mirror of https://github.com/rusefi/rusefi-1.git
RE usability: live data for idle controller
This commit is contained in:
rusefillc
parent
fb5c0fca2b
commit
9f97695f4c
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@ -40,90 +40,6 @@
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#include "stepper.h"
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#endif
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#if ! EFI_UNIT_TEST
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void idleDebug(const char *msg, percent_t value) {
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efiPrintf("idle debug: %s%.2f", msg, value);
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}
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static void showIdleInfo() {
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const char * idleModeStr = getIdle_mode_e(engineConfiguration->idleMode);
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efiPrintf("useStepperIdle=%s useHbridges=%s useRawOutput=%s",
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boolToString(engineConfiguration->useStepperIdle),
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boolToString(engineConfiguration->useHbridgesToDriveIdleStepper),
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boolToString(engineConfiguration->useRawOutputToDriveIdleStepper));
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efiPrintf("idleMode=%s position=%.2f",
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idleModeStr, getIdlePosition());
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if (engineConfiguration->useStepperIdle) {
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if (engineConfiguration->useRawOutputToDriveIdleStepper) {
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efiPrintf(" A+=%s", hwPortname(engineConfiguration->stepper_raw_output[0]));
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efiPrintf(" A-=%s", hwPortname(engineConfiguration->stepper_raw_output[1]));
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efiPrintf(" B+=%s", hwPortname(engineConfiguration->stepper_raw_output[2]));
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efiPrintf(" B-=%s", hwPortname(engineConfiguration->stepper_raw_output[3]));
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} else if (engineConfiguration->useHbridgesToDriveIdleStepper) {
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efiPrintf("Coil A:");
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efiPrintf(" pin1=%s", hwPortname(engineConfiguration->stepperDcIo[0].directionPin1));
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efiPrintf(" pin2=%s", hwPortname(engineConfiguration->stepperDcIo[0].directionPin2));
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showDcMotorInfo(2);
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efiPrintf("Coil B:");
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efiPrintf(" pin1=%s", hwPortname(engineConfiguration->stepperDcIo[1].directionPin1));
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efiPrintf(" pin2=%s", hwPortname(engineConfiguration->stepperDcIo[1].directionPin2));
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showDcMotorInfo(3);
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} else {
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efiPrintf("directionPin=%s reactionTime=%.2f", hwPortname(engineConfiguration->idle.stepperDirectionPin),
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engineConfiguration->idleStepperReactionTime);
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efiPrintf("stepPin=%s steps=%d", hwPortname(engineConfiguration->idle.stepperStepPin),
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engineConfiguration->idleStepperTotalSteps);
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efiPrintf("enablePin=%s/%d", hwPortname(engineConfiguration->stepperEnablePin),
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engineConfiguration->stepperEnablePinMode);
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}
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} else {
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if (!engineConfiguration->isDoubleSolenoidIdle) {
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efiPrintf("idle valve freq=%d on %s", engineConfiguration->idle.solenoidFrequency,
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hwPortname(engineConfiguration->idle.solenoidPin));
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} else {
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efiPrintf("idle valve freq=%d on %s", engineConfiguration->idle.solenoidFrequency,
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hwPortname(engineConfiguration->idle.solenoidPin));
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efiPrintf(" and %s", hwPortname(engineConfiguration->secondSolenoidPin));
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}
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}
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if (engineConfiguration->idleMode == IM_AUTO) {
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getIdlePid()->showPidStatus("idle");
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}
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}
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void setIdleMode(idle_mode_e value) {
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engineConfiguration->idleMode = value ? IM_AUTO : IM_MANUAL;
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showIdleInfo();
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}
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percent_t getIdlePosition() {
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return engine->module<IdleController>().unmock().currentIdlePosition;
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}
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void setManualIdleValvePosition(int positionPercent) {
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if (positionPercent < 1 || positionPercent > 99)
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return;
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efiPrintf("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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engineConfiguration->manIdlePosition = positionPercent;
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}
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#endif /* EFI_UNIT_TEST */
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void IdleController::init() {
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shouldResetPid = false;
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mightResetPid = false;
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wasResetPid = false;
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m_timingPid.initPidClass(&engineConfiguration->idleTimingPid);
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getIdlePid()->initPidClass(&engineConfiguration->idleRpmPid);
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}
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int IdleController::getTargetRpm(float clt) const {
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auto target = interpolate2d(clt, engineConfiguration->cltIdleRpmBins, engineConfiguration->cltIdleRpm);
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@ -255,19 +171,6 @@ float IdleController::getIdleTimingAdjustment(int rpm, int targetRpm, Phase phas
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return m_timingPid.getOutput(targetRpm, rpm, FAST_CALLBACK_PERIOD_MS / 1000.0f);
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}
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/**
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* I use this questionable feature to tune acceleration enrichment
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*/
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static void blipIdle(int idlePosition, int durationMs) {
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#if ! EFI_UNIT_TEST
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if (engine->timeToStopBlip != 0) {
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return; // already in idle blip
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}
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engine->blipIdlePosition = idlePosition;
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engine->timeToStopBlip = getTimeNowUs() + 1000 * durationMs;
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#endif // EFI_UNIT_TEST
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}
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static void finishIdleTestIfNeeded() {
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if (engine->timeToStopIdleTest != 0 && getTimeNowUs() > engine->timeToStopIdleTest)
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engine->timeToStopIdleTest = 0;
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@ -467,31 +370,6 @@ void IdleController::onSlowCallback() {
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applyIACposition(position);
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}
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static void applyPidSettings() {
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engine->module<IdleController>().unmock().getIdlePid()->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
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}
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void setDefaultIdleParameters() {
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engineConfiguration->idleRpmPid.pFactor = 0.1f;
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engineConfiguration->idleRpmPid.iFactor = 0.05f;
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engineConfiguration->idleRpmPid.dFactor = 0.0f;
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engineConfiguration->idlerpmpid_iTermMin = -20;
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engineConfiguration->idlerpmpid_iTermMax = 20;
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// Good starting point is 10 degrees per 100 rpm, aka 0.1 deg/rpm
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engineConfiguration->idleTimingPid.pFactor = 0.1f;
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engineConfiguration->idleTimingPid.iFactor = 0;
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engineConfiguration->idleTimingPid.dFactor = 0;
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// Allow +- 10 degrees adjustment
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engineConfiguration->idleTimingPid.minValue = -10;
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engineConfiguration->idleTimingPid.minValue = 10;
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// Idle region is target + 100 RPM
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engineConfiguration->idlePidRpmUpperLimit = 100;
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}
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void IdleController::onConfigurationChange(engine_configuration_s const * previousConfiguration) {
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#if ! EFI_UNIT_TEST
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shouldResetPid = !getIdlePid()->isSame(&previousConfiguration->idleRpmPid);
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@ -499,106 +377,12 @@ void IdleController::onConfigurationChange(engine_configuration_s const * previo
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#endif
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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);
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efiPrintf("target idle RPM %d", value);
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showIdleInfo();
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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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}
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void setIdlePFactor(float value) {
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engineConfiguration->idleRpmPid.pFactor = value;
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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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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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applyPidSettings();
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showIdleInfo();
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}
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/**
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* Idle test would activate the solenoid for three seconds
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*/
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void startIdleBench(void) {
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engine->timeToStopIdleTest = getTimeNowUs() + MS2US(3000); // 3 seconds
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efiPrintf("idle valve bench test");
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showIdleInfo();
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}
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#endif /* EFI_UNIT_TEST */
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void startIdleThread() {
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engine->module<IdleController>().unmock().init();
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#if ! EFI_UNIT_TEST
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// todo: we still have to explicitly init all hardware on start in addition to handling configuration change via
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// 'applyNewHardwareSettings' todo: maybe unify these two use-cases?
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initIdleHardware();
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#endif /* EFI_UNIT_TEST */
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engine->module<IdleController>().unmock().idleState = INIT;
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engine->module<IdleController>().unmock().baseIdlePosition = -100.0f;
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engine->module<IdleController>().unmock().currentIdlePosition = -100.0f;
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#if ! EFI_UNIT_TEST
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addConsoleAction("idleinfo", showIdleInfo);
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addConsoleActionII("blipidle", blipIdle);
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// split this whole file into manual controller and auto controller? move these commands into the file
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// which would be dedicated to just auto-controller?
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addConsoleAction("idlebench", startIdleBench);
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#endif /* EFI_UNIT_TEST */
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applyPidSettings();
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void IdleController::init() {
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shouldResetPid = false;
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mightResetPid = false;
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wasResetPid = false;
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m_timingPid.initPidClass(&engineConfiguration->idleTimingPid);
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getIdlePid()->initPidClass(&engineConfiguration->idleRpmPid);
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}
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#endif /* EFI_IDLE_CONTROL */
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void startPedalPins() {
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#if EFI_PROD_CODE
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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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// this switch is not used yet
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if (isBrainPinValid(engineConfiguration->clutchDownPin)) {
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efiSetPadMode("clutch down switch", engineConfiguration->clutchDownPin,
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getInputMode(engineConfiguration->clutchDownPinMode));
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}
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if (isBrainPinValid(engineConfiguration->clutchUpPin)) {
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efiSetPadMode("clutch up switch", engineConfiguration->clutchUpPin,
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getInputMode(engineConfiguration->clutchUpPinMode));
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}
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if (isBrainPinValid(engineConfiguration->throttlePedalUpPin)) {
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efiSetPadMode("throttle pedal up switch", engineConfiguration->throttlePedalUpPin,
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getInputMode(engineConfiguration->throttlePedalUpPinMode));
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}
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if (isBrainPinValid(engineConfiguration->brakePedalPin)) {
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efiSetPadMode("brake pedal switch", engineConfiguration->brakePedalPin,
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getInputMode(engineConfiguration->brakePedalPinMode));
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}
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#endif /* EFI_PROD_CODE */
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}
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void stopPedalPins() {
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brain_pin_markUnused(activeConfiguration.clutchUpPin);
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brain_pin_markUnused(activeConfiguration.clutchDownPin);
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brain_pin_markUnused(activeConfiguration.throttlePedalUpPin);
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brain_pin_markUnused(activeConfiguration.brakePedalPin);
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}
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@ -5,6 +5,221 @@
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#include "pch.h"
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#if ! EFI_UNIT_TEST
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#include "dc_motors.h"
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#include "idle_hardware.h"
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static void showIdleInfo() {
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const char * idleModeStr = getIdle_mode_e(engineConfiguration->idleMode);
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efiPrintf("useStepperIdle=%s useHbridges=%s useRawOutput=%s",
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boolToString(engineConfiguration->useStepperIdle),
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boolToString(engineConfiguration->useHbridgesToDriveIdleStepper),
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boolToString(engineConfiguration->useRawOutputToDriveIdleStepper));
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efiPrintf("idleMode=%s position=%.2f",
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idleModeStr, getIdlePosition());
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if (engineConfiguration->useStepperIdle) {
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if (engineConfiguration->useRawOutputToDriveIdleStepper) {
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efiPrintf(" A+=%s", hwPortname(engineConfiguration->stepper_raw_output[0]));
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efiPrintf(" A-=%s", hwPortname(engineConfiguration->stepper_raw_output[1]));
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efiPrintf(" B+=%s", hwPortname(engineConfiguration->stepper_raw_output[2]));
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efiPrintf(" B-=%s", hwPortname(engineConfiguration->stepper_raw_output[3]));
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} else if (engineConfiguration->useHbridgesToDriveIdleStepper) {
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efiPrintf("Coil A:");
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efiPrintf(" pin1=%s", hwPortname(engineConfiguration->stepperDcIo[0].directionPin1));
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efiPrintf(" pin2=%s", hwPortname(engineConfiguration->stepperDcIo[0].directionPin2));
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showDcMotorInfo(2);
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efiPrintf("Coil B:");
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efiPrintf(" pin1=%s", hwPortname(engineConfiguration->stepperDcIo[1].directionPin1));
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efiPrintf(" pin2=%s", hwPortname(engineConfiguration->stepperDcIo[1].directionPin2));
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showDcMotorInfo(3);
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} else {
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efiPrintf("directionPin=%s reactionTime=%.2f", hwPortname(engineConfiguration->idle.stepperDirectionPin),
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engineConfiguration->idleStepperReactionTime);
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efiPrintf("stepPin=%s steps=%d", hwPortname(engineConfiguration->idle.stepperStepPin),
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engineConfiguration->idleStepperTotalSteps);
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efiPrintf("enablePin=%s/%d", hwPortname(engineConfiguration->stepperEnablePin),
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engineConfiguration->stepperEnablePinMode);
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}
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} else {
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if (!engineConfiguration->isDoubleSolenoidIdle) {
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efiPrintf("idle valve freq=%d on %s", engineConfiguration->idle.solenoidFrequency,
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hwPortname(engineConfiguration->idle.solenoidPin));
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} else {
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efiPrintf("idle valve freq=%d on %s", engineConfiguration->idle.solenoidFrequency,
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hwPortname(engineConfiguration->idle.solenoidPin));
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efiPrintf(" and %s", hwPortname(engineConfiguration->secondSolenoidPin));
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}
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}
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if (engineConfiguration->idleMode == IM_AUTO) {
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engine->module<IdleController>().unmock().getIdlePid()->showPidStatus("idle");
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}
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}
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void setIdleMode(idle_mode_e value) {
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engineConfiguration->idleMode = value ? IM_AUTO : IM_MANUAL;
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showIdleInfo();
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}
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percent_t getIdlePosition() {
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return engine->module<IdleController>().unmock().currentIdlePosition;
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}
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void setManualIdleValvePosition(int positionPercent) {
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if (positionPercent < 1 || positionPercent > 99)
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return;
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efiPrintf("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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engineConfiguration->manIdlePosition = positionPercent;
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}
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#endif /* EFI_UNIT_TEST */
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void startPedalPins() {
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#if EFI_PROD_CODE
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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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// this switch is not used yet
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if (isBrainPinValid(engineConfiguration->clutchDownPin)) {
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efiSetPadMode("clutch down switch", engineConfiguration->clutchDownPin,
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getInputMode(engineConfiguration->clutchDownPinMode));
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}
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if (isBrainPinValid(engineConfiguration->clutchUpPin)) {
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efiSetPadMode("clutch up switch", engineConfiguration->clutchUpPin,
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getInputMode(engineConfiguration->clutchUpPinMode));
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}
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if (isBrainPinValid(engineConfiguration->throttlePedalUpPin)) {
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efiSetPadMode("throttle pedal up switch", engineConfiguration->throttlePedalUpPin,
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getInputMode(engineConfiguration->throttlePedalUpPinMode));
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}
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if (isBrainPinValid(engineConfiguration->brakePedalPin)) {
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efiSetPadMode("brake pedal switch", engineConfiguration->brakePedalPin,
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getInputMode(engineConfiguration->brakePedalPinMode));
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}
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#endif /* EFI_PROD_CODE */
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}
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void stopPedalPins() {
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brain_pin_markUnused(activeConfiguration.clutchUpPin);
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brain_pin_markUnused(activeConfiguration.clutchDownPin);
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brain_pin_markUnused(activeConfiguration.throttlePedalUpPin);
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brain_pin_markUnused(activeConfiguration.brakePedalPin);
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}
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#if ! EFI_UNIT_TEST
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static void applyPidSettings() {
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engine->module<IdleController>().unmock().getIdlePid()->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
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}
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void setTargetIdleRpm(int value) {
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setTargetRpmCurve(value);
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efiPrintf("target idle RPM %d", value);
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showIdleInfo();
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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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}
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void setIdlePFactor(float value) {
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engineConfiguration->idleRpmPid.pFactor = value;
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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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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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applyPidSettings();
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showIdleInfo();
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}
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/**
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* Idle test would activate the solenoid for three seconds
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*/
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void startIdleBench(void) {
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engine->timeToStopIdleTest = getTimeNowUs() + MS2US(3000); // 3 seconds
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efiPrintf("idle valve bench test");
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showIdleInfo();
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}
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#endif /* EFI_UNIT_TEST */
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#if EFI_IDLE_CONTROL
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void setDefaultIdleParameters() {
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engineConfiguration->idleRpmPid.pFactor = 0.1f;
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engineConfiguration->idleRpmPid.iFactor = 0.05f;
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engineConfiguration->idleRpmPid.dFactor = 0.0f;
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engineConfiguration->idlerpmpid_iTermMin = -20;
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engineConfiguration->idlerpmpid_iTermMax = 20;
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// Good starting point is 10 degrees per 100 rpm, aka 0.1 deg/rpm
|
||||
engineConfiguration->idleTimingPid.pFactor = 0.1f;
|
||||
engineConfiguration->idleTimingPid.iFactor = 0;
|
||||
engineConfiguration->idleTimingPid.dFactor = 0;
|
||||
|
||||
// Allow +- 10 degrees adjustment
|
||||
engineConfiguration->idleTimingPid.minValue = -10;
|
||||
engineConfiguration->idleTimingPid.minValue = 10;
|
||||
|
||||
// Idle region is target + 100 RPM
|
||||
engineConfiguration->idlePidRpmUpperLimit = 100;
|
||||
}
|
||||
|
||||
/**
|
||||
* I use this questionable feature to tune acceleration enrichment
|
||||
*/
|
||||
static void blipIdle(int idlePosition, int durationMs) {
|
||||
#if ! EFI_UNIT_TEST
|
||||
if (engine->timeToStopBlip != 0) {
|
||||
return; // already in idle blip
|
||||
}
|
||||
engine->blipIdlePosition = idlePosition;
|
||||
engine->timeToStopBlip = getTimeNowUs() + 1000 * durationMs;
|
||||
#endif // EFI_UNIT_TEST
|
||||
}
|
||||
|
||||
void startIdleThread() {
|
||||
engine->module<IdleController>().unmock().init();
|
||||
|
||||
#if ! EFI_UNIT_TEST
|
||||
// todo: we still have to explicitly init all hardware on start in addition to handling configuration change via
|
||||
// 'applyNewHardwareSettings' todo: maybe unify these two use-cases?
|
||||
initIdleHardware();
|
||||
#endif /* EFI_UNIT_TEST */
|
||||
|
||||
engine->module<IdleController>().unmock().idleState = INIT;
|
||||
engine->module<IdleController>().unmock().baseIdlePosition = -100.0f;
|
||||
engine->module<IdleController>().unmock().currentIdlePosition = -100.0f;
|
||||
|
||||
#if ! EFI_UNIT_TEST
|
||||
|
||||
addConsoleAction("idleinfo", showIdleInfo);
|
||||
|
||||
addConsoleActionII("blipidle", blipIdle);
|
||||
|
||||
// split this whole file into manual controller and auto controller? move these commands into the file
|
||||
// which would be dedicated to just auto-controller?
|
||||
|
||||
addConsoleAction("idlebench", startIdleBench);
|
||||
applyPidSettings();
|
||||
#endif /* EFI_UNIT_TEST */
|
||||
}
|
||||
|
||||
#endif /* EFI_IDLE_CONTROL */
|
||||
|
|
|
|||
Loading…
Reference in New Issue