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additional IDLE verbose state

This commit is contained in:
rusefi 2018-07-29 12:23:55 -04:00
parent 75dd73f9ea
commit 7abd2d9b0a
1 changed files with 32 additions and 12 deletions
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44
firmware/controllers/idle_thread.cpp
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@ -62,6 +62,18 @@ static StepperMotor iacMotor;
static uint32_t lastCrankingCyclesCounter = 0; static uint32_t lastCrankingCyclesCounter = 0;
static float lastCrankingIacPosition; static float lastCrankingIacPosition;
typedef enum {
INIT = 0,
TPS_THRESHOLD = 1,
RPM_DEAD_ZONE = 2,
PWM_PRETTY_CLOSE = 3,
ADJUSTING = 4,
} idle_state_e;
idle_state_e idleState = INIT;
/** /**
* that's current position with CLT and IAT corrections * that's current position with CLT and IAT corrections
*/ */
@ -119,7 +131,7 @@ static void applyIACposition(percent_t position) {
} }
} }
static float manualIdleController(float cltCorrection) { static percent_t manualIdleController(float cltCorrection) {
percent_t correctedPosition = cltCorrection * boardConfiguration->manIdlePosition; percent_t correctedPosition = cltCorrection * boardConfiguration->manIdlePosition;
@ -139,7 +151,7 @@ void setIdleValvePosition(int positionPercent) {
boardConfiguration->manIdlePosition = positionPercent; boardConfiguration->manIdlePosition = positionPercent;
} }
static int blipIdlePosition; static percent_t blipIdlePosition;
static efitimeus_t timeToStopBlip = 0; static efitimeus_t timeToStopBlip = 0;
static efitimeus_t timeToStopIdleTest = 0; static efitimeus_t timeToStopIdleTest = 0;
@ -169,7 +181,10 @@ percent_t getIdlePosition(void) {
return currentIdlePosition; return currentIdlePosition;
} }
static float autoIdle() { /**
* @return idle valve position percentage for automatic closed loop mode
*/
static percent_t automaticIdleController() {
percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE); percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
if (tpsPos > boardConfiguration->idlePidDeactivationTpsThreshold) { if (tpsPos > boardConfiguration->idlePidDeactivationTpsThreshold) {
// Don't store old I and D terms if PID doesn't work anymore. // Don't store old I and D terms if PID doesn't work anymore.
@ -179,6 +194,7 @@ static float autoIdle() {
shouldResetPid = true; shouldResetPid = true;
} }
idleState = TPS_THRESHOLD;
// just leave IAC position as is (but don't return currentIdlePosition - it may already contain additionalAir) // just leave IAC position as is (but don't return currentIdlePosition - it may already contain additionalAir)
return baseIdlePosition; return baseIdlePosition;
} }
@ -195,8 +211,11 @@ static float autoIdle() {
// check if within the dead zone // check if within the dead zone
int rpm = getRpmE(engine); int rpm = getRpmE(engine);
if (absI(rpm - targetRpm) <= CONFIG(idlePidRpmDeadZone)) if (absI(rpm - targetRpm) <= CONFIG(idlePidRpmDeadZone)) {
idleState = RPM_DEAD_ZONE;
// current RPM is close enough, no need to change anything
return baseIdlePosition; return baseIdlePosition;
}
// When rpm < targetRpm, there's a risk of dropping RPM too low - and the engine dies out. // When rpm < targetRpm, there's a risk of dropping RPM too low - and the engine dies out.
// So PID reaction should be increased by adding extra percent to PID-error: // So PID reaction should be increased by adding extra percent to PID-error:
@ -253,6 +272,11 @@ static msg_t ivThread(int param) {
while (true) { while (true) {
idlePid.sleep(); // in both manual and auto mode same period is used idlePid.sleep(); // in both manual and auto mode same period is used
if (engineConfiguration->isVerboseIAC && engineConfiguration->idleMode == IM_AUTO) {
scheduleMsg(logger, "state %d", idleState);
idlePid.showPidStatus(logger, "idle");
}
if (shouldResetPid) { if (shouldResetPid) {
idlePid.reset(); idlePid.reset();
// alternatorPidResetCounter++; // alternatorPidResetCounter++;
@ -288,7 +312,7 @@ static msg_t ivThread(int param) {
else else
cltCorrection = interpolate2d("cltT", clt, config->cltIdleCorrBins, config->cltIdleCorr, CLT_CURVE_SIZE) / PERCENT_MULT; cltCorrection = interpolate2d("cltT", clt, config->cltIdleCorrBins, config->cltIdleCorr, CLT_CURVE_SIZE) / PERCENT_MULT;
float iacPosition; percent_t iacPosition;
if (timeToStopBlip != 0) { if (timeToStopBlip != 0) {
iacPosition = blipIdlePosition; iacPosition = blipIdlePosition;
@ -305,7 +329,7 @@ static msg_t ivThread(int param) {
// let's re-apply CLT correction // let's re-apply CLT correction
iacPosition = manualIdleController(cltCorrection); iacPosition = manualIdleController(cltCorrection);
} else { } else {
iacPosition = autoIdle(); iacPosition = automaticIdleController();
} }
// store 'base' iacPosition without adjustments // store 'base' iacPosition without adjustments
@ -324,6 +348,7 @@ static msg_t ivThread(int param) {
// The threshold is dependent on IAC type (see initIdleHardware()) // The threshold is dependent on IAC type (see initIdleHardware())
if (absF(iacPosition - currentIdlePosition) < idlePositionSensitivityThreshold) { if (absF(iacPosition - currentIdlePosition) < idlePositionSensitivityThreshold) {
idleState = PWM_PRETTY_CLOSE;
continue; // value is pretty close, let's leave the poor valve alone continue; // value is pretty close, let's leave the poor valve alone
} }
@ -339,13 +364,8 @@ static msg_t ivThread(int param) {
#endif #endif
} }
if (engineConfiguration->isVerboseIAC && engineConfiguration->idleMode == IM_AUTO) {
idlePid.showPidStatus(logger, "idle");
}
currentIdlePosition = iacPosition; currentIdlePosition = iacPosition;
idleState = ADJUSTING;
applyIACposition(currentIdlePosition); applyIACposition(currentIdlePosition);
} }
#if defined __GNUC__ #if defined __GNUC__