andreika-git
/
rusefi
mirror of https://github.com/andreika-git/rusefi.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Split out EtbHardware (#1168) 

* start tear out motor

* fix

* nuke reconfig

* guard for test

* test fixing

* format, condense headers

* fix todos

* undo todo

* format
This commit is contained in:
Matthew Kennedy 2020-03-03 14:56:50 -08:00 committed by GitHub
parent 986b80671b
commit 40b0783205
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 199 additions and 189 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

129
firmware/controllers/actuators/dc_motors.cpp Normal file
View File

@ -0,0 +1,129 @@
/**
* @file dc_motors.cpp
*
* @date March 3, 2020
* @author Matthew Kennedy (c) 2020
*/
#include "engine.h"
#include "io_pins.h"
#include "engine_configuration.h"
#include "engine_controller.h"
#include "periodic_task.h"
#include "dc_motors.h"
#include "dc_motor.h"
#include "efi_gpio.h"
#include "pwm_generator.h"
EXTERN_ENGINE;
class EtbHardware {
private:
OutputPin m_pinEnable;
OutputPin m_pinDir1;
OutputPin m_pinDir2;
SimplePwm m_pwmEnable;
SimplePwm m_pwmDir1;
SimplePwm m_pwmDir2;
SimplePwm etbPwmUp;
public:
EtbHardware() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
TwoPinDcMotor dcMotor;
void setFrequency(int frequency) {
m_pwmEnable.setFrequency(frequency);
m_pwmDir1.setFrequency(frequency);
m_pwmDir2.setFrequency(frequency);
}
void start(bool useTwoWires,
brain_pin_e pinEnable,
// since we have pointer magic here we cannot simply have value parameter
const pin_output_mode_e *pinEnableMode,
brain_pin_e pinDir1,
brain_pin_e pinDir2,
ExecutorInterface* executor,
int frequency) {
dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
m_pinEnable.initPin("ETB Enable", pinEnable, pinEnableMode);
m_pinDir1.initPin("ETB Dir 1", pinDir1);
m_pinDir2.initPin("ETB Dir 2", pinDir2);
// Clamp to >100hz
int clampedFrequency = maxI(100, frequency);
// no need to complicate event queue with ETB PWM in unit tests
#if ! EFI_UNIT_TEST
startSimplePwm(&m_pwmEnable, "ETB Enable",
executor,
&m_pinEnable,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState
);
startSimplePwm(&m_pwmDir1, "ETB Dir 1",
executor,
&m_pinDir1,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState
);
startSimplePwm(&m_pwmDir2, "ETB Dir 2",
executor,
&m_pinDir2,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState
);
#endif /* EFI_UNIT_TEST */
}
};
static EtbHardware etbHardware[ETB_COUNT];
DcMotor* initDcMotor(size_t index DECLARE_ENGINE_PARAMETER_SUFFIX)
{
const auto& io = engineConfiguration->etbIo[index];
auto& hw = etbHardware[index];
// controlPinMode is a strange feature - it's simply because I am short on 5v I/O on Frankenso with Miata NB2 test mule
hw.start(
CONFIG(etb_use_two_wires),
io.controlPin1,
&io.controlPinMode,
io.directionPin1,
io.directionPin2,
&ENGINE(executor),
CONFIG(etbFreq)
);
return &hw.dcMotor;
}
void setDcMotorFrequency(size_t index, int hz) {
etbHardware[index].setFrequency(hz);
}
void setDcMotorDuty(size_t index, float duty) {
etbHardware[index].dcMotor.set(duty);
}
#if EFI_PROD_CODE
void showDcMotorInfo(Logging* logger) {
for (int i = 0 ; i < engine->etbActualCount; i++) {
EtbHardware *etb = &etbHardware[i];
scheduleMsg(logger, "ETB %d", i);
scheduleMsg(logger, "Motor: dir=%d DC=%f", etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
}
}
#endif

24
firmware/controllers/actuators/dc_motors.h Normal file
View File

@ -0,0 +1,24 @@
/**
* @file dc_motors.h
*
* @date March 3, 2020
* @author Matthew Kennedy (c) 2020
*/
#pragma once
#include <cstddef>
#include "global.h"
class DcMotor;
class Logger;
DcMotor* initDcMotor(size_t index DECLARE_ENGINE_PARAMETER_SUFFIX);
// Manual control of motors for use by console commands
void setDcMotorFrequency(size_t index, int hz);
void setDcMotorDuty(size_t index, float duty);
#if EFI_PROD_CODE
void showDcMotorInfo(Logging* logger);
#endif

171
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -83,8 +83,8 @@
#include "engine_controller.h"
#include "periodic_task.h"
#include "pin_repository.h"
#include "pwm_generator.h"
#include "dc_motor.h"
#include "dc_motors.h"
#include "pid_auto_tune.h"
#if defined(HAS_OS_ACCESS)
@ -108,74 +108,6 @@ static bool startupPositionError = false;
#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
class EtbHardware {
private:
OutputPin m_pinEnable;
OutputPin m_pinDir1;
OutputPin m_pinDir2;
SimplePwm m_pwmEnable;
SimplePwm m_pwmDir1;
SimplePwm m_pwmDir2;
SimplePwm etbPwmUp;
public:
EtbHardware() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
TwoPinDcMotor dcMotor;
void setFrequency(int frequency) {
m_pwmEnable.setFrequency(frequency);
m_pwmDir1.setFrequency(frequency);
m_pwmDir2.setFrequency(frequency);
}
void start(bool useTwoWires,
brain_pin_e pinEnable,
// since we have pointer magic here we cannot simply have value parameter
pin_output_mode_e *pinEnableMode,
brain_pin_e pinDir1,
brain_pin_e pinDir2,
ExecutorInterface* executor,
int frequency) {
dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
m_pinEnable.initPin("ETB Enable", pinEnable, pinEnableMode);
m_pinDir1.initPin("ETB Dir 1", pinDir1);
m_pinDir2.initPin("ETB Dir 2", pinDir2);
// Clamp to >100hz
int clampedFrequency = maxI(100, frequency);
// no need to complicate event queue with ETB PWM in unit tests
#if ! EFI_UNIT_TEST
startSimplePwm(&m_pwmEnable, "ETB Enable",
executor,
&m_pinEnable,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir1, "ETB Dir 1",
executor,
&m_pinDir1,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir2, "ETB Dir 2",
executor,
&m_pinDir2,
clampedFrequency,
0,
(pwm_gen_callback*)applyPinState);
#endif /* EFI_UNIT_TEST */
}
};
extern percent_t mockPedalPosition;
static percent_t directPwmValue = NAN;
@ -196,7 +128,7 @@ void EtbController::reset() {
}
void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
if (m_pid.isSame(previousConfiguration)) {
if (m_motor && m_pid.isSame(previousConfiguration)) {
m_shouldResetPid = true;
}
}
@ -359,7 +291,6 @@ DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
}
}
static EtbHardware etbHardware[ETB_COUNT];
// real implementation (we mock for some unit tests)
EtbController etbControllers[ETB_COUNT];
@ -390,13 +321,7 @@ static void showEthInfo(void) {
scheduleMsg(&logger, "dir1=%s", hwPortname(CONFIG(etbIo[0].directionPin1)));
scheduleMsg(&logger, "dir2=%s", hwPortname(CONFIG(etbIo[0].directionPin2)));
for (int i = 0 ; i < engine->etbActualCount; i++) {
EtbHardware *etb = &etbHardware[i];
scheduleMsg(&logger, "ETB %d", i);
scheduleMsg(&logger, "Motor: dir=%d DC=%f", etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
etbControllers[i].showStatus(&logger);
}
showDcMotorInfo(&logger);
#endif /* EFI_PROD_CODE */
}
@ -425,7 +350,7 @@ void setThrottleDutyCycle(percent_t level) {
float dc = ETB_PERCENT_TO_DUTY(level);
directPwmValue = dc;
for (int i = 0 ; i < engine->etbActualCount; i++) {
etbHardware[i].dcMotor.set(dc);
setDcMotorDuty(i, dc);
}
scheduleMsg(&logger, "duty ETB duty=%f", dc);
}
@ -434,7 +359,7 @@ static void setEtbFrequency(int frequency) {
engineConfiguration->etbFreq = frequency;
for (int i = 0 ; i < engine->etbActualCount; i++) {
etbHardware[i].setFrequency(frequency);
setDcMotorFrequency(i, frequency);
}
}
@ -442,7 +367,7 @@ static void etbReset() {
scheduleMsg(&logger, "etbReset");
for (int i = 0 ; i < engine->etbActualCount; i++) {
etbHardware[i].dcMotor.set(0);
setDcMotorDuty(i, 0);
}
etbPidReset();
@ -549,63 +474,12 @@ void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
engineConfiguration->etb.maxValue = 200;
}
static bool isEtbPinsChanged(etb_io *current, etb_io *active) {
return current->controlPin1 != active->controlPin1 ||
current->controlPinMode != active->controlPinMode ||
current->directionPin1 != active->directionPin1 ||
current->directionPin2 != active->directionPin2;
}
#if EFI_PROD_CODE
bool isETBRestartNeeded(void) {
for (int i = 0 ; i < ETB_COUNT; i++) {
/**
* We do not want any interruption in HW pin while adjusting other properties
*/
bool changed = isEtbPinsChanged(&engineConfiguration->etbIo[i], &activeConfiguration.etbIo[i]);
if (changed) {
return changed;
}
}
return false;
}
void stopETBPins(void) {
for (int i = 0 ; i < ETB_COUNT; i++) {
etb_io *activeIo = &activeConfiguration.etbIo[i];
brain_pin_markUnused(activeIo->controlPin1);
brain_pin_markUnused(activeIo->directionPin1);
brain_pin_markUnused(activeIo->directionPin2);
}
}
#endif /* EFI_PROD_CODE */
void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
for (int i = 0; i < ETB_COUNT; i++) {
etbControllers[i].onConfigurationChange(&previousConfiguration->etb);
}
}
void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
/**
* safer to start 2nd ETB even if 2nd TPS is not configured by mistake
*/
for (int i = 0 ; i < ETB_COUNT; i++) {
etb_io *io = &engineConfiguration->etbIo[i];
// controlPinMode is a strange feature - it's simply because I am short on 5v I/O on Frankenso with Miata NB2 test mule
etbHardware[i].start(
CONFIG(etb_use_two_wires),
io->controlPin1,
&io->controlPinMode,
io->directionPin1,
io->directionPin2,
&ENGINE(executor),
CONFIG(etbFreq)
);
}
}
#if EFI_PROD_CODE && 0
static void setTempOutput(float value) {
autoTune.output = value;
@ -679,20 +553,28 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
addConsoleActionI("etb_freq", setEtbFrequency);
#endif /* EFI_PROD_CODE */
for (int i = 0 ; i < ETB_COUNT; i++) {
engine->etbControllers[i]->init(&etbHardware[i].dcMotor, i, &engineConfiguration->etb);
INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
}
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
engine->engineState.hasEtbPedalPositionSensor = hasPedalPositionSensor(PASS_ENGINE_PARAMETER_SIGNATURE);
if (!engine->engineState.hasEtbPedalPositionSensor) {
#if EFI_PROD_CODE
// TODO: Once switched to new sensor model for pedal, we don't need this to be test-guarded.
return;
#endif
}
engine->etbActualCount = hasSecondThrottleBody(PASS_ENGINE_PARAMETER_SIGNATURE) ? 2 : 1;
for (int i = 0 ; i < engine->etbActualCount; i++) {
auto motor = initDcMotor(i PASS_ENGINE_PARAMETER_SUFFIX);
// If this motor is actually set up, init the etb
if (motor)
{
engine->etbControllers[i]->init(motor, i, &engineConfiguration->etb);
INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
}
}
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
#if 0
// not alive code
autoTune.SetOutputStep(0.1);
@ -711,24 +593,19 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
}
#endif /* EFI_UNIT_TEST */
startETBPins(PASS_ENGINE_PARAMETER_SIGNATURE);
#if EFI_PROD_CODE
if (engineConfiguration->etbCalibrationOnStart) {
for (int i = 0 ; i < engine->etbActualCount; i++) {
EtbHardware *etb = &etbHardware[i];
etb->dcMotor.set(70);
setDcMotorDuty(i, 70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsWideOpen();
etb->dcMotor.set(-70);
setDcMotorDuty(i, -70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsClosed();
}
}
// manual duty cycle control without PID. Percent value from 0 to 100

3
firmware/controllers/actuators/electronic_throttle.h
View File

@ -61,8 +61,5 @@ void setEtbIFactor(float value);
void setEtbDFactor(float value);
void setEtbOffset(int value);
void setThrottleDutyCycle(percent_t level);
bool isETBRestartNeeded(void);
void stopETBPins(void);
void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE);
void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);
void unregisterEtbPins();

1
firmware/controllers/controllers.mk
View File

@ -14,6 +14,7 @@ CONTROLLERS_SRC_CPP = \
$(CONTROLLERS_DIR)/actuators/electronic_throttle.cpp \
$(CONTROLLERS_DIR)/actuators/alternator_controller.cpp \
$(CONTROLLERS_DIR)/actuators/boost_control.cpp \
$(CONTROLLERS_DIR)/actuators/dc_motors.cpp \
$(CONTROLLERS_DIR)/actuators/idle_thread.cpp \
$(CONTROLLERS_DIR)/actuators/pwm_tester.cpp \
$(CONTROLLERS_DIR)/actuators/algo/aux_pid.cpp \

14
firmware/hw_layer/hardware.cpp
View File

@ -33,7 +33,6 @@
//#include "usb_msd.h"
#include "AdcConfiguration.h"
#include "electronic_throttle.h"
#include "idle_thread.h"
#include "mcp3208.h"
#include "hip9011.h"
@ -310,13 +309,6 @@ void applyNewHardwareSettings(void) {
}
#endif
#if EFI_ELECTRONIC_THROTTLE_BODY
bool etbRestartNeeded = isETBRestartNeeded();
if (etbRestartNeeded) {
stopETBPins();
}
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
#if (BOARD_TLE6240_COUNT > 0)
stopSmartCsPins();
#endif /* (BOARD_MC33972_COUNT > 0) */
@ -383,12 +375,6 @@ void applyNewHardwareSettings(void) {
}
#endif
#if EFI_ELECTRONIC_THROTTLE_BODY
if (etbRestartNeeded) {
startETBPins(PASS_ENGINE_PARAMETER_SIGNATURE);
}
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
#if EFI_VEHICLE_SPEED
startVSSPins();
#endif /* EFI_VEHICLE_SPEED */

25
unit_tests/tests/test_etb.cpp
View File

@ -8,6 +8,8 @@
#include "engine_test_helper.h"
#include "electronic_throttle.h"
#include "dc_motor.h"
#include "engine_controller.h"
#include "tps.h"
class MockEtb : public IEtbController {
public:
@ -48,7 +50,7 @@ TEST(etb, singleEtbInitialization) {
engine->etbControllers[i] = &mocks[i];
}
engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_9;
engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_9;
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
@ -56,16 +58,31 @@ TEST(etb, singleEtbInitialization) {
ASSERT_EQ(1, mocks[0].initCount) << "1st init";
ASSERT_EQ(1, mocks[0].startCount);
// assert that 2nd ETB is initialized but not started
ASSERT_EQ(1, mocks[1].initCount) << "2nd init";
// assert that 2nd ETB is neither initialized nor started
ASSERT_EQ(0, mocks[1].initCount) << "2nd init";
ASSERT_EQ(0, mocks[1].startCount) << "2nd start";
// todo: set mock pedal position
// todo: set mock ETB throttle position
// todo: invoke EtbController#PeriodicTask a few times and assert that duty cycle changes
}
TEST(idle, testTargetTpsIsFloatBug945) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
setMockThrottlePedalSensorVoltage(3 PASS_ENGINE_PARAMETER_SUFFIX);
engine->etbControllers[0]->PeriodicTask();
ASSERT_NEAR(50, engine->engineState.targetFromTable, EPS4D);
setMockThrottlePedalSensorVoltage(3.05 PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_NEAR(50.8302, getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE), EPS4D);
engine->etbControllers[0]->PeriodicTask();
ASSERT_NEAR(50.8302, engine->engineState.targetFromTable, EPS4D);
setMockThrottlePedalSensorVoltage(3.1 PASS_ENGINE_PARAMETER_SUFFIX);
engine->etbControllers[0]->PeriodicTask();
ASSERT_NEAR(51.6605, engine->engineState.targetFromTable, EPS4D);
}

21
unit_tests/tests/test_idle_controller.cpp
View File

@ -127,24 +127,3 @@ TEST(idle, timingPid) {
ASSERT_FLOAT_EQ(-5.0f, corr) << "getAdvanceCorrections#7";
}
// not great that we are reusing shared instance. todo: move EtbController to Engine?
TEST(idle, testTargetTpsIsFloatBug945) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
setMockThrottlePedalSensorVoltage(3 PASS_ENGINE_PARAMETER_SUFFIX);
engine->etbControllers[0]->PeriodicTask();
ASSERT_NEAR(50, engine->engineState.targetFromTable, EPS4D);
setMockThrottlePedalSensorVoltage(3.05 PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_NEAR(50.8302, getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE), EPS4D);
engine->etbControllers[0]->PeriodicTask();
ASSERT_NEAR(50.8302, engine->engineState.targetFromTable, EPS4D);
setMockThrottlePedalSensorVoltage(3.1 PASS_ENGINE_PARAMETER_SUFFIX);
engine->etbControllers[0]->PeriodicTask();
ASSERT_NEAR(51.6605, engine->engineState.targetFromTable, EPS4D);
}