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TPS consumers: idle and ignition and obd2 and lcd (#1254) 

* advance_map

* tests

* unneeded

* idle

* use driver intent instead

* and obd and lcd

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2020-04-03 16:59:08 -07:00 committed by GitHub
parent 067063e024
commit 9f75c0cea6
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 36 additions and 24 deletions
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17
firmware/controllers/actuators/idle_thread.cpp
View File

@ -231,7 +231,7 @@ static bool isOutOfAutomaticIdleCondition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
/**
* @return idle valve position percentage for automatic closed loop mode
*/
static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_SUFFIX) {
if (isOutOfAutomaticIdleCondition(PASS_ENGINE_PARAMETER_SIGNATURE)) {
// Don't store old I and D terms if PID doesn't work anymore.
// Otherwise they will affect the idle position much later, when the throttle is closed.
@ -287,7 +287,6 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
}
// Apply PID Deactivation Threshold as a smooth taper for TPS transients.
percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
// if tps==0 then PID just works as usual, or we completely disable it if tps>=threshold
newValue = interpolateClamped(0.0f, newValue, CONFIG(idlePidDeactivationTpsThreshold), engine->engineState.idle.baseIdlePosition, tpsPos);
@ -326,7 +325,9 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
idlePid.iTermMin = engineConfiguration->idlerpmpid_iTermMin;
idlePid.iTermMax = engineConfiguration->idlerpmpid_iTermMax;
engine->engineState.isAutomaticIdle = engineConfiguration->idleMode == IM_AUTO;
SensorResult tps = Sensor::get(SensorType::DriverThrottleIntent);
engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) {
// todo: print each bit using 'getIdle_state_e' method
@ -402,19 +403,21 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
lastCrankingCyclesCounter = engine->rpmCalculator.getRevolutionCounterSinceStart();
engine->engineState.idle.baseIdlePosition = iacPosition;
} else {
if (engineConfiguration->idleMode == IM_MANUAL) {
if (!tps.Valid || engineConfiguration->idleMode == IM_MANUAL) {
// let's re-apply CLT correction
iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
} else {
iacPosition = automaticIdleController(PASS_ENGINE_PARAMETER_SIGNATURE);
iacPosition = automaticIdleController(tps.Value PASS_ENGINE_PARAMETER_SUFFIX);
}
// store 'base' iacPosition without adjustments
engine->engineState.idle.baseIdlePosition = iacPosition;
percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
float additionalAir = (float)engineConfiguration->iacByTpsTaper;
iacPosition += interpolateClamped(0.0f, 0.0f, CONFIG(idlePidDeactivationTpsThreshold), additionalAir, tpsPos);
if (tps.Valid) {
iacPosition += interpolateClamped(0.0f, 0.0f, CONFIG(idlePidDeactivationTpsThreshold), additionalAir, tps.Value);
}
// taper transition from cranking to running (uint32_t to float conversion is safe here)
if (engineConfiguration->afterCrankingIACtaperDuration > 0)

19
firmware/controllers/algo/advance_map.cpp
View File

@ -24,7 +24,7 @@
#include "advance_map.h"
#include "interpolation.h"
#include "engine_math.h"
#include "tps.h"
#include "sensor.h"
#include "idle_thread.h"
#include "allsensors.h"
#include "launch_control.h"
@ -86,8 +86,9 @@ static angle_t getRunningAdvance(int rpm, float engineLoad DECLARE_ENGINE_PARAME
float advanceAngle;
if (CONFIG(useTPSAdvanceTable)) {
float tps = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
advanceAngle = advanceTpsMap.getValue((float) rpm, tps);
// TODO: what do we do about multi-TPS?
float tps = Sensor::get(SensorType::Tps1).value_or(0);
advanceAngle = advanceTpsMap.getValue(rpm, tps);
} else {
advanceAngle = advanceMap.getValue((float) rpm, engineLoad);
}
@ -95,10 +96,13 @@ static angle_t getRunningAdvance(int rpm, float engineLoad DECLARE_ENGINE_PARAME
// get advance from the separate table for Idle
if (CONFIG(useSeparateAdvanceForIdle)) {
float idleAdvance = interpolate2d("idleAdvance", rpm, config->idleAdvanceBins, config->idleAdvance);
auto [valid, tps] = Sensor::get(SensorType::DriverThrottleIntent);
if (valid) {
// interpolate between idle table and normal (running) table using TPS threshold
float tps = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
advanceAngle = interpolateClamped(0.0f, idleAdvance, CONFIG(idlePidDeactivationTpsThreshold), advanceAngle, tps);
}
}
#if EFI_LAUNCH_CONTROL
@ -130,8 +134,11 @@ angle_t getAdvanceCorrections(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
if (CONFIG(useIdleTimingPidControl)) {
int targetRpm = getTargetRpmForIdleCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
int rpmDelta = absI(rpm - targetRpm);
float tps = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
if (tps >= CONFIG(idlePidDeactivationTpsThreshold)) {
auto [valid, tps] = Sensor::get(SensorType::Tps1);
// If TPS is invalid, or we aren't in the region, so reset state and don't apply PID
if (!valid || tps >= CONFIG(idlePidDeactivationTpsThreshold)) {
// we are not in the idle mode anymore, so the 'reset' flag will help us when we return to the idle.
shouldResetTimingPid = true;
}

4
firmware/controllers/can/obd2.cpp
View File

@ -34,7 +34,7 @@
#include "vehicle_speed.h"
#include "map.h"
#include "maf.h"
#include "tps.h"
#include "sensor.h"
#include "engine_math.h"
#include "fuel_math.h"
#include "thermistors.h"
@ -167,7 +167,7 @@ static void handleGetDataRequest(const CANRxFrame& rx) {
break;
case PID_THROTTLE:
scheduleMsg(&logger, "Got throttle request");
obdSendValue(1, pid, 1, getTPS(PASS_ENGINE_PARAMETER_SIGNATURE) * 2.55f); // (A*100/255)
obdSendValue(1, pid, 1, Sensor::get(SensorType::Tps1).value_or(0) * 2.55f); // (A*100/255)
break;
case PID_FUEL_RATE:
scheduleMsg(&logger, "Got fuel rate request");

3
firmware/controllers/gauges/lcd_controller.cpp
View File

@ -40,6 +40,7 @@
#include "mmc_card.h"
#include "idle_thread.h"
#include "fuel_math.h"
#include "sensor.h"
EXTERN_ENGINE;
@ -190,7 +191,7 @@ static void showLine(lcd_line_e line, int screenY) {
case LL_TPS:
getPinNameByAdcChannel("tps", engineConfiguration->tps1_1AdcChannel, buffer);
lcdPrintf("Throttle %s %.2f%%", buffer, getTPS());
lcdPrintf("Throttle %s %.2f%%", buffer, Sensor::get(SensorType::Tps1).value_or(0));
return;
case LL_FUEL_CLT_CORRECTION:
lcdPrintf("CLT corr %.2f", getCltFuelCorrection(PASS_ENGINE_PARAMETER_SIGNATURE));

2
unit_tests/engine_test_helper.cpp
View File

@ -14,6 +14,7 @@
#include "allsensors.h"
#include "engine_controller.h"
#include "advance_map.h"
#include "sensor.h"
extern int timeNowUs;
extern WarningCodeState unitTestWarningCodeState;
@ -28,6 +29,7 @@ EngineTestHelperBase::EngineTestHelperBase() {
}
EngineTestHelper::EngineTestHelper(engine_type_e engineType, configuration_callback_t boardCallback) {
Sensor::resetRegistry();
unitTestWarningCodeState.clear();
testMafValue = 0;

9
unit_tests/tests/test_idle_controller.cpp
View File

@ -14,6 +14,7 @@
#include "allsensors.h"
#include "engine_controller.h"
#include "electronic_throttle.h"
#include "sensor.h"
extern IdleController idleControllerInstance;
extern int timeNowUs;
@ -80,10 +81,8 @@ TEST(idle, timingPid) {
eth.engine.engineState.cltTimingCorrection = 0;
// configure TPS
engineConfiguration->tpsMin = 0;
engineConfiguration->tpsMax = 100;
engineConfiguration->idlePidDeactivationTpsThreshold = 10;
setMockTpsAdc(0 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::Tps1, 0);
// disable temperature sensors
eth.engine.sensors.clt = NAN;
@ -117,12 +116,12 @@ TEST(idle, timingPid) {
ASSERT_FLOAT_EQ(-5.75f, corr) << "getAdvanceCorrections#5";
// check if PID correction is disabled in running mode (tps > threshold):
setMockTpsAdc(engineConfiguration->idlePidDeactivationTpsThreshold + 1 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::Tps1, engineConfiguration->idlePidDeactivationTpsThreshold + 1);
corr = getAdvanceCorrections(idleRpmTarget PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_EQ(0, corr) << "getAdvanceCorrections#6";
// check if PID correction is interpolated for transient idle-running TPS positions
setMockTpsAdc(engineConfiguration->idlePidDeactivationTpsThreshold / 2 PASS_ENGINE_PARAMETER_SUFFIX);
Sensor::setMockValue(SensorType::Tps1, engineConfiguration->idlePidDeactivationTpsThreshold / 2);
corr = getAdvanceCorrections(baseTestRpm PASS_ENGINE_PARAMETER_SUFFIX);
ASSERT_FLOAT_EQ(-5.0f, corr) << "getAdvanceCorrections#7";