mirror of https://github.com/rusefi/rusefi-1.git
progress towards idle unit test
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b090be14b0
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@ -32,15 +32,17 @@
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#include "pwm_generator.h"
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#include "idle_thread.h"
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#if ! EFI_UNIT_TEST
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#include "pin_repository.h"
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#endif /* EFI_UNIT_TEST */
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#include "engine.h"
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#include "periodic_task.h"
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#include "stepper.h"
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#include "allsensors.h"
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#if ! EFI_UNIT_TEST
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#include "stepper.h"
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#include "pin_repository.h"
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static StepperMotor iacMotor;
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#endif /* EFI_UNIT_TEST */
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static Logging *logger;
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#if EFI_TUNER_STUDIO
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extern TunerStudioOutputChannels tsOutputChannels;
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@ -54,16 +56,14 @@ static bool mightResetPid = false;
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#if EFI_IDLE_INCREMENTAL_PID_CIC
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// Use new PID with CIC integrator
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static PidCic idlePid(&engineConfiguration->idleRpmPid);
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static PidCic idlePid;
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#else
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static Pid idlePid(&engineConfiguration->idleRpmPid);
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static Pid idlePid;
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#endif /* EFI_IDLE_INCREMENTAL_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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static StepperMotor iacMotor;
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static uint32_t lastCrankingCyclesCounter = 0;
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static float lastCrankingIacPosition;
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@ -111,8 +111,10 @@ void setIdleMode(idle_mode_e value) {
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static void applyIACposition(percent_t position) {
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if (CONFIGB(useETBforIdleControl)) {
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engine->engineState.etbIdleAddition = position / 100 * CONFIG(etbIdleThrottleRange);
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#if ! EFI_UNIT_TEST
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} if (CONFIGB(useStepperIdle)) {
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iacMotor.setTargetPosition(position / 100 * engineConfiguration->idleStepperTotalSteps);
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#endif /* EFI_UNIT_TEST */
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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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@ -126,9 +128,20 @@ percent_t getIdlePosition(void) {
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return engine->engineState.idle.currentIdlePosition;
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}
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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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#endif /* EFI_UNIT_TEST */
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static percent_t manualIdleController(float cltCorrection) {
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static percent_t manualIdleController(float cltCorrection DECLARE_ENGINE_PARAMETER_SUFFIX) {
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percent_t correctedPosition = cltCorrection * CONFIGB(manIdlePosition);
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@ -139,15 +152,6 @@ static percent_t manualIdleController(float cltCorrection) {
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return correctedPosition;
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}
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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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showIdleInfo();
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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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static percent_t blipIdlePosition;
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static efitimeus_t timeToStopBlip = 0;
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static efitimeus_t timeToStopIdleTest = 0;
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@ -248,6 +252,12 @@ static percent_t automaticIdleController(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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}
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class IdleController : public PeriodicTimerController {
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public:
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Engine *engine = NULL;
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engine_configuration_s *engineConfiguration = NULL;
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persistent_config_s *config = NULL;
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board_configuration_s *boardConfiguration = NULL;
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int getPeriodMs() override {
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return GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid);
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}
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@ -330,7 +340,7 @@ class IdleController : public PeriodicTimerController {
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} else {
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if (engineConfiguration->idleMode == IM_MANUAL) {
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// let's re-apply CLT correction
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iacPosition = manualIdleController(cltCorrection);
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iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
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} else {
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iacPosition = automaticIdleController(PASS_ENGINE_PARAMETER_SIGNATURE);
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}
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@ -379,25 +389,25 @@ class IdleController : public PeriodicTimerController {
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}
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};
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static IdleController instance;
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static 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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}
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#if ! EFI_UNIT_TEST
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void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
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shouldResetPid = !idlePid.isSame(&previousConfiguration->idleRpmPid);
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idleSolenoid.setFrequency(CONFIGB(idle).solenoidFrequency);
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}
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#if ! EFI_UNIT_TEST
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void setTargetIdleRpm(int value) {
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setTargetRpmCurve(value PASS_ENGINE_PARAMETER_SUFFIX);
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scheduleMsg(logger, "target idle RPM %d", value);
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showIdleInfo();
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}
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static void apply(void) {
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idlePid.updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
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}
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void setIdleOffset(float value) {
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engineConfiguration->idleRpmPid.offset = value;
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showIdleInfo();
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@ -405,25 +415,25 @@ void setIdleOffset(float value) {
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void setIdlePFactor(float value) {
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engineConfiguration->idleRpmPid.pFactor = value;
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apply();
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applyPidSettings();
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showIdleInfo();
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}
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void setIdleIFactor(float value) {
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engineConfiguration->idleRpmPid.iFactor = value;
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apply();
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applyPidSettings();
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showIdleInfo();
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}
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void setIdleDFactor(float value) {
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engineConfiguration->idleRpmPid.dFactor = value;
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apply();
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applyPidSettings();
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showIdleInfo();
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}
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void setIdleDT(int value) {
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engineConfiguration->idleRpmPid.periodMs = value;
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apply();
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applyPidSettings();
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showIdleInfo();
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}
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@ -443,8 +453,6 @@ void setDefaultIdleParameters(void) {
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engineConfiguration->idleRpmPid.periodMs = 10;
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}
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#endif /* EFI_UNIT_TEST */
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static void applyIdleSolenoidPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ {
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efiAssertVoid(CUSTOM_ERR_6645, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
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efiAssertVoid(CUSTOM_ERR_6646, state->multiWave.waveCount == 1, "invalid idle waveCount");
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@ -457,7 +465,7 @@ static void applyIdleSolenoidPinState(int stateIndex, PwmConfig *state) /* pwm_g
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}
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}
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static void initIdleHardware() {
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static void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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if (CONFIGB(useStepperIdle)) {
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iacMotor.initialize(CONFIGB(idle).stepperStepPin,
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CONFIGB(idle).stepperDirectionPin,
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@ -481,11 +489,22 @@ static void initIdleHardware() {
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}
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}
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void startIdleThread(Logging*sharedLogger) {
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logger = sharedLogger;
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#endif /* EFI_UNIT_TEST */
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void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
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logger = sharedLogger;
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idleControllerInstance.engine = engine;
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idleControllerInstance.engineConfiguration = engineConfiguration;
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idleControllerInstance.config = config;
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idleControllerInstance.boardConfiguration = boardConfiguration;
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idlePid.initPidClass(&engineConfiguration->idleRpmPid);
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#if ! EFI_UNIT_TEST
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// todo: re-initialize idle pins on the fly
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initIdleHardware();
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initIdleHardware(PASS_ENGINE_PARAMETER_SIGNATURE);
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#endif /* EFI_UNIT_TEST */
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DISPLAY_TEXT(Idle_State);
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engine->engineState.idle.DISPLAY_FIELD(idleState) = INIT;
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@ -502,7 +521,7 @@ void startIdleThread(Logging*sharedLogger) {
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//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
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instance.Start();
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idleControllerInstance.Start();
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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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@ -538,7 +557,7 @@ void startIdleThread(Logging*sharedLogger) {
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addConsoleAction("idlebench", startIdleBench);
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#endif /* EFI_UNIT_TEST */
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apply();
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applyPidSettings(PASS_ENGINE_PARAMETER_SIGNATURE);
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}
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#endif /* EFI_IDLE_CONTROL */
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percent_t getIdlePosition(void);
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void setIdleValvePosition(int positionPercent);
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void startIdleThread(Logging*sharedLogger);
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void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX);
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void setDefaultIdleParameters(void);
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void startIdleBench(void);
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void setIdleDT(int value);
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@ -767,7 +767,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
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#endif /* EFI_ENGINE_CONTROL */
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#if EFI_IDLE_CONTROL
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startIdleThread(sharedLogger);
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startIdleThread(sharedLogger PASS_ENGINE_PARAMETER_SUFFIX);
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#endif /* EFI_IDLE_CONTROL */
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if (engineConfiguration->externalKnockSenseAdc != EFI_ADC_NONE) {
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