mirror of https://github.com/rusefi/rusefi-1.git
remove idle thread; just call from periodicSlowCallback (#1924)
* remove thread * remove ui
This commit is contained in:
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584b7a6c9e
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0e3673e78c
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@ -421,7 +421,6 @@ void setMiataNA6_MAP_MRE(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
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engineConfiguration->idleTimingPid.dFactor = 0.0;
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engineConfiguration->idleTimingPid.dFactor = 0.0;
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engineConfiguration->idleTimingPid.minValue = -13;
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engineConfiguration->idleTimingPid.minValue = -13;
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engineConfiguration->idleTimingPid.maxValue = 13;
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engineConfiguration->idleTimingPid.maxValue = 13;
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engineConfiguration->idleTimingPid.periodMs = 8;
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engineConfiguration->idleTimingPidWorkZone = 150;
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engineConfiguration->idleTimingPidWorkZone = 150;
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engineConfiguration->idlePidFalloffDeltaRpm = 50;
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engineConfiguration->idlePidFalloffDeltaRpm = 50;
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engineConfiguration->idleTimingPidDeadZone = 10;
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engineConfiguration->idleTimingPidDeadZone = 10;
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@ -182,7 +182,7 @@ void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX) {
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showIdleInfo();
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showIdleInfo();
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}
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}
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percent_t getIdlePosition(void) {
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percent_t getIdlePosition() {
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return engine->engineState.idle.currentIdlePosition;
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return engine->engineState.idle.currentIdlePosition;
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}
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}
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@ -329,7 +329,7 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
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// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
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// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->setErrorAmplification(errorAmpCoef);
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->setErrorAmplification(errorAmpCoef);
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percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm);
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percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm, SLOW_CALLBACK_PERIOD_MS / 1000.0f);
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engine->engineState.idle.idleState = PID_VALUE;
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engine->engineState.idle.idleState = PID_VALUE;
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// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
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// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
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@ -368,12 +368,8 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
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return newValue;
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return newValue;
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}
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}
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int IdleController::getPeriodMs() {
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float IdleController::getIdlePosition() {
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return GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid);
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efiAssert(OBD_PCM_Processor_Fault, engineConfiguration != NULL, "engineConfiguration pointer", 0);
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}
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void IdleController::PeriodicTask() {
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efiAssertVoid(OBD_PCM_Processor_Fault, engineConfiguration != NULL, "engineConfiguration pointer");
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/*
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/*
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* Here we have idle logic thread - actual stepper movement is implemented in a separate
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* Here we have idle logic thread - actual stepper movement is implemented in a separate
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* working thread,
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* working thread,
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@ -508,11 +504,22 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
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}
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}
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engine->engineState.idle.currentIdlePosition = iacPosition;
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engine->engineState.idle.currentIdlePosition = iacPosition;
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applyIACposition(engine->engineState.idle.currentIdlePosition PASS_ENGINE_PARAMETER_SUFFIX);
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return iacPosition;
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}
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void IdleController::update() {
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float position = getIdlePosition();
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applyIACposition(position PASS_ENGINE_PARAMETER_SUFFIX);
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}
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}
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IdleController idleControllerInstance;
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IdleController idleControllerInstance;
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void updateIdleControl()
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{
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idleControllerInstance.update();
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}
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static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
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iacPidMultMap.init(CONFIG(iacPidMultTable), CONFIG(iacPidMultLoadBins), CONFIG(iacPidMultRpmBins));
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iacPidMultMap.init(CONFIG(iacPidMultTable), CONFIG(iacPidMultLoadBins), CONFIG(iacPidMultRpmBins));
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@ -522,7 +529,6 @@ void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
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engineConfiguration->idleRpmPid.pFactor = 0.1f;
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engineConfiguration->idleRpmPid.pFactor = 0.1f;
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engineConfiguration->idleRpmPid.iFactor = 0.05f;
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engineConfiguration->idleRpmPid.iFactor = 0.05f;
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engineConfiguration->idleRpmPid.dFactor = 0.0f;
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engineConfiguration->idleRpmPid.dFactor = 0.0f;
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engineConfiguration->idleRpmPid.periodMs = 10;
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engineConfiguration->idlerpmpid_iTermMin = -200;
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engineConfiguration->idlerpmpid_iTermMin = -200;
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engineConfiguration->idlerpmpid_iTermMax = 200;
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engineConfiguration->idlerpmpid_iTermMax = 200;
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@ -564,12 +570,6 @@ void setIdleDFactor(float value) {
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showIdleInfo();
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showIdleInfo();
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}
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}
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void setIdleDT(int value) {
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engineConfiguration->idleRpmPid.periodMs = value;
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applyPidSettings();
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showIdleInfo();
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}
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/**
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/**
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* Idle test would activate the solenoid for three seconds
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* Idle test would activate the solenoid for three seconds
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*/
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*/
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@ -637,8 +637,6 @@ void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
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//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
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//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
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idleControllerInstance.Start();
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#if ! EFI_UNIT_TEST
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#if ! EFI_UNIT_TEST
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// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
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// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
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// this switch is not used yet
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// this switch is not used yet
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@ -15,15 +15,16 @@
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class Logging;
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class Logging;
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class Pid;
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class Pid;
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class IdleController : public PeriodicTimerController {
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class IdleController {
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public:
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public:
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DECLARE_ENGINE_PTR;
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DECLARE_ENGINE_PTR;
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int getPeriodMs() override;
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float getIdlePosition();
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void PeriodicTask() override;
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void update();
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};
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};
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percent_t getIdlePosition(void);
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void updateIdleControl();
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percent_t getIdlePosition();
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void applyIACposition(percent_t position DECLARE_ENGINE_PARAMETER_SUFFIX);
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void applyIACposition(percent_t position DECLARE_ENGINE_PARAMETER_SUFFIX);
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void setManualIdleValvePosition(int positionPercent);
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void setManualIdleValvePosition(int positionPercent);
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@ -31,14 +32,12 @@ void setManualIdleValvePosition(int positionPercent);
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void startIdleThread(Logging* sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX);
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void startIdleThread(Logging* sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX);
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void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
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void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
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void startIdleBench(void);
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void startIdleBench(void);
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void setIdleDT(int value);
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void setIdleOffset(float value);
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void setIdleOffset(float value);
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void setIdlePFactor(float value);
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void setIdlePFactor(float value);
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void setIdleIFactor(float value);
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void setIdleIFactor(float value);
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void setIdleDFactor(float value);
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void setIdleDFactor(float value);
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void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX);
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void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX);
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void setTargetIdleRpm(int value);
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void setTargetIdleRpm(int value);
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void setIdleDT(int value);
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void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration);
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void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration);
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float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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@ -146,8 +146,7 @@ angle_t getAdvanceCorrections(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
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shouldResetTimingPid = false;
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shouldResetTimingPid = false;
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}
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}
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// get PID value (this is not an actual Advance Angle, but just a additive correction!)
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// get PID value (this is not an actual Advance Angle, but just a additive correction!)
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percent_t timingRawCorr = idleTimingPid.getOutput(targetRpm, rpm,
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percent_t timingRawCorr = idleTimingPid.getOutput(targetRpm, rpm, FAST_CALLBACK_PERIOD_MS / 1000.0f);
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/* is this the right dTime? this period is not exactly the period at which this code is invoked*/engineConfiguration->idleTimingPid.periodMs);
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// tps idle-running falloff
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// tps idle-running falloff
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pidTimingCorrection = interpolateClamped(0.0f, timingRawCorr, CONFIG(idlePidDeactivationTpsThreshold), 0.0f, tps);
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pidTimingCorrection = interpolateClamped(0.0f, timingRawCorr, CONFIG(idlePidDeactivationTpsThreshold), 0.0f, tps);
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// rpm falloff
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// rpm falloff
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@ -25,6 +25,7 @@
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#include "fsio_impl.h"
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#include "fsio_impl.h"
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#include "perf_trace.h"
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#include "perf_trace.h"
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#include "backup_ram.h"
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#include "backup_ram.h"
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#include "idle_thread.h"
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#include "idle_hardware.h"
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#include "idle_hardware.h"
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#include "sensor.h"
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#include "sensor.h"
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#include "gppwm.h"
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#include "gppwm.h"
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@ -189,6 +190,8 @@ void Engine::periodicSlowCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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updateGppwm();
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updateGppwm();
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updateIdleControl();
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cylinderCleanupControl(PASS_ENGINE_PARAMETER_SIGNATURE);
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cylinderCleanupControl(PASS_ENGINE_PARAMETER_SIGNATURE);
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standardAirCharge = getStandardAirCharge(PASS_ENGINE_PARAMETER_SIGNATURE);
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standardAirCharge = getStandardAirCharge(PASS_ENGINE_PARAMETER_SIGNATURE);
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@ -31,6 +31,7 @@
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#endif /* EFI_UNIT_TEST */
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#endif /* EFI_UNIT_TEST */
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#define FAST_CALLBACK_PERIOD_MS 5
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#define FAST_CALLBACK_PERIOD_MS 5
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#define SLOW_CALLBACK_PERIOD_MS 50
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class RpmCalculator;
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class RpmCalculator;
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class AirmassModelBase;
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class AirmassModelBase;
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@ -156,7 +156,7 @@ class PeriodicSlowController : public PeriodicTimerController {
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int getPeriodMs() override {
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int getPeriodMs() override {
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// no reason to have this configurable, looks like everyone is happy with 20Hz
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// no reason to have this configurable, looks like everyone is happy with 20Hz
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return 50;
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return SLOW_CALLBACK_PERIOD_MS;
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}
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}
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};
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};
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@ -996,12 +996,6 @@ const plain_get_integer_s getI_plain[] = {
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// {"bor", setBor},
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// {"bor", setBor},
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// {"can_mode", setCanType},
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// {"can_mode", setCanType},
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// {"idle_rpm", setTargetIdleRpm},
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// {"idle_rpm", setTargetIdleRpm},
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// {"idle_dt", setIdleDT},
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// {"", },
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// {"", },
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// {"", },
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// {"", },
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// {"", },
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};
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};
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const plain_get_float_s getF_plain[] = {
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const plain_get_float_s getF_plain[] = {
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@ -1208,7 +1202,6 @@ const command_i_s commandsI[] = {{"ignition_mode", setIgnitionMode},
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#if EFI_IDLE_CONTROL
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#if EFI_IDLE_CONTROL
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{"idle_position", setManualIdleValvePosition},
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{"idle_position", setManualIdleValvePosition},
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{"idle_rpm", setTargetIdleRpm},
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{"idle_rpm", setTargetIdleRpm},
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{"idle_dt", setIdleDT},
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#endif /* EFI_IDLE_CONTROL */
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#endif /* EFI_IDLE_CONTROL */
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#endif /* EFI_PROD_CODE */
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#endif /* EFI_PROD_CODE */
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@ -79,8 +79,7 @@ enable2ndByteCanID = false
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; CONFIG_DEFINITION_END
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; CONFIG_DEFINITION_END
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idleRpmPid_offset = "Constant base value"
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idleRpmPid_offset = "Constant base value"
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idleRpmPid_periodMs = "PID recalculation period"
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[Tuning]
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[Tuning]
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spotDepth = 2 ; 0 = no indicators, 1 = Z only, 2 = XYZ indicators.
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spotDepth = 2 ; 0 = no indicators, 1 = Z only, 2 = XYZ indicators.
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@ -2445,7 +2444,6 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
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field = "Max", idleRpmPid_maxValue
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field = "Max", idleRpmPid_maxValue
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field = "iTerm Min", idlerpmpid_iTermMin
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field = "iTerm Min", idlerpmpid_iTermMin
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field = "iTerm Max", idlerpmpid_iTermMax
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field = "iTerm Max", idlerpmpid_iTermMax
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field = "period", idleRpmPid_periodMs
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field = "RPM dead zone to deactivate IAC pid", idlePidRpmDeadZone
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field = "RPM dead zone to deactivate IAC pid", idlePidRpmDeadZone
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field = "RPM upper limit to deactivate IAC pid",idlePidRpmUpperLimit
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field = "RPM upper limit to deactivate IAC pid",idlePidRpmUpperLimit
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field = "PID Extra for low RPM", pidExtraForLowRpm
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field = "PID Extra for low RPM", pidExtraForLowRpm
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@ -2479,7 +2477,6 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
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field = "Offset", idleTimingPid_offset, {useIdleTimingPidControl == 1}
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field = "Offset", idleTimingPid_offset, {useIdleTimingPidControl == 1}
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field = "Min Delta", idleTimingPid_minValue, {useIdleTimingPidControl == 1}
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field = "Min Delta", idleTimingPid_minValue, {useIdleTimingPidControl == 1}
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field = "Max Delta", idleTimingPid_maxValue, {useIdleTimingPidControl == 1}
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field = "Max Delta", idleTimingPid_maxValue, {useIdleTimingPidControl == 1}
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field = "period", idleTimingPid_periodMs, {useIdleTimingPidControl == 1}
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field = "#See RPM dead zone to deactivate IAC pid"
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field = "#See RPM dead zone to deactivate IAC pid"
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field = "RPM working zone for timing pid", idleTimingPidWorkZone, {useIdleTimingPidControl == 1}
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field = "RPM working zone for timing pid", idleTimingPidWorkZone, {useIdleTimingPidControl == 1}
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field = "RPM working zone falloff", idlePidFalloffDeltaRpm, {useIdleTimingPidControl == 1}
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field = "RPM working zone falloff", idlePidFalloffDeltaRpm, {useIdleTimingPidControl == 1}
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@ -58,7 +58,7 @@ TEST(idle, fsioPidParameters) {
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// todo finish this unit test!
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// todo finish this unit test!
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// timeNowUs = MS2US(700);
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// timeNowUs = MS2US(700);
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idleControllerInstance.PeriodicTask();
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idleControllerInstance.update();
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// ASSERT_EQ(0, engine->acSwitchLastChangeTime);
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// ASSERT_EQ(0, engine->acSwitchLastChangeTime);
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// ASSERT_EQ(1, engine->acSwitchState);
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// ASSERT_EQ(1, engine->acSwitchState);
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}
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}
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