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progress towards idle unit test

This commit is contained in:
rusefi 2019-08-29 00:10:47 -04:00
parent 6df2afface
commit 02610104d5
3 changed files with 61 additions and 42 deletions
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99
firmware/controllers/actuators/idle_thread.cpp
View File

@ -32,15 +32,17 @@
#include "pwm_generator.h"
#include "idle_thread.h"
#if ! EFI_UNIT_TEST
#include "pin_repository.h"
#endif /* EFI_UNIT_TEST */
#include "engine.h"
#include "periodic_task.h"
#include "stepper.h"
#include "allsensors.h"
#if ! EFI_UNIT_TEST
#include "stepper.h"
#include "pin_repository.h"
static StepperMotor iacMotor;
#endif /* EFI_UNIT_TEST */
static Logging *logger;
#if EFI_TUNER_STUDIO
extern TunerStudioOutputChannels tsOutputChannels;
@ -54,16 +56,14 @@ static bool mightResetPid = false;
#if EFI_IDLE_INCREMENTAL_PID_CIC
// Use new PID with CIC integrator
static PidCic idlePid(&engineConfiguration->idleRpmPid);
static PidCic idlePid;
#else
static Pid idlePid(&engineConfiguration->idleRpmPid);
static Pid idlePid;
#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
// todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
static SimplePwm idleSolenoid("idle");
static StepperMotor iacMotor;
static uint32_t lastCrankingCyclesCounter = 0;
static float lastCrankingIacPosition;
@ -111,8 +111,10 @@ void setIdleMode(idle_mode_e value) {
static void applyIACposition(percent_t position) {
if (CONFIGB(useETBforIdleControl)) {
engine->engineState.etbIdleAddition = position / 100 * CONFIG(etbIdleThrottleRange);
} if (CONFIGB(useStepperIdle)) {
#if ! EFI_UNIT_TEST
} if (CONFIGB(useStepperIdle)) {
iacMotor.setTargetPosition(position / 100 * engineConfiguration->idleStepperTotalSteps);
#endif /* EFI_UNIT_TEST */
} else {
/**
* currently idle level is an percent value (0-100 range), and PWM takes a float in the 0..1 range
@ -126,9 +128,20 @@ percent_t getIdlePosition(void) {
return engine->engineState.idle.currentIdlePosition;
}
void setIdleValvePosition(int positionPercent) {
if (positionPercent < 1 || positionPercent > 99)
return;
scheduleMsg(logger, "setting idle valve position %d", positionPercent);
#if ! EFI_UNIT_TEST
showIdleInfo();
#endif /* EFI_UNIT_TEST */
// todo: this is not great that we have to write into configuration here
CONFIGB(manIdlePosition) = positionPercent;
}
#endif /* EFI_UNIT_TEST */
static percent_t manualIdleController(float cltCorrection) {
static percent_t manualIdleController(float cltCorrection DECLARE_ENGINE_PARAMETER_SUFFIX) {
percent_t correctedPosition = cltCorrection * CONFIGB(manIdlePosition);
@ -139,15 +152,6 @@ static percent_t manualIdleController(float cltCorrection) {
return correctedPosition;
}
void setIdleValvePosition(int positionPercent) {
if (positionPercent < 1 || positionPercent > 99)
return;
scheduleMsg(logger, "setting idle valve position %d", positionPercent);
showIdleInfo();
// todo: this is not great that we have to write into configuration here
CONFIGB(manIdlePosition) = positionPercent;
}
static percent_t blipIdlePosition;
static efitimeus_t timeToStopBlip = 0;
static efitimeus_t timeToStopIdleTest = 0;
@ -248,6 +252,12 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
}
class IdleController : public PeriodicTimerController {
public:
Engine *engine = NULL;
engine_configuration_s *engineConfiguration = NULL;
persistent_config_s *config = NULL;
board_configuration_s *boardConfiguration = NULL;
int getPeriodMs() override {
return GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid);
}
@ -330,7 +340,7 @@ class IdleController : public PeriodicTimerController {
} else {
if (engineConfiguration->idleMode == IM_MANUAL) {
// let's re-apply CLT correction
iacPosition = manualIdleController(cltCorrection);
iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
} else {
iacPosition = automaticIdleController(PASS_ENGINE_PARAMETER_SIGNATURE);
}
@ -379,25 +389,25 @@ class IdleController : public PeriodicTimerController {
}
};
static IdleController instance;
static IdleController idleControllerInstance;
static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
idlePid.updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
}
#if ! EFI_UNIT_TEST
void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
shouldResetPid = !idlePid.isSame(&previousConfiguration->idleRpmPid);
idleSolenoid.setFrequency(CONFIGB(idle).solenoidFrequency);
}
#if ! EFI_UNIT_TEST
void setTargetIdleRpm(int value) {
setTargetRpmCurve(value PASS_ENGINE_PARAMETER_SUFFIX);
scheduleMsg(logger, "target idle RPM %d", value);
showIdleInfo();
}
static void apply(void) {
idlePid.updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
}
void setIdleOffset(float value) {
engineConfiguration->idleRpmPid.offset = value;
showIdleInfo();
@ -405,25 +415,25 @@ void setIdleOffset(float value) {
void setIdlePFactor(float value) {
engineConfiguration->idleRpmPid.pFactor = value;
apply();
applyPidSettings();
showIdleInfo();
}
void setIdleIFactor(float value) {
engineConfiguration->idleRpmPid.iFactor = value;
apply();
applyPidSettings();
showIdleInfo();
}
void setIdleDFactor(float value) {
engineConfiguration->idleRpmPid.dFactor = value;
apply();
applyPidSettings();
showIdleInfo();
}
void setIdleDT(int value) {
engineConfiguration->idleRpmPid.periodMs = value;
apply();
applyPidSettings();
showIdleInfo();
}
@ -443,8 +453,6 @@ void setDefaultIdleParameters(void) {
engineConfiguration->idleRpmPid.periodMs = 10;
}
#endif /* EFI_UNIT_TEST */
static void applyIdleSolenoidPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ {
efiAssertVoid(CUSTOM_ERR_6645, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
efiAssertVoid(CUSTOM_ERR_6646, state->multiWave.waveCount == 1, "invalid idle waveCount");
@ -457,7 +465,7 @@ static void applyIdleSolenoidPinState(int stateIndex, PwmConfig *state) /* pwm_g
}
}
static void initIdleHardware() {
static void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
if (CONFIGB(useStepperIdle)) {
iacMotor.initialize(CONFIGB(idle).stepperStepPin,
CONFIGB(idle).stepperDirectionPin,
@ -481,11 +489,22 @@ static void initIdleHardware() {
}
}
void startIdleThread(Logging*sharedLogger) {
logger = sharedLogger;
#endif /* EFI_UNIT_TEST */
void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
logger = sharedLogger;
idleControllerInstance.engine = engine;
idleControllerInstance.engineConfiguration = engineConfiguration;
idleControllerInstance.config = config;
idleControllerInstance.boardConfiguration = boardConfiguration;
idlePid.initPidClass(&engineConfiguration->idleRpmPid);
#if ! EFI_UNIT_TEST
// todo: re-initialize idle pins on the fly
initIdleHardware();
initIdleHardware(PASS_ENGINE_PARAMETER_SIGNATURE);
#endif /* EFI_UNIT_TEST */
DISPLAY_TEXT(Idle_State);
engine->engineState.idle.DISPLAY_FIELD(idleState) = INIT;
@ -502,7 +521,7 @@ void startIdleThread(Logging*sharedLogger) {
//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
instance.Start();
idleControllerInstance.Start();
#if ! EFI_UNIT_TEST
// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
@ -538,7 +557,7 @@ void startIdleThread(Logging*sharedLogger) {
addConsoleAction("idlebench", startIdleBench);
#endif /* EFI_UNIT_TEST */
apply();
applyPidSettings(PASS_ENGINE_PARAMETER_SIGNATURE);
}
#endif /* EFI_IDLE_CONTROL */

2
firmware/controllers/actuators/idle_thread.h
View File

@ -13,7 +13,7 @@
percent_t getIdlePosition(void);
void setIdleValvePosition(int positionPercent);
void startIdleThread(Logging*sharedLogger);
void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX);
void setDefaultIdleParameters(void);
void startIdleBench(void);
void setIdleDT(int value);

2
firmware/controllers/engine_controller.cpp
View File

@ -767,7 +767,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
#endif /* EFI_ENGINE_CONTROL */
#if EFI_IDLE_CONTROL
startIdleThread(sharedLogger);
startIdleThread(sharedLogger PASS_ENGINE_PARAMETER_SUFFIX);
#endif /* EFI_IDLE_CONTROL */
if (engineConfiguration->externalKnockSenseAdc != EFI_ADC_NONE) {