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better logging

This commit is contained in:
rusEfi 2018-11-26 21:40:41 -05:00
parent b4a09b2e71
commit 409cfca5e3
2 changed files with 13 additions and 1 deletions
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6
firmware/controllers/electronic_throttle.cpp
View File

@ -308,6 +308,11 @@ static void setAutoPeriod(int period) {
autoTune.reset();
}
static void setAutoOffset(int offset) {
tuneWorkingPidSettings.offset = offset;
autoTune.reset();
}
void initElectronicThrottle(void) {
addConsoleAction("ethinfo", showEthInfo);
if (!hasPedalPositionSensor()) {
@ -334,6 +339,7 @@ void initElectronicThrottle(void) {
addConsoleActionF("set_etbat_output", setTempOutput);
addConsoleActionF("set_etbat_step", setAutoStep);
addConsoleActionI("set_etbat_period", setAutoPeriod);
addConsoleActionI("set_etbat_offset", setAutoOffset);
applyPidSettings();

8
firmware/controllers/math/pid_auto_tune.cpp
View File

@ -55,7 +55,7 @@ void PID_AutoTune::reset() {
controlType = ZIEGLER_NICHOLS_PID;
noiseBand = 0.5;
setState(AUTOTUNER_OFF);
state = AUTOTUNER_OFF; // cannot invoke setter here since logger is not initialized yet
oStep = 10.0;
memset(lastPeaks, 0, sizeof(lastPeaks));
memset(lastInputs, 0, sizeof(lastInputs));
@ -111,6 +111,7 @@ double PID_AutoTune::calculatePhaseLag(double inducedAmplitude)
void PID_AutoTune::setState(PidAutoTune_AutoTunerState state) {
this->state = state;
scheduleMsg(logger, "setState %s", getPidAutoTune_AutoTunerState(state));
#if EFI_UNIT_TEST
printf("setState %s\r\n", getPidAutoTune_AutoTunerState(state));
#endif /* EFI_UNIT_TEST */
@ -118,6 +119,7 @@ void PID_AutoTune::setState(PidAutoTune_AutoTunerState state) {
void PID_AutoTune::setPeakType(PidAutoTune_Peak peakType) {
this->peakType = peakType;
scheduleMsg(logger, "setPeakType %s", getPidAutoTune_Peak(peakType));
#if EFI_UNIT_TEST
printf("peakType %s\r\n", getPidAutoTune_Peak(peakType));
#endif /* EFI_UNIT_TEST */
@ -356,6 +358,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
if (inputCount <= nLookBack)
{
lastInputs[nLookBack - inputCount] = refVal;
scheduleMsg(logger, "AT need more data %d %d", inputCount, nLookBack);
#if EFI_UNIT_TEST
printf("need more data %d %d\r\n", inputCount, nLookBack);
#endif /* EFI_UNIT_TEST */
@ -380,6 +383,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
lastInputs[i + 1] = val;
}
lastInputs[0] = refVal;
scheduleMsg(logger, "isMin=%d isMax=%d", isMin, isMax);
// for AMIGOf tuning rule, perform an initial
// step change to calculate process gain K_process
@ -514,6 +518,8 @@ bool PID_AutoTune::Runtime(Logging *logger)
if (justChanged)
{
peakCount++;
scheduleMsg(logger, "peakCount=%d", peakCount);
#if defined (AUTOTUNE_DEBUG)
Serial.println(F("peakCount "));