auto-sync

firmware/console/status_loop.cpp

@@ -261,7 +261,7 @@ static void printState(void) {
 	debugFloat(&logger, "fuel_base", baseFuel, 2);
 //	debugFloat(&logger, "fuel_iat", getIatCorrection(getIntakeAirTemperature()), 2);
 //	debugFloat(&logger, "fuel_clt", getCltCorrection(getCoolantTemperature()), 2);
-	debugFloat(&logger, "fuel_lag", engine->injectorLagMs, 2);
+	debugFloat(&logger, "fuel_lag", engine->engineState.injectorLag, 2);
 	debugFloat(&logger, "fuel", ENGINE(actualLastInjection), 2);
 
 	debugFloat(&logger, "timing", engine->engineState.timingAdvance, 2);
@@ -418,7 +418,7 @@ static void showFuelInfo2(float rpm, float engineLoad) {
 	if (engine->rpmCalculator.isRunning()) {
 		float iatCorrection = engine->engineState.iatFuelCorrection;
 		float cltCorrection = engine->engineState.cltFuelCorrection;
-		float injectorLag = engine->injectorLagMs;
+		floatms_t injectorLag = engine->engineState.injectorLag;
 		scheduleMsg(&logger2, "rpm=%f engineLoad=%f", rpm, engineLoad);
 		scheduleMsg(&logger2, "baseFuel=%f", baseFuelMs);
 
@@ -603,7 +603,7 @@ void updateTunerStudioState(TunerStudioOutputChannels *tsOutputChannels DECLARE_
 
 	tsOutputChannels->injectorDutyCycle = getInjectorDutyCycle(rpm PASS_ENGINE_PARAMETER);
 	tsOutputChannels->runningFuel = ENGINE(engineState.runningFuel);
-	tsOutputChannels->injectorLagMs = ENGINE(injectorLagMs);
+	tsOutputChannels->injectorLagMs = ENGINE(engineState.injectorLag);
 
 	if (engineConfiguration->debugMode == TPS_ACCEL) {
 		tsOutputChannels->debugIntField1 = engine->tpsAccelEnrichment.cb.getSize();

firmware/controllers/algo/engine.cpp

@@ -33,7 +33,6 @@ extern engine_pins_s enginePins;
 extern fuel_Map3D_t veMap;
 extern fuel_Map3D_t afrMap;
 
-
 EXTERN_ENGINE
 ;
 
@@ -74,7 +73,7 @@ void Engine::updateSlowSensors(DECLARE_ENGINE_PARAMETER_F) {
 	}
 	float vBatt = hasVBatt(PASS_ENGINE_PARAMETER_F) ? getVBatt(PASS_ENGINE_PARAMETER_F) : 12;
 
-	injectorLagMs = getInjectorLag(vBatt PASS_ENGINE_PARAMETER);
+	engineState.injectorLag = getInjectorLag(vBatt PASS_ENGINE_PARAMETER);
 }
 
 void Engine::onTriggerEvent(efitick_t nowNt) {
@@ -92,6 +91,7 @@ void Engine::addConfigurationListener(configuration_callback_t callback) {
 
 Engine::Engine(persistent_config_s *config) {
 	init(config);
+	engineState.warmupAfrPid.init(&config->engineConfiguration.warmupAfrPid, 0.1, 10);
 	isEngineChartEnabled = false;
 	sensorChartMode = SC_OFF;
 	/**
@@ -119,7 +119,7 @@ Engine::Engine(persistent_config_s *config) {
 
 
 	timeOfLastKnockEvent = 0;
-	injectorLagMs = fuelMs = 0;
+	fuelMs = 0;
 	clutchDownState = clutchUpState = false;
 	memset(&m, 0, sizeof(m));
 
@@ -129,6 +129,7 @@ Engine::Engine(persistent_config_s *config) {
 EngineState::EngineState() {
 	dwellAngle = 0;
 	engineNoiseHipLevel = 0;
+	injectorLag = 0;
 }
 
 void EngineState::periodicFastCallback(DECLARE_ENGINE_PARAMETER_F) {
@@ -138,7 +139,11 @@ void EngineState::periodicFastCallback(DECLARE_ENGINE_PARAMETER_F) {
 	dwellAngle = sparkDwell / getOneDegreeTimeMs(rpm);
 
 	iatFuelCorrection = getIatCorrection(iat PASS_ENGINE_PARAMETER);
+	if (boardConfiguration->useWarmupPidAfr && clt < 80) {
+
+	} else {
 		cltFuelCorrection = getCltCorrection(clt PASS_ENGINE_PARAMETER);
+	}
 
 	engineNoiseHipLevel = interpolate2d(rpm, engineConfiguration->knockNoiseRpmBins,
 					engineConfiguration->knockNoise, ENGINE_NOISE_CURVE_SIZE);

firmware/controllers/algo/engine.h

@@ -7,11 +7,11 @@
 #ifndef ENGINE_H_
 #define ENGINE_H_
 
+#include "global.h"
 #include "main.h"
+#include "pid.h"
 #include "engine_configuration.h"
 #include "rpm_calculator.h"
-
-#include "global.h"
 #include "engine_configuration.h"
 #include "event_registry.h"
 #include "trigger_structure.h"
@@ -102,9 +102,12 @@ public:
 	void periodicFastCallback(DECLARE_ENGINE_PARAMETER_F);
 
 	/**
-	 * WIP: accessing these values here would be a performance optimization since log() function needed for
+	 * Performance optimization:
-	 * thermistor logic is relatively heavy
+	 * log() function needed for thermistor logic is relatively heavy, to avoid it we have these
+	 * pre-calculated values
 	 * Access to these two fields is not synchronized in any way - that should work since float read/write are atomic.
+	 *
+	 * values are in Celsius
 	 */
 	float iat;
 	float clt;
@@ -139,7 +142,15 @@ public:
 	// fuel-related;
 	float iatFuelCorrection;
 	float cltFuelCorrection;
-	float injectorLag;
+	/**
+	 * Global injector lag + injectorLag(VBatt)
+	 *
+	 * this value depends on a slow-changing VBatt value, so
+	 * we update it once in a while
+	 */
+	floatms_t injectorLag;
+
+	Pid warmupAfrPid;
 
 	float baroCorrection;
 
@@ -329,13 +340,6 @@ public:
 	EngineState engineState;
 	efitick_t lastTriggerEventTimeNt;
 
-	/**
-	 * Global injector lag + injectorLag(VBatt)
-	 *
-	 * this value depends on a slow-changing VBatt value, so
-	 * we update it once in a while
-	 */
-	float injectorLagMs;
 
 	/**
 	 * This coefficient translates ADC value directly into voltage adjusted according to

firmware/controllers/algo/fuel_math.cpp

@@ -128,7 +128,7 @@ floatms_t getFuelMs(int rpm DECLARE_ENGINE_PARAMETER_S) {
 		theoreticalInjectionLength = fuelPerCycle
 				/ getNumberOfInjections(engineConfiguration->injectionMode PASS_ENGINE_PARAMETER);
 	}
-	return theoreticalInjectionLength + ENGINE(injectorLagMs);
+	return theoreticalInjectionLength + ENGINE(engineState.injectorLag);
 }
 
 floatms_t getRunningFuel(floatms_t baseFuel, int rpm DECLARE_ENGINE_PARAMETER_S) {

firmware/controllers/alternatorController.cpp

@@ -72,12 +72,7 @@ static msg_t AltCtrlThread(int param) {
 #if ! EFI_UNIT_TEST || defined(__DOXYGEN__)
 		if (engineConfiguration->debugMode == ALTERNATOR) {
 			tsOutputChannels.debugFloatField1 = currentAltDuty;
-			tsOutputChannels.debugFloatField2 = altPid.getIntegration();
+			altPid.postState(&tsOutputChannels);
-			tsOutputChannels.debugFloatField3 = altPid.getPrevError();
-			tsOutputChannels.debugFloatField4 = altPid.getI();
-			tsOutputChannels.debugFloatField5 = altPid.getD();
-			tsOutputChannels.debugIntField1 = altPid.getP();
-			tsOutputChannels.debugIntField2 = engineConfiguration->alternatorControl.offset;
 		}
 #endif
 

firmware/controllers/math/pid.cpp

@@ -8,8 +8,17 @@
  */
 
 #include "pid.h"
+#include "math.h"
+
+Pid::Pid() {
+    init(NULL, NAN, NAN);
+}
 
 Pid::Pid(pid_s *pid, float minResult, float maxResult) {
+	init(pid, minResult, maxResult);
+}
+
+void Pid::init(pid_s *pid, float minResult, float maxResult) {
 	this->pid = pid;
 	this->minResult = minResult;
 	this->maxResult = maxResult;
@@ -70,4 +79,17 @@ float Pid::getD(void) {
 	return pid->dFactor;
 }
 
+float Pid::getOffset(void) {
+	return pid->offset;
+}
 
+#if EFI_PROD_CODE || EFI_SIMULATOR
+void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
+	tsOutputChannels->debugFloatField2 = getIntegration();
+	tsOutputChannels->debugFloatField3 = getPrevError();
+	tsOutputChannels->debugFloatField4 = getI();
+	tsOutputChannels->debugFloatField5 = getD();
+	tsOutputChannels->debugIntField1 = getP();
+	tsOutputChannels->debugIntField2 = getOffset();
+}
+#endif

firmware/controllers/math/pid.h

@@ -8,20 +8,31 @@
 #ifndef PID_H_
 #define PID_H_
 
+#include "global.h"
 #include "engine_configuration_generated_structures.h"
+#if EFI_PROD_CODE || EFI_SIMULATOR
+#include "tunerstudio_configuration.h"
+#endif
 
 class Pid {
 
 public:
+	Pid();
 	Pid(pid_s *pid, float minResult, float maxResult);
+	void init(pid_s *pid, float minResult, float maxResult);
+
 	float getValue(float target, float input, float dTime);
 	void updateFactors(float pFactor, float iFactor, float dFactor);
 	void reset(void);
 	float getP(void);
 	float getI(void);
 	float getD(void);
+	float getOffset(void);
 	float getIntegration(void);
 	float getPrevError(void);
+#if EFI_PROD_CODE || EFI_SIMULATOR
+	void postState(TunerStudioOutputChannels *tsOutputChannels);
+#endif
 private:
 	pid_s *pid;
 	float minResult;