mirror of https://github.com/rusefi/rusefi-1.git
implement
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@ -99,7 +99,11 @@ static bool startupPositionError = false;
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#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
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static SensorType indexToTpsSensor(size_t index) {
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static SensorType indexToTpsSensor(size_t index, bool volkswagenEtbIdle) {
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if (volkswagenEtbIdle) {
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return SensorType::Tps2;
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}
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switch(index) {
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case 0: return SensorType::Tps1;
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default: return SensorType::Tps2;
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@ -127,7 +131,8 @@ static percent_t currentEtbDuty;
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// this macro clamps both positive and negative percentages from about -100% to 100%
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#define ETB_PERCENT_TO_DUTY(x) (clampF(-ETB_DUTY_LIMIT, 0.01f * (x), ETB_DUTY_LIMIT))
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void EtbController::init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) {
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void EtbController::init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) {
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m_positionSensor = positionSensor;
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m_motor = motor;
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m_myIndex = ownIndex;
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m_pid.initPidClass(pidParameters);
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@ -149,7 +154,7 @@ void EtbController::showStatus(Logging* logger) {
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}
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expected<percent_t> EtbController::observePlant() const {
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return Sensor::get(indexToTpsSensor(m_myIndex));
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return Sensor::get(m_positionSensor);
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}
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void EtbController::setIdlePosition(percent_t pos) {
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@ -162,6 +167,12 @@ expected<percent_t> EtbController::getSetpoint() const {
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return unexpected;
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}
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// VW ETB idle mode uses an ETB only for idle (a mini-ETB sets the lower stop, and a normal cable
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// can pull the throttle up off the stop.), so we directly control the throttle with the idle position.
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if (CONFIG(volkswagenEtbIdle)) {
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return m_idlePosition;
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}
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// If the pedal map hasn't been set, we can't provide a setpoint.
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if (!m_pedalMap) {
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return unexpected;
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@ -743,7 +754,11 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
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if (CONFIG(volkswagenEtbIdle)) {
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engine->etbActualCount = 1;
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} else {
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engine->etbActualCount = Sensor::hasSensor(SensorType::Tps2) ? 2 : 1;
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}
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for (int i = 0 ; i < engine->etbActualCount; i++) {
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auto motor = initDcMotor(i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);
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@ -751,7 +766,8 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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// If this motor is actually set up, init the etb
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if (motor)
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{
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engine->etbControllers[i]->init(motor, i, &engineConfiguration->etb, &pedal2tpsMap);
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auto positionSensor = indexToTpsSensor(i, CONFIG(volkswagenEtbIdle));
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engine->etbControllers[i]->init(positionSensor, motor, i, &engineConfiguration->etb, &pedal2tpsMap);
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INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
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}
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}
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@ -19,6 +19,7 @@
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#include "engine.h"
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#include "closed_loop_controller.h"
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#include "expected.h"
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#include "sensor.h"
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class DcMotor;
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class Logging;
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@ -26,7 +27,7 @@ class Logging;
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class IEtbController : public ClosedLoopController<percent_t, percent_t> {
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public:
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DECLARE_ENGINE_PTR;
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virtual void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
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virtual void init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
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virtual void reset() = 0;
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virtual void setIdlePosition(percent_t pos) = 0;
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virtual void start() = 0;
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@ -35,7 +36,7 @@ public:
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class EtbController : public IEtbController {
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public:
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void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
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void init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
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void setIdlePosition(percent_t pos) override;
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void reset() override;
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void start() override {}
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@ -74,6 +75,7 @@ protected:
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private:
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int m_myIndex = 0;
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SensorType m_positionSensor = SensorType::Invalid;
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DcMotor *m_motor = nullptr;
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Pid m_pid;
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bool m_shouldResetPid = false;
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