inject interfaces to ETB, renaming (#1026)
* inject interfaces, renaming * format * null check * that was a dumb typo * fix indent
This commit is contained in:
Matthew Kennedy
rusefi
parent
c606bb27ac
commit
579219e8cc
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@ -105,7 +105,7 @@ static bool startupPositionError = false;
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#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
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class EtbControl {
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class EtbHardware {
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private:
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OutputPin m_pinEnable;
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OutputPin m_pinDir1;
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@ -118,9 +118,7 @@ private:
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SimplePwm etbPwmUp;
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public:
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DECLARE_ENGINE_PTR;
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EtbControl() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
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EtbHardware() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
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TwoPinDcMotor dcMotor;
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@ -135,7 +133,9 @@ public:
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// since we have pointer magic here we cannot simply have value parameter
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pin_output_mode_e *pinEnableMode,
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brain_pin_e pinDir1,
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brain_pin_e pinDir2) {
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brain_pin_e pinDir2,
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ExecutorInterface* executor,
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int frequency) {
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dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
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m_pinEnable.initPin("ETB Enable", pinEnable, pinEnableMode);
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@ -143,29 +143,29 @@ public:
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m_pinDir2.initPin("ETB Dir 2", pinDir2);
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// Clamp to >100hz
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int freq = maxI(100, engineConfiguration->etbFreq);
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int clampedFrequency = maxI(100, frequency);
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// no need to complicate event queue with ETB PWM in unit tests
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#if ! EFI_UNIT_TEST
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startSimplePwm(&m_pwmEnable, "ETB Enable",
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&engine->executor,
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executor,
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&m_pinEnable,
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freq,
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clampedFrequency,
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0,
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(pwm_gen_callback*)applyPinState);
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startSimplePwm(&m_pwmDir1, "ETB Dir 1",
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&engine->executor,
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executor,
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&m_pinDir1,
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freq,
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clampedFrequency,
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0,
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(pwm_gen_callback*)applyPinState);
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startSimplePwm(&m_pwmDir2, "ETB Dir 2",
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&engine->executor,
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executor,
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&m_pinDir2,
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freq,
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clampedFrequency,
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0,
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(pwm_gen_callback*)applyPinState);
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#endif /* EFI_UNIT_TEST */
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@ -174,7 +174,7 @@ public:
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#define ETB_COUNT 2
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static EtbControl etbControls[ETB_COUNT];
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static EtbHardware etbHardware[ETB_COUNT];
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extern percent_t mockPedalPosition;
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@ -187,152 +187,157 @@ static percent_t currentEtbDuty;
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// this macro clamps both positive and negative percentages from about -100% to 100%
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#define ETB_PERCENT_TO_DUTY(X) (maxF(minF((X * 0.01), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))
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EtbController::EtbController(EtbControl *etb) {
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this->etb = etb;
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}
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EtbController::EtbController(DcMotor *motor)
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: m_motor(motor)
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{
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}
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int EtbController::getPeriodMs() {
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return GET_PERIOD_LIMITED(&engineConfiguration->etb);
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int EtbController::getPeriodMs() {
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return GET_PERIOD_LIMITED(&engineConfiguration->etb);
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}
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void EtbController::PeriodicTask() {
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// set debug_mode 17
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if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
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#if EFI_TUNER_STUDIO
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etbPid.postState(&tsOutputChannels);
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tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
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#endif /* EFI_TUNER_STUDIO */
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} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
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#if EFI_TUNER_STUDIO
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// set debug_mode 29
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tsOutputChannels.debugFloatField1 = directPwmValue;
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#endif /* EFI_TUNER_STUDIO */
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}
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void EtbController::PeriodicTask() {
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// set debug_mode 17
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if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
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if (!m_motor) {
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return;
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}
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if (startupPositionError) {
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m_motor->set(0);
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return;
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}
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if (shouldResetPid) {
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etbPid.reset();
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shouldResetPid = false;
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}
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if (!cisnan(directPwmValue)) {
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m_motor->set(directPwmValue);
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return;
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}
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if (boardConfiguration->pauseEtbControl) {
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m_motor->set(0);
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return;
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}
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percent_t actualThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
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if (engine->etbAutoTune) {
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autoTune.input = actualThrottlePosition;
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bool result = autoTune.Runtime(&logger);
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tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
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float value = tuneWorkingPid.getOutput(50, actualThrottlePosition);
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scheduleMsg(&logger, "AT input=%f output=%f PID=%f", autoTune.input,
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autoTune.output,
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value);
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scheduleMsg(&logger, "AT PID=%f", value);
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m_motor->set(ETB_PERCENT_TO_DUTY(value));
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if (result) {
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scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
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}
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return;
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}
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percent_t pedalPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
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int rpm = GET_RPM();
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engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition);
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percent_t etbIdleAddition = CONFIGB(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
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percent_t targetPosition = engine->engineState.targetFromTable + etbIdleAddition;
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if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
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#if EFI_TUNER_STUDIO
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etbPid.postState(&tsOutputChannels);
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tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
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tsOutputChannels.debugFloatField1 = engine->engineState.targetFromTable;
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tsOutputChannels.debugFloatField2 = engine->engineState.idle.etbIdleAddition;
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#endif /* EFI_TUNER_STUDIO */
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} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
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#if EFI_TUNER_STUDIO
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// set debug_mode 29
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tsOutputChannels.debugFloatField1 = directPwmValue;
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#endif /* EFI_TUNER_STUDIO */
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}
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}
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if (startupPositionError) {
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etb->dcMotor.set(0);
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return;
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}
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engine->engineState.etbFeedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);
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if (shouldResetPid) {
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etbPid.reset();
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shouldResetPid = false;
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}
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etbPid.iTermMin = engineConfiguration->etb_iTermMin;
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etbPid.iTermMax = engineConfiguration->etb_iTermMax;
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if (!cisnan(directPwmValue)) {
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etb->dcMotor.set(directPwmValue);
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return;
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}
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currentEtbDuty = engine->engineState.etbFeedForward +
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etbPid.getOutput(targetPosition, actualThrottlePosition);
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if (boardConfiguration->pauseEtbControl) {
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etb->dcMotor.set(0);
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return;
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}
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m_motor->set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
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percent_t actualThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
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if (engineConfiguration->isVerboseETB) {
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etbPid.showPidStatus(&logger, "ETB");
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}
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if (engine->etbAutoTune) {
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autoTune.input = actualThrottlePosition;
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bool result = autoTune.Runtime(&logger);
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tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
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float value = tuneWorkingPid.getOutput(50, actualThrottlePosition);
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scheduleMsg(&logger, "AT input=%f output=%f PID=%f", autoTune.input,
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autoTune.output,
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value);
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scheduleMsg(&logger, "AT PID=%f", value);
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etb->dcMotor.set(ETB_PERCENT_TO_DUTY(value));
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if (result) {
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scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
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}
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return;
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}
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percent_t pedalPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
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int rpm = GET_RPM();
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engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition);
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percent_t etbIdleAddition = CONFIGB(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
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percent_t targetPosition = engine->engineState.targetFromTable + etbIdleAddition;
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if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
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#if EFI_TUNER_STUDIO
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tsOutputChannels.debugFloatField1 = engine->engineState.targetFromTable;
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tsOutputChannels.debugFloatField2 = engine->engineState.idle.etbIdleAddition;
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#endif /* EFI_TUNER_STUDIO */
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}
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engine->engineState.etbFeedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);
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etbPid.iTermMin = engineConfiguration->etb_iTermMin;
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etbPid.iTermMax = engineConfiguration->etb_iTermMax;
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currentEtbDuty = engine->engineState.etbFeedForward +
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etbPid.getOutput(targetPosition, actualThrottlePosition);
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etb->dcMotor.set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
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if (engineConfiguration->isVerboseETB) {
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etbPid.showPidStatus(&logger, "ETB");
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}
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DISPLAY_STATE(Engine)
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DISPLAY_STATE(Engine)
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DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
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DISPLAY_TEXT(Electronic_Throttle);
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DISPLAY_SENSOR(TPS)
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DISPLAY_TEXT(eol);
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DISPLAY_TEXT(Electronic_Throttle);
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DISPLAY_SENSOR(TPS)
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DISPLAY_TEXT(eol);
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DISPLAY_TEXT(Pedal);
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DISPLAY_SENSOR(PPS);
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DISPLAY(DISPLAY_CONFIG(throttlePedalPositionAdcChannel));
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DISPLAY_TEXT(eol);
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DISPLAY_TEXT(Pedal);
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DISPLAY_SENSOR(PPS);
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DISPLAY(DISPLAY_CONFIG(throttlePedalPositionAdcChannel));
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DISPLAY_TEXT(eol);
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DISPLAY_TEXT(Feed_forward);
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DISPLAY(DISPLAY_FIELD(etbFeedForward));
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DISPLAY_TEXT(eol);
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DISPLAY_TEXT(Feed_forward);
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DISPLAY(DISPLAY_FIELD(etbFeedForward));
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DISPLAY_TEXT(eol);
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DISPLAY_STATE(ETB_pid)
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DISPLAY_TEXT(input);
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DISPLAY(DISPLAY_FIELD(input));
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DISPLAY_TEXT(Output);
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DISPLAY(DISPLAY_FIELD(output));
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DISPLAY_TEXT(iTerm);
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DISPLAY(DISPLAY_FIELD(iTerm));
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DISPLAY_TEXT(eol);
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DISPLAY(DISPLAY_FIELD(errorAmplificationCoef));
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DISPLAY(DISPLAY_FIELD(previousError));
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DISPLAY_TEXT(eol);
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DISPLAY_STATE(ETB_pid)
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DISPLAY_TEXT(input);
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DISPLAY(DISPLAY_FIELD(input));
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DISPLAY_TEXT(Output);
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DISPLAY(DISPLAY_FIELD(output));
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DISPLAY_TEXT(iTerm);
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DISPLAY(DISPLAY_FIELD(iTerm));
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DISPLAY_TEXT(eol);
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DISPLAY(DISPLAY_FIELD(errorAmplificationCoef));
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DISPLAY(DISPLAY_FIELD(previousError));
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DISPLAY_TEXT(eol);
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DISPLAY_TEXT(Settings);
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DISPLAY(DISPLAY_CONFIG(ETB_PFACTOR));
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DISPLAY(DISPLAY_CONFIG(ETB_IFACTOR));
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DISPLAY(DISPLAY_CONFIG(ETB_DFACTOR));
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DISPLAY_TEXT(eol);
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DISPLAY(DISPLAY_CONFIG(ETB_OFFSET));
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DISPLAY(DISPLAY_CONFIG(ETB_PERIODMS));
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DISPLAY_TEXT(eol);
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DISPLAY(DISPLAY_CONFIG(ETB_MINVALUE));
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DISPLAY(DISPLAY_CONFIG(ETB_MAXVALUE));
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DISPLAY_TEXT(Settings);
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DISPLAY(DISPLAY_CONFIG(ETB_PFACTOR));
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DISPLAY(DISPLAY_CONFIG(ETB_IFACTOR));
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DISPLAY(DISPLAY_CONFIG(ETB_DFACTOR));
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DISPLAY_TEXT(eol);
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DISPLAY(DISPLAY_CONFIG(ETB_OFFSET));
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DISPLAY(DISPLAY_CONFIG(ETB_PERIODMS));
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DISPLAY_TEXT(eol);
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DISPLAY(DISPLAY_CONFIG(ETB_MINVALUE));
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DISPLAY(DISPLAY_CONFIG(ETB_MAXVALUE));
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/* DISPLAY_ELSE */
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DISPLAY_TEXT(No_Pedal_Sensor);
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DISPLAY_TEXT(No_Pedal_Sensor);
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/* DISPLAY_ENDIF */
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#if EFI_TUNER_STUDIO
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// 312
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tsOutputChannels.etbTarget = targetPosition;
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// 316
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tsOutputChannels.etb1DutyCycle = currentEtbDuty;
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// 320
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// Error is positive if the throttle needs to open further
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tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
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// 312
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tsOutputChannels.etbTarget = targetPosition;
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// 316
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tsOutputChannels.etb1DutyCycle = currentEtbDuty;
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// 320
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// Error is positive if the throttle needs to open further
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tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
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#endif /* EFI_TUNER_STUDIO */
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}
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}
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EtbController etbController(&etbControls[0]);
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EtbController etbController(&etbHardware[0].dcMotor);
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/**
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* set_etb_duty X
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@ -348,7 +353,7 @@ void setThrottleDutyCycle(percent_t level) {
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float dc = ETB_PERCENT_TO_DUTY(level);
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directPwmValue = dc;
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for (int i = 0 ; i < ETB_COUNT; i++) {
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etbControls[i].dcMotor.set(dc);
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etbHardware[i].dcMotor.set(dc);
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}
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scheduleMsg(&logger, "duty ETB duty=%f", dc);
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}
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@ -377,7 +382,7 @@ static void showEthInfo(void) {
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scheduleMsg(&logger, "dir2=%s", hwPortname(CONFIGB(etb1.directionPin2)));
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for (int i = 0 ; i < ETB_COUNT; i++) {
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EtbControl *etb = &etbControls[i];
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EtbHardware *etb = &etbHardware[i];
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scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
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}
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@ -392,7 +397,7 @@ static void setEtbFrequency(int frequency) {
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engineConfiguration->etbFreq = frequency;
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for (int i = 0 ; i < ETB_COUNT; i++) {
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etbControls[i].setFrequency(frequency);
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etbHardware[i].setFrequency(frequency);
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}
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}
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@ -400,7 +405,7 @@ static void etbReset() {
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scheduleMsg(&logger, "etbReset");
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for (int i = 0 ; i < ETB_COUNT; i++) {
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etbControls[i].dcMotor.set(0);
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etbHardware[i].dcMotor.set(0);
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}
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etbPid.reset();
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@ -535,12 +540,14 @@ void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *pre
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void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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// controlPinMode is a strange feature - it's simply because I am short on 5v I/O on Frankenso with Miata NB2 test mule
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etbControls[0].start(
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etbHardware[0].start(
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CONFIG(etb1_use_two_wires),
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CONFIGB(etb1.controlPin1),
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&CONFIGB(etb1.controlPinMode),
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CONFIGB(etb1.directionPin1),
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CONFIGB(etb1.directionPin2)
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CONFIGB(etb1.directionPin2),
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&ENGINE(executor),
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CONFIG(etbFreq)
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);
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}
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@ -611,9 +618,6 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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etbPid.initPidClass(&engineConfiguration->etb);
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for (int i = 0 ; i < ETB_COUNT; i++) {
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INJECT_ENGINE_REFERENCE(etbControls[i]);
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}
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INJECT_ENGINE_REFERENCE(etbController);
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pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
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@ -646,7 +650,7 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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if (engineConfiguration->etbCalibrationOnStart) {
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for (int i = 0 ; i < ETB_COUNT; i++) {
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EtbControl *etb = &etbControls[i];
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EtbHardware *etb = &etbHardware[i];
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etb->dcMotor.set(70);
|
||||
chThdSleep(600);
|
||||
|
|
|
|||
|
|
@ -14,16 +14,18 @@
|
|||
#include "engine.h"
|
||||
#include "periodic_task.h"
|
||||
|
||||
class EtbControl;
|
||||
class DcMotor;
|
||||
|
||||
class EtbController : public PeriodicTimerController {
|
||||
class EtbController final : public PeriodicTimerController {
|
||||
public:
|
||||
DECLARE_ENGINE_PTR;
|
||||
EtbController(EtbControl *etb);
|
||||
EtbControl *etb = nullptr;
|
||||
EtbController(DcMotor *etb);
|
||||
|
||||
int getPeriodMs() override;
|
||||
void PeriodicTask() override;
|
||||
|
||||
private:
|
||||
DcMotor *m_motor;
|
||||
};
|
||||
|
||||
void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
|
||||
|
|
|
|||
Loading…
Reference in New Issue