real implementation (we mock for some unit tests)
|
||
static EtbImpl<EtbController1> etb1;
|
||
static EtbImpl<EtbController2> etb2;
|
||
|
||
static_assert(ETB_COUNT == 2);
|
||
static EtbController* etbControllers[] = { &etb1, &etb2 };
|
||
|
||
void etbPidReset() {
|
||
for (int i = 0 ; i < ETB_COUNT; i++) {
|
||
if (auto controller = engine->etbControllers[i]) {
|
||
controller->reset();
|
||
}
|
||
}
|
||
}
|
||
|
||
void etbAutocal(size_t throttleIndex) {
|
||
if (throttleIndex >= ETB_COUNT) {
|
||
return;
|
||
}
|
||
|
||
if (auto etb = engine->etbControllers[throttleIndex]) {
|
||
etb->autoCalibrateTps();
|
||
}
|
||
}
|
||
|
||
/**
|
||
* This specific throttle has default position of about 7% open
|
||
*/
|
||
static const float boschBiasBins[] = {
|
||
0, 1, 5, 7, 14, 65, 66, 100
|
||
};
|
||
static const float boschBiasValues[] = {
|
||
-15, -15, -10, 0, 19, 20, 26, 28
|
||
};
|
||
|
||
void setBoschVAGETB() {
|
||
engineConfiguration->tpsMin = 890; // convert 12to10 bit (ADC/4)
|
||
engineConfiguration->tpsMax = 70; // convert 12to10 bit (ADC/4)
|
||
|
||
engineConfiguration->tps1SecondaryMin = 102;
|
||
engineConfiguration->tps1SecondaryMax = 891;
|
||
|
||
engineConfiguration->etb.pFactor = 5.12;
|
||
engineConfiguration->etb.iFactor = 47;
|
||
engineConfiguration->etb.dFactor = 0.088;
|
||
engineConfiguration->etb.offset = 0;
|
||
}
|
||
|
||
void setBoschVNH2SP30Curve() {
|
||
copyArray(config->etbBiasBins, boschBiasBins);
|
||
copyArray(config->etbBiasValues, boschBiasValues);
|
||
}
|
||
|
||
void setDefaultEtbParameters() {
|
||
engineConfiguration->etbIdleThrottleRange = 5;
|
||
|
||
setLinearCurve(config->pedalToTpsPedalBins, /*from*/0, /*to*/100, 1);
|
||
setLinearCurve(config->pedalToTpsRpmBins, /*from*/0, /*to*/8000, 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];
|
||
}
|
||
}
|
||
|
||
// Default is to run each throttle off its respective hbridge
|
||
engineConfiguration->etbFunctions[0] = DC_Throttle1;
|
||
engineConfiguration->etbFunctions[1] = DC_Throttle2;
|
||
|
||
engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;
|
||
|
||
// voltage, not ADC like with TPS
|
||
setPPSCalibration(0, 5, 5, 0);
|
||
|
||
engineConfiguration->etb = {
|
||
1, // Kp
|
||
10, // Ki
|
||
0.05, // Kd
|
||
0, // offset
|
||
-100, 100, // min/max
|
||
0 // alignment fill
|
||
};
|
||
|
||
engineConfiguration->etb_iTermMin = -30;
|
||
engineConfiguration->etb_iTermMax = 30;
|
||
|
||
engineConfiguration->etbJamDetectThreshold = 10;
|
||
engineConfiguration->etbJamTimeout = 1;
|
||
}
|
||
|
||
void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
|
||
for (int i = 0; i < ETB_COUNT; i++) {
|
||
etbControllers[i]->onConfigurationChange(&previousConfiguration->etb);
|
||
}
|
||
}
|
||
|
||
static const float defaultBiasBins[] = {
|
||
0, 1, 2, 4, 7, 98, 99, 100
|
||
};
|
||
static const float defaultBiasValues[] = {
|
||
-20, -18, -17, 0, 20, 21, 22, 25
|
||
};
|
||
|
||
void setDefaultEtbBiasCurve() {
|
||
copyArray(config->etbBiasBins, defaultBiasBins);
|
||
copyArray(config->etbBiasValues, defaultBiasValues);
|
||
}
|
||
|
||
void unregisterEtbPins() {
|
||
// todo: we probably need an implementation here?!
|
||
}
|
||
|
||
static pid_s* getPidForDcFunction(dc_function_e function) {
|
||
switch (function) {
|
||
case DC_Wastegate: return &engineConfiguration->etbWastegatePid;
|
||
default: return &engineConfiguration->etb;
|
||
}
|
||
}
|
||
|
||
void doInitElectronicThrottle() {
|
||
bool hasPedal = Sensor::hasSensor(SensorType::AcceleratorPedalPrimary);
|
||
|
||
#if EFI_UNIT_TEST
|
||
printf("doInitElectronicThrottle %s\n", boolToString(hasPedal));
|
||
#endif // EFI_UNIT_TEST
|
||
|
||
bool anyEtbConfigured = false;
|
||
|
||
// todo: technical debt: we still have DC motor code initialization in ETB-specific file while DC motors are used not just as ETB
|
||
// like DC motor wastegate code flow should probably NOT go through electronic_throttle.cpp right?
|
||
// todo: rename etbFunctions to something-without-etb for same reason?
|
||
for (int i = 0 ; i < ETB_COUNT; i++) {
|
||
auto func = engineConfiguration->etbFunctions[i];
|
||
if (func == DC_None) {
|
||
// do not touch HW pins if function not selected, this way Lua can use DC motor hardware pins directly
|
||
continue;
|
||
}
|
||
auto motor = initDcMotor(engineConfiguration->etbIo[i], i, engineConfiguration->etb_use_two_wires);
|
||
|
||
auto controller = engine->etbControllers[i];
|
||
if (!controller) {
|
||
continue;
|
||
}
|
||
|
||
auto pid = getPidForDcFunction(func);
|
||
|
||
bool dcConfigured = controller->init(func, motor, pid, &pedal2tpsMap, hasPedal);
|
||
anyEtbConfigured |= dcConfigured && controller->isEtbMode();
|
||
}
|
||
|
||
if (!anyEtbConfigured) {
|
||
// It's not valid to have a PPS without any ETBs - check that at least one ETB was enabled along with the pedal
|
||
if (hasPedal) {
|
||
firmwareError(ObdCode::OBD_PCM_Processor_Fault, "A pedal position sensor was configured, but no electronic throttles are configured.");
|
||
}
|
||
}
|
||
|
||
if (anyEtbConfigured) {
|
||
validateParam(engineConfiguration->etb.minValue < 0, "ETB PID min must be negative");
|
||
validateParam(engineConfiguration->etb.maxValue > 0, "ETB PID max must be positive");
|
||
}
|
||
|
||
#if 0 && ! EFI_UNIT_TEST
|
||
percent_t startupThrottlePosition = getTPS();
|
||
if (std::abs(startupThrottlePosition - engineConfiguration->etbNeutralPosition) > STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD) {
|
||
/**
|
||
* Unexpected electronic throttle start-up position is worth a critical error
|
||
*/
|
||
firmwareError(ObdCode::OBD_Throttle_Actuator_Control_Range_Performance_Bank_1, "startup ETB position %.2f not %d",
|
||
startupThrottlePosition,
|
||
engineConfiguration->etbNeutralPosition);
|
||
startupPositionError = true;
|
||
}
|
||
#endif /* EFI_UNIT_TEST */
|
||
}
|
||
|
||
void initElectronicThrottle() {
|
||
if (hasFirmwareError()) {
|
||
return;
|
||
}
|
||
|
||
for (int i = 0; i < ETB_COUNT; i++) {
|
||
engine->etbControllers[i] = etbControllers[i];
|
||
}
|
||
|
||
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
|
||
|
||
doInitElectronicThrottle();
|
||
}
|
||
|
||
void setEtbIdlePosition(percent_t pos) {
|
||
for (int i = 0; i < ETB_COUNT; i++) {
|
||
if (auto etb = engine->etbControllers[i]) {
|
||
etb->setIdlePosition(pos);
|
||
}
|
||
}
|
||
}
|
||
|
||
void setEtbWastegatePosition(percent_t pos) {
|
||
for (int i = 0; i < ETB_COUNT; i++) {
|
||
if (auto etb = engine->etbControllers[i]) {
|
||
etb->setWastegatePosition(pos);
|
||
}
|
||
}
|
||
}
|
||
|
||
void setEtbLuaAdjustment(percent_t pos) {
|
||
for (int i = 0; i < ETB_COUNT; i++) {
|
||
if (auto etb = engine->etbControllers[i]) {
|
||
etb->setLuaAdjustment(pos);
|
||
}
|
||
}
|
||
}
|
||
|
||
void setToyota89281_33010_pedal_position_sensor() {
|
||
setPPSCalibration(0, 4.1, 0.73, 4.9);
|
||
}
|
||
|
||
void setHitachiEtbCalibration() {
|
||
setToyota89281_33010_pedal_position_sensor();
|
||
|
||
setHitachiEtbBiasBins();
|
||
|
||
engineConfiguration->etb.pFactor = 2.7999;
|
||
engineConfiguration->etb.iFactor = 25.5;
|
||
engineConfiguration->etb.dFactor = 0.053;
|
||
engineConfiguration->etb.offset = 0.0;
|
||
engineConfiguration->etb.minValue = -100.0;
|
||
engineConfiguration->etb.maxValue = 100.0;
|
||
|
||
// Nissan 60mm throttle
|
||
engineConfiguration->tpsMin = engineConfiguration->tps2Min = 113;
|
||
engineConfiguration->tpsMax = engineConfiguration->tps2Max = 846;
|
||
engineConfiguration->tps1SecondaryMin = engineConfiguration->tps2SecondaryMin = 897;
|
||
engineConfiguration->tps1SecondaryMax = engineConfiguration->tps2SecondaryMax = 161;
|
||
}
|
||
|
||
void setProteusHitachiEtbDefaults() {
|
||
#if HW_PROTEUS
|
||
setHitachiEtbCalibration();
|
||
|
||
// EFI_ADC_12: "Analog Volt 3"
|
||
engineConfiguration->tps1_2AdcChannel = PROTEUS_IN_TPS1_2;
|
||
// EFI_ADC_13: "Analog Volt 4"
|
||
engineConfiguration->tps2_1AdcChannel = PROTEUS_IN_TPS2_1;
|
||
// EFI_ADC_0: "Analog Volt 5"
|
||
engineConfiguration->tps2_2AdcChannel = PROTEUS_IN_ANALOG_VOLT_5;
|
||
setPPSInputs(PROTEUS_IN_ANALOG_VOLT_6, PROTEUS_IN_PPS2);
|
||
#endif // HW_PROTEUS
|
||
}
|
||
|
||
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
|
||
|
||
template<>
|
||
const electronic_throttle_s* getLiveData(size_t idx) {
|
||
#if EFI_ELECTRONIC_THROTTLE_BODY
|
||
if (idx >= efi::size(etbControllers)) {
|
||
return nullptr;
|
||
}
|
||
|
||
return etbControllers[idx];
|
||
#else
|
||
return nullptr;
|
||
#endif
|
||
}
|