rusefi/firmware/controllers/actuators/electronic_throttle.cpp

/**
 * @file	electronic_throttle.cpp
 * @brief	Electronic Throttle driver
 *
 * @see test test_etb.cpp
 *
 *
 * Limited user documentation at https://github.com/rusefi/rusefi/wiki/HOWTO_electronic_throttle_body
 *
 * todo: make this more universal if/when we get other hardware options
 *
 * May 2020 two vehicles have driver 500 miles each
 * Sep 2019 two-wire TLE9201 official driving around the block! https://www.youtube.com/watch?v=1vCeICQnbzI
 *           by the way 9201 does not like getting above 8khz - it starts to get warm
 * 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) 2012-2020
 *
 * 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_impl.h"
#include "engine.h"
#include "tps.h"
#include "sensor.h"
#include "dc_motor.h"
#include "dc_motors.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 LoggingWithStorage logger("ETB");
static pedal2tps_t pedal2tpsMap("Pedal2Tps");

EXTERN_ENGINE;

static bool startupPositionError = false;

#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5

static const float hardCodedetbHitachiBiasBins[8] = {0.0, 19.0, 21.0, 22.0, 23.0, 25.0, 30.0, 100.0};

static const float hardCodedetbHitachiBiasValues[8] = {-18.0, -17.0, -15.0, 0.0, 16.0, 20.0, 20.0, 20.0};

/* Generated by TS2C on Thu Aug 20 21:10:02 EDT 2020*/
void setHitachiEtbBiasBins(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
	MEMCPY(engineConfiguration->etbBiasBins, hardCodedetbHitachiBiasBins);
	MEMCPY(engineConfiguration->etbBiasValues, hardCodedetbHitachiBiasValues);
}


static SensorType functionToPositionSensor(etb_function_e func) {
	switch(func) {
		case ETB_Throttle1: return SensorType::Tps1;
		case ETB_Throttle2: return SensorType::Tps2;
		case ETB_IdleValve: return SensorType::IdlePosition;
		case ETB_Wastegate: return SensorType::WastegatePosition;
		default: return SensorType::Invalid;
	}
}

static SensorType functionToTpsSensorPrimary(etb_function_e func) {
	switch(func) {
		case ETB_Throttle1:  return SensorType::Tps1Primary;
		default: return SensorType::Tps2Primary;
	}
}

static SensorType functionToTpsSensorSecondary(etb_function_e func) {
	switch(func) {
		case ETB_Throttle1:  return SensorType::Tps1Secondary;
		default: return SensorType::Tps2Secondary;
	}
}

#if EFI_TUNER_STUDIO
static TsCalMode functionToCalModePriMin(etb_function_e func) {
	switch (func) {
		case ETB_Throttle1: return TsCalMode::Tps1Min;
		default: return TsCalMode::Tps2Min;
	}
}

static TsCalMode functionToCalModePriMax(etb_function_e func) {
	switch (func) {
		case ETB_Throttle1: return TsCalMode::Tps1Max;
		default: return TsCalMode::Tps2Max;
	}
}

static TsCalMode functionToCalModeSecMin(etb_function_e func) {
	switch (func) {
		case ETB_Throttle1: return TsCalMode::Tps1SecondaryMin;
		default: return TsCalMode::Tps2SecondaryMin;
	}
}

static TsCalMode functionToCalModeSecMax(etb_function_e func) {
	switch (func) {
		case ETB_Throttle1: return TsCalMode::Tps1SecondaryMax;
		default: return TsCalMode::Tps2SecondaryMax;
	}
}
#endif // EFI_TUNER_STUDIO

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) (clampF(-ETB_DUTY_LIMIT, 0.01f * (x), ETB_DUTY_LIMIT))

bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap, bool initializeThrottles) {
	if (function == ETB_None) {
		// if not configured, don't init.
		return false;
	}

	m_function = function;
	m_positionSensor = functionToPositionSensor(function);

	// If we are a throttle, require redundant TPS sensor
	if (function == ETB_Throttle1 || function == ETB_Throttle2) {
		// We don't need to init throttles, so nothing to do here.
		if (!initializeThrottles) {
			return false;
		}

		if (!Sensor::isRedundant(m_positionSensor)) {
			firmwareError(
				OBD_Throttle_Position_Sensor_Circuit_Malfunction,
				"Use of electronic throttle requires %s to be redundant.",
				Sensor::getSensorName(m_positionSensor)
			);

			return false;
		}
	}

	m_motor = motor;
	m_pid.initPidClass(pidParameters);
	m_pedalMap = pedalMap;

	reset();

	return true;
}

void EtbController::reset() {
	m_shouldResetPid = true;
}

void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
	if (m_motor && !m_pid.isSame(previousConfiguration)) {
		m_shouldResetPid = true;
	}
}

void EtbController::showStatus(Logging* logger) {
	m_pid.showPidStatus(logger, "ETB");
}

expected<percent_t> EtbController::observePlant() const {
	return Sensor::get(m_positionSensor);
}

void EtbController::setIdlePosition(percent_t pos) {
	m_idlePosition = pos;
}

void EtbController::setWastegatePosition(percent_t pos) {
	m_wastegatePosition = pos;
}

expected<percent_t> EtbController::getSetpoint() const {
	switch (m_function) {
		case ETB_Throttle1:
		case ETB_Throttle2:
			return getSetpointEtb();
		case ETB_IdleValve:
			return getSetpointIdleValve();
		case ETB_Wastegate:
			return getSetpointWastegate();
		default:
			return unexpected;
	}
}

expected<percent_t> EtbController::getSetpointIdleValve() const {
	// VW ETB idle mode uses an ETB only for idle (a mini-ETB sets the lower stop, and a normal cable
	// can pull the throttle up off the stop.), so we directly control the throttle with the idle position.
#if EFI_TUNER_STUDIO
	tsOutputChannels.etbTarget = m_idlePosition;
#endif // EFI_TUNER_STUDIO
	return clampF(0, m_idlePosition, 100);
}

expected<percent_t> EtbController::getSetpointWastegate() const {
	return clampF(0, m_wastegatePosition, 100);
}

expected<percent_t> EtbController::getSetpointEtb() const {
	// A few extra preconditions if throttle control is invalid
	if (startupPositionError) {
		return unexpected;
	}

	// If the pedal map hasn't been set, we can't provide a setpoint.
	if (!m_pedalMap) {
		return unexpected;
	}

	auto pedalPosition = Sensor::get(SensorType::AcceleratorPedal);

	// If the pedal has failed, just use 0 position.
	// This is safer than disabling throttle control - we can at least push the throttle closed
	// and let the engine idle.
	float sanitizedPedal = clampF(0, pedalPosition.value_or(0), 100);
	
	float rpm = GET_RPM();
	float targetFromTable = m_pedalMap->getValue(rpm / RPM_1_BYTE_PACKING_MULT, sanitizedPedal);
	engine->engineState.targetFromTable = targetFromTable;

	percent_t etbIdlePosition = clampF(
									0,
									CONFIG(useETBforIdleControl) ? m_idlePosition : 0,
									100
								);
	percent_t etbIdleAddition = 0.01f * CONFIG(etbIdleThrottleRange) * etbIdlePosition;

	// Interpolate so that the idle adder just "compresses" the throttle's range upward.
	// [0, 100] -> [idle, 100]
	// 0% target from table -> idle position as target
	// 100% target from table -> 100% target position
	percent_t targetPosition = interpolateClamped(0, etbIdleAddition, 100, 100, targetFromTable);

#if EFI_TUNER_STUDIO
	if (m_function == ETB_Throttle1) {
		tsOutputChannels.etbTarget = targetPosition;
	}
#endif // EFI_TUNER_STUDIO

	return targetPosition;
}

expected<percent_t> EtbController::getOpenLoop(percent_t target) const {
	float ff = 0;

	// Don't apply open loop for wastegate/idle valve, only real ETB
	if (m_function != ETB_Wastegate
		&& m_function != ETB_IdleValve) {
		ff = interpolate2d("etbb", target, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);
	}

	engine->engineState.etbFeedForward = ff;

	return ff;
}

expected<percent_t> EtbController::getClosedLoopAutotune(percent_t actualThrottlePosition) {
	// Estimate gain at 60% position - this should be well away from the spring and in the linear region
	bool isPositive = actualThrottlePosition > 60.0f;

	float autotuneAmplitude = 20;

	// End of cycle - record & reset
	if (!isPositive && m_lastIsPositive) {
		efitick_t now = getTimeNowNt();

		// Determine period
		float tu = NT2US((float)(now - m_cycleStartTime)) / 1e6;
		m_cycleStartTime = now;

		// Determine amplitude
		float a = m_maxCycleTps - m_minCycleTps;

		// Filter - it's pretty noisy since the ultimate period is not very many loop periods
		constexpr float alpha = 0.05;
		m_a  = alpha * a  + (1 - alpha) * m_a;
		m_tu = alpha * tu + (1 - alpha) * m_tu;

		// Reset bounds
		m_minCycleTps = 100;
		m_maxCycleTps = 0;

		// Math is for Åström–Hägglund (relay) auto tuning
		// https://warwick.ac.uk/fac/cross_fac/iatl/reinvention/archive/volume5issue2/hornsey

		// Publish to TS state
#if EFI_TUNER_STUDIO
		// Amplitude of input (duty cycle %)
		float b = 2 * autotuneAmplitude;

		// Ultimate gain per A-H relay tuning rule
		float ku = 4 * b / (3.14159f * m_a);

		// The multipliers below are somewhere near the "no overshoot" 
		// and "some overshoot" flavors of the Ziegler-Nichols method
		// Kp
		float kp = 0.35f * ku;
		float ki = 0.25f * ku / m_tu;
		float kd = 0.08f * ku * m_tu;

		// Every 5 cycles (of the throttle), cycle to the next value
		if (m_autotuneCounter == 5) {
			m_autotuneCounter = 0;
			m_autotuneCurrentParam++;

			if (m_autotuneCurrentParam >= 3) {
				m_autotuneCurrentParam = 0;
			}
		}

		m_autotuneCounter++;

		// Multiplex 3 signals on to the {mode, value} format
		tsOutputChannels.calibrationMode = static_cast<TsCalMode>(m_autotuneCurrentParam + 3);

		switch (m_autotuneCurrentParam) {
		case 0:
			tsOutputChannels.calibrationValue = kp;
			break;
		case 1:
			tsOutputChannels.calibrationValue = ki;
			break;
		case 2:
			tsOutputChannels.calibrationValue = kd;
			break;
		}

		// Also output to debug channels if configured
		if (engineConfiguration->debugMode == DBG_ETB_AUTOTUNE) {
			// a - amplitude of output (TPS %)
			tsOutputChannels.debugFloatField1 = m_a;
			// b - amplitude of input (Duty cycle %)
			tsOutputChannels.debugFloatField2 = b;
			// Tu - oscillation period (seconds)
			tsOutputChannels.debugFloatField3 = m_tu;

			tsOutputChannels.debugFloatField4 = ku;
			tsOutputChannels.debugFloatField5 = kp;
			tsOutputChannels.debugFloatField6 = ki;
			tsOutputChannels.debugFloatField7 = kd;
		}
#endif
	}

	m_lastIsPositive = isPositive;

	// Find the min/max of each cycle
	if (actualThrottlePosition < m_minCycleTps) {
		m_minCycleTps = actualThrottlePosition;
	}

	if (actualThrottlePosition > m_maxCycleTps) {
		m_maxCycleTps = actualThrottlePosition;
	}

	// Bang-bang control the output to induce oscillation
	return autotuneAmplitude * (isPositive ? -1 : 1);
}

expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t observation) {
	if (m_shouldResetPid) {
		m_pid.reset();
		m_shouldResetPid = false;
	}

	// Only report the 0th throttle
	if (m_function == ETB_Throttle1) {
#if EFI_TUNER_STUDIO
		// Error is positive if the throttle needs to open further
		tsOutputChannels.etb1Error = target - observation;
#endif /* EFI_TUNER_STUDIO */
	}

	// Only allow autotune with stopped engine, and on the first throttle
	if (GET_RPM() == 0
		&& engine->etbAutoTune
		&& m_function == ETB_Throttle1) {
		return getClosedLoopAutotune(observation);
	} else {
		// Normal case - use PID to compute closed loop part
		return m_pid.getOutput(target, observation, 1.0f / ETB_LOOP_FREQUENCY);
	}
}

void EtbController::setOutput(expected<percent_t> outputValue) {
#if EFI_TUNER_STUDIO
	// Only report first-throttle stats
	if (m_function == ETB_Throttle1) {
		tsOutputChannels.etb1DutyCycle = outputValue.value_or(0);
	}
#endif

	if (!m_motor) return;

	// If output is valid and we aren't paused, output to motor.
	if (outputValue && !engineConfiguration->pauseEtbControl) {
		m_motor->enable();
		m_motor->set(ETB_PERCENT_TO_DUTY(outputValue.Value));
	} else {
		m_motor->disable();
	}
}

void EtbController::update() {
	// If we didn't get initialized, fail fast
	if (!m_motor) {
		return;
	}

#if EFI_TUNER_STUDIO
	// Only debug throttle #1
	if (m_function == ETB_Throttle1) {
		// set debug_mode 17
		if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
			m_pid.postState(&tsOutputChannels);
			tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
		} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
			// set debug_mode 29
			tsOutputChannels.debugFloatField1 = directPwmValue;
		}
	}
#endif /* EFI_TUNER_STUDIO */

	if (!cisnan(directPwmValue)) {
		m_motor->set(directPwmValue);
		return;
	}

#if EFI_TUNER_STUDIO
	if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
		tsOutputChannels.debugFloatField1 = engine->engineState.targetFromTable;
		tsOutputChannels.debugFloatField2 = engine->engineState.idle.etbIdleAddition;
	}
#endif

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

	if (engineConfiguration->isVerboseETB) {
		m_pid.showPidStatus(&logger, "ETB");
	}

	ClosedLoopController::update();

	DISPLAY_STATE(Engine)
DISPLAY(DISPLAY_IF(1))
	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 */
}

void EtbController::autoCalibrateTps() {
	// Only auto calibrate throttles
	if (m_function == ETB_Throttle1 || m_function == ETB_Throttle2) {
		m_isAutocal = true;
	}
}

#if !EFI_UNIT_TEST
/**
 * Things running on a timer (instead of a thread) don't participate it the RTOS's thread priority system,
 * and operate essentially "first come first serve", which risks starvation.
 * Since ETB is a safety critical device, we need the hard RTOS guarantee that it will be scheduled over other less important tasks.
 */
#include "periodic_thread_controller.h"
struct EtbImpl final : public EtbController {
	void update() override {
#if EFI_TUNER_STUDIO
	if (m_isAutocal) {
		// Don't allow if engine is running!
		if (GET_RPM() > 0) {
			m_isAutocal = false;
			return;
		}

		auto motor = getMotor();
		if (!motor) {
			m_isAutocal = false;
			return;
		}

		auto myFunction = getFunction();

		// First grab open
		motor->set(0.5f);
		motor->enable();
		chThdSleepMilliseconds(1000);
		float primaryMax = Sensor::getRaw(functionToTpsSensorPrimary(myFunction)) * TPS_TS_CONVERSION;
		float secondaryMax = Sensor::getRaw(functionToTpsSensorSecondary(myFunction)) * TPS_TS_CONVERSION;

		// Let it return
		motor->set(0);
		chThdSleepMilliseconds(200);

		// Now grab closed
		motor->set(-0.5f);
		chThdSleepMilliseconds(1000);
		float primaryMin = Sensor::getRaw(functionToTpsSensorPrimary(myFunction)) * TPS_TS_CONVERSION;
		float secondaryMin = Sensor::getRaw(functionToTpsSensorSecondary(myFunction)) * TPS_TS_CONVERSION;

		// Finally disable and reset state
		motor->disable();

		// Write out the learned values to TS, waiting briefly after setting each to let TS grab it
		tsOutputChannels.calibrationMode = functionToCalModePriMax(myFunction);
		tsOutputChannels.calibrationValue = primaryMax;
		chThdSleepMilliseconds(500);
		tsOutputChannels.calibrationMode = functionToCalModePriMin(myFunction);
		tsOutputChannels.calibrationValue = primaryMin;
		chThdSleepMilliseconds(500);

		tsOutputChannels.calibrationMode = functionToCalModeSecMax(myFunction);
		tsOutputChannels.calibrationValue = secondaryMax;
		chThdSleepMilliseconds(500);
		tsOutputChannels.calibrationMode = functionToCalModeSecMin(myFunction);
		tsOutputChannels.calibrationValue = secondaryMin;
		chThdSleepMilliseconds(500);

		tsOutputChannels.calibrationMode = TsCalMode::None;

		m_isAutocal = false;
		return;
	}
#endif /* EFI_TUNER_STUDIO */

		EtbController::update();
	}
};

// real implementation (we mock for some unit tests)
static EtbImpl etbControllers[ETB_COUNT];

struct EtbThread final : public PeriodicController<512> {
	EtbThread() : PeriodicController("ETB", NORMALPRIO + 3, ETB_LOOP_FREQUENCY) {}

	void PeriodicTask(efitick_t) override {
		// Simply update all controllers
		for (int i = 0 ; i < ETB_COUNT; i++) {
			etbControllers[i].update();
		}
	}
};

static EtbThread etbThread;

#endif

static void showEthInfo(void) {
#if EFI_PROD_CODE
	scheduleMsg(&logger, "etbAutoTune=%d",
			engine->etbAutoTune);

	scheduleMsg(&logger, "TPS=%.2f", Sensor::get(SensorType::Tps1).value_or(0));


	scheduleMsg(&logger, "etbControlPin1=%s duty=%.2f freq=%d",
			hwPortname(CONFIG(etbIo[0].controlPin1)),
			currentEtbDuty,
			engineConfiguration->etbFreq);

	for (int i = 0; i < ETB_COUNT; i++) {
		scheduleMsg(&logger, "ETB%d", i);
		scheduleMsg(&logger, " dir1=%s", hwPortname(CONFIG(etbIo[i].directionPin1)));
		scheduleMsg(&logger, " dir2=%s", hwPortname(CONFIG(etbIo[i].directionPin2)));
		scheduleMsg(&logger, " control=%s", hwPortname(CONFIG(etbIo[i].controlPin1)));
		scheduleMsg(&logger, " disable=%s", hwPortname(CONFIG(etbIo[i].disablePin)));
		showDcMotorInfo(&logger, i);
	}

#endif /* EFI_PROD_CODE */
}

static void etbPidReset(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
	for (int i = 0 ; i < ETB_COUNT; i++) {
		if (auto controller = engine->etbControllers[i]) {
			controller->reset();
		}
		
	}
}

#if !EFI_UNIT_TEST

/**
 * 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++) {
		setDcMotorDuty(i, dc);
	}
	scheduleMsg(&logger, "duty ETB duty=%f", dc);
}

static void setEtbFrequency(int frequency) {
	engineConfiguration->etbFreq = frequency;

	for (int i = 0 ; i < ETB_COUNT; i++) {
		setDcMotorFrequency(i, frequency);
	}
}

static void etbReset() {
	scheduleMsg(&logger, "etbReset");
	
	for (int i = 0 ; i < ETB_COUNT; i++) {
		setDcMotorDuty(i, 0);
	}

	etbPidReset();
}
#endif /* EFI_PROD_CODE */

#if !EFI_UNIT_TEST
/**
 * set etb_p X
 */
void setEtbPFactor(float value) {
	engineConfiguration->etb.pFactor = value;
	etbPidReset();
	showEthInfo();
}

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

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

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

void etbAutocal(size_t throttleIndex) {
	if (throttleIndex >= ETB_COUNT) {
		return;
	}

	if (auto etb = engine->etbControllers[throttleIndex]) {
		etb->autoCalibrateTps();
	}
}

#endif /* !EFI_UNIT_TEST */

/**
 * 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 setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
	copyArray(CONFIG(etbBiasBins), boschBiasBins);
	copyArray(CONFIG(etbBiasValues), boschBiasValues);
}

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];
		}
	}

	// Default is to run each throttle off its respective hbridge
	engineConfiguration->etbFunctions[0] = ETB_Throttle1;
	engineConfiguration->etbFunctions[1] = ETB_Throttle2;

	engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;

	// voltage, not ADC like with TPS
	engineConfiguration->throttlePedalUpVoltage = 0;
	engineConfiguration->throttlePedalWOTVoltage = 5;

	engineConfiguration->etb = {
		1,		// Kp
		10,		// Ki
		0.05,	// Kd
		0,		// offset
		0,		// Update rate, unused
		-100, 100 // min/max
	};

	engineConfiguration->etb_iTermMin = -30;
	engineConfiguration->etb_iTermMax = 30;
}

void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
#if !EFI_UNIT_TEST
	for (int i = 0; i < ETB_COUNT; i++) {
		etbControllers[i].onConfigurationChange(&previousConfiguration->etb);
	}
#endif
}

#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);
}

#endif /* EFI_PROD_CODE */

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(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
	copyArray(CONFIG(etbBiasBins), defaultBiasBins);
	copyArray(CONFIG(etbBiasValues), defaultBiasValues);
}

void unregisterEtbPins() {
	// todo: we probably need an implementation here?!
}

static pid_s* getEtbPidForFunction(etb_function_e function DECLARE_ENGINE_PARAMETER_SUFFIX) {
	switch (function) {
		case ETB_Wastegate: return &CONFIG(etbWastegatePid);
		default: return &CONFIG(etb);
	}
}

void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
	efiAssertVoid(OBD_PCM_Processor_Fault, engine->etbControllers != NULL, "etbControllers NULL");
#if EFI_PROD_CODE
	addConsoleAction("ethinfo", showEthInfo);
	addConsoleAction("etbreset", etbReset);
	addConsoleActionI("etb_freq", setEtbFrequency);
#endif /* EFI_PROD_CODE */

	pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);

	bool shouldInitThrottles = Sensor::hasSensor(SensorType::AcceleratorPedalPrimary);
	bool anyEtbConfigured = false;

	for (int i = 0 ; i < ETB_COUNT; i++) {
		auto motor = initDcMotor(engineConfiguration->etbIo[i], i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);

		// If this motor is actually set up, init the etb
		if (motor)
		{
			auto controller = engine->etbControllers[i];
			if (!controller) {
				continue;
			}

			auto func = CONFIG(etbFunctions[i]);
			auto pid = getEtbPidForFunction(func PASS_ENGINE_PARAMETER_SUFFIX);

			anyEtbConfigured |= controller->init(func, motor, pid, &pedal2tpsMap, shouldInitThrottles);
			INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
		}
	}

	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 (shouldInitThrottles) {
			firmwareError(OBD_PCM_Processor_Fault, "A pedal position sensor was configured, but no electronic throttles are configured.");
		}

		// Don't start the thread if no throttles are in use.
		return;
	}

#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 critical 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 */

#if !EFI_UNIT_TEST
	etbThread.Start();
#endif
}

void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
	if (hasFirmwareError()) {
		return;
	}

#if !EFI_UNIT_TEST
	for (int i = 0; i < ETB_COUNT; i++) {
		engine->etbControllers[i] = &etbControllers[i];
	}
#endif

	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
}

void setEtbIdlePosition(percent_t pos DECLARE_ENGINE_PARAMETER_SUFFIX) {
	if (!Sensor::hasSensor(SensorType::AcceleratorPedal)) {
		firmwareError(CUSTOM_NO_ETB_FOR_IDLE, "No ETB to use for idle");
		return;
	}

	for (int i = 0; i < ETB_COUNT; i++) {
		if (auto etb = engine->etbControllers[i]) {
			etb->setIdlePosition(pos);
		}
	}
}

void setEtbWastegatePosition(percent_t pos DECLARE_ENGINE_PARAMETER_SUFFIX) {
	for (int i = 0; i < ETB_COUNT; i++) {
		if (auto etb = engine->etbControllers[i]) {
			etb->setWastegatePosition(pos);
		}
	}
}

static void toyota89281_33010_pedal_position_sensor(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
	engineConfiguration->throttlePedalUpVoltage = 0;
	engineConfiguration->throttlePedalWOTVoltage = 4.1;
	engineConfiguration->throttlePedalSecondaryUpVoltage = 0.73;
	engineConfiguration->throttlePedalSecondaryWOTVoltage = 4.9;
}

void setProteusHitachiEtbDefaults(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
	// EFI_ADC_12: "Analog Volt 3"
	engineConfiguration->tps1_2AdcChannel = EFI_ADC_12;
	// EFI_ADC_13: "Analog Volt 4"
	engineConfiguration->tps2_1AdcChannel = EFI_ADC_13;
	// EFI_ADC_0: "Analog Volt 5"
	engineConfiguration->tps2_2AdcChannel = EFI_ADC_0;
	// EFI_ADC_1: "Analog Volt 6"
	engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_1;
	toyota89281_33010_pedal_position_sensor(PASS_CONFIG_PARAMETER_SIGNATURE);

	// EFI_ADC_2: "Analog Volt 7"
	engineConfiguration->throttlePedalPositionSecondAdcChannel = EFI_ADC_2;

	setHitachiEtbBiasBins(PASS_CONFIG_PARAMETER_SIGNATURE);

	engineConfiguration->etb.pFactor = 2.7999;
	engineConfiguration->etb.iFactor = 25.5;
	engineConfiguration->etb.dFactor = 0.053;
	engineConfiguration->etb.offset = 0.0;
	engineConfiguration->etb.periodMs = 5.0;
	engineConfiguration->etb.minValue = -100.0;
	engineConfiguration->etb.maxValue = 100.0;

	// Nissan 60mm throttle
	CONFIG(tpsMin) = CONFIG(tps2Min) = 113;
	CONFIG(tpsMax) = CONFIG(tps2Max) = 846;
	CONFIG(tps1SecondaryMin) = CONFIG(tps2SecondaryMin) = 897;
	CONFIG(tps1SecondaryMax) = CONFIG(tps2SecondaryMax) = 161;
}

#endif /* EFI_ELECTRONIC_THROTTLE_BODY */