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VVT uses closed loop controller framework (#2453) 

* vvt uses framework

* builds

* rename, update headers

* s

* testable

* write some basic tests

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2021-03-14 16:31:46 -07:00 committed by GitHub
parent 9d7436c062
commit 1dd2180f76
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9 changed files with 252 additions and 165 deletions
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153
firmware/controllers/actuators/vvt.cpp Normal file
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/*
* @file vvt.cpp
*
* @date Jun 26, 2016
* @author Andrey Belomutskiy, (c) 2012-2020
*/
#include "local_version_holder.h"
#include "allsensors.h"
#include "vvt.h"
#include "tunerstudio_outputs.h"
#include "fsio_impl.h"
#include "engine_math.h"
#include "pin_repository.h"
#define NO_PIN_PERIOD 500
#if defined(HAS_OS_ACCESS)
#error "Unexpected OS ACCESS HERE"
#endif /* HAS_OS_ACCESS */
EXTERN_ENGINE;
static fsio8_Map3D_u8t vvtTable1("vvt#1");
static fsio8_Map3D_u8t vvtTable2("vvt#2");
static Logging *logger;
void VvtController::init(int index, const ValueProvider3D* targetMap) {
this->index = index;
m_pid.initPidClass(&CONFIG(auxPid[index]));
m_targetMap = targetMap;
}
int VvtController::getPeriodMs() {
return isBrainPinValid(engineConfiguration->auxPidPins[index]) ?
GET_PERIOD_LIMITED(&engineConfiguration->auxPid[index]) : NO_PIN_PERIOD;
}
void VvtController::PeriodicTask() {
if (engine->auxParametersVersion.isOld(engine->getGlobalConfigurationVersion())) {
m_pid.reset();
}
update();
}
expected<angle_t> VvtController::observePlant() const {
return engine->triggerCentral.getVVTPosition();
}
expected<angle_t> VvtController::getSetpoint() const {
int rpm = GET_RPM();
float load = getFuelingLoad(PASS_ENGINE_PARAMETER_SIGNATURE);
return m_targetMap->getValue(rpm, load);
}
expected<percent_t> VvtController::getOpenLoop(angle_t target) const {
// TODO: could we do VVT open loop?
return 0;
}
expected<percent_t> VvtController::getClosedLoop(angle_t setpoint, angle_t observation) {
float retVal = m_pid.getOutput(setpoint, observation);
if (engineConfiguration->isVerboseAuxPid1) {
scheduleMsg(logger, "aux duty: %.2f/value=%.2f/p=%.2f/i=%.2f/d=%.2f int=%.2f", retVal, observation,
m_pid.getP(), m_pid.getI(), m_pid.getD(), m_pid.getIntegration());
}
#if EFI_TUNER_STUDIO
if (engineConfiguration->debugMode == DBG_AUX_PID_1) {
m_pid.postState(&tsOutputChannels);
tsOutputChannels.debugIntField3 = (int)(10 * setpoint);
}
#endif /* EFI_TUNER_STUDIO */
return retVal;
}
void VvtController::setOutput(expected<percent_t> outputValue) {
float rpm = GET_RPM();
// todo: make this configurable?
bool enabledAtCurrentRpm = rpm > engineConfiguration->cranking.rpm;
if (outputValue && enabledAtCurrentRpm) {
m_pwm.setSimplePwmDutyCycle(PERCENT_TO_DUTY(outputValue.Value));
} else {
m_pwm.setSimplePwmDutyCycle(0);
// we need to avoid accumulating iTerm while engine is not running
m_pid.reset();
}
}
#if EFI_AUX_PID
static VvtController instances[CAM_INPUTS_COUNT];
static void turnAuxPidOn(int index) {
if (!isBrainPinValid(engineConfiguration->auxPidPins[index])) {
return;
}
startSimplePwmExt(&instances[index].m_pwm, "Aux PID",
&engine->executor,
engineConfiguration->auxPidPins[index],
&instances[index].m_pin,
// todo: do we need two separate frequencies?
engineConfiguration->auxPidFrequency[0], 0.1);
}
void startVvtControlPins() {
for (int i = 0;i <CAM_INPUTS_COUNT;i++) {
turnAuxPidOn(i);
}
}
void stopVvtControlPins() {
for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
instances[i].m_pin.deInit();
}
}
void initAuxPid(Logging *sharedLogger) {
vvtTable1.init(config->vvtTable1, config->vvtTable1LoadBins,
config->vvtTable1RpmBins);
vvtTable2.init(config->vvtTable2, config->vvtTable2LoadBins,
config->vvtTable2RpmBins);
logger = sharedLogger;
for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
INJECT_ENGINE_REFERENCE(&instances[i]);
// TODO: this is wrong for cams 3/4
int indexInBank = i % CAMS_PER_BANK;
auto targetMap = indexInBank == 0 ? &vvtTable1 : &vvtTable2;
instances[i].init(i, targetMap);
}
startVvtControlPins();
for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
instances[i].Start();
}
}
#endif

50
firmware/controllers/actuators/vvt.h Normal file
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/*
* @file vvt.h
*
* @date Jun 26, 2016
* @author Andrey Belomutskiy, (c) 2012-2020
*/
#pragma once
#include "engine_ptr.h"
#include "periodic_task.h"
#include "closed_loop_controller.h"
#include "pwm_generator_logic.h"
#include "pid.h"
class Logging;
class ValueProvider3D;
void initAuxPid(Logging *sharedLogger);
void startVvtControlPins();
void stopVvtControlPins();
class VvtController : public PeriodicTimerController, public ClosedLoopController<angle_t, percent_t> {
public:
DECLARE_ENGINE_PTR;
void init(int index, const ValueProvider3D* targetMap);
// PeriodicTimerController implementation
int getPeriodMs() override;
void PeriodicTask() override;
// ClosedLoopController implementation
expected<angle_t> observePlant() const override;
expected<angle_t> getSetpoint() const override;
expected<percent_t> getOpenLoop(angle_t target) const override;
expected<percent_t> getClosedLoop(angle_t setpoint, angle_t observation) override;
void setOutput(expected<percent_t> outputValue) override;
private:
Pid m_pid;
const ValueProvider3D* m_targetMap = nullptr;
int index = 0;
public:
// todo: encapsulate or inject these
SimplePwm m_pwm;
OutputPin m_pin;
};

147
firmware/controllers/actuators/vvt_pid.cpp
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@ -1,147 +0,0 @@
/*
* @file vvt_pid.cpp
*
* This class is a copy-paste of alternator_controller.cpp TODO: do something about it? extract more common logic?
*
* @date Jun 26, 2016
* @author Andrey Belomutskiy, (c) 2012-2020
*/
#include "local_version_holder.h"
#include "allsensors.h"
#include "vvt_pid.h"
#if EFI_AUX_PID
#include "pwm_generator_logic.h"
#include "tunerstudio_outputs.h"
#include "fsio_impl.h"
#include "engine_math.h"
#include "pin_repository.h"
#include "periodic_task.h"
#define NO_PIN_PERIOD 500
#if defined(HAS_OS_ACCESS)
#error "Unexpected OS ACCESS HERE"
#endif /* HAS_OS_ACCESS */
EXTERN_ENGINE;
static fsio8_Map3D_u8t vvtTable1("vvt#1");
static fsio8_Map3D_u8t vvtTable2("vvt#2");
// todo: this is to some extent a copy-paste of alternator_controller. maybe same loop
// for all PIDs?
static Logging *logger;
class AuxPidController : public PeriodicTimerController {
public:
SimplePwm auxPidPwm;
OutputPin auxOutputPin;
void init(int index) {
this->index = index;
auxPid.initPidClass(&persistentState.persistentConfiguration.engineConfiguration.auxPid[index]);
int camIndex = index % CAMS_PER_BANK;
table = camIndex == 0 ? &vvtTable1 : &vvtTable2;
}
int getPeriodMs() override {
return isBrainPinValid(engineConfiguration->auxPidPins[index]) ?
GET_PERIOD_LIMITED(&engineConfiguration->auxPid[index]) : NO_PIN_PERIOD;
}
void PeriodicTask() override {
if (engine->auxParametersVersion.isOld(engine->getGlobalConfigurationVersion())) {
auxPid.reset();
}
float rpm = GET_RPM();
// todo: make this configurable?
bool enabledAtCurrentRpm = rpm > engineConfiguration->cranking.rpm;
if (!enabledAtCurrentRpm) {
// we need to avoid accumulating iTerm while engine is not running
auxPid.reset();
return;
}
float value = engine->triggerCentral.getVVTPosition();
float targetValue = table->getValue(rpm, getFuelingLoad(PASS_ENGINE_PARAMETER_SIGNATURE));
percent_t pwm = auxPid.getOutput(targetValue, value);
if (engineConfiguration->isVerboseAuxPid1) {
scheduleMsg(logger, "aux duty: %.2f/value=%.2f/p=%.2f/i=%.2f/d=%.2f int=%.2f", pwm, value,
auxPid.getP(), auxPid.getI(), auxPid.getD(), auxPid.getIntegration());
}
if (engineConfiguration->debugMode == DBG_AUX_PID_1) {
#if EFI_TUNER_STUDIO
auxPid.postState(&tsOutputChannels);
tsOutputChannels.debugIntField3 = (int)(10 * targetValue);
#endif /* EFI_TUNER_STUDIO */
}
auxPidPwm.setSimplePwmDutyCycle(PERCENT_TO_DUTY(pwm));
}
private:
Pid auxPid;
int index = 0;
ValueProvider3D *table = nullptr;
};
static AuxPidController instances[CAM_INPUTS_COUNT];
static void turnAuxPidOn(int index) {
if (!isBrainPinValid(engineConfiguration->auxPidPins[index])) {
return;
}
startSimplePwmExt(&instances[index].auxPidPwm, "Aux PID",
&engine->executor,
engineConfiguration->auxPidPins[index],
&instances[index].auxOutputPin,
// todo: do we need two separate frequencies?
engineConfiguration->auxPidFrequency[0], 0.1);
}
void startVvtControlPins() {
for (int i = 0;i <CAM_INPUTS_COUNT;i++) {
turnAuxPidOn(i);
}
}
void stopVvtControlPins() {
for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
instances[i].auxOutputPin.deInit();
}
}
void initAuxPid(Logging *sharedLogger) {
vvtTable1.init(config->vvtTable1, config->vvtTable1LoadBins,
config->vvtTable1RpmBins);
vvtTable2.init(config->vvtTable2, config->vvtTable2LoadBins,
config->vvtTable2RpmBins);
logger = sharedLogger;
for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
instances[i].init(i);
}
startVvtControlPins();
for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
instances[i].Start();
}
}
#endif

15
firmware/controllers/actuators/vvt_pid.h
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@ -1,15 +0,0 @@
/*
* @file aux_pid.h
*
* @date Jun 26, 2016
* @author Andrey Belomutskiy, (c) 2012-2020
*/
#pragma once
#include "global.h"
void initAuxPid(Logging *sharedLogger);
void startVvtControlPins();
void stopVvtControlPins();

2
firmware/controllers/controllers.mk
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@ -18,7 +18,7 @@ CONTROLLERS_SRC_CPP = \
$(CONTROLLERS_DIR)/actuators/idle_hardware.cpp \
$(CONTROLLERS_DIR)/actuators/idle_thread.cpp \
$(CONTROLLERS_DIR)/actuators/pwm_tester.cpp \
$(CONTROLLERS_DIR)/actuators/algo/vvt_pid.cpp \
$(CONTROLLERS_DIR)/actuators/vvt.cpp \
$(CONTROLLERS_DIR)/actuators/gppwm/gppwm_channel.cpp \
$(CONTROLLERS_DIR)/actuators/gppwm/gppwm.cpp \
$(CONTROLLERS_DIR)/gauges/tachometer.cpp \

2
firmware/controllers/engine_controller.cpp
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@ -50,7 +50,7 @@
#include "spark_logic.h"
#include "aux_valves.h"
#include "accelerometer.h"
#include "actuators/vvt_pid.h"
#include "vvt.h"
#include "perf_trace.h"
#include "boost_control.h"
#include "launch_control.h"

2
firmware/hw_layer/hardware.cpp
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@ -47,7 +47,7 @@
#include "trigger_central.h"
#include "svnversion.h"
#include "engine_configuration.h"
#include "vvt_pid.h"
#include "vvt.h"
#include "perf_trace.h"
#include "trigger_emulator_algo.h"
#include "boost_control.h"

45
unit_tests/tests/test_vvt.cpp Normal file
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#include "engine_test_helper.h"
#include "vvt.h"
#include "mocks.h"
using ::testing::StrictMock;
using ::testing::Return;
TEST(Vvt, setpoint) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
// Set up a mock target map
StrictMock<MockVp3d> targetMap;
EXPECT_CALL(targetMap, getValue(4321, 55))
.WillOnce(Return(20));
// Mock necessary inputs
engine->engineState.fuelingLoad = 55;
engine->rpmCalculator.mockRpm = 4321;
VvtController dut;
INJECT_ENGINE_REFERENCE(&dut);
dut.init(0, &targetMap);
// Test dut
EXPECT_EQ(20, dut.getSetpoint().value_or(0));
}
TEST(Vvt, observePlant) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
engine->triggerCentral.vvtPosition[0][0] = 23;
VvtController dut;
INJECT_ENGINE_REFERENCE(&dut);
dut.init(0, nullptr);
EXPECT_EQ(23, dut.observePlant().value_or(0));
}
TEST(Vvt, openLoop) {
VvtController dut;
// No open loop for now
EXPECT_EQ(dut.getOpenLoop(10), 0);
}

1
unit_tests/tests/tests.mk
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@ -32,6 +32,7 @@ TESTS_SRC_CPP = \
tests/test_idle_controller.cpp \
tests/test_issue_898.cpp \
tests/test_etb.cpp \
tests/test_vvt.cpp \
tests/test_launch.cpp \
tests/test_fuel_map.cpp \
tests/ignition_injection/test_fuel_wall_wetting.cpp \