88 lines
2.6 KiB
C++
88 lines
2.6 KiB
C++
/**
|
|
* @file electronic_throttle.h
|
|
*
|
|
* @date Dec 7, 2013
|
|
* @author Andrey Belomutskiy, (c) 2012-2020
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
// https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theorem
|
|
#define DEFAULT_ETB_LOOP_FREQUENCY 200
|
|
#define DEFAULT_ETB_PWM_FREQUENCY 300
|
|
|
|
#include "engine.h"
|
|
#include "closed_loop_controller.h"
|
|
#include "expected.h"
|
|
#include "periodic_task.h"
|
|
|
|
class DcMotor;
|
|
class Logging;
|
|
|
|
class IEtbController : public PeriodicTimerController, public ClosedLoopController<percent_t, percent_t> {
|
|
public:
|
|
DECLARE_ENGINE_PTR;
|
|
virtual void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
|
|
virtual void reset() = 0;
|
|
};
|
|
|
|
class EtbController final : public IEtbController {
|
|
public:
|
|
void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
|
|
|
|
// PeriodicTimerController implementation
|
|
int getPeriodMs() override;
|
|
void PeriodicTask() override;
|
|
void reset() override;
|
|
|
|
// Called when the configuration may have changed. Controller will
|
|
// reset if necessary.
|
|
void onConfigurationChange(pid_s* previousConfiguration);
|
|
|
|
// Print this throttle's status.
|
|
void showStatus(Logging* logger);
|
|
|
|
// Helpers for individual parts of throttle control
|
|
expected<percent_t> observePlant() const override;
|
|
expected<percent_t> getSetpoint() const override;
|
|
|
|
expected<percent_t> getOpenLoop(percent_t target) const override;
|
|
expected<percent_t> getClosedLoop(percent_t setpoint, percent_t target) override;
|
|
|
|
void setOutput(expected<percent_t> outputValue) override;
|
|
|
|
// Used to inspect the internal PID controller's state
|
|
const pid_state_s* getPidState() const { return &m_pid; };
|
|
|
|
private:
|
|
int m_myIndex = 0;
|
|
DcMotor *m_motor = nullptr;
|
|
Pid m_pid;
|
|
bool m_shouldResetPid = false;
|
|
|
|
// Pedal -> target map
|
|
const ValueProvider3D* m_pedalMap = nullptr;
|
|
|
|
// Autotune helpers
|
|
bool m_lastIsPositive = false;
|
|
efitick_t m_cycleStartTime = 0;
|
|
float m_minCycleTps = 0;
|
|
float m_maxCycleTps = 0;
|
|
float m_a = 0;
|
|
float m_tu = 0;
|
|
};
|
|
|
|
void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
|
|
void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
|
|
|
|
void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
|
|
void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
|
|
void setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
|
|
void setEtbPFactor(float value);
|
|
void setEtbIFactor(float value);
|
|
void setEtbDFactor(float value);
|
|
void setEtbOffset(int value);
|
|
void setThrottleDutyCycle(percent_t level);
|
|
void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);
|
|
void unregisterEtbPins();
|