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Gear detection implementation (#4052) 

* gear detect improvements

* ui

* ui for gear ratios

* ui

* output channel

* output channels etc

* implement gear detection

* name

* s

* status loop

* missing function

* ui tweaking

* s
This commit is contained in:
Matthew Kennedy 2022-04-07 06:21:11 -07:00 committed by GitHub
parent c32742db0f
commit 88ff526764
7 changed files with 182 additions and 14 deletions
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2
firmware/console/binary/output_channels.txt
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@ -324,7 +324,7 @@ uint16_t rpmAcceleration;dRPM;"RPM/s",1, 0, 0, 0, 0
uint16_t autoscale fallbackMap;;"kPa", 0.1, 0, 0, 1000, 1
int8_t autoscale boostControllerClosedLoopPart;@@GAUGE_NAME_BOOST_CLOSED_LOOP@@;"%", 0.5, 0, -50, 50, 1
uint8_t unused503;;"", 1, 0, 0, 0, 0
uint8_t detectedGear;@@GAUGE_NAME_DETECTED_GEAR@@;"", 1, 0, 0, @@GEARS_COUNT@@, 0
int16_t autoscale timingCltCorrection;;"deg",{1/@@PACK_MULT_PERCENT@@}, 0, -20, 20, 2
int16_t autoscale timingIatCorrection;;"deg",{1/@@PACK_MULT_PERCENT@@}, 0, -20, 20, 2

9
firmware/console/status_loop.cpp
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@ -546,10 +546,11 @@ static void updateVvtSensors() {
#endif
}
static void updateVehicleSpeed(int rpm) {
static void updateVehicleSpeed() {
#if EFI_VEHICLE_SPEED
engine->outputChannels.vehicleSpeedKph = Sensor::getOrZero(SensorType::VehicleSpeed);
engine->outputChannels.speedToRpmRatio = engine->module<GearDetector>()->getGearboxRatio();
engine->outputChannels.detectedGear = engine->module<GearDetector>()->getCurrentGear();
#endif /* EFI_VEHICLE_SPEED */
}
@ -594,14 +595,14 @@ static void updateMiscSensors() {
engine->outputChannels.tCharge = engine->engineState.sd.tCharge;
}
static void updateSensors(int rpm) {
static void updateSensors() {
updateTempSensors();
updateThrottles();
updateRawSensors();
updateLambda();
updateFuelSensors();
updateVvtSensors();
updateVehicleSpeed(rpm);
updateVehicleSpeed();
updatePressures();
updateMiscSensors();
}
@ -724,7 +725,7 @@ void updateTunerStudioState() {
auto instantRpm = engine->triggerCentral.triggerState.getInstantRpm();
tsOutputChannels->instantRpm = instantRpm;
updateSensors(rpm);
updateSensors();
updateFuelInfo();
updateIgnition(rpm);
updateFlags();

56
firmware/controllers/algo/gear_detector.cpp
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@ -1,9 +1,55 @@
#include "pch.h"
void GearDetector::onSlowCallback() {
m_gearboxRatio = computeGearboxRatio();
static constexpr float geometricMean(float x, float y) {
return sqrtf(x * y);
}
// TODO: solve for which gear this is
void GearDetector::onConfigurationChange(engine_configuration_s const * /*previousConfig*/) {
// Compute gear thresholds between gears
for (size_t i = 0; i < efi::size(m_gearThresholds); i++) {
// Threshold i is the threshold between gears i and i+1
m_gearThresholds[i] = geometricMean(
engineConfiguration->gearRatio[i],
engineConfiguration->gearRatio[i + 1]
);
// TODO: validate gears are in correct order
}
}
void GearDetector::onSlowCallback() {
float ratio = computeGearboxRatio();
m_gearboxRatio = ratio;
m_currentGear = determineGearFromRatio(ratio);
}
size_t GearDetector::determineGearFromRatio(float ratio) const {
// 1.5x first gear is neutral or clutch slip or something
if (ratio > engineConfiguration->gearRatio[0] * 1.5f) {
return 0;
}
auto gearCount = engineConfiguration->totalGearsCount;
// 0.66x top gear is coasting with engine off or something
if (ratio < engineConfiguration->gearRatio[gearCount - 1] * 0.66f) {
return 0;
}
size_t currentGear = gearCount;
while (currentGear > 1) {
if (ratio < m_gearThresholds[currentGear - 2]) {
break;
}
currentGear--;
}
return currentGear;
}
float GearDetector::computeGearboxRatio() const {
@ -31,3 +77,7 @@ float GearDetector::computeGearboxRatio() const {
float GearDetector::getGearboxRatio() const {
return m_gearboxRatio;
}
size_t GearDetector::getCurrentGear() const {
return m_currentGear;
}

9
firmware/controllers/algo/gear_detector.h
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@ -2,11 +2,20 @@
class GearDetector : public EngineModule {
public:
void onSlowCallback() override;
void onConfigurationChange(engine_configuration_s const * /*previousConfig*/) override;
float getGearboxRatio() const;
// Returns 0 for neutral, 1 for 1st, 5 for 5th, etc.
size_t getCurrentGear() const;
size_t determineGearFromRatio(float ratio) const;
private:
float computeGearboxRatio() const;
float m_gearboxRatio = 0;
size_t m_currentGear = 0;
float m_gearThresholds[GEARS_COUNT - 1];
};

1
firmware/integration/rusefi_config.txt
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@ -1695,6 +1695,7 @@ end_struct
#define GAUGE_NAME_TIMING_ADVANCE "timing"
#define GAUGE_NAME_VVS "Vehicle Speed"
#define GAUGE_NAME_GEAR_RATIO "Gearbox Ratio"
#define GAUGE_NAME_DETECTED_GEAR "Detected Gear"
#define GAUGE_NAME_TURBO_SPEED "Turbocharger Speed"
#define GAUGE_NAME_VBAT "VBatt"
#define GAUGE_NAME_TIME "Time"

12
firmware/tunerstudio/rusefi.input
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@ -1037,7 +1037,6 @@ gaugeCategory = Sensors - Extra 2
knockLevelGauge = knockLevel,"Knock level", "V", 0, 7, 10, 10, 100, 100, 1, 2
knockCountGauge = knockCount, "Knock count", "count", 0, 10000, 0, 0, 10000, 10000, 0, 0
fuelTankLevelGauge = fuelTankLevel,"Fuel level", "%", 0, 100, 10, 20, 100, 100, 1, 1
speedToRpmRatioGauge = speedToRpmRatio, @@GAUGE_NAME_GEAR_RATIO@@, "", 0, 100, 0, 0, 100, 100, 4, 4
wastegatePosGauge = wastegatePositionSensor, @@GAUGE_NAME_WG_POSITION@@, "%", 0, 100, 0, 0, 100, 100, 1, 1
idlePosSensGauge = idlePositionSensor, @@GAUGE_NAME_IDLE_POSITION@@, "%", 0, 100, 0, 0, 100, 100, 1, 1
currentEnginePhaseGauge = currentEnginePhase, "Engine Phase", "deg", 0, 720, 0, 0, 720, 720, 0, 0
@ -1184,6 +1183,8 @@ gaugeCategory = Sensors - Raw
gaugeCategory = Transmission
desiredGearGauge = tcuDesiredGear, @@GAUGE_NAME_DESIRED_GEAR@@, "gear", -1, 10, -1, -1, 10, 10, 0, 0
currentGearGauge = tcuCurrentGear, @@GAUGE_NAME_CURRENT_GEAR@@, "gear", -1, 10, -1, -1, 10, 10, 0, 0
detectedGearGauge = detectedGear, @@GAUGE_NAME_DETECTED_GEAR@@, "gear", 0, @@GEARS_COUNT@@, 0, 0, @@GEARS_COUNT@@, @@GEARS_COUNT@@, 0, 0
speedToRpmRatioGauge = speedToRpmRatio, @@GAUGE_NAME_GEAR_RATIO@@, "", 0, 100, 0, 0, 100, 100, 4, 4
gaugeCategory = Knock
knock1Gauge = knock1, "Knock Cyl 1", "dBv", -60, 10, -60, -60, 10, 10, 0, 0
@ -1466,10 +1467,10 @@ menuDialog = main
subMenu = gearDetection, "Gear detection", 0
subMenu = std_separator
subMenu = boostDialog, "Boost Control"
subMenu = boostOpenLoopDialog, "Boost Control Open Loop", { isBoostControlEnabled && boostType == 0 }
subMenu = boostPidDialog, "Boost Control Closed Loop PID", { isBoostControlEnabled && boostType == 1 }
subMenu = boostTargetDialog, "Boost Control Closed Loop Target", { isBoostControlEnabled && boostType == 1 }
subMenu = boostDialog, "Boost control"
subMenu = boostOpenLoopDialog, "Boost control open loop", { isBoostControlEnabled }
subMenu = boostPidDialog, "Boost control PID", { isBoostControlEnabled && boostType == 1 }
subMenu = boostTargetDialog, "Boost control target", { isBoostControlEnabled && boostType == 1 }
subMenu = boostEtbPid, "ETB-style Wastegate Actuator", { etbFunctions1 == @@etb_function_e_ETB_Wastegate@@ || etbFunctions2 == @@etb_function_e_ETB_Wastegate@@ }
subMenu = std_separator
@ -3122,7 +3123,6 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
dialog = speedSensorLeft, "", yAxis
panel = speedSensorAnalog, { enableCanVss == 0 }
panel = speedSensorCan
panel = vssFilter
dialog = gearDetection, "Gear Detection"
field = "Wheel revolutions per kilometer", driveWheelRevPerKm

107
unit_tests/tests/test_gear_detector.cpp
View File

@ -26,3 +26,110 @@ TEST(GearDetector, ComputeGearRatio) {
// Idling, car stopped, check no div/0
EXPECT_EQ(0, GetGearRatioFor(507, 4.1, 0, 800));
}
TEST(GearDetector, DetermineGearSingleSpeed) {
EngineTestHelper eth(TEST_ENGINE);
GearDetector dut;
engineConfiguration->totalGearsCount = 1;
engineConfiguration->gearRatio[0] = 2;
dut.onConfigurationChange(nullptr);
// Super high ratios indicate clutch slip or idling in neutral or something
EXPECT_EQ(0, dut.determineGearFromRatio(100));
EXPECT_EQ(0, dut.determineGearFromRatio(4));
// Check exactly on the gear
EXPECT_EQ(1, dut.determineGearFromRatio(2));
// Check near the gear
EXPECT_EQ(1, dut.determineGearFromRatio(2.1));
EXPECT_EQ(1, dut.determineGearFromRatio(1.9));
// Extremely low ratio suggests stopped engine at speed?
EXPECT_EQ(0, dut.determineGearFromRatio(1.0));
}
TEST(GearDetector, DetermineGear5Speed) {
EngineTestHelper eth(TEST_ENGINE);
GearDetector dut;
engineConfiguration->totalGearsCount = 5;
engineConfiguration->gearRatio[0] = 3.35;
engineConfiguration->gearRatio[1] = 1.99;
engineConfiguration->gearRatio[2] = 1.33;
engineConfiguration->gearRatio[3] = 1.00;
engineConfiguration->gearRatio[4] = 0.72;
dut.onConfigurationChange(nullptr);
// Super high ratios indicate clutch slip or idling in neutral or something
EXPECT_EQ(0, dut.determineGearFromRatio(100));
EXPECT_EQ(0, dut.determineGearFromRatio(6));
// Check exactly on gears
EXPECT_EQ(1, dut.determineGearFromRatio(3.35));
EXPECT_EQ(2, dut.determineGearFromRatio(1.99));
EXPECT_EQ(3, dut.determineGearFromRatio(1.33));
EXPECT_EQ(4, dut.determineGearFromRatio(1.00));
EXPECT_EQ(5, dut.determineGearFromRatio(0.72));
// Check near each gear
EXPECT_EQ(1, dut.determineGearFromRatio(3.45));
EXPECT_EQ(1, dut.determineGearFromRatio(3.25));
EXPECT_EQ(2, dut.determineGearFromRatio(2.2));
EXPECT_EQ(2, dut.determineGearFromRatio(1.8));
EXPECT_EQ(3, dut.determineGearFromRatio(1.45));
EXPECT_EQ(3, dut.determineGearFromRatio(1.25));
EXPECT_EQ(4, dut.determineGearFromRatio(1.1));
EXPECT_EQ(4, dut.determineGearFromRatio(0.9));
EXPECT_EQ(5, dut.determineGearFromRatio(0.8));
EXPECT_EQ(5, dut.determineGearFromRatio(0.6));
// Extremely low ratio suggests stopped engine at speed?
EXPECT_EQ(0, dut.determineGearFromRatio(0.1));
}
TEST(GearDetector, DetermineGear8Speed) {
EngineTestHelper eth(TEST_ENGINE);
GearDetector dut;
// ZF 8HP 70
engineConfiguration->totalGearsCount = 8;
engineConfiguration->gearRatio[0] = 4.69;
engineConfiguration->gearRatio[1] = 3.13;
engineConfiguration->gearRatio[2] = 2.10;
engineConfiguration->gearRatio[3] = 1.67;
engineConfiguration->gearRatio[4] = 1.28;
engineConfiguration->gearRatio[5] = 1;
engineConfiguration->gearRatio[6] = 0.84;
engineConfiguration->gearRatio[7] = 0.67;
dut.onConfigurationChange(nullptr);
// Super high ratios indicate clutch slip or idling in neutral or something
EXPECT_EQ(0, dut.determineGearFromRatio(100));
EXPECT_EQ(0, dut.determineGearFromRatio(8));
// Check exactly on gears - only test the ends, the middle works
EXPECT_EQ(1, dut.determineGearFromRatio(4.69));
EXPECT_EQ(2, dut.determineGearFromRatio(3.13));
EXPECT_EQ(7, dut.determineGearFromRatio(0.84));
EXPECT_EQ(8, dut.determineGearFromRatio(0.67));
// Check near each gear - only test the ends, the middle works
EXPECT_EQ(1, dut.determineGearFromRatio(4.75));
EXPECT_EQ(1, dut.determineGearFromRatio(4.3));
EXPECT_EQ(8, dut.determineGearFromRatio(0.71));
EXPECT_EQ(8, dut.determineGearFromRatio(0.6));
// Extremely low ratio suggests stopped engine at speed?
EXPECT_EQ(0, dut.determineGearFromRatio(0.1));
}