rusefi/firmware/controllers/actuators/electronic_throttle.cpp

/**
 * @file	electronic_throttle.cpp
 * @brief	Electronic Throttle Module driver L298N
 *
 * todo: make this more universal if/when we get other hardware options
 *
 * Mar 2019 best results so far achieved with three-wire H-bridges like VNH2SP30
 *
 * 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 :)
 *
 *
 *
 *  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)
 *
 *  At the moment we only control opening motor - while relying on ETB spring to move throttle butterfly
 *  back. Throttle position sensor inside ETB is used for closed-loop PID control of ETB.
 *
 * 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 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_controller.h"

#define ETB_MAX_COUNT 2

#include "pin_repository.h"
#include "pwm_generator.h"
#include "dc_motor.h"
#include "pid_auto_tune.h"
#if EFI_TUNER_STUDIO
extern TunerStudioOutputChannels tsOutputChannels;
#endif /* EFI_TUNER_STUDIO */
static bool shouldResetPid = false;

static pid_s tuneWorkingPidSettings;
static Pid tuneWorkingPid(&tuneWorkingPidSettings);
static PID_AutoTune autoTune;

static LoggingWithStorage logger("ETB");

EXTERN_ENGINE;

class EtbControl;

static void applyEtbPinState(int stateIndex, EtbControl *etb) /* pwm_gen_callback */;

class EtbControl {
public:
	EtbControl() : etbPwmUp("etbUp"), dcMotor(&etbPwmUp, &outputDirectionOpen, &outputDirectionClose) {}
	OutputPin outputDirectionOpen;
	OutputPin outputDirectionClose;
	OutputPin etbOutput;
	SimplePwm etbPwmUp;
	TwoPinDcMotor dcMotor;
	void start(bool useTwoWires, brain_pin_e controlPin,
			brain_pin_e directionPin1,
			brain_pin_e directionPin2) {
		etbPwmUp.arg = this;
		dcMotor.useTwoWires = useTwoWires;
		if (!dcMotor.useTwoWires) {
			// this line used for PWM in case of three wire mode
			etbOutput.initPin("etb", controlPin);
		}
		int freq = maxI(100, engineConfiguration->etbFreq);
		startSimplePwm(&etbPwmUp, "etb1",
				&engine->executor,
				&etbOutput,
				freq,
				0.80,
				(pwm_gen_callback*)applyEtbPinState);
		outputDirectionOpen.initPin("etb dir open", directionPin1);
		outputDirectionClose.initPin("etb dir close", directionPin2);
	}


};

static EtbControl etb1;

static float valueOverride = NAN;
/*
CCM_OPTIONAL static SimplePwm etbPwmDown("etbDown");
*/


extern percent_t mockPedalPosition;

static Pid pid(&engineConfiguration->etb);

static percent_t currentEtbDuty;

//static bool wasEtbBraking = false;

// looks like my H-bridge does not like 100% duty cycle and it just hangs up?
// so we use 98% to indicate that things are alive and never use PM_FULL of PWM generator
//#define ETB_DUTY_LIMIT FULL_PWM_THRESHOLD
#define ETB_DUTY_LIMIT 0.4
#define PERCENT_TO_DUTY(X) (maxF(minF((X / 100.0), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))

//#define PERCENT_TO_DUTY(X) ((X) / 100.0)

class EtbController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
public:
	EtbController()	: PeriodicController("ETB") { }
private:
	float feedForward = 0;

	void PeriodicTask(efitime_t nowNt) override	{
		UNUSED(nowNt);
		setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->etb.periodMs));


		// set debug_mode 17
		if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
#if EFI_TUNER_STUDIO
			pid.postState(&tsOutputChannels);
			tsOutputChannels.debugIntField5 = feedForward;
#endif /* EFI_TUNER_STUDIO */
		} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
#if EFI_TUNER_STUDIO
			// set debug_mode 29
			tsOutputChannels.debugFloatField1 = valueOverride;
#endif /* EFI_TUNER_STUDIO */
		}

		if (shouldResetPid) {
			pid.reset();
			shouldResetPid = false;
		}

		if (!cisnan(valueOverride)) {
			etb1.dcMotor.Set(valueOverride);
			return;
		}

		percent_t actualThrottlePosition = getTPS();

		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);
			etb1.dcMotor.Set(PERCENT_TO_DUTY(value));

			if (result) {
				scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
			}

			return;
		}


		percent_t targetPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);

		feedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues, ETB_BIAS_CURVE_LENGTH);

		pid.iTermMin = engineConfiguration->etb_iTermMin;
		pid.iTermMax = engineConfiguration->etb_iTermMax;

/*
		if (absF(actualThrottlePosition - targetPosition) < 0.5) {
			// we are pretty close to desired position, let's hold it
			dcMotor.BrakeVcc();
			scheduleMsg(&logger, "VCC braking %f %f", targetPosition, actualThrottlePosition);
			return;
		}
*/
		currentEtbDuty = feedForward +
				pid.getOutput(targetPosition, actualThrottlePosition);

		etb1.dcMotor.Set(PERCENT_TO_DUTY(currentEtbDuty));
/*
		if (CONFIGB(etbDirectionPin2) != GPIO_UNASSIGNED) {
			bool needEtbBraking = absF(targetPosition - actualThrottlePosition) < 3;
			if (needEtbBraking != wasEtbBraking) {
				scheduleMsg(&logger, "need ETB braking: %d", needEtbBraking);
				wasEtbBraking = needEtbBraking;
			}
			outputDirectionClose.setValue(needEtbBraking);
		}
*/
		if (engineConfiguration->isVerboseETB) {
			pid.showPidStatus(&logger, "ETB");
		}
	}
};

static EtbController etbController;

/**
 * set_etb X
 * manual duty cycle control without PID. Percent value from 0 to 100
 */
void setThrottleDutyCycle(float level) {
	scheduleMsg(&logger, "setting ETB duty=%f%%", level);
	if (cisnan(level)) {
		valueOverride = NAN;
		return;
	}

	float dc = PERCENT_TO_DUTY(level);
	valueOverride = dc;
	etb1.dcMotor.Set(dc);
	scheduleMsg(&logger, "duty ETB duty=%f", dc);
}

static void showEthInfo(void) {
	static char pinNameBuffer[16];

	scheduleMsg(&logger, "etbAutoTune=%d",
			engine->etbAutoTune);

	scheduleMsg(&logger, "throttlePedal=%.2f %.2f/%.2f @%s",
			getPedalPosition(),
			engineConfiguration->throttlePedalUpVoltage,
			engineConfiguration->throttlePedalWOTVoltage,
			getPinNameByAdcChannel("tPedal", engineConfiguration->throttlePedalPositionAdcChannel, pinNameBuffer));

	scheduleMsg(&logger, "TPS=%.2f", getTPS());
	scheduleMsg(&logger, "dir=%d DC=%f", etb1.dcMotor.isOpenDirection(), etb1.dcMotor.Get());

	scheduleMsg(&logger, "etbControlPin1=%s duty=%.2f freq=%d",
			hwPortname(CONFIGB(etb1.controlPin1)),
			currentEtbDuty,
			engineConfiguration->etbFreq);
	scheduleMsg(&logger, "close dir=%s", hwPortname(CONFIGB(etb1.directionPin2)));
	pid.showPidStatus(&logger, "ETB");
}

/**
 * set etb_p X
 */
void setEtbPFactor(float value) {
	engineConfiguration->etb.pFactor = value;
	pid.reset();
	showEthInfo();
}

static void etbReset() {
	// TODO: what is this about?
	// I am experiencing some weird instability with my H-bridge with my Monte Carlo attempts
	scheduleMsg(&logger, "etbReset");
	for (int i = 0;i < 5;i++) {
		// this is some crazy code to remind H-bridge that we are alive
		etb1.dcMotor.BrakeGnd();
		chThdSleepMilliseconds(10);
	}
	mockPedalPosition = MOCK_UNDEFINED;
	pid.reset();
}

/**
 * set etb_i X
 */
void setEtbIFactor(float value) {
	engineConfiguration->etb.iFactor = value;
	pid.reset();
	showEthInfo();
}

/**
 * set etb_d X
 */
void setEtbDFactor(float value) {
	engineConfiguration->etb.dFactor = value;
	pid.reset();
	showEthInfo();
}

/**
 * set etb_o X
 */
void setEtbOffset(int value) {
	engineConfiguration->etb.offset = value;
	pid.reset();
	showEthInfo();
}

void setDefaultEtbParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
	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 = 100;
	engineConfiguration->etbFreq = 300;
	engineConfiguration->etb_iTermMin = -300;
	engineConfiguration->etb_iTermMax = 300;

//	CONFIGB(etbControlPin1) = GPIOE_4; // test board, matched default fuel pump relay
}

static bool isSamePins(etb_io *current, etb_io *active) {
	return 	current->controlPin1 != active->controlPin1 ||
			current->controlPin2 != active->controlPin2 ||
			current->directionPin1 != active->directionPin1 ||
			current->directionPin2 != active->directionPin2;
}

bool isETBRestartNeeded(void) {
	/**
	 * We do not want any interruption in HW pin while adjusting other properties
	 */
	return isSamePins(&engineConfiguration->bc.etb1, &activeConfiguration.bc.etb1);
}

void stopETBPins(void) {
	brain_pin_markUnused(activeConfiguration.bc.etb1.controlPin1);
	brain_pin_markUnused(activeConfiguration.bc.etb1.controlPin2);
	brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin1);
	brain_pin_markUnused(activeConfiguration.bc.etb1.directionPin2);
}

void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
	shouldResetPid = !pid.isSame(&previousConfiguration->etb);
}

void startETBPins(void) {

	etb1.start(
			CONFIG(etb1_use_two_wires),
			CONFIGB(etb1.controlPin1),
			CONFIGB(etb1.directionPin1),
			CONFIGB(etb1.directionPin2)
			);
}

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();
}

void setDefaultEtbBiasCurve(DECLARE_ENGINE_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() {

}

static void applyEtbPinState(int stateIndex, EtbControl *etb) /* pwm_gen_callback */ {
	efiAssertVoid(CUSTOM_ERR_6663, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
	int value = etb->etbPwmUp.multiWave.getChannelState(0, stateIndex);
	if (etb->dcMotor.useTwoWires) {
		OutputPin *output = etb->dcMotor.twoWireModeControl;
		if (output != NULL) {
			output->setValue(value);
		}
	} else {
		OutputPin *output = &etb->etbOutput;
		output->setValue(value);
	}
}

void initElectronicThrottle(void) {
	addConsoleAction("ethinfo", showEthInfo);
	addConsoleAction("etbreset", etbReset);
	if (!hasPedalPositionSensor()) {
		return;
	}
	autoTune.SetOutputStep(0.1);

	startETBPins();

	// manual duty cycle control without PID. Percent value from 0 to 100
	addConsoleActionNANF("set_etb", setThrottleDutyCycle);


	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);

	pid.reset();

	etbController.Start();
}

#endif /* EFI_ELECTRONIC_THROTTLE_BODY */