little progress

firmware/controllers/electronic_throttle.cpp

@@ -94,6 +94,9 @@ static percent_t currentEtbDuty;
 
 static bool wasEtbBraking = false;
 
+// todo: need to fix PWM so that it supports zero duty cycle
+#define PERCENT_TO_DUTY(X) (maxF((minI(X, 99.9)) / 100.0, 0.1))
+
 static msg_t etbThread(void *arg) {
         UNUSED(arg);
 	while (true) {
@@ -127,11 +130,14 @@ static msg_t etbThread(void *arg) {
 			tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
 
 			float value = tuneWorkingPid.getValue(50, actualThrottlePosition);
-			scheduleMsg(&logger, "output %f value=%f", autoTune.output, value);
-			etbPwmUp.setSimplePwmDutyCycle(value);
+			scheduleMsg(&logger, "AT input=%f output=%f PID=%f", autoTune.input,
+					autoTune.output,
+					value);
+			scheduleMsg(&logger, "AT PID=%f", value);
+			etbPwmUp.setSimplePwmDutyCycle(PERCENT_TO_DUTY(value));
 
 			if (result) {
-				scheduleMsg(&logger, "GREAT NEWS!");
+				scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
 			}
 
 			tuneWorkingPid.sleep();
@@ -144,7 +150,7 @@ static msg_t etbThread(void *arg) {
 
 		currentEtbDuty = pid.getValue(targetPosition, actualThrottlePosition);
 
-		etbPwmUp.setSimplePwmDutyCycle(currentEtbDuty / 100);
+		etbPwmUp.setSimplePwmDutyCycle(PERCENT_TO_DUTY(currentEtbDuty));
 
 		if (boardConfiguration->etbDirectionPin2 != GPIO_UNASSIGNED) {
 			bool needEtbBraking = absF(targetPosition - actualThrottlePosition) < 3;
@@ -169,13 +175,13 @@ static msg_t etbThread(void *arg) {
 }
 
 /**
+ * set_etb X
  * manual duty cycle control without PID. Percent value from 0 to 100
  */
 static void setThrottleDutyCycle(float level) {
 	scheduleMsg(&logger, "setting ETB duty=%f", level);
 
-	float dc = (minI(level, 98)) / 100.0;
-	dc = maxF(dc, 0.00001); // todo: need to fix PWM so that it supports zero duty cycle
+	float dc = PERCENT_TO_DUTY(level);
 	valueOverride = dc;
 	etbPwmUp.setSimplePwmDutyCycle(dc);
 	print("etb duty = %.2f\r\n", dc);
@@ -285,15 +291,25 @@ static void setTempOutput(float value) {
 	autoTune.output = value;
 }
 
-static void setTempStep(float value) {
+/**
+ * set_etbat_step X
+ */
+static void setAutoStep(float value) {
+	autoTune.reset();
 	autoTune.SetOutputStep(value);
 }
 
+static void setAutoPeriod(int period) {
+	tuneWorkingPidSettings.period = period;
+	autoTune.reset();
+}
+
 void initElectronicThrottle(void) {
 	addConsoleAction("ethinfo", showEthInfo);
 	if (!hasPedalPositionSensor()) {
 		return;
 	}
+	autoTune.SetOutputStep(0.1);
 
 	startETBPins();
 
@@ -304,14 +320,16 @@ void initElectronicThrottle(void) {
 	tuneWorkingPidSettings.pFactor = 1;
 	tuneWorkingPidSettings.iFactor = 0;
 	tuneWorkingPidSettings.dFactor = 0;
-	tuneWorkingPidSettings.offset = 10; // todo: not hard-coded value
+//	tuneWorkingPidSettings.offset = 10; // todo: not hard-coded value
 	//todo tuneWorkingPidSettings.period = 10;
 	tuneWorkingPidSettings.minValue = 0;
 	tuneWorkingPidSettings.maxValue = 100;
+	tuneWorkingPidSettings.period = 100;
 
 	// this is useful one you do "enable etb_auto"
-	addConsoleActionF("set_etb_output", setTempOutput);
-	addConsoleActionF("set_etb_step", setTempStep);
+	addConsoleActionF("set_etbat_output", setTempOutput);
+	addConsoleActionF("set_etbat_step", setAutoStep);
+	addConsoleActionI("set_etbat_period", setAutoPeriod);
 
 	applyPidSettings();
 

firmware/controllers/math/pid_auto_tune.cpp

@@ -43,14 +43,28 @@ Tuning tuningRule[PID_AutoTune::NO_OVERSHOOT_PID + 1] =
 };
 
 PID_AutoTune::PID_AutoTune() {
+	reset();
+}
+
+void PID_AutoTune::Cancel()
+{
+  state = AUTOTUNER_OFF;
+}
+
+void PID_AutoTune::reset() {
 	running = false;
 
 	controlType = ZIEGLER_NICHOLS_PID;
 	noiseBand = 0.5;
 	setState(AUTOTUNER_OFF);
 	oStep = 10.0;
+	memset(lastPeaks, 0, sizeof(lastPeaks));
+	memset(lastInputs, 0, sizeof(lastInputs));
+
+	logger = NULL;
 	input = output = 0;
 	SetLookbackSec(10);
+
 }
 
 void PID_AutoTune::SetLookbackSec(int value)
@@ -115,6 +129,8 @@ void PID_AutoTune::setPeakType(PidAutoTune_Peak peakType) {
  */
 bool PID_AutoTune::Runtime(Logging *logger)
 {
+
+	this->logger = logger; // a bit lazy but good enough
   // check ready for new input
   unsigned long now = currentTimeMillis();
 
@@ -772,6 +788,11 @@ float PID_AutoTune::GetKd()
 
 void PID_AutoTune::setOutput(float output) {
 	this->output = output;
+
+	if (logger != NULL) {
+		scheduleMsg(logger, "setOutput %f %s", output, getPidAutoTune_AutoTunerState(state));
+	}
+
 #if EFI_UNIT_TEST
 		printf("output=%f\r\n", output);
 #endif /* EFI_UNIT_TEST */

firmware/controllers/math/pid_auto_tune.h

@@ -110,6 +110,8 @@ public:
                                         //   returns true when done, otherwise returns false
   void Cancel();                        // * Stops the AutoTune
 
+  void reset();
+
   void SetOutputStep(double);           // * how far above and below the starting value will
                                         //   the output step?
   double GetOutputStep();               //
@@ -128,6 +130,7 @@ public:
   float GetKi();                       //   computed tuning parameters.
   float GetKd();                       //
 
+  Logging *logger;
   byte peakCount;
   float input;
   // suggested P coefficient while auto-tuning