340 lines
11 KiB
C++
340 lines
11 KiB
C++
/**
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* @file idle_thread.cpp
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* @brief Idle Air Control valve thread.
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*
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* This thread looks at current RPM and decides if it should increase or decrease IAC duty cycle.
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* This file is has the hardware & scheduling logic, desired idle level lives separately
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*
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*
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* @date May 23, 2013
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* @author Andrey Belomutskiy, (c) 2012-2017
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*
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* This file is part of rusEfi - see http://rusefi.com
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*
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* rusEfi is free software; you can redistribute it and/or modify it under the terms of
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* the GNU General Public License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
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* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with this program.
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* If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "main.h"
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#include "idle_controller.h"
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#include "rpm_calculator.h"
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#include "pwm_generator.h"
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#include "idle_thread.h"
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#include "pin_repository.h"
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#include "engine_configuration.h"
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#include "engine.h"
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#include "stepper.h"
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#if EFI_IDLE_CONTROL || defined(__DOXYGEN__)
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static THD_WORKING_AREA(ivThreadStack, UTILITY_THREAD_STACK_SIZE);
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static Logging *logger;
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extern TunerStudioOutputChannels tsOutputChannels;
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EXTERN_ENGINE
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;
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// todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
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static SimplePwm idleSolenoid;
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static StepperMotor iacMotor;
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/**
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* that's the position with CLT and IAT corrections
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*/
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static float actualIdlePosition = -100.0f;
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/**
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* Idle level calculation algorithm lives in idle_controller.cpp
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* todo: replace this with a PID regulator?
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*/
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static IdleValveState idlePositionController;
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void idleDebug(const char *msg, percent_t value) {
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scheduleMsg(logger, "idle debug: %s%f", msg, value);
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}
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static void showIdleInfo(void) {
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scheduleMsg(logger, "idleMode=%s position=%f isStepper=%s", getIdle_mode_e(engineConfiguration->idleMode),
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getIdlePosition(), boolToString(boardConfiguration->useStepperIdle));
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if (boardConfiguration->useStepperIdle) {
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scheduleMsg(logger, "direction=%s reactionTime=%f", hwPortname(boardConfiguration->idle.stepperDirectionPin),
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engineConfiguration->idleStepperReactionTime);
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scheduleMsg(logger, "step=%s steps=%d", hwPortname(boardConfiguration->idle.stepperStepPin),
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engineConfiguration->idleStepperTotalSteps);
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scheduleMsg(logger, "enable=%s", hwPortname(engineConfiguration->stepperEnablePin));
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} else {
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scheduleMsg(logger, "idle valve freq=%d on %s", boardConfiguration->idle.solenoidFrequency,
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hwPortname(boardConfiguration->idle.solenoidPin));
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}
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scheduleMsg(logger, "idleControl=%s", getIdle_control_e(engineConfiguration->idleControl));
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scheduleMsg(logger, "idle P=%f I=%f D=%f dT=%d", engineConfiguration->idleRpmPid.pFactor,
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engineConfiguration->idleRpmPid.iFactor,
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engineConfiguration->idleRpmPid.dFactor,
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engineConfiguration->idleDT);
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}
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static void setIdleControlEnabled(int value) {
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engineConfiguration->idleMode = value ? IM_AUTO : IM_MANUAL;
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showIdleInfo();
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}
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static void setIdleValvePwm(percent_t value) {
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/**
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* currently idle level is an percent value (0-100 range), and PWM takes a float in the 0..1 range
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* todo: unify?
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*/
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idleSolenoid.setSimplePwmDutyCycle(value / 100);
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}
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static void manualIdleController(int positionPercent) {
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// todo: this is not great that we have to write into configuration here
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boardConfiguration->manIdlePosition = positionPercent;
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if (isCranking()) {
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positionPercent += engineConfiguration->crankingIdleAdjustment;
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}
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percent_t cltCorrectedPosition = interpolate2d(engine->engineState.clt, config->cltIdleCorrBins, config->cltIdleCorr,
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CLT_CURVE_SIZE) / PERCENT_MULT * positionPercent;
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// let's put the value into the right range
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cltCorrectedPosition = maxF(cltCorrectedPosition, 0.01);
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cltCorrectedPosition = minF(cltCorrectedPosition, 99.9);
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if (engineConfiguration->debugMode == IDLE) {
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tsOutputChannels.debugFloatField1 = actualIdlePosition;
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}
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if (absF(cltCorrectedPosition - actualIdlePosition) < 1) {
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return; // value is pretty close, let's leave the poor valve alone
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}
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actualIdlePosition = cltCorrectedPosition;
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if (boardConfiguration->useStepperIdle) {
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iacMotor.setTargetPosition(cltCorrectedPosition / 100 * engineConfiguration->idleStepperTotalSteps);
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} else {
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setIdleValvePwm(cltCorrectedPosition);
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}
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}
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static void setIdleValvePosition(int positionPercent) {
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if (positionPercent < 1 || positionPercent > 99)
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return;
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scheduleMsg(logger, "setting idle valve position %d", positionPercent);
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showIdleInfo();
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manualIdleController(positionPercent);
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}
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static int idlePositionBeforeBlip;
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static efitimeus_t timeToStopBlip = 0;
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static efitimeus_t timeToStopIdleTest = 0;
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/**
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* I use this questionable feature to tune acceleration enrichment
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*/
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static void blipIdle(int idlePosition, int durationMs) {
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// todo: add 'blip' feature for automatic target control
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if (timeToStopBlip != 0) {
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return; // already in idle blip
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}
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idlePositionBeforeBlip = boardConfiguration->manIdlePosition;
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setIdleValvePosition(idlePosition);
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timeToStopBlip = getTimeNowUs() + 1000 * durationMs;
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}
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static void finishIdleTestIfNeeded() {
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if (timeToStopIdleTest != 0 && getTimeNowUs() > timeToStopIdleTest)
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timeToStopIdleTest = 0;
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}
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static void undoIdleBlipIfNeeded() {
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if (timeToStopBlip != 0 && getTimeNowUs() > timeToStopBlip) {
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timeToStopBlip = 0;
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setIdleValvePosition(idlePositionBeforeBlip);
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}
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}
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static percent_t currentIdleValve = -1;
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percent_t getIdlePosition(void) {
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if (engineConfiguration->idleMode == IM_AUTO) {
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return currentIdleValve;
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} else {
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return boardConfiguration->manIdlePosition;
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}
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}
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static void autoIdle() {
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efitimems_t now = currentTimeMillis();
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percent_t newValue = idlePositionController.getIdle(getRpmE(engine), now PASS_ENGINE_PARAMETER);
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if (currentIdleValve != newValue) {
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currentIdleValve = newValue;
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// todo: looks like in auto mode stepper value is not set, only solenoid?
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setIdleValvePwm(newValue);
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}
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}
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static msg_t ivThread(int param) {
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(void) param;
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chRegSetThreadName("IdleValve");
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while (true) {
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chThdSleepMilliseconds(boardConfiguration->idleThreadPeriod);
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// this value is not used yet
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if (boardConfiguration->clutchDownPin != GPIO_UNASSIGNED) {
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engine->clutchDownState = palReadPad(getHwPort(boardConfiguration->clutchDownPin),
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getHwPin(boardConfiguration->clutchDownPin));
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}
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if (boardConfiguration->clutchUpPin != GPIO_UNASSIGNED) {
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engine->clutchUpState = palReadPad(getHwPort(boardConfiguration->clutchUpPin),
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getHwPin(boardConfiguration->clutchUpPin));
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}
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finishIdleTestIfNeeded();
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undoIdleBlipIfNeeded();
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if (engineConfiguration->idleMode == IM_MANUAL) {
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// let's re-apply CLT correction
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manualIdleController(boardConfiguration->manIdlePosition);
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} else {
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autoIdle();
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}
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}
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#if defined __GNUC__
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return -1;
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#endif
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}
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static void setTargetRpm(int value) {
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idlePositionController.setTargetRpm(value);
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scheduleMsg(logger, "target idle RPM %d", value);
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}
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static void apply(void) {
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// idleMath.updateFactors(engineConfiguration->idlePFactor, engineConfiguration->idleIFactor, engineConfiguration->idleDFactor, engineConfiguration->idleDT);
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}
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static void setIdlePFactor(float value) {
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engineConfiguration->idleRpmPid.pFactor = value;
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apply();
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showIdleInfo();
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}
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static void setIdleIFactor(float value) {
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engineConfiguration->idleRpmPid.iFactor = value;
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apply();
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showIdleInfo();
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}
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static void setIdleDFactor(float value) {
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engineConfiguration->idleRpmPid.dFactor = value;
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apply();
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showIdleInfo();
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}
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static void setIdleDT(int value) {
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engineConfiguration->idleDT = value;
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apply();
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showIdleInfo();
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}
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void startIdleBench(void) {
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timeToStopIdleTest = getTimeNowUs() + MS2US(3000); // 3 seconds
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scheduleMsg(logger, "idle valve bench test");
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showIdleInfo();
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}
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void setDefaultIdleParameters(void) {
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engineConfiguration->idleRpmPid.pFactor = 0.1f;
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engineConfiguration->idleRpmPid.iFactor = 0.05f;
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engineConfiguration->idleRpmPid.dFactor = 0.0f;
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engineConfiguration->idleDT = 10;
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}
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static void applyIdleSolenoidPinState(PwmConfig *state, int stateIndex) {
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efiAssertVoid(stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
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efiAssertVoid(state->multiWave.waveCount == 1, "invalid idle waveCount");
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OutputPin *output = state->outputPins[0];
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int value = state->multiWave.waves[0].pinStates[stateIndex];
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if (!value /* always allow turning solenoid off */ ||
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(engine->rpmCalculator.rpmValue != 0 || timeToStopIdleTest != 0) /* do not run solenoid unless engine is spinning or bench testing in progress */
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) {
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output->setValue(value);
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}
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}
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static void initIdleHardware() {
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if (boardConfiguration->useStepperIdle) {
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iacMotor.initialize(boardConfiguration->idle.stepperStepPin, boardConfiguration->idle.stepperDirectionPin,
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engineConfiguration->idleStepperReactionTime, engineConfiguration->idleStepperTotalSteps,
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engineConfiguration->stepperEnablePin);
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} else {
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/**
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* Start PWM for idleValvePin
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*/
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startSimplePwmExt(&idleSolenoid, "Idle Valve", boardConfiguration->idle.solenoidPin, &enginePins.idleSolenoidPin,
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boardConfiguration->idle.solenoidFrequency, boardConfiguration->manIdlePosition / 100,
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applyIdleSolenoidPinState);
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}
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}
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void startIdleThread(Logging*sharedLogger, Engine *engine) {
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logger = sharedLogger;
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// todo: re-initialize idle pins on the fly
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initIdleHardware();
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idlePositionController.init();
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scheduleMsg(logger, "initial idle %d", idlePositionController.value);
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chThdCreateStatic(ivThreadStack, sizeof(ivThreadStack), NORMALPRIO, (tfunc_t) ivThread, NULL);
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// this is idle switch INPUT - sometimes there is a switch on the throttle pedal
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// this switch is not used yet
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if (boardConfiguration->clutchDownPin != GPIO_UNASSIGNED)
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mySetPadMode2("clutch down switch", boardConfiguration->clutchDownPin,
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getInputMode(boardConfiguration->clutchDownPinMode));
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if (boardConfiguration->clutchUpPin != GPIO_UNASSIGNED)
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mySetPadMode2("clutch up switch", boardConfiguration->clutchUpPin,
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getInputMode(boardConfiguration->clutchUpPinMode));
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addConsoleAction("idleinfo", showIdleInfo);
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addConsoleActionI("set_idle_position", setIdleValvePosition);
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addConsoleActionI("set_idle_enabled", (VoidInt) setIdleControlEnabled);
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addConsoleActionII("blipidle", blipIdle);
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// split this whole file into manual controller and auto controller? move these commands into the file
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// which would be dedicated to just auto-controller?
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addConsoleActionI("set_idle_rpm", setTargetRpm);
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addConsoleActionF("set_idle_p", setIdlePFactor);
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addConsoleActionF("set_idle_i", setIdleIFactor);
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addConsoleActionF("set_idle_d", setIdleDFactor);
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addConsoleActionI("set_idle_dt", setIdleDT);
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addConsoleAction("idlebench", startIdleBench);
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apply();
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}
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#endif
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