148 lines
3.6 KiB
C++
148 lines
3.6 KiB
C++
/*
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* @file vvt_pid.cpp
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*
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* This class is a copy-paste of alternator_controller.cpp TODO: do something about it? extract more common logic?
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*
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* @date Jun 26, 2016
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#include "local_version_holder.h"
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#include "allsensors.h"
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#include "vvt_pid.h"
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#if EFI_AUX_PID
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#include "pwm_generator_logic.h"
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#include "tunerstudio_outputs.h"
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#include "fsio_impl.h"
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#include "engine_math.h"
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#include "pin_repository.h"
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#include "periodic_task.h"
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#define NO_PIN_PERIOD 500
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#if defined(HAS_OS_ACCESS)
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#error "Unexpected OS ACCESS HERE"
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#endif /* HAS_OS_ACCESS */
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EXTERN_ENGINE;
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static fsio8_Map3D_u8t vvtTable1("vvt#1");
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static fsio8_Map3D_u8t vvtTable2("vvt#2");
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// todo: this is to some extent a copy-paste of alternator_controller. maybe same loop
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// for all PIDs?
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static Logging *logger;
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class AuxPidController : public PeriodicTimerController {
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public:
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SimplePwm auxPidPwm;
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OutputPin auxOutputPin;
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void init(int index) {
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this->index = index;
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auxPid.initPidClass(&persistentState.persistentConfiguration.engineConfiguration.auxPid[index]);
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int camIndex = index % CAMS_PER_BANK;
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table = camIndex == 0 ? &vvtTable1 : &vvtTable2;
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}
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int getPeriodMs() override {
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return isBrainPinValid(engineConfiguration->auxPidPins[index]) ?
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GET_PERIOD_LIMITED(&engineConfiguration->auxPid[index]) : NO_PIN_PERIOD;
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}
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void PeriodicTask() override {
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if (engine->auxParametersVersion.isOld(engine->getGlobalConfigurationVersion())) {
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auxPid.reset();
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}
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float rpm = GET_RPM();
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// todo: make this configurable?
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bool enabledAtCurrentRpm = rpm > engineConfiguration->cranking.rpm;
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if (!enabledAtCurrentRpm) {
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// we need to avoid accumulating iTerm while engine is not running
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auxPid.reset();
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return;
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}
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float value = engine->triggerCentral.getVVTPosition();
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float targetValue = table->getValue(rpm, getFuelingLoad(PASS_ENGINE_PARAMETER_SIGNATURE));
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percent_t pwm = auxPid.getOutput(targetValue, value);
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if (engineConfiguration->isVerboseAuxPid1) {
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scheduleMsg(logger, "aux duty: %.2f/value=%.2f/p=%.2f/i=%.2f/d=%.2f int=%.2f", pwm, value,
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auxPid.getP(), auxPid.getI(), auxPid.getD(), auxPid.getIntegration());
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}
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if (engineConfiguration->debugMode == DBG_AUX_PID_1) {
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#if EFI_TUNER_STUDIO
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auxPid.postState(&tsOutputChannels);
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tsOutputChannels.debugIntField3 = (int)(10 * targetValue);
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#endif /* EFI_TUNER_STUDIO */
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}
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auxPidPwm.setSimplePwmDutyCycle(PERCENT_TO_DUTY(pwm));
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}
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private:
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Pid auxPid;
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int index = 0;
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ValueProvider3D *table = nullptr;
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};
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static AuxPidController instances[CAM_INPUTS_COUNT];
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static void turnAuxPidOn(int index) {
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if (!isBrainPinValid(engineConfiguration->auxPidPins[index])) {
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return;
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}
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startSimplePwmExt(&instances[index].auxPidPwm, "Aux PID",
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&engine->executor,
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engineConfiguration->auxPidPins[index],
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&instances[index].auxOutputPin,
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// todo: do we need two separate frequencies?
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engineConfiguration->auxPidFrequency[0], 0.1);
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}
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void startVvtControlPins() {
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for (int i = 0;i <CAM_INPUTS_COUNT;i++) {
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turnAuxPidOn(i);
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}
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}
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void stopVvtControlPins() {
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for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
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instances[i].auxOutputPin.deInit();
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}
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}
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void initAuxPid(Logging *sharedLogger) {
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vvtTable1.init(config->vvtTable1, config->vvtTable1LoadBins,
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config->vvtTable1RpmBins);
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vvtTable2.init(config->vvtTable2, config->vvtTable2LoadBins,
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config->vvtTable2RpmBins);
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logger = sharedLogger;
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for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
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instances[i].init(i);
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}
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startVvtControlPins();
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for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
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instances[i].Start();
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}
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}
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#endif
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