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live data for wastegate #3588 

i want to persist state so no 'const' sorry
This commit is contained in:
rusefillc 2021-11-23 15:52:43 -05:00
parent ca1e420073
commit c75291f415
12 changed files with 37 additions and 30 deletions
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23
firmware/controllers/actuators/boost_control.cpp
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@ -40,18 +40,20 @@ expected<float> BoostController::observePlant() const {
return Sensor::get(SensorType::Map); return Sensor::get(SensorType::Map);
} }
expected<float> BoostController::getSetpoint() const { expected<float> BoostController::getSetpoint() {
// If we're in open loop only mode, disregard any target computation. // If we're in open loop only mode, disregard any target computation.
// Open loop needs to work even in case of invalid closed loop config // Open loop needs to work even in case of invalid closed loop config
if (engineConfiguration->boostType != CLOSED_LOOP) { if (engineConfiguration->boostType != CLOSED_LOOP) {
return 0; closedLoopPart = 0;
return closedLoopPart;
} }
float rpm = GET_RPM(); float rpm = GET_RPM();
auto tps = Sensor::get(SensorType::DriverThrottleIntent); auto tps = Sensor::get(SensorType::DriverThrottleIntent);
isTpsValid = tps.Valid;
if (!tps) { if (!isTpsValid) {
return unexpected; return unexpected;
} }
@ -62,14 +64,16 @@ expected<float> BoostController::getSetpoint() const {
return m_closedLoopTargetMap->getValue(rpm / RPM_1_BYTE_PACKING_MULT, tps.Value / TPS_1_BYTE_PACKING_MULT); return m_closedLoopTargetMap->getValue(rpm / RPM_1_BYTE_PACKING_MULT, tps.Value / TPS_1_BYTE_PACKING_MULT);
} }
expected<percent_t> BoostController::getOpenLoop(float target) const { expected<percent_t> BoostController::getOpenLoop(float target) {
// Boost control open loop doesn't care about target - only TPS/RPM // Boost control open loop doesn't care about target - only TPS/RPM
UNUSED(target); UNUSED(target);
float rpm = GET_RPM(); float rpm = GET_RPM();
auto tps = Sensor::get(SensorType::DriverThrottleIntent); auto tps = Sensor::get(SensorType::DriverThrottleIntent);
if (!tps) { isTpsValid = tps.Valid;
if (!isTpsValid) {
return unexpected; return unexpected;
} }
@ -106,13 +110,16 @@ percent_t BoostController::getClosedLoopImpl(float target, float manifoldPressur
return 0; return 0;
} }
if (manifoldPressure < engineConfiguration->minimumBoostClosedLoopMap) { isBelowClosedLoopThreshold = manifoldPressure < engineConfiguration->minimumBoostClosedLoopMap;
if (isBelowClosedLoopThreshold) {
// We're below the CL threshold, inhibit CL for now // We're below the CL threshold, inhibit CL for now
m_pid.reset(); m_pid.reset();
return 0; closedLoopPart = 0;
return closedLoopPart;
} }
return m_pid.getOutput(target, manifoldPressure, SLOW_CALLBACK_PERIOD_MS / 1000.0f); closedLoopPart = m_pid.getOutput(target, manifoldPressure, SLOW_CALLBACK_PERIOD_MS / 1000.0f);
return closedLoopPart;
} }
expected<percent_t> BoostController::getClosedLoop(float target, float manifoldPressure) { expected<percent_t> BoostController::getClosedLoop(float target, float manifoldPressure) {

8
firmware/controllers/actuators/boost_control.h
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@ -9,10 +9,11 @@
#include "periodic_task.h" #include "periodic_task.h"
#include "closed_loop_controller.h" #include "closed_loop_controller.h"
#include "pid.h" #include "pid.h"
#include "boost_control_generated.h"
struct IPwm; struct IPwm;
class BoostController : public ClosedLoopController<float, percent_t> { class BoostController : public boost_control_s, public ClosedLoopController<float, percent_t> {
public: public:
void init(IPwm* pmw, const ValueProvider3D* openLoopMap, const ValueProvider3D* closedLoopTargetMap, pid_s* pidParams); void init(IPwm* pmw, const ValueProvider3D* openLoopMap, const ValueProvider3D* closedLoopTargetMap, pid_s* pidParams);
void update(); void update();
@ -23,9 +24,9 @@ public:
// Helpers for individual parts of boost control // Helpers for individual parts of boost control
expected<float> observePlant() const override; expected<float> observePlant() const override;
expected<float> getSetpoint() const override; expected<float> getSetpoint() override;
expected<percent_t> getOpenLoop(float target) const override; expected<percent_t> getOpenLoop(float target) override;
expected<percent_t> getClosedLoop(float target, float manifoldPressure) override; expected<percent_t> getClosedLoop(float target, float manifoldPressure) override;
void setOutput(expected<percent_t> outputValue) override; void setOutput(expected<percent_t> outputValue) override;
@ -33,7 +34,6 @@ public:
private: private:
percent_t getClosedLoopImpl(float target, float manifoldPressure); percent_t getClosedLoopImpl(float target, float manifoldPressure);
bool m_shouldResetPid = false;
Pid m_pid; Pid m_pid;
const ValueProvider3D* m_openLoopMap = nullptr; const ValueProvider3D* m_openLoopMap = nullptr;

4
firmware/controllers/actuators/electronic_throttle.cpp
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@ -248,7 +248,7 @@ void EtbController::setWastegatePosition(percent_t pos) {
m_wastegatePosition = pos; m_wastegatePosition = pos;
} }
expected<percent_t> EtbController::getSetpoint() const { expected<percent_t> EtbController::getSetpoint() {
switch (m_function) { switch (m_function) {
case ETB_Throttle1: case ETB_Throttle1:
case ETB_Throttle2: case ETB_Throttle2:
@ -342,7 +342,7 @@ expected<percent_t> EtbController::getSetpointEtb() const {
return clampF(1, targetPosition, maxPosition); return clampF(1, targetPosition, maxPosition);
} }
expected<percent_t> EtbController::getOpenLoop(percent_t target) const { expected<percent_t> EtbController::getOpenLoop(percent_t target) {
float ff = 0; float ff = 0;
// Don't apply open loop for wastegate/idle valve, only real ETB // Don't apply open loop for wastegate/idle valve, only real ETB

4
firmware/controllers/actuators/electronic_throttle_impl.h
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@ -43,12 +43,12 @@ public:
// Helpers for individual parts of throttle control // Helpers for individual parts of throttle control
expected<percent_t> observePlant() const override; expected<percent_t> observePlant() const override;
expected<percent_t> getSetpoint() const override; expected<percent_t> getSetpoint() override;
expected<percent_t> getSetpointEtb() const; expected<percent_t> getSetpointEtb() const;
expected<percent_t> getSetpointWastegate() const; expected<percent_t> getSetpointWastegate() const;
expected<percent_t> getSetpointIdleValve() const; expected<percent_t> getSetpointIdleValve() const;
expected<percent_t> getOpenLoop(percent_t target) const override; expected<percent_t> getOpenLoop(percent_t target) override;
expected<percent_t> getClosedLoop(percent_t setpoint, percent_t observation) override; expected<percent_t> getClosedLoop(percent_t setpoint, percent_t observation) override;
expected<percent_t> getClosedLoopAutotune(percent_t setpoint, percent_t actualThrottlePosition); expected<percent_t> getClosedLoopAutotune(percent_t setpoint, percent_t actualThrottlePosition);

2
firmware/controllers/actuators/idle_thread.cpp
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@ -216,7 +216,7 @@ float IdleController::getRunningOpenLoop(float clt, SensorResult tps) const {
return clampF(0, running, 100); return clampF(0, running, 100);
} }
float IdleController::getOpenLoop(Phase phase, float clt, SensorResult tps, float crankingTaperFraction) const { float IdleController::getOpenLoop(Phase phase, float clt, SensorResult tps, float crankingTaperFraction) {
float cranking = getCrankingOpenLoop(clt); float cranking = getCrankingOpenLoop(clt);
// if we're cranking, nothing more to do. // if we're cranking, nothing more to do.

4
firmware/controllers/actuators/idle_thread.h
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@ -26,7 +26,7 @@ struct IIdleController {
virtual int getTargetRpm(float clt) const = 0; virtual int getTargetRpm(float clt) const = 0;
virtual float getCrankingOpenLoop(float clt) const = 0; virtual float getCrankingOpenLoop(float clt) const = 0;
virtual float getRunningOpenLoop(float clt, SensorResult tps) const = 0; virtual float getRunningOpenLoop(float clt, SensorResult tps) const = 0;
virtual float getOpenLoop(Phase phase, float clt, SensorResult tps, float crankingTaperFraction) const = 0; virtual float getOpenLoop(Phase phase, float clt, SensorResult tps, float crankingTaperFraction) = 0;
virtual float getClosedLoop(Phase phase, float tps, int rpm, int target) = 0; virtual float getClosedLoop(Phase phase, float tps, int rpm, int target) = 0;
virtual float getCrankingTaperFraction() const = 0; virtual float getCrankingTaperFraction() const = 0;
}; };
@ -49,7 +49,7 @@ public:
// OPEN LOOP CORRECTIONS // OPEN LOOP CORRECTIONS
float getCrankingOpenLoop(float clt) const override; float getCrankingOpenLoop(float clt) const override;
float getRunningOpenLoop(float clt, SensorResult tps) const override; float getRunningOpenLoop(float clt, SensorResult tps) const override;
float getOpenLoop(Phase phase, float clt, SensorResult tps, float crankingTaperFraction) const override; float getOpenLoop(Phase phase, float clt, SensorResult tps, float crankingTaperFraction) override;
float getIdleTimingAdjustment(int rpm); float getIdleTimingAdjustment(int rpm);
float getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase); float getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase);

4
firmware/controllers/actuators/vvt.cpp
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@ -49,7 +49,7 @@ expected<angle_t> VvtController::observePlant() const {
return engine->triggerCentral.getVVTPosition(m_bank, m_cam); return engine->triggerCentral.getVVTPosition(m_bank, m_cam);
} }
expected<angle_t> VvtController::getSetpoint() const { expected<angle_t> VvtController::getSetpoint() {
int rpm = GET_RPM(); int rpm = GET_RPM();
float load = getFuelingLoad(); float load = getFuelingLoad();
float target = m_targetMap->getValue(rpm, load); float target = m_targetMap->getValue(rpm, load);
@ -61,7 +61,7 @@ expected<angle_t> VvtController::getSetpoint() const {
return target; return target;
} }
expected<percent_t> VvtController::getOpenLoop(angle_t target) const { expected<percent_t> VvtController::getOpenLoop(angle_t target) {
// TODO: could we do VVT open loop? // TODO: could we do VVT open loop?
UNUSED(target); UNUSED(target);
return 0; return 0;

4
firmware/controllers/actuators/vvt.h
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@ -29,8 +29,8 @@ public:
// ClosedLoopController implementation // ClosedLoopController implementation
expected<angle_t> observePlant() const override; expected<angle_t> observePlant() const override;
expected<angle_t> getSetpoint() const override; expected<angle_t> getSetpoint() override;
expected<percent_t> getOpenLoop(angle_t target) const override; expected<percent_t> getOpenLoop(angle_t target) override;
expected<percent_t> getClosedLoop(angle_t setpoint, angle_t observation) override; expected<percent_t> getClosedLoop(angle_t setpoint, angle_t observation) override;
void setOutput(expected<percent_t> outputValue) override; void setOutput(expected<percent_t> outputValue) override;

4
firmware/controllers/closed_loop_controller.h
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@ -44,13 +44,13 @@ private:
} }
// Get the setpoint: where should the controller put the plant? // Get the setpoint: where should the controller put the plant?
virtual expected<TInput> getSetpoint() const = 0; virtual expected<TInput> getSetpoint() = 0;
// Get the current observation: what is the current state of the world? // Get the current observation: what is the current state of the world?
virtual expected<TInput> observePlant() const = 0; virtual expected<TInput> observePlant() const = 0;
// Get the open-loop output: output state based on only the setpoint // Get the open-loop output: output state based on only the setpoint
virtual expected<TOutput> getOpenLoop(TInput setpoint) const = 0; virtual expected<TOutput> getOpenLoop(TInput setpoint) = 0;
// Get the closed-loop output: output state based on setpoint and observation // Get the closed-loop output: output state based on setpoint and observation
virtual expected<TOutput> getClosedLoop(TInput setpoint, TInput observation) = 0; virtual expected<TOutput> getClosedLoop(TInput setpoint, TInput observation) = 0;

4
unit_tests/mocks.h
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@ -26,9 +26,9 @@ public:
MOCK_METHOD(const pid_state_s*, getPidState, (), (const, override)); MOCK_METHOD(const pid_state_s*, getPidState, (), (const, override));
// ClosedLoopController mocks // ClosedLoopController mocks
MOCK_METHOD(expected<percent_t>, getSetpoint, (), (const, override)); MOCK_METHOD(expected<percent_t>, getSetpoint, (), (override));
MOCK_METHOD(expected<percent_t>, observePlant, (), (const, override)); MOCK_METHOD(expected<percent_t>, observePlant, (), (const, override));
MOCK_METHOD(expected<percent_t>, getOpenLoop, (percent_t setpoint), (const, override)); MOCK_METHOD(expected<percent_t>, getOpenLoop, (percent_t setpoint), (override));
MOCK_METHOD(expected<percent_t>, getClosedLoop, (percent_t setpoint, percent_t observation), (override)); MOCK_METHOD(expected<percent_t>, getClosedLoop, (percent_t setpoint, percent_t observation), (override));
MOCK_METHOD(void, setOutput, (expected<percent_t> outputValue), (override)); MOCK_METHOD(void, setOutput, (expected<percent_t> outputValue), (override));
}; };

2
unit_tests/tests/test_idle_controller.cpp
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@ -354,7 +354,7 @@ TEST(idle_v2, closedLoopDeadzone) {
struct IntegrationIdleMock : public IdleController { struct IntegrationIdleMock : public IdleController {
MOCK_METHOD(int, getTargetRpm, (float clt), (const, override)); MOCK_METHOD(int, getTargetRpm, (float clt), (const, override));
MOCK_METHOD(ICP, determinePhase, (int rpm, int targetRpm, SensorResult tps, float vss, float crankingTaperFraction), (const, override)); MOCK_METHOD(ICP, determinePhase, (int rpm, int targetRpm, SensorResult tps, float vss, float crankingTaperFraction), (const, override));
MOCK_METHOD(float, getOpenLoop, (ICP phase, float clt, SensorResult tps, float crankingTaperFraction), (const, override)); MOCK_METHOD(float, getOpenLoop, (ICP phase, float clt, SensorResult tps, float crankingTaperFraction), (override));
MOCK_METHOD(float, getClosedLoop, (ICP phase, float tps, int rpm, int target), (override)); MOCK_METHOD(float, getClosedLoop, (ICP phase, float tps, int rpm, int target), (override));
MOCK_METHOD(float, getCrankingTaperFraction, (), (const, override)); MOCK_METHOD(float, getCrankingTaperFraction, (), (const, override));
}; };

4
unit_tests/tests/util/test_closed_loop_controller.cpp
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@ -9,9 +9,9 @@ using ::testing::Eq;
class TestController : public ClosedLoopController<float, float> { class TestController : public ClosedLoopController<float, float> {
public: public:
MOCK_METHOD(expected<float>, getSetpoint, (), (const, override)); MOCK_METHOD(expected<float>, getSetpoint, (), (override));
MOCK_METHOD(expected<float>, observePlant, (), (const, override)); MOCK_METHOD(expected<float>, observePlant, (), (const, override));
MOCK_METHOD(expected<float>, getOpenLoop, (float setpoint), (const, override)); MOCK_METHOD(expected<float>, getOpenLoop, (float setpoint), (override));
MOCK_METHOD(expected<float>, getClosedLoop, (float setpoint, float observation), (override)); MOCK_METHOD(expected<float>, getClosedLoop, (float setpoint, float observation), (override));
MOCK_METHOD(void, setOutput, (expected<float> outputValue), (override)); MOCK_METHOD(void, setOutput, (expected<float> outputValue), (override));
}; };