mirror of https://github.com/rusefi/rusefi-1.git
better logging
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e6d44fb85f
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b4a09b2e71
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@ -52,7 +52,6 @@ void PID_AutoTune::Cancel()
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}
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}
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void PID_AutoTune::reset() {
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void PID_AutoTune::reset() {
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running = false;
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controlType = ZIEGLER_NICHOLS_PID;
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controlType = ZIEGLER_NICHOLS_PID;
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noiseBand = 0.5;
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noiseBand = 0.5;
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@ -161,6 +160,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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}
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}
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else
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else
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{
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{
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scheduleMsg(logger, "starting...");
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setState(RELAY_STEP_UP);
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setState(RELAY_STEP_UP);
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}
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}
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}
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}
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@ -171,6 +171,8 @@ bool PID_AutoTune::Runtime(Logging *logger)
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#if EFI_UNIT_TEST
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#if EFI_UNIT_TEST
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printf("too soon for new input %d %d %d\r\n", now, lastTime, sampleTime);
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printf("too soon for new input %d %d %d\r\n", now, lastTime, sampleTime);
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#endif /* EFI_UNIT_TEST */
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#endif /* EFI_UNIT_TEST */
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scheduleMsg(logger, "AT skipping now=%d %d %d", now, lastTime, sampleTime);
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return false;
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return false;
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}
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}
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@ -189,11 +191,13 @@ bool PID_AutoTune::Runtime(Logging *logger)
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// check input and change relay state if necessary
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// check input and change relay state if necessary
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if ((state == RELAY_STEP_UP) && (refVal > setpoint + workingNoiseBand))
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if ((state == RELAY_STEP_UP) && (refVal > setpoint + workingNoiseBand))
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{
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{
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scheduleMsg(logger, "noise crossed up %f s=%f n=%f", refVal, setpoint, workingNoiseBand);
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setState(RELAY_STEP_DOWN);
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setState(RELAY_STEP_DOWN);
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justChanged = true;
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justChanged = true;
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}
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}
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else if ((state == RELAY_STEP_DOWN) && (refVal < setpoint - workingNoiseBand))
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else if ((state == RELAY_STEP_DOWN) && (refVal < setpoint - workingNoiseBand))
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{
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{
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scheduleMsg(logger, "noise crossed down %f s=%f n=%f", refVal, setpoint, workingNoiseBand);
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setState(RELAY_STEP_UP);
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setState(RELAY_STEP_UP);
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justChanged = true;
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justChanged = true;
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}
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}
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@ -216,7 +220,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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#if defined (AUTOTUNE_DEBUG)
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#if defined (AUTOTUNE_DEBUG)
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Serial.print(F("asymmetry "));
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Serial.print(F("asymmetry "));
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Serial.println(asymmetry);
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Serial.println(asymmetry);
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#endif
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#endif /* AUTOTUNE_DEBUG */
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#if EFI_UNIT_TEST
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#if EFI_UNIT_TEST
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printf("asymmetry=%f\r\n", asymmetry);
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printf("asymmetry=%f\r\n", asymmetry);
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@ -264,7 +268,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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Serial.println(deltaRelayBias);
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Serial.println(deltaRelayBias);
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Serial.print(F("relayBias "));
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Serial.print(F("relayBias "));
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Serial.println(relayBias);
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Serial.println(relayBias);
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#endif
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#endif /* AUTOTUNE_DEBUG */
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#if EFI_UNIT_TEST
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#if EFI_UNIT_TEST
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printf("deltaRelayBias=%f relayBias=%f\r\n", deltaRelayBias, relayBias);
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printf("deltaRelayBias=%f relayBias=%f\r\n", deltaRelayBias, relayBias);
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@ -289,7 +293,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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lastStepTime[0] = now;
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lastStepTime[0] = now;
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sumInputSinceLastStep[0] = 0.0;
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sumInputSinceLastStep[0] = 0.0;
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#if defined (AUTOTUNE_DEBUG
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#if defined (AUTOTUNE_DEBUG)
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for (byte i = 1; i < (stepCount > 4 ? 5 : stepCount); i++)
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for (byte i = 1; i < (stepCount > 4 ? 5 : stepCount); i++)
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{
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{
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Serial.print(F("step time "));
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Serial.print(F("step time "));
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@ -297,7 +301,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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Serial.print(F("step sum "));
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Serial.print(F("step sum "));
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Serial.println(sumInputSinceLastStep[i]);
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Serial.println(sumInputSinceLastStep[i]);
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}
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}
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#endif
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#endif /* AUTOTUNE_DEBUG */
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#endif // if defined AUTOTUNE_RELAY_BIAS
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#endif // if defined AUTOTUNE_RELAY_BIAS
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@ -313,6 +317,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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#if defined (AUTOTUNE_RELAY_BIAS)
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#if defined (AUTOTUNE_RELAY_BIAS)
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setOutput(outputStart + workingOstep + relayBias);
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setOutput(outputStart + workingOstep + relayBias);
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#else
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#else
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scheduleMsg(logger, "AT adding %f", workingOutputstep);
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setOutput(outputStart + workingOutputstep);
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setOutput(outputStart + workingOutputstep);
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#endif
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#endif
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@ -323,6 +328,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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#if defined (AUTOTUNE_RELAY_BIAS)
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#if defined (AUTOTUNE_RELAY_BIAS)
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setOutput(outputStart - workingOstep + relayBias);
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setOutput(outputStart - workingOstep + relayBias);
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#else
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#else
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scheduleMsg(logger, "AT subtracting %f", workingOutputstep);
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setOutput(outputStart - workingOutputstep);
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setOutput(outputStart - workingOutputstep);
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#endif
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#endif
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@ -689,6 +695,7 @@ bool PID_AutoTune::Runtime(Logging *logger)
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// autotune algorithm has terminated
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// autotune algorithm has terminated
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// reset autotuner variables
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// reset autotuner variables
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scheduleMsg(logger, "AT done");
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setOutput( outputStart);
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setOutput( outputStart);
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if (state == FAILED)
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if (state == FAILED)
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@ -789,9 +796,7 @@ float PID_AutoTune::GetKd()
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void PID_AutoTune::setOutput(float output) {
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void PID_AutoTune::setOutput(float output) {
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this->output = output;
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this->output = output;
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if (logger != NULL) {
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scheduleMsg(logger, "setOutput %f %s", output, getPidAutoTune_AutoTunerState(state));
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scheduleMsg(logger, "setOutput %f %s", output, getPidAutoTune_AutoTunerState(state));
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}
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#if EFI_UNIT_TEST
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#if EFI_UNIT_TEST
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printf("output=%f\r\n", output);
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printf("output=%f\r\n", output);
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@ -159,8 +159,6 @@ private:
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double setpoint;
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double setpoint;
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bool running; // todo: remove this
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double noiseBand;
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double noiseBand;
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byte controlType; // * selects autotune algorithm
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byte controlType; // * selects autotune algorithm
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