2015-07-10 06:01:56 -07:00
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/**
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* @file idle_thread.cpp
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* @brief Idle Air Control valve thread.
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*
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* This thread looks at current RPM and decides if it should increase or decrease IAC duty cycle.
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2019-05-02 19:12:43 -07:00
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* This file has the hardware & scheduling logic, desired idle level lives separately.
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2015-07-10 06:01:56 -07:00
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*
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*
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* @date May 23, 2013
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2018-01-20 17:55:31 -08:00
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* @author Andrey Belomutskiy, (c) 2012-2018
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2015-07-10 06:01:56 -07:00
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*
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2019-09-13 18:07:34 -07:00
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* disable verbose_idle
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*
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2015-07-10 06:01:56 -07:00
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* This file is part of rusEfi - see http://rusefi.com
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*
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* rusEfi is free software; you can redistribute it and/or modify it under the terms of
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* the GNU General Public License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
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* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with this program.
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* If not, see <http://www.gnu.org/licenses/>.
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2015-11-09 16:03:32 -08:00
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*
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2015-07-10 06:01:56 -07:00
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*/
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2018-09-16 19:26:57 -07:00
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#include "global.h"
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2019-04-09 19:52:03 -07:00
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2019-04-12 19:07:03 -07:00
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#if EFI_IDLE_CONTROL
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2019-01-27 21:52:21 -08:00
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#include "engine_configuration.h"
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2015-07-10 06:01:56 -07:00
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#include "rpm_calculator.h"
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#include "pwm_generator.h"
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#include "idle_thread.h"
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2019-08-25 21:19:13 -07:00
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2019-08-28 21:10:47 -07:00
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#include "engine.h"
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#include "periodic_task.h"
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#include "allsensors.h"
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2019-08-25 21:19:13 -07:00
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#if ! EFI_UNIT_TEST
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2019-08-28 21:10:47 -07:00
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#include "stepper.h"
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2015-07-10 06:01:56 -07:00
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#include "pin_repository.h"
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2019-08-28 21:10:47 -07:00
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static StepperMotor iacMotor;
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2019-08-25 21:19:13 -07:00
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#endif /* EFI_UNIT_TEST */
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2015-07-10 06:01:56 -07:00
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static Logging *logger;
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2019-04-12 19:07:03 -07:00
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#if EFI_TUNER_STUDIO
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2016-02-13 12:03:37 -08:00
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extern TunerStudioOutputChannels tsOutputChannels;
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2018-11-16 04:40:06 -08:00
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#endif /* EFI_TUNER_STUDIO */
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2015-07-10 06:01:56 -07:00
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EXTERN_ENGINE
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;
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2017-05-28 10:44:26 -07:00
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static bool shouldResetPid = false;
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2019-08-31 12:38:01 -07:00
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// The idea of 'mightResetPid' is to reset PID only once - each time when TPS > idlePidDeactivationTpsThreshold.
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// The throttle pedal can be pressed for a long time, making the PID data obsolete (thus the reset is required).
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// We set 'mightResetPid' to true only if PID was actually used (i.e. idlePid.getOutput() was called) to save some CPU resources.
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// See automaticIdleController().
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2018-03-30 05:42:13 -07:00
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static bool mightResetPid = false;
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2017-05-16 19:13:40 -07:00
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2019-04-12 19:07:03 -07:00
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#if EFI_IDLE_INCREMENTAL_PID_CIC
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2017-12-27 14:56:04 -08:00
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// Use new PID with CIC integrator
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2019-09-01 12:46:40 -07:00
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PidCic idlePid;
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2017-12-27 14:56:04 -08:00
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#else
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2019-09-11 17:46:50 -07:00
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class PidWithOverrides : public Pid {
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public:
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float getOffset() const override {
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#if EFI_FSIO && ! EFI_UNIT_TEST
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if (engineConfiguration->useFSIO12ForIdleOffset) {
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return ENGINE(fsioState.fsioIdleOffset);
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}
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#endif /* EFI_FSIO */
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return parameters->offset;
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}
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float getMinValue() const override {
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#if EFI_FSIO && ! EFI_UNIT_TEST
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if (engineConfiguration->useFSIO13ForIdleMinValue) {
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return ENGINE(fsioState.fsioIdleMinValue);
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}
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#endif /* EFI_FSIO */
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return parameters->minValue;
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}
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};
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PidWithOverrides idlePid;
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2017-12-27 14:56:04 -08:00
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#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
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2017-05-16 19:13:40 -07:00
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2015-11-09 16:03:32 -08:00
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// todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
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2019-01-09 05:50:51 -08:00
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static SimplePwm idleSolenoid("idle");
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2015-07-10 06:01:56 -07:00
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2017-08-01 13:27:16 -07:00
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static uint32_t lastCrankingCyclesCounter = 0;
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static float lastCrankingIacPosition;
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2018-03-30 05:42:13 -07:00
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/**
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* When the IAC position value change is insignificant (lower than this threshold), leave the poor valve alone
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2018-07-29 13:49:42 -07:00
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* todo: why do we have this logic? is this ever useful?
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* See
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2018-03-30 05:42:13 -07:00
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*/
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2018-07-29 13:49:42 -07:00
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static percent_t idlePositionSensitivityThreshold = 0.0f;
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2015-07-10 06:01:56 -07:00
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2019-08-25 21:19:13 -07:00
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#if ! EFI_UNIT_TEST
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2015-07-10 06:01:56 -07:00
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void idleDebug(const char *msg, percent_t value) {
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2018-01-23 09:05:14 -08:00
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scheduleMsg(logger, "idle debug: %s%.2f", msg, value);
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2015-07-10 06:01:56 -07:00
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}
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static void showIdleInfo(void) {
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2017-01-28 22:04:16 -08:00
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const char * idleModeStr = getIdle_mode_e(engineConfiguration->idleMode);
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2018-01-23 09:05:14 -08:00
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scheduleMsg(logger, "idleMode=%s position=%.2f isStepper=%s", idleModeStr,
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2019-01-09 19:57:33 -08:00
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getIdlePosition(), boolToString(CONFIGB(useStepperIdle)));
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2017-05-16 17:52:52 -07:00
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2019-01-09 19:57:33 -08:00
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if (CONFIGB(useStepperIdle)) {
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scheduleMsg(logger, "directionPin=%s reactionTime=%.2f", hwPortname(CONFIGB(idle).stepperDirectionPin),
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2015-07-10 06:01:56 -07:00
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engineConfiguration->idleStepperReactionTime);
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2019-01-09 19:57:33 -08:00
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scheduleMsg(logger, "stepPin=%s steps=%d", hwPortname(CONFIGB(idle).stepperStepPin),
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2015-07-10 06:01:56 -07:00
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engineConfiguration->idleStepperTotalSteps);
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2017-01-28 22:04:16 -08:00
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scheduleMsg(logger, "enablePin=%s/%d", hwPortname(engineConfiguration->stepperEnablePin),
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engineConfiguration->stepperEnablePinMode);
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2015-07-10 06:01:56 -07:00
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} else {
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2019-01-09 19:57:33 -08:00
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scheduleMsg(logger, "idle valve freq=%d on %s", CONFIGB(idle).solenoidFrequency,
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hwPortname(CONFIGB(idle).solenoidPin));
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2015-07-10 06:01:56 -07:00
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}
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2017-05-16 17:52:52 -07:00
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if (engineConfiguration->idleMode == IM_AUTO) {
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2017-05-29 20:15:07 -07:00
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idlePid.showPidStatus(logger, "idle");
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2017-01-28 22:04:16 -08:00
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}
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2015-07-10 06:01:56 -07:00
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}
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2017-05-16 17:52:52 -07:00
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void setIdleMode(idle_mode_e value) {
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2015-07-10 06:01:56 -07:00
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engineConfiguration->idleMode = value ? IM_AUTO : IM_MANUAL;
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showIdleInfo();
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}
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2017-05-16 19:13:40 -07:00
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static void applyIACposition(percent_t position) {
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2019-06-15 10:33:14 -07:00
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if (CONFIGB(useETBforIdleControl)) {
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2019-09-22 05:44:51 -07:00
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engine->engineState.idle.etbIdleAddition = position / 100 * CONFIG(etbIdleThrottleRange);
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2019-08-28 21:10:47 -07:00
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#if ! EFI_UNIT_TEST
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2019-09-20 22:21:53 -07:00
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} if (CONFIGB(useStepperIdle)) {
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2017-05-16 19:13:40 -07:00
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iacMotor.setTargetPosition(position / 100 * engineConfiguration->idleStepperTotalSteps);
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2019-08-28 21:10:47 -07:00
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#endif /* EFI_UNIT_TEST */
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2017-05-16 19:13:40 -07:00
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} else {
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/**
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* currently idle level is an percent value (0-100 range), and PWM takes a float in the 0..1 range
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* todo: unify?
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*/
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2019-07-12 05:00:07 -07:00
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idleSolenoid.setSimplePwmDutyCycle(PERCENT_TO_DUTY(position));
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2017-05-16 19:13:40 -07:00
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}
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2015-07-10 06:01:56 -07:00
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}
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2019-08-25 21:19:13 -07:00
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percent_t getIdlePosition(void) {
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return engine->engineState.idle.currentIdlePosition;
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}
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2019-08-28 21:10:47 -07:00
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void setIdleValvePosition(int positionPercent) {
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if (positionPercent < 1 || positionPercent > 99)
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return;
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scheduleMsg(logger, "setting idle valve position %d", positionPercent);
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#if ! EFI_UNIT_TEST
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showIdleInfo();
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#endif /* EFI_UNIT_TEST */
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// todo: this is not great that we have to write into configuration here
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CONFIGB(manIdlePosition) = positionPercent;
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}
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2019-08-25 21:19:13 -07:00
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#endif /* EFI_UNIT_TEST */
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2019-08-28 21:10:47 -07:00
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static percent_t manualIdleController(float cltCorrection DECLARE_ENGINE_PARAMETER_SUFFIX) {
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2016-02-15 15:02:03 -08:00
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2019-01-09 19:57:33 -08:00
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percent_t correctedPosition = cltCorrection * CONFIGB(manIdlePosition);
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2015-07-10 06:01:56 -07:00
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2017-05-16 19:13:40 -07:00
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// let's put the value into the right range
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correctedPosition = maxF(correctedPosition, 0.01);
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correctedPosition = minF(correctedPosition, 99.9);
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2016-02-13 12:03:37 -08:00
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2017-05-16 19:13:40 -07:00
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return correctedPosition;
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2015-07-10 06:01:56 -07:00
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}
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2019-09-07 18:35:55 -07:00
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/**
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* idle blip is a development tool: alternator PID research for instance have benefited from a repetitive change of RPM
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*/
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2018-07-29 09:23:55 -07:00
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static percent_t blipIdlePosition;
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2015-09-01 20:02:49 -07:00
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static efitimeus_t timeToStopBlip = 0;
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2015-12-24 19:01:26 -08:00
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static efitimeus_t timeToStopIdleTest = 0;
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2015-09-01 20:02:49 -07:00
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/**
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* I use this questionable feature to tune acceleration enrichment
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*/
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static void blipIdle(int idlePosition, int durationMs) {
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if (timeToStopBlip != 0) {
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return; // already in idle blip
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}
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2017-05-16 19:13:40 -07:00
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blipIdlePosition = idlePosition;
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2015-09-01 20:02:49 -07:00
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timeToStopBlip = getTimeNowUs() + 1000 * durationMs;
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}
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2015-12-24 19:01:26 -08:00
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static void finishIdleTestIfNeeded() {
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if (timeToStopIdleTest != 0 && getTimeNowUs() > timeToStopIdleTest)
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timeToStopIdleTest = 0;
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}
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2015-09-01 20:02:49 -07:00
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static void undoIdleBlipIfNeeded() {
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if (timeToStopBlip != 0 && getTimeNowUs() > timeToStopBlip) {
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timeToStopBlip = 0;
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}
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}
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2019-08-30 15:17:10 -07:00
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static bool isOutOfAutomaticIdleCondition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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2019-09-03 18:45:42 -07:00
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if (CONFIG(throttlePedalUpPin) != GPIO_UNASSIGNED) {
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2019-08-30 15:17:10 -07:00
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return !engine->engineState.idle.throttlePedalUpState;
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2019-09-03 18:45:42 -07:00
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}
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percent_t inputPosition;
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2019-08-30 15:17:10 -07:00
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2019-09-03 18:45:42 -07:00
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if (hasPedalPositionSensor(PASS_ENGINE_PARAMETER_SIGNATURE)) {
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inputPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
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} else {
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inputPosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
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}
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2019-08-30 15:17:10 -07:00
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2019-09-03 18:45:42 -07:00
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return inputPosition > CONFIGB(idlePidDeactivationTpsThreshold);
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2019-08-30 15:17:10 -07:00
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}
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2018-07-29 09:23:55 -07:00
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/**
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* @return idle valve position percentage for automatic closed loop mode
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*/
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2019-08-25 21:19:13 -07:00
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static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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2019-08-30 15:17:10 -07:00
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if (isOutOfAutomaticIdleCondition(PASS_ENGINE_PARAMETER_SIGNATURE)) {
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2018-03-30 05:42:13 -07:00
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// Don't store old I and D terms if PID doesn't work anymore.
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// Otherwise they will affect the idle position much later, when the throttle is closed.
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if (mightResetPid) {
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mightResetPid = false;
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shouldResetPid = true;
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}
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2019-07-21 15:34:37 -07:00
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engine->engineState.idle.idleState = TPS_THRESHOLD;
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2017-12-27 14:56:04 -08:00
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// just leave IAC position as is (but don't return currentIdlePosition - it may already contain additionalAir)
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2019-07-21 14:06:16 -07:00
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return engine->engineState.idle.baseIdlePosition;
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2017-07-31 11:36:01 -07:00
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}
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2016-06-26 18:02:40 -07:00
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2017-12-24 19:05:16 -08:00
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// get Target RPM for Auto-PID from a separate table
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2019-03-22 19:55:51 -07:00
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int targetRpm = getTargetRpmForIdleCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
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2016-06-26 18:02:40 -07:00
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2019-09-09 16:41:41 -07:00
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efitick_t nowNt = getTimeNowNt();
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2019-09-10 20:03:55 -07:00
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float rpm;
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if (CONFIG(useInstantRpmForIdle)) {
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rpm = engine->triggerCentral.triggerState.calculateInstantRpm(NULL, nowNt PASS_ENGINE_PARAMETER_SUFFIX);
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} else {
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rpm = GET_RPM();
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}
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2019-09-11 17:46:50 -07:00
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// check if within the dead zone
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2018-07-29 09:23:55 -07:00
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if (absI(rpm - targetRpm) <= CONFIG(idlePidRpmDeadZone)) {
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2019-07-21 15:34:37 -07:00
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engine->engineState.idle.idleState = RPM_DEAD_ZONE;
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2018-07-29 09:23:55 -07:00
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// current RPM is close enough, no need to change anything
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2019-07-21 14:06:16 -07:00
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return engine->engineState.idle.baseIdlePosition;
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2018-07-29 09:23:55 -07:00
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}
|
2018-03-30 05:42:13 -07:00
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// When rpm < targetRpm, there's a risk of dropping RPM too low - and the engine dies out.
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// So PID reaction should be increased by adding extra percent to PID-error:
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percent_t errorAmpCoef = 1.0f;
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if (rpm < targetRpm)
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|
|
|
errorAmpCoef += (float)CONFIG(pidExtraForLowRpm) / PERCENT_MULT;
|
|
|
|
// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
|
|
|
|
idlePid.setErrorAmplification(errorAmpCoef);
|
|
|
|
|
2019-04-25 18:31:33 -07:00
|
|
|
percent_t newValue = idlePid.getOutput(targetRpm, rpm);
|
2019-07-21 15:34:37 -07:00
|
|
|
engine->engineState.idle.idleState = PID_VALUE;
|
2019-03-21 20:50:50 -07:00
|
|
|
|
2018-03-30 05:42:13 -07:00
|
|
|
// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
|
|
|
|
mightResetPid = true;
|
2016-06-26 18:02:40 -07:00
|
|
|
|
2019-09-11 17:46:50 -07:00
|
|
|
#if EFI_IDLE_INCREMENTAL_PID_CIC
|
2019-08-30 15:17:10 -07:00
|
|
|
percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
|
|
|
|
|
2017-12-27 14:56:04 -08:00
|
|
|
// Treat the 'newValue' as if it contains not an actual IAC position, but an incremental delta.
|
|
|
|
// So we add this delta to the base IAC position, with a smooth taper for TPS transients.
|
2019-07-21 14:06:16 -07:00
|
|
|
newValue = engine->engineState.idle.baseIdlePosition + interpolateClamped(0.0f, newValue, CONFIGB(idlePidDeactivationTpsThreshold), 0.0f, tpsPos);
|
2017-12-27 14:56:04 -08:00
|
|
|
|
|
|
|
// apply the PID limits
|
|
|
|
newValue = maxF(newValue, CONFIG(idleRpmPid.minValue));
|
|
|
|
newValue = minF(newValue, CONFIG(idleRpmPid.maxValue));
|
|
|
|
#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
|
|
|
|
|
2018-03-30 05:42:13 -07:00
|
|
|
// Interpolate to the manual position when RPM is close to the upper RPM limit (if idlePidRpmUpperLimit is set).
|
|
|
|
// If RPM increases and the throttle is closed, then we're in coasting mode, and we should smoothly disable auto-pid.
|
|
|
|
// If we just leave IAC at baseIdlePosition (as in case of TPS deactivation threshold), RPM would get stuck.
|
|
|
|
// That's why there's 'useIacTableForCoasting' setting which involves a separate IAC position table for coasting (iacCoasting).
|
|
|
|
// Currently it's user-defined. But eventually we'll use a real calculated and stored IAC position instead.
|
|
|
|
int idlePidLowerRpm = targetRpm + CONFIG(idlePidRpmDeadZone);
|
|
|
|
if (CONFIG(idlePidRpmUpperLimit) > 0) {
|
2019-07-21 15:34:37 -07:00
|
|
|
engine->engineState.idle.idleState = PID_UPPER;
|
2019-03-22 19:55:51 -07:00
|
|
|
if (CONFIGB(useIacTableForCoasting) && !cisnan(engine->sensors.clt)) {
|
2019-07-09 11:16:36 -07:00
|
|
|
percent_t iacPosForCoasting = interpolate2d("iacCoasting", engine->sensors.clt, CONFIG(iacCoastingBins), CONFIG(iacCoasting));
|
2018-03-30 05:42:13 -07:00
|
|
|
newValue = interpolateClamped(idlePidLowerRpm, newValue, idlePidLowerRpm + CONFIG(idlePidRpmUpperLimit), iacPosForCoasting, rpm);
|
|
|
|
} else {
|
|
|
|
// Well, just leave it as is, without PID regulation...
|
2019-07-21 14:06:16 -07:00
|
|
|
newValue = engine->engineState.idle.baseIdlePosition;
|
2018-03-30 05:42:13 -07:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2017-05-16 19:13:40 -07:00
|
|
|
return newValue;
|
2016-06-26 18:02:40 -07:00
|
|
|
}
|
|
|
|
|
2019-09-19 19:56:54 -07:00
|
|
|
int IdleController::getPeriodMs() {
|
2019-07-09 13:08:49 -07:00
|
|
|
return GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid);
|
|
|
|
}
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2019-09-19 19:56:54 -07:00
|
|
|
void IdleController::PeriodicTask() {
|
2019-09-19 21:46:35 -07:00
|
|
|
efiAssertVoid(OBD_PCM_Processor_Fault, engineConfiguration != NULL, "engineConfiguration pointer");
|
2017-02-11 23:02:24 -08:00
|
|
|
/*
|
|
|
|
* Here we have idle logic thread - actual stepper movement is implemented in a separate
|
|
|
|
* working thread,
|
|
|
|
* @see stepper.cpp
|
|
|
|
*/
|
|
|
|
|
2019-09-01 21:24:10 -07:00
|
|
|
idlePid.iTermMin = engineConfiguration->idlerpmpid_iTermMin;
|
|
|
|
idlePid.iTermMax = engineConfiguration->idlerpmpid_iTermMax;
|
2019-09-01 21:19:06 -07:00
|
|
|
|
2019-09-01 12:46:40 -07:00
|
|
|
engine->engineState.isAutomaticIdle = engineConfiguration->idleMode == IM_AUTO;
|
|
|
|
|
|
|
|
if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) {
|
2019-05-11 07:41:04 -07:00
|
|
|
// todo: print each bit using 'getIdle_state_e' method
|
2019-07-21 15:34:37 -07:00
|
|
|
scheduleMsg(logger, "state %d", engine->engineState.idle.idleState);
|
2018-07-29 09:23:55 -07:00
|
|
|
idlePid.showPidStatus(logger, "idle");
|
|
|
|
}
|
|
|
|
|
2017-05-28 10:44:26 -07:00
|
|
|
if (shouldResetPid) {
|
|
|
|
idlePid.reset();
|
|
|
|
// alternatorPidResetCounter++;
|
|
|
|
shouldResetPid = false;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
2019-09-19 19:10:39 -07:00
|
|
|
#if EFI_GPIO_HARDWARE
|
2015-07-10 06:01:56 -07:00
|
|
|
// this value is not used yet
|
2019-01-09 19:57:33 -08:00
|
|
|
if (CONFIGB(clutchDownPin) != GPIO_UNASSIGNED) {
|
|
|
|
engine->clutchDownState = efiReadPin(CONFIGB(clutchDownPin));
|
2015-07-10 06:01:56 -07:00
|
|
|
}
|
2019-03-02 10:04:26 -08:00
|
|
|
if (hasAcToggle(PASS_ENGINE_PARAMETER_SIGNATURE)) {
|
2019-09-08 18:05:03 -07:00
|
|
|
bool result = getAcToggle(PASS_ENGINE_PARAMETER_SIGNATURE);
|
|
|
|
if (engine->acSwitchState != result) {
|
|
|
|
engine->acSwitchState = result;
|
|
|
|
engine->acSwitchLastChangeTime = getTimeNowUs();
|
|
|
|
}
|
|
|
|
engine->acSwitchState = result;
|
2019-03-02 10:04:26 -08:00
|
|
|
}
|
2019-01-09 19:57:33 -08:00
|
|
|
if (CONFIGB(clutchUpPin) != GPIO_UNASSIGNED) {
|
|
|
|
engine->clutchUpState = efiReadPin(CONFIGB(clutchUpPin));
|
2017-05-15 02:08:17 -07:00
|
|
|
}
|
2019-07-21 14:06:16 -07:00
|
|
|
if (CONFIG(throttlePedalUpPin) != GPIO_UNASSIGNED) {
|
2019-08-30 15:17:10 -07:00
|
|
|
engine->engineState.idle.throttlePedalUpState = efiReadPin(CONFIG(throttlePedalUpPin));
|
2019-07-21 14:06:16 -07:00
|
|
|
}
|
2017-05-15 02:08:17 -07:00
|
|
|
|
|
|
|
if (engineConfiguration->brakePedalPin != GPIO_UNASSIGNED) {
|
|
|
|
engine->brakePedalState = efiReadPin(engineConfiguration->brakePedalPin);
|
2015-07-10 06:01:56 -07:00
|
|
|
}
|
2019-09-19 19:10:39 -07:00
|
|
|
#endif /* EFI_GPIO_HARDWARE */
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2015-12-24 19:01:26 -08:00
|
|
|
finishIdleTestIfNeeded();
|
2015-09-01 20:02:49 -07:00
|
|
|
undoIdleBlipIfNeeded();
|
|
|
|
|
2017-05-29 09:40:02 -07:00
|
|
|
float clt = engine->sensors.clt;
|
2019-04-12 19:07:03 -07:00
|
|
|
#if EFI_SHAFT_POSITION_INPUT
|
2017-12-27 14:56:04 -08:00
|
|
|
bool isRunning = engine->rpmCalculator.isRunning(PASS_ENGINE_PARAMETER_SIGNATURE);
|
2019-03-30 14:41:46 -07:00
|
|
|
#else
|
|
|
|
bool isRunning = false;
|
|
|
|
#endif /* EFI_SHAFT_POSITION_INPUT */
|
2018-03-30 05:42:13 -07:00
|
|
|
// cltCorrection is used only for cranking or running in manual mode
|
2017-12-27 14:56:04 -08:00
|
|
|
float cltCorrection;
|
|
|
|
if (cisnan(clt))
|
|
|
|
cltCorrection = 1.0f;
|
|
|
|
// Use separate CLT correction table for cranking
|
2019-02-26 18:50:58 -08:00
|
|
|
else if (engineConfiguration->overrideCrankingIacSetting && !isRunning) {
|
2019-07-09 11:16:36 -07:00
|
|
|
cltCorrection = interpolate2d("cltCrankingT", clt, config->cltCrankingCorrBins, config->cltCrankingCorr);
|
2019-02-26 18:50:58 -08:00
|
|
|
} else {
|
|
|
|
// this value would be ignored if running in AUTO mode
|
|
|
|
// but we need it while cranking in AUTO mode
|
2019-07-09 11:16:36 -07:00
|
|
|
cltCorrection = interpolate2d("cltT", clt, config->cltIdleCorrBins, config->cltIdleCorr);
|
2019-02-26 18:50:58 -08:00
|
|
|
}
|
2017-05-16 19:13:40 -07:00
|
|
|
|
2018-07-29 09:23:55 -07:00
|
|
|
percent_t iacPosition;
|
2017-05-16 19:13:40 -07:00
|
|
|
|
|
|
|
if (timeToStopBlip != 0) {
|
|
|
|
iacPosition = blipIdlePosition;
|
2019-07-21 14:06:16 -07:00
|
|
|
engine->engineState.idle.baseIdlePosition = iacPosition;
|
2019-07-21 15:34:37 -07:00
|
|
|
engine->engineState.idle.idleState = BLIP;
|
2017-12-27 14:56:04 -08:00
|
|
|
} else if (!isRunning) {
|
2019-05-25 10:36:29 -07:00
|
|
|
// during cranking it's always manual mode, PID would make no sense during cranking
|
2017-05-16 19:13:40 -07:00
|
|
|
iacPosition = cltCorrection * engineConfiguration->crankingIACposition;
|
2017-08-01 13:27:16 -07:00
|
|
|
// save cranking position & cycles counter for taper transition
|
|
|
|
lastCrankingIacPosition = iacPosition;
|
|
|
|
lastCrankingCyclesCounter = engine->rpmCalculator.getRevolutionCounterSinceStart();
|
2019-07-21 14:06:16 -07:00
|
|
|
engine->engineState.idle.baseIdlePosition = iacPosition;
|
2016-06-26 18:02:40 -07:00
|
|
|
} else {
|
2017-08-01 13:27:16 -07:00
|
|
|
if (engineConfiguration->idleMode == IM_MANUAL) {
|
|
|
|
// let's re-apply CLT correction
|
2019-08-28 21:10:47 -07:00
|
|
|
iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
|
2017-08-01 13:27:16 -07:00
|
|
|
} else {
|
2019-08-25 21:19:13 -07:00
|
|
|
iacPosition = automaticIdleController(PASS_ENGINE_PARAMETER_SIGNATURE);
|
2017-08-01 13:27:16 -07:00
|
|
|
}
|
2017-11-03 15:04:24 -07:00
|
|
|
|
2017-12-27 14:56:04 -08:00
|
|
|
// store 'base' iacPosition without adjustments
|
2019-07-21 14:06:16 -07:00
|
|
|
engine->engineState.idle.baseIdlePosition = iacPosition;
|
2017-12-27 14:56:04 -08:00
|
|
|
|
2017-11-03 15:04:24 -07:00
|
|
|
percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
|
|
|
|
float additionalAir = (float)engineConfiguration->iacByTpsTaper;
|
2019-01-09 19:57:33 -08:00
|
|
|
iacPosition += interpolateClamped(0.0f, 0.0f, CONFIGB(idlePidDeactivationTpsThreshold), additionalAir, tpsPos);
|
2017-11-03 15:04:24 -07:00
|
|
|
|
2017-08-01 13:27:16 -07:00
|
|
|
// taper transition from cranking to running (uint32_t to float conversion is safe here)
|
|
|
|
if (engineConfiguration->afterCrankingIACtaperDuration > 0)
|
|
|
|
iacPosition = interpolateClamped(lastCrankingCyclesCounter, lastCrankingIacPosition,
|
|
|
|
lastCrankingCyclesCounter + engineConfiguration->afterCrankingIACtaperDuration, iacPosition,
|
|
|
|
engine->rpmCalculator.getRevolutionCounterSinceStart());
|
2017-05-16 19:13:40 -07:00
|
|
|
}
|
|
|
|
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2017-05-22 12:30:39 -07:00
|
|
|
if (engineConfiguration->debugMode == DBG_IDLE_CONTROL) {
|
|
|
|
if (engineConfiguration->idleMode == IM_AUTO) {
|
2019-04-12 19:07:03 -07:00
|
|
|
#if EFI_TUNER_STUDIO
|
2017-07-23 07:29:10 -07:00
|
|
|
// see also tsOutputChannels->idlePosition
|
2017-07-23 09:12:35 -07:00
|
|
|
idlePid.postState(&tsOutputChannels, 1000000);
|
2019-07-21 15:34:37 -07:00
|
|
|
tsOutputChannels.debugIntField4 = engine->engineState.idle.idleState;
|
2018-11-16 04:40:06 -08:00
|
|
|
#endif /* EFI_TUNER_STUDIO */
|
2017-07-23 07:29:10 -07:00
|
|
|
} else {
|
2019-04-12 19:07:03 -07:00
|
|
|
#if EFI_TUNER_STUDIO
|
2017-07-23 07:29:10 -07:00
|
|
|
tsOutputChannels.debugFloatField1 = iacPosition;
|
2018-03-30 05:42:13 -07:00
|
|
|
tsOutputChannels.debugIntField1 = iacMotor.getTargetPosition();
|
2018-11-16 04:40:06 -08:00
|
|
|
#endif /* EFI_TUNER_STUDIO */
|
2017-05-22 12:30:39 -07:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2018-07-29 13:36:18 -07:00
|
|
|
// The threshold is dependent on IAC type (see initIdleHardware())
|
2019-07-21 14:06:16 -07:00
|
|
|
if (absF(iacPosition - engine->engineState.idle.currentIdlePosition) < idlePositionSensitivityThreshold) {
|
2019-07-21 15:34:37 -07:00
|
|
|
engine->engineState.idle.idleState = (idle_state_e)(engine->engineState.idle.idleState | PWM_PRETTY_CLOSE);
|
2019-02-11 12:09:24 -08:00
|
|
|
return; // value is pretty close, let's leave the poor valve alone
|
2018-07-29 13:36:18 -07:00
|
|
|
}
|
|
|
|
|
2019-07-21 14:06:16 -07:00
|
|
|
engine->engineState.idle.currentIdlePosition = iacPosition;
|
2019-07-21 15:34:37 -07:00
|
|
|
engine->engineState.idle.idleState = (idle_state_e)(engine->engineState.idle.idleState | ADJUSTING);
|
2019-08-25 21:19:13 -07:00
|
|
|
#if ! EFI_UNIT_TEST
|
2019-07-21 14:06:16 -07:00
|
|
|
applyIACposition(engine->engineState.idle.currentIdlePosition);
|
2019-08-25 21:19:13 -07:00
|
|
|
#endif /* EFI_UNIT_TEST */
|
2015-07-10 06:01:56 -07:00
|
|
|
}
|
2019-02-11 12:09:24 -08:00
|
|
|
|
2019-09-19 19:56:54 -07:00
|
|
|
|
|
|
|
IdleController idleControllerInstance;
|
2019-08-28 21:10:47 -07:00
|
|
|
|
|
|
|
static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
|
|
|
|
idlePid.updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
|
|
|
|
}
|
|
|
|
|
2019-08-29 20:50:20 -07:00
|
|
|
void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
|
|
|
|
engineConfiguration->idleRpmPid.pFactor = 0.1f;
|
|
|
|
engineConfiguration->idleRpmPid.iFactor = 0.05f;
|
|
|
|
engineConfiguration->idleRpmPid.dFactor = 0.0f;
|
|
|
|
engineConfiguration->idleRpmPid.periodMs = 10;
|
2019-09-01 21:19:06 -07:00
|
|
|
|
|
|
|
engineConfiguration->idlerpmpid_iTermMin = -200;
|
|
|
|
engineConfiguration->idlerpmpid_iTermMax = 200;
|
2019-08-29 20:50:20 -07:00
|
|
|
}
|
|
|
|
|
2019-08-28 21:10:47 -07:00
|
|
|
#if ! EFI_UNIT_TEST
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2019-08-25 21:19:13 -07:00
|
|
|
void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
|
|
|
|
shouldResetPid = !idlePid.isSame(&previousConfiguration->idleRpmPid);
|
|
|
|
idleSolenoid.setFrequency(CONFIGB(idle).solenoidFrequency);
|
|
|
|
}
|
|
|
|
|
2017-01-06 14:01:28 -08:00
|
|
|
void setTargetIdleRpm(int value) {
|
2017-12-24 19:05:16 -08:00
|
|
|
setTargetRpmCurve(value PASS_ENGINE_PARAMETER_SUFFIX);
|
2015-07-10 06:01:56 -07:00
|
|
|
scheduleMsg(logger, "target idle RPM %d", value);
|
2017-05-22 20:25:34 -07:00
|
|
|
showIdleInfo();
|
2015-07-10 06:01:56 -07:00
|
|
|
}
|
2015-11-09 16:03:32 -08:00
|
|
|
|
2017-05-22 20:25:34 -07:00
|
|
|
void setIdleOffset(float value) {
|
|
|
|
engineConfiguration->idleRpmPid.offset = value;
|
|
|
|
showIdleInfo();
|
2015-10-19 19:02:51 -07:00
|
|
|
}
|
|
|
|
|
2017-01-06 13:03:41 -08:00
|
|
|
void setIdlePFactor(float value) {
|
2016-02-05 13:01:55 -08:00
|
|
|
engineConfiguration->idleRpmPid.pFactor = value;
|
2019-08-28 21:10:47 -07:00
|
|
|
applyPidSettings();
|
2015-10-19 19:02:51 -07:00
|
|
|
showIdleInfo();
|
|
|
|
}
|
|
|
|
|
2017-01-06 13:03:41 -08:00
|
|
|
void setIdleIFactor(float value) {
|
2016-02-05 13:01:55 -08:00
|
|
|
engineConfiguration->idleRpmPid.iFactor = value;
|
2019-08-28 21:10:47 -07:00
|
|
|
applyPidSettings();
|
2015-10-19 19:02:51 -07:00
|
|
|
showIdleInfo();
|
|
|
|
}
|
|
|
|
|
2017-01-06 13:03:41 -08:00
|
|
|
void setIdleDFactor(float value) {
|
2016-02-05 13:01:55 -08:00
|
|
|
engineConfiguration->idleRpmPid.dFactor = value;
|
2019-08-28 21:10:47 -07:00
|
|
|
applyPidSettings();
|
2015-10-19 19:02:51 -07:00
|
|
|
showIdleInfo();
|
|
|
|
}
|
|
|
|
|
2017-01-06 13:03:41 -08:00
|
|
|
void setIdleDT(int value) {
|
2019-02-10 19:47:49 -08:00
|
|
|
engineConfiguration->idleRpmPid.periodMs = value;
|
2019-08-28 21:10:47 -07:00
|
|
|
applyPidSettings();
|
2015-10-19 19:02:51 -07:00
|
|
|
showIdleInfo();
|
|
|
|
}
|
|
|
|
|
2019-01-13 16:41:39 -08:00
|
|
|
/**
|
|
|
|
* Idle test would activate the solenoid for three seconds
|
|
|
|
*/
|
2016-12-26 18:04:16 -08:00
|
|
|
void startIdleBench(void) {
|
2015-12-24 19:01:26 -08:00
|
|
|
timeToStopIdleTest = getTimeNowUs() + MS2US(3000); // 3 seconds
|
2015-12-26 13:01:56 -08:00
|
|
|
scheduleMsg(logger, "idle valve bench test");
|
|
|
|
showIdleInfo();
|
2015-12-24 19:01:26 -08:00
|
|
|
}
|
|
|
|
|
2019-04-12 17:15:18 -07:00
|
|
|
static void applyIdleSolenoidPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ {
|
2018-07-25 20:03:04 -07:00
|
|
|
efiAssertVoid(CUSTOM_ERR_6645, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
|
|
|
|
efiAssertVoid(CUSTOM_ERR_6646, state->multiWave.waveCount == 1, "invalid idle waveCount");
|
2015-07-10 06:01:56 -07:00
|
|
|
OutputPin *output = state->outputPins[0];
|
2018-12-25 07:13:00 -08:00
|
|
|
int value = state->multiWave.getChannelState(/*channelIndex*/0, stateIndex);
|
2015-12-26 13:01:56 -08:00
|
|
|
if (!value /* always allow turning solenoid off */ ||
|
2019-01-21 17:33:21 -08:00
|
|
|
(GET_RPM_VALUE != 0 || timeToStopIdleTest != 0) /* do not run solenoid unless engine is spinning or bench testing in progress */
|
2016-02-05 13:01:55 -08:00
|
|
|
) {
|
2015-07-10 06:01:56 -07:00
|
|
|
output->setValue(value);
|
2016-02-05 13:01:55 -08:00
|
|
|
}
|
2015-07-10 06:01:56 -07:00
|
|
|
}
|
|
|
|
|
2019-08-28 21:10:47 -07:00
|
|
|
static void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
|
2019-01-09 19:57:33 -08:00
|
|
|
if (CONFIGB(useStepperIdle)) {
|
2019-03-28 23:44:52 -07:00
|
|
|
iacMotor.initialize(CONFIGB(idle).stepperStepPin,
|
|
|
|
CONFIGB(idle).stepperDirectionPin,
|
|
|
|
engineConfiguration->stepperDirectionPinMode,
|
|
|
|
engineConfiguration->idleStepperReactionTime,
|
|
|
|
engineConfiguration->idleStepperTotalSteps,
|
|
|
|
engineConfiguration->stepperEnablePin, engineConfiguration->stepperEnablePinMode,
|
|
|
|
logger);
|
2018-03-30 05:42:13 -07:00
|
|
|
// This greatly improves PID accuracy for steppers with a small number of steps
|
|
|
|
idlePositionSensitivityThreshold = 1.0f / engineConfiguration->idleStepperTotalSteps;
|
2015-07-10 06:01:56 -07:00
|
|
|
} else {
|
|
|
|
/**
|
|
|
|
* Start PWM for idleValvePin
|
|
|
|
*/
|
2019-01-09 05:50:51 -08:00
|
|
|
startSimplePwmExt(&idleSolenoid, "Idle Valve",
|
|
|
|
&engine->executor,
|
2019-01-09 19:57:33 -08:00
|
|
|
CONFIGB(idle).solenoidPin, &enginePins.idleSolenoidPin,
|
|
|
|
CONFIGB(idle).solenoidFrequency, CONFIGB(manIdlePosition) / 100,
|
2019-04-12 17:11:27 -07:00
|
|
|
(pwm_gen_callback*)applyIdleSolenoidPinState);
|
2018-07-29 13:49:42 -07:00
|
|
|
idlePositionSensitivityThreshold = 0.0f;
|
2015-07-10 06:01:56 -07:00
|
|
|
}
|
2015-11-09 16:03:32 -08:00
|
|
|
}
|
|
|
|
|
2019-08-28 21:10:47 -07:00
|
|
|
#endif /* EFI_UNIT_TEST */
|
|
|
|
|
|
|
|
void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
|
2015-11-09 16:03:32 -08:00
|
|
|
logger = sharedLogger;
|
2019-09-21 21:16:46 -07:00
|
|
|
INJECT_ENGINE_REFERENCE(idleControllerInstance);
|
2015-11-09 16:03:32 -08:00
|
|
|
|
2019-08-28 21:10:47 -07:00
|
|
|
idlePid.initPidClass(&engineConfiguration->idleRpmPid);
|
|
|
|
|
|
|
|
#if ! EFI_UNIT_TEST
|
2015-11-09 16:03:32 -08:00
|
|
|
// todo: re-initialize idle pins on the fly
|
2019-08-28 21:10:47 -07:00
|
|
|
initIdleHardware(PASS_ENGINE_PARAMETER_SIGNATURE);
|
|
|
|
#endif /* EFI_UNIT_TEST */
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2019-08-31 21:45:36 -07:00
|
|
|
DISPLAY_STATE(Engine)
|
2019-07-21 15:34:37 -07:00
|
|
|
DISPLAY_TEXT(Idle_State);
|
|
|
|
engine->engineState.idle.DISPLAY_FIELD(idleState) = INIT;
|
|
|
|
DISPLAY_TEXT(EOL);
|
|
|
|
DISPLAY_TEXT(Base_Position);
|
|
|
|
engine->engineState.idle.DISPLAY_FIELD(baseIdlePosition) = -100.0f;
|
|
|
|
DISPLAY_TEXT(Position_with_Adjustments);
|
|
|
|
engine->engineState.idle.DISPLAY_FIELD(currentIdlePosition) = -100.0f;
|
|
|
|
DISPLAY_TEXT(EOL);
|
2019-08-30 15:17:10 -07:00
|
|
|
DISPLAY_TEXT(EOL);
|
|
|
|
DISPLAY_SENSOR(TPS);
|
2019-08-31 14:07:21 -07:00
|
|
|
DISPLAY_TEXT(EOL);
|
2019-07-21 15:34:37 -07:00
|
|
|
DISPLAY_TEXT(Throttle_Up_State);
|
2019-08-30 15:17:10 -07:00
|
|
|
DISPLAY(DISPLAY_FIELD(throttlePedalUpState));
|
2019-07-21 15:34:37 -07:00
|
|
|
DISPLAY(DISPLAY_CONFIG(throttlePedalUpPin));
|
2019-07-21 14:06:16 -07:00
|
|
|
|
2019-09-01 12:46:40 -07:00
|
|
|
DISPLAY_TEXT(eol);
|
|
|
|
DISPLAY(DISPLAY_IF(isAutomaticIdle))
|
|
|
|
|
|
|
|
DISPLAY_STATE(idle_pid)
|
|
|
|
DISPLAY_TEXT(Output);
|
|
|
|
DISPLAY(DISPLAY_FIELD(output));
|
|
|
|
DISPLAY_TEXT(iTerm);
|
|
|
|
DISPLAY(DISPLAY_FIELD(iTerm));
|
|
|
|
DISPLAY_TEXT(eol);
|
|
|
|
|
|
|
|
DISPLAY_TEXT(Settings);
|
|
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_PFACTOR));
|
|
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_IFACTOR));
|
|
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_DFACTOR));
|
|
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_OFFSET));
|
|
|
|
|
|
|
|
/* DISPLAY_ELSE */
|
|
|
|
DISPLAY_TEXT(Manual_idle_control);
|
|
|
|
/* DISPLAY_ENDIF */
|
|
|
|
|
2019-07-21 14:06:16 -07:00
|
|
|
|
2017-05-16 17:18:28 -07:00
|
|
|
//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2019-08-28 21:10:47 -07:00
|
|
|
idleControllerInstance.Start();
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2019-08-25 21:19:13 -07:00
|
|
|
#if ! EFI_UNIT_TEST
|
2019-01-26 21:02:58 -08:00
|
|
|
// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
|
2015-07-10 06:01:56 -07:00
|
|
|
// this switch is not used yet
|
2019-01-09 19:57:33 -08:00
|
|
|
if (CONFIGB(clutchDownPin) != GPIO_UNASSIGNED) {
|
|
|
|
efiSetPadMode("clutch down switch", CONFIGB(clutchDownPin),
|
|
|
|
getInputMode(CONFIGB(clutchDownPinMode)));
|
2017-05-15 02:08:17 -07:00
|
|
|
}
|
2015-07-10 06:01:56 -07:00
|
|
|
|
2019-01-09 19:57:33 -08:00
|
|
|
if (CONFIGB(clutchUpPin) != GPIO_UNASSIGNED) {
|
|
|
|
efiSetPadMode("clutch up switch", CONFIGB(clutchUpPin),
|
|
|
|
getInputMode(CONFIGB(clutchUpPinMode)));
|
2017-05-15 02:08:17 -07:00
|
|
|
}
|
|
|
|
|
2019-07-21 14:06:16 -07:00
|
|
|
if (CONFIG(throttlePedalUpPin) != GPIO_UNASSIGNED) {
|
2019-07-21 17:11:12 -07:00
|
|
|
efiSetPadMode("throttle pedal up switch", CONFIG(throttlePedalUpPin),
|
2019-07-21 14:06:16 -07:00
|
|
|
getInputMode(CONFIGB(throttlePedalUpPinMode)));
|
|
|
|
}
|
|
|
|
|
2017-05-15 02:08:17 -07:00
|
|
|
if (engineConfiguration->brakePedalPin != GPIO_UNASSIGNED) {
|
2019-04-12 19:07:03 -07:00
|
|
|
#if EFI_PROD_CODE
|
2017-05-15 05:40:54 -07:00
|
|
|
efiSetPadMode("brake pedal switch", engineConfiguration->brakePedalPin,
|
2017-05-15 02:08:17 -07:00
|
|
|
getInputMode(engineConfiguration->brakePedalPinMode));
|
2018-11-01 12:57:50 -07:00
|
|
|
#endif /* EFI_PROD_CODE */
|
2017-05-15 02:08:17 -07:00
|
|
|
}
|
2015-07-10 06:01:56 -07:00
|
|
|
|
|
|
|
addConsoleAction("idleinfo", showIdleInfo);
|
|
|
|
|
2015-09-01 20:02:49 -07:00
|
|
|
addConsoleActionII("blipidle", blipIdle);
|
2015-10-19 19:02:51 -07:00
|
|
|
|
2015-11-09 16:03:32 -08:00
|
|
|
// split this whole file into manual controller and auto controller? move these commands into the file
|
|
|
|
// which would be dedicated to just auto-controller?
|
2015-10-19 19:02:51 -07:00
|
|
|
|
2015-12-24 19:01:26 -08:00
|
|
|
addConsoleAction("idlebench", startIdleBench);
|
2019-08-25 21:19:13 -07:00
|
|
|
#endif /* EFI_UNIT_TEST */
|
2019-08-28 21:10:47 -07:00
|
|
|
applyPidSettings(PASS_ENGINE_PARAMETER_SIGNATURE);
|
2015-07-10 06:01:56 -07:00
|
|
|
}
|
|
|
|
|
2018-10-30 05:21:50 -07:00
|
|
|
#endif /* EFI_IDLE_CONTROL */
|