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refactoring towards idle unit test

This commit is contained in:
rusefi 2019-08-26 00:19:13 -04:00
parent 24b6f08979
commit bde4e88468
1 changed files with 27 additions and 11 deletions
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38
firmware/controllers/actuators/idle_thread.cpp
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@ -31,7 +31,11 @@
#include "rpm_calculator.h"
#include "pwm_generator.h"
#include "idle_thread.h"
#if ! EFI_UNIT_TEST
#include "pin_repository.h"
#endif /* EFI_UNIT_TEST */
#include "engine.h"
#include "periodic_task.h"
#include "stepper.h"
@ -70,6 +74,8 @@ static float lastCrankingIacPosition;
*/
static percent_t idlePositionSensitivityThreshold = 0.0f;
#if ! EFI_UNIT_TEST
void idleDebug(const char *msg, percent_t value) {
scheduleMsg(logger, "idle debug: %s%.2f", msg, value);
}
@ -116,6 +122,12 @@ static void applyIACposition(percent_t position) {
}
}
percent_t getIdlePosition(void) {
return engine->engineState.idle.currentIdlePosition;
}
#endif /* EFI_UNIT_TEST */
static percent_t manualIdleController(float cltCorrection) {
percent_t correctedPosition = cltCorrection * CONFIGB(manIdlePosition);
@ -162,14 +174,10 @@ static void undoIdleBlipIfNeeded() {
}
}
percent_t getIdlePosition(void) {
return engine->engineState.idle.currentIdlePosition;
}
/**
* @return idle valve position percentage for automatic closed loop mode
*/
static percent_t automaticIdleController() {
static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
if (tpsPos > CONFIGB(idlePidDeactivationTpsThreshold)) {
// Don't store old I and D terms if PID doesn't work anymore.
@ -324,7 +332,7 @@ class IdleController : public PeriodicTimerController {
// let's re-apply CLT correction
iacPosition = manualIdleController(cltCorrection);
} else {
iacPosition = automaticIdleController();
iacPosition = automaticIdleController(PASS_ENGINE_PARAMETER_SIGNATURE);
}
// store 'base' iacPosition without adjustments
@ -365,12 +373,21 @@ class IdleController : public PeriodicTimerController {
engine->engineState.idle.currentIdlePosition = iacPosition;
engine->engineState.idle.idleState = (idle_state_e)(engine->engineState.idle.idleState | ADJUSTING);
#if ! EFI_UNIT_TEST
applyIACposition(engine->engineState.idle.currentIdlePosition);
#endif /* EFI_UNIT_TEST */
}
};
static IdleController instance;
void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
shouldResetPid = !idlePid.isSame(&previousConfiguration->idleRpmPid);
idleSolenoid.setFrequency(CONFIGB(idle).solenoidFrequency);
}
#if ! EFI_UNIT_TEST
void setTargetIdleRpm(int value) {
setTargetRpmCurve(value PASS_ENGINE_PARAMETER_SUFFIX);
scheduleMsg(logger, "target idle RPM %d", value);
@ -410,11 +427,6 @@ void setIdleDT(int value) {
showIdleInfo();
}
void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
shouldResetPid = !idlePid.isSame(&previousConfiguration->idleRpmPid);
idleSolenoid.setFrequency(CONFIGB(idle).solenoidFrequency);
}
/**
* Idle test would activate the solenoid for three seconds
*/
@ -431,6 +443,8 @@ void setDefaultIdleParameters(void) {
engineConfiguration->idleRpmPid.periodMs = 10;
}
#endif /* EFI_UNIT_TEST */
static void applyIdleSolenoidPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ {
efiAssertVoid(CUSTOM_ERR_6645, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
efiAssertVoid(CUSTOM_ERR_6646, state->multiWave.waveCount == 1, "invalid idle waveCount");
@ -490,6 +504,7 @@ void startIdleThread(Logging*sharedLogger) {
instance.Start();
#if ! EFI_UNIT_TEST
// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
// this switch is not used yet
if (CONFIGB(clutchDownPin) != GPIO_UNASSIGNED) {
@ -522,6 +537,7 @@ void startIdleThread(Logging*sharedLogger) {
// which would be dedicated to just auto-controller?
addConsoleAction("idlebench", startIdleBench);
#endif /* EFI_UNIT_TEST */
apply();
}