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ETB: TPS should be f(RPM, pedal) - target table fix #835

This commit is contained in:
rusefi 2019-06-15 14:33:41 -04:00
parent 244b66b0ae
commit 995cf20b4b
3 changed files with 77 additions and 63 deletions
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17
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -95,6 +95,7 @@ static Pid tuneWorkingPid(&tuneWorkingPidSettings);
static PID_AutoTune autoTune;
static LoggingWithStorage logger("ETB");
static pedal2tps_t pedal2tpsMap("Pedal2Tps", 1);
EXTERN_ENGINE;
@ -226,7 +227,18 @@ private:
}
percent_t targetPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE) + engine->engineState.etbIdleAddition;
percent_t pedalPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
int rpm = GET_RPM();
float targetFromTable = pedal2tpsMap.getValue(0/*rpm / RPM_1_BYTE_PACKING_MULT*/, 0/*pedalPosition*/);
percent_t targetPosition = targetFromTable + engine->engineState.etbIdleAddition;
if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
#if EFI_TUNER_STUDIO
tsOutputChannels.debugFloatField1 = targetFromTable;
tsOutputChannels.debugFloatField2 = engine->engineState.etbIdleAddition;
#endif /* EFI_TUNER_STUDIO */
}
feedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues, ETB_BIAS_CURVE_LENGTH);
@ -334,7 +346,7 @@ void setEtbOffset(int value) {
void setDefaultEtbParameters(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
CONFIG(etbIdleThrottleRange) = 5;
setLinearCurveAny<int8_t>(config->pedalToTpsPedalBins, PEDAL_TO_TPS_SIZE, /*from*/0, /*to*/100, 1);
setLinearCurveAny<uint8_t>(config->pedalToTpsPedalBins, PEDAL_TO_TPS_SIZE, /*from*/0, /*to*/100, 1);
setLinearCurveAny<uint8_t>(config->pedalToTpsRpmBins, PEDAL_TO_TPS_SIZE, /*from*/0, /*to*/8000 / RPM_1_BYTE_PACKING_MULT, 1);
for (int pedalIndex = 0;pedalIndex<PEDAL_TO_TPS_SIZE;pedalIndex++) {
@ -452,6 +464,7 @@ void unregisterEtbPins() {
void initElectronicThrottle(void) {
addConsoleAction("ethinfo", showEthInfo);
addConsoleAction("etbreset", etbReset);
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
if (!hasPedalPositionSensor()) {
return;
}

58
firmware/util/math/interpolation.cpp
View File

@ -173,64 +173,6 @@ void ensureArrayIsAscending(const char *msg, const float array[], int size) {
}
}
/** @brief Binary search
* @returns the highest index within sorted array such that array[i] is greater than or equal to the parameter
* @note If the parameter is smaller than the first element of the array, -1 is returned.
*
* See also ensureArrayIsAscending
*/
int findIndexMsg(const char *msg, const float array[], int size, float value) {
if (cisnan(value)) {
firmwareError(ERROR_NAN_FIND_INDEX, "NaN in findIndex%s", msg);
return 0;
}
if (value < array[0])
return -1;
int middle;
int left = 0;
int right = size;
// todo: extract binary search as template method?
while (true) {
#if 0
// that's an assertion to make sure we do not loop here
size--;
efiAssert(CUSTOM_ERR_ASSERT, size > 0, "Unexpected state in binary search", 0);
#endif
// todo: compare current implementation with
// http://eigenjoy.com/2011/01/21/worlds-fastest-binary-search/
// ?
middle = (left + right) / 2;
// print("left=%d middle=%d right=%d: %.2f\r\n", left, middle, right, array[middle]);
if (middle == left)
break;
if (middle != 0 && array[middle - 1] > array[middle]) {
#if EFI_UNIT_TEST
firmwareError(CUSTOM_ERR_6610, "%s: out of order %.2f %.2f", msg, array[middle - 1], array[middle]);
#else
warning(CUSTOM_ERR_OUT_OF_ORDER, "%s: out of order %.2f %.2f", msg, array[middle - 1], array[middle]);
#endif /* EFI_UNIT_TEST */
}
if (value < array[middle]) {
right = middle;
} else if (value > array[middle]) {
left = middle;
} else {
break;
}
}
return middle;
}
int findIndex(const float array[], int size, float value) {
return findIndexMsg("", array, size, value);
}

65
firmware/util/math/interpolation.h
View File

@ -21,7 +21,7 @@
#define INTERPOLATION_A(x1, y1, x2, y2) ((y1 - y2) / (x1 - x2))
int findIndex(const float array[], int size, float value);
int findIndexMsg(const char *msg, const float array[], int size, float value);
#define findIndexMsg(msg, array, size, value) findIndexMsgExt<float>(msg, array, size, value)
void ensureArrayIsAscending(const char *msg, const float array[], int size);
int findIndex2(const float array[], unsigned size, float value);
float interpolateClamped(float x1, float y1, float x2, float y2, float x);
@ -30,6 +30,65 @@ float interpolate2d(const char *msg, float value, const float bin[], const float
int needInterpolationLogging(void);
/** @brief Binary search
* @returns the highest index within sorted array such that array[i] is greater than or equal to the parameter
* @note If the parameter is smaller than the first element of the array, -1 is returned.
*
* See also ensureArrayIsAscending
*/
template<typename kType>
int findIndexMsgExt(const char *msg, const kType array[], int size, kType value) {
if (cisnan(value)) {
firmwareError(ERROR_NAN_FIND_INDEX, "NaN in findIndex%s", msg);
return 0;
}
if (value < array[0])
return -1;
int middle;
int left = 0;
int right = size;
// todo: extract binary search as template method?
while (true) {
#if 0
// that's an assertion to make sure we do not loop here
size--;
efiAssert(CUSTOM_ERR_ASSERT, size > 0, "Unexpected state in binary search", 0);
#endif
// todo: compare current implementation with
// http://eigenjoy.com/2011/01/21/worlds-fastest-binary-search/
// ?
middle = (left + right) / 2;
// print("left=%d middle=%d right=%d: %.2f\r\n", left, middle, right, array[middle]);
if (middle == left)
break;
if (middle != 0 && array[middle - 1] > array[middle]) {
#if EFI_UNIT_TEST
firmwareError(CUSTOM_ERR_6610, "%s: out of order %.2f %.2f", msg, array[middle - 1], array[middle]);
#else
warning(CUSTOM_ERR_OUT_OF_ORDER, "%s: out of order %.2f %.2f", msg, array[middle - 1], array[middle]);
#endif /* EFI_UNIT_TEST */
}
if (value < array[middle]) {
right = middle;
} else if (value > array[middle]) {
left = middle;
} else {
break;
}
}
return middle;
}
/**
* @brief Two-dimensional table lookup with linear interpolation
*/
@ -44,12 +103,12 @@ float interpolate3d(float x, const kType xBin[], int xBinSize, float y, const kT
return NAN;
}
int xIndex = findIndexMsg("x", xBin, xBinSize, x);
int xIndex = findIndexMsgExt<kType>("x", xBin, xBinSize, x);
#if DEBUG_INTERPOLATION
if (needInterpolationLogging())
printf("X index=%d\r\n", xIndex);
#endif /* DEBUG_INTERPOLATION */
int yIndex = findIndexMsg("y", yBin, yBinSize, y);
int yIndex = findIndexMsgExt<kType>("y", yBin, yBinSize, y);
if (xIndex < 0 && yIndex < 0) {
#if DEBUG_INTERPOLATION
if (needInterpolationLogging())