mirror of https://github.com/rusefi/rusefi-1.git
iacPidMultTbl + EFI_IDLE_PID_CIC + kinetis_hysteresis (#1043)
* rename EFI_IDLE_INCREMENTAL_PID_CIC -> EFI_IDLE_PID_CIC * Impl. IacPidMultTable * Kinetis: Trigger Comparator Hysteresis settings (+adaptive mode)
This commit is contained in:
andreika-git
rusefi
parent
0dd517bcc7
commit
2a39c69f51
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@ -175,7 +175,7 @@
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#define EFI_IDLE_CONTROL TRUE
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#endif
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#define EFI_IDLE_INCREMENTAL_PID_CIC FALSE
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#define EFI_IDLE_PID_CIC FALSE
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/**
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* Control the main power relay based on measured ignition voltage (Vbatt)
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@ -336,6 +336,7 @@
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#define EFI_COMP_PRIMARY_DEVICE (&COMPD3)
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#define EFI_COMP_TRIGGER_CHANNEL 6 // =E7
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//#define EFI_TRIGGER_DEBUG_BLINK TRUE
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//#define EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS TRUE
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#define LED_WARNING_BRAIN_PIN GPIOD_13
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@ -105,8 +105,8 @@
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#undef EFI_MEMS
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#define EFI_MEMS FALSE
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#undef EFI_IDLE_INCREMENTAL_PID_CIC
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#define EFI_IDLE_INCREMENTAL_PID_CIC TRUE
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#undef EFI_IDLE_PID_CIC
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#define EFI_IDLE_PID_CIC TRUE
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#define RPM_LOW_THRESHOLD 8 // RPM=8 is an empirical lower sensitivity threshold of MAX9926 for 60-2
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#define NO_RPM_EVENTS_TIMEOUT_SECS 5 // (RPM < 12)
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@ -175,7 +175,7 @@
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#define EFI_IDLE_CONTROL TRUE
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#endif
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#define EFI_IDLE_INCREMENTAL_PID_CIC FALSE
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#define EFI_IDLE_PID_CIC FALSE
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/**
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* Control the main power relay based on measured ignition voltage (Vbatt)
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@ -103,8 +103,8 @@
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#undef EFI_MEMS
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#define EFI_MEMS FALSE
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#undef EFI_IDLE_INCREMENTAL_PID_CIC
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#define EFI_IDLE_INCREMENTAL_PID_CIC TRUE
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#undef EFI_IDLE_PID_CIC
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#define EFI_IDLE_PID_CIC TRUE
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#define RPM_LOW_THRESHOLD 8 // RPM=8 is an empirical lower sensitivity threshold of MAX9926 for 60-2
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#define NO_RPM_EVENTS_TIMEOUT_SECS 5 // (RPM < 12)
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@ -194,7 +194,7 @@
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#define EFI_IDLE_CONTROL TRUE
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#endif
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#define EFI_IDLE_INCREMENTAL_PID_CIC FALSE
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#define EFI_IDLE_PID_CIC FALSE
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/**
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* Control the main power relay based on measured ignition voltage (Vbatt)
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@ -95,11 +95,11 @@
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#ifndef EFI_IDLE_CONTROL
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#if EFI_IDLE_INCREMENTAL_PID_CIC
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#if EFI_IDLE_PID_CIC
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extern PidCic idlePid;
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#else
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extern Pid idlePid;
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#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
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#endif /* EFI_IDLE_PID_CIC */
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#endif /* EFI_IDLE_CONTROL */
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@ -34,6 +34,7 @@
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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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#include "engine_math.h"
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#include "engine.h"
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#include "periodic_task.h"
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@ -58,7 +59,7 @@ static bool shouldResetPid = false;
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// See automaticIdleController().
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static bool mightResetPid = false;
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#if EFI_IDLE_INCREMENTAL_PID_CIC
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#if EFI_IDLE_PID_CIC
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// Use new PID with CIC integrator
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PidCic idlePid;
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#else
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@ -85,7 +86,7 @@ public:
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};
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PidWithOverrides idlePid;
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#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
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#endif /* EFI_IDLE_PID_CIC */
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// todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
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static SimplePwm idleSolenoid("idle");
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@ -93,6 +94,8 @@ static SimplePwm idleSolenoid("idle");
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static uint32_t lastCrankingCyclesCounter = 0;
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static float lastCrankingIacPosition;
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static iacPidMultiplier_t iacPidMultMap("iacPidMultiplier");
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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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* todo: why do we have this logic? is this ever useful?
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@ -273,17 +276,18 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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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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mightResetPid = true;
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#if EFI_IDLE_INCREMENTAL_PID_CIC
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// Apply PID Multiplier if used
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if (CONFIG(useIacPidMultTable)) {
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float engineLoad = getEngineLoadT(PASS_ENGINE_PARAMETER_SIGNATURE);
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float multCoef = iacPidMultMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, engineLoad);
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// PID can be completely disabled of multCoef==0, or it just works as usual if multCoef==1
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newValue = interpolateClamped(0.0f, engine->engineState.idle.baseIdlePosition, 1.0f, newValue, multCoef);
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}
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// Apply PID Deactivation Threshold as a smooth taper for TPS transients.
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percent_t tpsPos = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
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// Treat the 'newValue' as if it contains not an actual IAC position, but an incremental delta.
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// So we add this delta to the base IAC position, with a smooth taper for TPS transients.
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newValue = engine->engineState.idle.baseIdlePosition + interpolateClamped(0.0f, newValue, CONFIGB(idlePidDeactivationTpsThreshold), 0.0f, tpsPos);
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// apply the PID limits
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newValue = maxF(newValue, CONFIG(idleRpmPid.minValue));
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newValue = minF(newValue, CONFIG(idleRpmPid.maxValue));
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#endif /* EFI_IDLE_INCREMENTAL_PID_CIC */
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// if tps==0 then PID just works as usual, or we completely disable it if tps>=threshold
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newValue = interpolateClamped(0.0f, newValue, CONFIGB(idlePidDeactivationTpsThreshold), engine->engineState.idle.baseIdlePosition, tpsPos);
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// Interpolate to the manual position when RPM is close to the upper RPM limit (if idlePidRpmUpperLimit is set).
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// If RPM increases and the throttle is closed, then we're in coasting mode, and we should smoothly disable auto-pid.
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@ -451,6 +455,7 @@ IdleController idleControllerInstance;
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static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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idlePid.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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}
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void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
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@ -23,13 +23,36 @@ EXTERN_ENGINE
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;
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static Logging *logger;
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static int centeredDacValue = 127;
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static volatile int centeredDacValue = 127;
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static volatile int toothCnt = 0;
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static volatile int dacHysteresisMin = 1; // = 5V * 1/256 (8-bit DAC) = ~20mV
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static volatile int dacHysteresisMax = 15; // = ~300mV
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static volatile int dacHysteresisDelta = dacHysteresisMin;
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static volatile int hystUpdatePeriodNumEvents = 116; // every ~1 turn of 60-2 wheel
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static volatile efitick_t prevNt = 0;
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// VR-sensor saturation stuff
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static volatile float curVrFreqNt = 0, saturatedVrFreqNt = 0;
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static const int dacNoiseDeltaMin = 1; // = 5V * 1/256 (8-bit DAC) = ~20mV
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static const int dacNoiseDeltaMax = 15; // = ~300mV
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// todo: interpolate between min and max depending on the signal level (adaptive hysteresis)
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static const int dacNoiseDelta = dacNoiseDeltaMax;
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// We want to interpolate between min and max depending on the signal level (adaptive hysteresis).
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// But we don't want to measure the signal amplitude directly, so we estimate it by measuring the signal frequency:
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// for VR sensors, the amplitude is inversely proportional to the tooth's 'time-width'.
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// We find it by dividing the total time by the teeth count, and use the reciprocal value as signal frequency!
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static void setHysteresis(COMPDriver *comp, int sign) {
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// update the hysteresis threshold, but not for every tooth
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#ifdef EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS
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if (toothCnt++ > hystUpdatePeriodNumEvents) {
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efitick_t nowNt = getTimeNowNt();
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curVrFreqNt = (float)toothCnt / (float)(nowNt - prevNt);
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dacHysteresisDelta = (int)efiRound(interpolateClamped(0.0f, dacHysteresisMin, saturatedVrFreqNt, dacHysteresisMax, curVrFreqNt), 1.0f);
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toothCnt = 0;
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prevNt = nowNt;
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#ifdef TRIGGER_COMP_EXTREME_LOGGING
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scheduleMsg(logger, "* f=%f d=%d", curVrFreqNt * 1000.0f, dacHysteresisDelta);
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#endif /* TRIGGER_COMP_EXTREME_LOGGING */
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}
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#endif /* EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS */
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comp_lld_set_dac_value(comp, centeredDacValue + dacHysteresisDelta * sign);
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}
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static void comp_shaft_callback(COMPDriver *comp) {
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uint32_t status = comp_lld_get_status(comp);
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@ -43,7 +66,7 @@ static void comp_shaft_callback(COMPDriver *comp) {
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(engineConfiguration->invertSecondaryTriggerSignal ? SHAFT_SECONDARY_FALLING : SHAFT_SECONDARY_RISING);
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hwHandleShaftSignal(signal);
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// shift the threshold down a little bit to avoid false-triggering (threshold hysteresis)
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comp_lld_set_dac_value(comp, centeredDacValue - dacNoiseDelta);
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setHysteresis(comp, -1);
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}
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if (status & COMP_IRQ_FALLING) {
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@ -51,7 +74,7 @@ static void comp_shaft_callback(COMPDriver *comp) {
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(engineConfiguration->invertSecondaryTriggerSignal ? SHAFT_SECONDARY_RISING : SHAFT_SECONDARY_FALLING);
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hwHandleShaftSignal(signal);
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// shift the threshold up a little bit to avoid false-triggering (threshold hysteresis)
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comp_lld_set_dac_value(comp, centeredDacValue + dacNoiseDelta);
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setHysteresis(comp, 1);
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}
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}
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@ -82,13 +105,36 @@ void turnOnTriggerInputPins(Logging *sharedLogger) {
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applyNewTriggerInputPins();
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}
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static int getDacValue(uint8_t voltage DECLARE_ENGINE_PARAMETER_SUFFIX) {
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constexpr float maxDacValue = 255.0f; // 8-bit DAC
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return (int)efiRound(maxDacValue * (float)voltage * VOLTAGE_1_BYTE_PACKING_DIV / CONFIG(adcVcc), 1.0f);
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}
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void startTriggerInputPins(void) {
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//efiAssertVoid(CUSTOM_ERR_, !isCompEnabled, "isCompEnabled");
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if (isCompEnabled) {
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scheduleMsg(logger, "startTIPins(): already enabled!");
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return;
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}
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constexpr float vSensorRef = 2.5f; // 2.5V resistor divider; todo: migrate to settings?
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constexpr float maxDacValue = 255.0f;
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centeredDacValue = (int)efiRound(maxDacValue / engineConfiguration->adcVcc * vSensorRef, 1.0f);
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centeredDacValue = getDacValue(CONFIG(triggerCompCenterVolt) PASS_ENGINE_PARAMETER_SUFFIX); // usually 2.5V resistor divider
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dacHysteresisMin = getDacValue(CONFIG(triggerCompHystMin) PASS_ENGINE_PARAMETER_SUFFIX); // usually ~20mV
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dacHysteresisMax = getDacValue(CONFIG(triggerCompHystMax) PASS_ENGINE_PARAMETER_SUFFIX); // usually ~300mV
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dacHysteresisDelta = dacHysteresisMin;
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// 20 rpm (60_2) = 1000*60/((2*60)*20) = 25 ms for 1 tooth event
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float satRpm = CONFIG(triggerCompSensorSatRpm) * RPM_1_BYTE_PACKING_MULT;
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hystUpdatePeriodNumEvents = getTriggerSize(); // = 116 for "60-2" trigger wheel
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float saturatedToothDurationUs = 60.0f * US_PER_SECOND_F / satRpm / hystUpdatePeriodNumEvents;
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saturatedVrFreqNt = 1.0f / US2NT(saturatedToothDurationUs);
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scheduleMsg(logger, "startTIPins(): cDac=%d hystMin=%d hystMax=%d satRpm=%.0f satFreq*1k=%f period=%d",
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centeredDacValue, dacHysteresisMin, dacHysteresisMax, satRpm, saturatedVrFreqNt * 1000.0f, hystUpdatePeriodNumEvents);
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#ifdef EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS
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scheduleMsg(logger, "startTIPins(): ADAPTIVE_HYSTERESIS enabled!");
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#endif /* EFI_TRIGGER_COMP_ADAPTIVE_HYSTERESIS */
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int channel = EFI_COMP_TRIGGER_CHANNEL; // todo: use getInputCaptureChannel(hwPin);
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// todo: set pin mode to default (analog/comparator)
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@ -105,8 +151,13 @@ void startTriggerInputPins(void) {
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}
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void stopTriggerInputPins(void) {
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if (!isCompEnabled)
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if (!isCompEnabled) {
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scheduleMsg(logger, "stopTIPins(): already disabled!");
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return;
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}
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scheduleMsg(logger, "stopTIPins();");
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compDisable(EFI_COMP_PRIMARY_DEVICE);
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isCompEnabled = false;
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#if 0
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@ -120,6 +120,8 @@ struct_no_prefix engine_configuration_s
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#define PEDAL_TO_TPS_SIZE 8
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#define RPM_1_BYTE_PACKING_MULT 50
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#define VOLTAGE_1_BYTE_PACKING_DIV 0.02
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#define FSIO_TABLE_8 8
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#define FSIO_CURVE_8 8
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@ -786,7 +788,7 @@ bit useSeparateAdvanceForCranking;+This activates a separate advance table for c
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bit useAdvanceCorrectionsForCranking;+This enables the various ignition corrections during cranking (IAT, CLT, FSIO and PID idle).
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bit useTPSAdvanceTable;+This flag allows to use TPS for ignition lookup while in Speed Density Fuel Mode
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bit etbCalibrationOnStart
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bit unused_1484_bit_21
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bit useIacPidMultTable;+This flag allows to use a special 'PID Multiplier' table (0.0-1.0) to compensate for nonlinear nature of IAC-RPM controller
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bit unused_1484_bit_22
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bit unused_1484_bit_23
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bit unused_1484_bit_24
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@ -1085,7 +1087,12 @@ tChargeMode_e tChargeMode;
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uint8_t[4] unusuedvref;
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uint8_t[4] unusuedsw;
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int[3] alFIn;
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uint8_t[4] unusedSpiPadding3;
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uint8_t triggerCompCenterVolt;+Trigger comparator center point voltage;"V", @@VOLTAGE_1_BYTE_PACKING_DIV@@, 0, 0.0, 5.1, 2
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uint8_t triggerCompHystMin;+Trigger comparator hysteresis voltage (Min);"V", @@VOLTAGE_1_BYTE_PACKING_DIV@@, 0, 0.0, 5.1, 2
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uint8_t triggerCompHystMax;+Trigger comparator hysteresis voltage (Max);"V", @@VOLTAGE_1_BYTE_PACKING_DIV@@, 0, 0.0, 5.1, 2
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uint8_t triggerCompSensorSatRpm;+VR-sensor saturation RPM;"RPM", @@RPM_1_BYTE_PACKING_MULT@@, 0, 0.0, 12000.0, 0
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pid_s idleRpmPid2
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iac_pid_mult_t iacPidMultTable;
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@ -737,6 +737,15 @@ fileVersion = { 20190701 }
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gridOrient = 250, 0, 340 ; Space 123 rotation of grid in degrees.
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upDownLabel = "(RICHER)", "(LEANER)"
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table = iacPidMultTbl, iacPidMultMap, "IAC PID Multiplier Table", 1
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; constant, variable
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xBins = iacPidMultRpmBins, RPMValue
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yBins = iacPidMultLoadBins, engineLoad
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zBins = iacPidMultTable
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; gridHeight = 2.0
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gridOrient = 250, 0, 340 ; Space 123 rotation of grid in degrees.
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upDownLabel = "(Later)", "(Sooner)"
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[GaugeConfigurations]
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gaugeCategory = Sensors - Extra 2
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@ -1157,6 +1166,8 @@ menuDialog = main
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subMenu = idlehw, "Idle hardware"
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subMenu = std_separator
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subMenu = cltIdleRPMCurve, "Target RPM", 0, {idleMode == 0}
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subMenu = iacPidMultTbl, "IAC PID Multiplier", 0, {idleMode == 0 && useIacPidMultTable == 1}
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subMenu = std_separator
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subMenu = idleVeCurve, "VE", 0, {useSeparateVeForIdle == 1}
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subMenu = idleAdvanceCurve, "Ignition advance", 0, {useSeparateAdvanceForIdle == 1}
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subMenu = std_separator
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@ -1575,6 +1586,12 @@ cmd_set_engine_type_default = "w\x00\x31\x00\x00"
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field = "Brake pedal switch", brakePedalPin
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field = "A/C switch", acSwitchAdc
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dialog = triggerInputComparator, "Built-in Comparator Settings (Kinetis-only)"
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field = "Comparator Center Point Voltage", triggerCompCenterVolt
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field = "Comparator hysteresis voltage (Min)", triggerCompHystMin
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field = "Comparator hysteresis voltage (Max)", triggerCompHystMax
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field = "VR-sensor saturation RPM", triggerCompSensorSatRpm
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dialog = triggerInputs, "Trigger Inputs"
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field = "!ECU reboot needed to apply these settings"
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field = "#Cam is primary if you have cam sensor"
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@ -1583,6 +1600,7 @@ cmd_set_engine_type_default = "w\x00\x31\x00\x00"
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field = "Secondary channel", triggerInputPins2, { trigger_type != 0 && trigger_type != 8 && trigger_type != 9 && trigger_type != 18 && trigger_type != 20}
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field = "Invert Secondary", invertSecondaryTriggerSignal, { trigger_type != 0 && trigger_type != 8 && trigger_type != 9 && trigger_type != 18 && trigger_type != 20}
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field = "Cam Sync/VVT input", camInputs1
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panel = triggerInputComparator
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dialog = allPinsSensors, "Sensors"
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field = "CLT ADC input", clt_adcChannel
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@ -1946,6 +1964,7 @@ cmd_set_engine_type_default = "w\x00\x31\x00\x00"
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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
|
||||
field = "PID Extra for low RPM", pidExtraForLowRpm
|
||||
field = "Use IAC PID Multiplier Table", useIacPidMultTable
|
||||
|
||||
|
||||
dialog = idleSettings, "", yAxis
|
||||
|
|
|
|||
|
|
@ -158,6 +158,7 @@ typedef Map3D<IGN_RPM_COUNT, IGN_TPS_COUNT, int16_t, float> ign_tps_Map3D_t;
|
|||
typedef Map3D<FUEL_RPM_COUNT, FUEL_LOAD_COUNT, float, float> fuel_Map3D_t;
|
||||
typedef Map3D<BARO_CORR_SIZE, BARO_CORR_SIZE, float, float> baroCorr_Map3D_t;
|
||||
typedef Map3D<PEDAL_TO_TPS_SIZE, PEDAL_TO_TPS_SIZE, uint8_t, uint8_t> pedal2tps_t;
|
||||
typedef Map3D<IAC_PID_MULT_SIZE, IAC_PID_MULT_SIZE, uint8_t, uint8_t> iacPidMultiplier_t;
|
||||
|
||||
void setRpmBin(float array[], int size, float idleRpm, float topRpm);
|
||||
|
||||
|
|
|
|||
|
|
@ -87,7 +87,7 @@
|
|||
#define EFI_ENGINE_CONTROL TRUE
|
||||
#define EFI_IDLE_CONTROL TRUE
|
||||
|
||||
#define EFI_IDLE_INCREMENTAL_PID_CIC FALSE
|
||||
#define EFI_IDLE_PID_CIC FALSE
|
||||
#define EFI_MAIN_RELAY_CONTROL FALSE
|
||||
#define EFI_HIP_9011 TRUE
|
||||
#define EFI_CJ125 FALSE
|
||||
|
|
|
|||
Loading…
Reference in New Issue