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Etb2 trim (#4004) 

* wire up different logic for etb2

* clamp and actually works

* s

* happy compiler
This commit is contained in:
Matthew Kennedy 2022-03-15 17:04:49 -07:00 committed by GitHub
parent 4e57daf6d7
commit 929ff28c0c
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 52 additions and 22 deletions
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62
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -315,6 +315,13 @@ expected<percent_t> EtbController::getSetpointEtb() const {
// 100% target from table -> 100% target position
percent_t targetPosition = interpolateClamped(0, etbIdleAddition, 100, 100, targetFromTable);
// Apply any adjustment from Lua
targetPosition += engine->engineState.luaAdjustments.etbTargetPositionAdd;
// Apply any adjustment that this throttle alone needs
// Clamped to +-10 to prevent anything too wild
targetPosition += clampF(-10, getThrottleTrim(rpm, targetPosition), 10);
// Lastly, apply ETB rev limiter
auto etbRpmLimit = engineConfiguration->etbRevLimitStart;
if (etbRpmLimit != 0) {
@ -322,14 +329,6 @@ expected<percent_t> EtbController::getSetpointEtb() const {
// Linearly taper throttle to closed from the limit across the range
targetPosition = interpolateClamped(etbRpmLimit, targetPosition, fullyLimitedRpm, 0, rpm);
}
// todo: this does not mix well with etbRevLimitStart interpolation does it?
targetPosition += engine->engineState.luaAdjustments.etbTargetPositionAdd;
#if EFI_TUNER_STUDIO
if (m_function == ETB_Throttle1) {
engine->outputChannels.etbTarget = targetPosition;
}
#endif // EFI_TUNER_STUDIO
// Keep the throttle just barely off the lower stop, and less than the user-configured maximum
float maxPosition = engineConfiguration->etbMaximumPosition;
@ -341,7 +340,20 @@ expected<percent_t> EtbController::getSetpointEtb() const {
maxPosition = minF(maxPosition, 100);
}
return clampF(1, targetPosition, maxPosition);
targetPosition = clampF(1, targetPosition, maxPosition);
#if EFI_TUNER_STUDIO
if (m_function == ETB_Throttle1) {
engine->outputChannels.etbTarget = targetPosition;
}
#endif // EFI_TUNER_STUDIO
return targetPosition;
}
percent_t EtbController2::getThrottleTrim(float /*rpm*/, percent_t /*targetPosition*/) const {
// TODO: implement me #3680
return 0;
}
expected<percent_t> EtbController::getOpenLoop(percent_t target) {
@ -578,23 +590,25 @@ void EtbController::autoCalibrateTps() {
* Since ETB is a safety critical device, we need the hard RTOS guarantee that it will be scheduled over other less important tasks.
*/
#include "periodic_thread_controller.h"
struct EtbImpl final : public EtbController {
template <typename TBase>
struct EtbImpl final : public TBase {
void update() override {
#if EFI_TUNER_STUDIO
if (m_isAutocal) {
if (TBase::m_isAutocal) {
// Don't allow if engine is running!
if (Sensor::getOrZero(SensorType::Rpm) > 0) {
m_isAutocal = false;
TBase::m_isAutocal = false;
return;
}
auto motor = getMotor();
auto motor = TBase::getMotor();
if (!motor) {
m_isAutocal = false;
TBase::m_isAutocal = false;
return;
}
auto myFunction = getFunction();
auto myFunction = TBase::getFunction();
// First grab open
motor->set(0.5f);
@ -619,7 +633,7 @@ struct EtbImpl final : public EtbController {
// Check that the calibrate actually moved the throttle
if (absF(primaryMax - primaryMin) < 0.5f) {
firmwareError(OBD_Throttle_Position_Sensor_Circuit_Malfunction, "Auto calibrate failed, check your wiring!\r\nClosed voltage: %.1fv Open voltage: %.1fv", primaryMin, primaryMax);
m_isAutocal = false;
TBase::m_isAutocal = false;
return;
}
@ -640,17 +654,21 @@ struct EtbImpl final : public EtbController {
engine->outputChannels.calibrationMode = (uint8_t)TsCalMode::None;
m_isAutocal = false;
TBase::m_isAutocal = false;
return;
}
#endif /* EFI_TUNER_STUDIO */
EtbController::update();
TBase::update();
}
};
// real implementation (we mock for some unit tests)
static EtbImpl etbControllers[ETB_COUNT];
static EtbImpl<EtbController1> etb1;
static EtbImpl<EtbController2> etb2;
static_assert(ETB_COUNT == 2);
static EtbController* etbControllers[] = { &etb1, &etb2 };
struct EtbThread final : public PeriodicController<512> {
EtbThread() : PeriodicController("ETB", PRIO_ETB, ETB_LOOP_FREQUENCY) {}
@ -658,7 +676,7 @@ struct EtbThread final : public PeriodicController<512> {
void PeriodicTask(efitick_t) override {
// Simply update all controllers
for (int i = 0 ; i < ETB_COUNT; i++) {
etbControllers[i].update();
etbControllers[i]->update();
}
}
};
@ -862,7 +880,7 @@ void setDefaultEtbParameters() {
void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
#if !EFI_UNIT_TEST
for (int i = 0; i < ETB_COUNT; i++) {
etbControllers[i].onConfigurationChange(&previousConfiguration->etb);
etbControllers[i]->onConfigurationChange(&previousConfiguration->etb);
}
#endif
}
@ -983,7 +1001,7 @@ void initElectronicThrottle() {
#if !EFI_UNIT_TEST
for (int i = 0; i < ETB_COUNT; i++) {
engine->etbControllers[i] = &etbControllers[i];
engine->etbControllers[i] = etbControllers[i];
}
#endif

12
firmware/controllers/actuators/electronic_throttle_impl.h
View File

@ -60,6 +60,11 @@ public:
// Use the throttle to automatically calibrate the relevant throttle position sensor(s).
void autoCalibrateTps() override;
// Override if this throttle needs special per-throttle adjustment (bank-to-bank trim, for example)
virtual percent_t getThrottleTrim(float /*rpm*/, percent_t /*targetPosition*/) const {
return 0;
}
protected:
// This is set if an automatic TPS calibration should be run
bool m_isAutocal = false;
@ -98,3 +103,10 @@ private:
uint8_t m_autotuneCounter = 0;
uint8_t m_autotuneCurrentParam = 0;
};
class EtbController1 : public EtbController { };
class EtbController2 : public EtbController {
public:
percent_t getThrottleTrim(float rpm, percent_t /*targetPosition*/) const override;
};