ETB auto-PID: auto set values in TS (#1400)

* switch to thread

* actually use default frequency define

* crank ADC too

* make space in RAM

* remove TS field

* this should work for test

* auto cal

* wire up bench testing

* auto gains too

* s

* fix

* rearrange a bit

* inject

* remove unused bit

* mock repair

* move

* add maintainconstantvalue

* add disable button

* cleaning

* move state inside

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/controllers/actuators/electronic_throttle.cpp

@@ -222,29 +222,59 @@ expected<percent_t> EtbController::getClosedLoopAutotune(percent_t actualThrottl
 
 		// Publish to TS state
 #if EFI_TUNER_STUDIO
+		// Amplitude of input (duty cycle %)
+		float b = 2 * autotuneAmplitude;
+
+		// Ultimate gain per A-H relay tuning rule
+		float ku = 4 * b / (3.14159f * m_a);
+
+		// The multipliers below are somewhere near the "no overshoot" 
+		// and "some overshoot" flavors of the Ziegler-Nichols method
+		// Kp
+		float kp = 0.35f * ku;
+		float ki = 0.25f * ku / m_tu;
+		float kd = 0.08f * ku * m_tu;
+
+		// Every 5 cycles (of the throttle), cycle to the next value
+		if (m_autotuneCounter == 5) {
+			m_autotuneCounter = 0;
+			m_autotuneCurrentParam++;
+
+			if (m_autotuneCurrentParam >= 3) {
+				m_autotuneCurrentParam = 0;
+			}
+		}
+
+		m_autotuneCounter++;
+
+		// Multiplex 3 signals on to the {mode, value} format
+		tsOutputChannels.calibrationMode = static_cast<TsCalMode>(m_autotuneCurrentParam + 3);
+
+		switch (m_autotuneCurrentParam) {
+		case 0:
+			tsOutputChannels.calibrationValue = kp;
+			break;
+		case 1:
+			tsOutputChannels.calibrationValue = ki;
+			break;
+		case 2:
+			tsOutputChannels.calibrationValue = kd;
+			break;
+		}
+
+		// Also output to debug channels if configured
 		if (engineConfiguration->debugMode == DBG_ETB_AUTOTUNE) {
 			// a - amplitude of output (TPS %)
-
 			tsOutputChannels.debugFloatField1 = m_a;
-			float b = 2 * autotuneAmplitude;
 			// b - amplitude of input (Duty cycle %)
 			tsOutputChannels.debugFloatField2 = b;
 			// Tu - oscillation period (seconds)
 			tsOutputChannels.debugFloatField3 = m_tu;
 
-			// Ultimate gain per A-H relay tuning rule
-			// Ku
-			float ku = 4 * b / (3.14159f * m_a);
 			tsOutputChannels.debugFloatField4 = ku;
-
+			tsOutputChannels.debugFloatField5 = kp;
-			// The multipliers below are somewhere near the "no overshoot" 
+			tsOutputChannels.debugFloatField6 = ki;
-			// and "some overshoot" flavors of the Ziegler-Nichols method
+			tsOutputChannels.debugFloatField7 = kd;
-			// Kp
-			tsOutputChannels.debugFloatField5 = 0.35f * ku;
-			// Ki
-			tsOutputChannels.debugFloatField6 = 0.25f * ku / m_tu;
-			// Kd
-			tsOutputChannels.debugFloatField7 = 0.08f * ku * m_tu;
 		}
 #endif
 	}

firmware/controllers/actuators/electronic_throttle.h

@@ -88,8 +88,14 @@ private:
 	efitick_t m_cycleStartTime = 0;
 	float m_minCycleTps = 0;
 	float m_maxCycleTps = 0;
-	float m_a = 0;
+	// Autotune measured parameters: gain and ultimate period
-	float m_tu = 0;
+	// These are set to correct order of magnitude starting points
+	// so we converge more quickly on the correct values
+	float m_a = 8;
+	float m_tu = 0.1f; 
+
+	uint8_t m_autotuneCounter = 0;
+	uint8_t m_autotuneCurrentParam = 0;
 };
 
 void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);

firmware/controllers/bench_test.cpp

@@ -259,9 +259,6 @@ static void handleCommandX14(uint16_t index) {
 	case 0xB:
 		starterRelayBench();
 		return;
-	case 0xC:
-		engine->etbAutoTune = true;
-		return;
 	case 0xD:
 		engine->directSelfStimulation = true;
 		return;
@@ -269,6 +266,12 @@ static void handleCommandX14(uint16_t index) {
 	case 0xE:
 		etbAutocal(0);
 		return;
+	case 0xC:
+		engine->etbAutoTune = true;
+		return;
+	case 0x10:
+		engine->etbAutoTune = false;
+		return;
 #endif
 	case 0xF:
 		engine->directSelfStimulation = false;

firmware/tunerstudio/rusefi.input

@@ -414,6 +414,10 @@ fileVersion = { @@TS_FILE_VERSION@@ }
 	maintainConstantValue = tpsMax, { (calibrationMode == 1 ) ? calibrationValue : tpsMax }
 	maintainConstantValue = tpsMin, { (calibrationMode == 2 ) ? calibrationValue : tpsMin }
 
+	maintainConstantValue = etb_pFactor, { (calibrationMode == 3 ) ? calibrationValue : etb_pFactor }
+	maintainConstantValue = etb_iFactor, { (calibrationMode == 4 ) ? calibrationValue : etb_iFactor }
+	maintainConstantValue = etb_dFactor, { (calibrationMode == 5 ) ? calibrationValue : etb_dFactor }
+
      requiresPowerCycle = warningLedPin
      requiresPowerCycle = runningLedPin
      requiresPowerCycle = binarySerialTxPin
@@ -1488,7 +1492,6 @@ cmd_test_inj14 = "w\x00\x13\x00\x0e"
 cmd_test_inj15 = "w\x00\x13\x00\x0f"
 cmd_test_inj16 = "w\x00\x13\x00\x10"
 
-; 		
 cmd_test_fuel_pump           = "w\x00\x14\x00\x01"
 cmd_calibrate_tps_1_closed   = "w\x00\x14\x00\x02"
 cmd_calibrate_tps_1_wot      = "w\x00\x14\x00\x03"
@@ -1504,6 +1507,7 @@ cmd_etb_autotune             = "w\x00\x14\x00\x0C"
 cmd_enable_self_stim         = "w\x00\x14\x00\x0D"
 cmb_etb_auto_calibrate       = "w\x00\x14\x00\x0E"
 cmd_disable_self_stim        = "w\x00\x14\x00\x0F"
+cmd_etb_autotune_stop        = "w\x00\x14\x00\x10"
 
 cmd_test_radiator_fan        = "w\x00\x15\x00\x01"
 cmd_test_check_engine_light  = "w\x00\x16\x00\x01"
@@ -2819,11 +2823,14 @@ cmd_set_engine_type_default					= "w\x00\x31\x00\x00"
 		panel = hbridgeHardware,						{ throttlePedalPositionAdcChannel != 16 || useStepperIdle && useHbridges  }
 
 	dialog = etbAutotune, "PID Autotune"
-		field = "!Set debug mode below to 'ETB Autotune' to show results"
+		commandButton = "Start ETB PID Autotune", cmd_etb_autotune
-		field = "Debug mode",							debugMode
+		commandButton = "Stop ETB PID Autotune", cmd_etb_autotune_stop
-		commandButton = "ETB PID Autotune", cmd_etb_autotune
+
 		commandButton = "Auto Calibrate TPS", cmb_etb_auto_calibrate
 
+		field = "!Set debug mode below to 'ETB Autotune' to show more detail"
+		field = "Debug mode",							debugMode
+
 	dialog = etbDialogRight
 		panel = etbIdleDialog
 		panel = etbPidDialog