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use phase computation (#2152)

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Matthew Kennedy 2020-12-29 04:49:10 -08:00 committed by GitHub
parent 1d4ccfff3f
commit c8ee9fcf3f
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1 changed files with 18 additions and 51 deletions
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69
firmware/controllers/actuators/idle_thread.cpp
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@ -305,40 +305,20 @@ static void undoIdleBlipIfNeeded() {
} }
} }
static bool isOutOfAutomaticIdleCondition(float rpm, int targetRpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
// first, check the pedal threshold
if (CONFIG(throttlePedalUpPin) != GPIO_UNASSIGNED) {
if (!engine->engineState.idle.throttlePedalUpState) {
return true;
}
} else {
const auto [valid, pos] = Sensor::get(SensorType::DriverThrottleIntent);
// Disable auto idle in case of TPS/Pedal failure
if (!valid) {
return true;
}
if (pos > CONFIG(idlePidDeactivationTpsThreshold))
return true;
}
// then, check the RPM threshold (if in coasting mode)
if (CONFIG(idlePidRpmUpperLimit) > 0) {
int idlePidLowerRpm = targetRpm + CONFIG(idlePidRpmDeadZone);
int upperRpmLimit = idlePidLowerRpm + CONFIG(idlePidRpmUpperLimit);
if (rpm > upperRpmLimit) {
return true;
}
}
return false;
}
/** /**
* @return idle valve position percentage for automatic closed loop mode * @return idle valve position percentage for automatic closed loop mode
*/ */
static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm DECLARE_ENGINE_PARAMETER_SUFFIX) { static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm, IIdleController::Phase phase DECLARE_ENGINE_PARAMETER_SUFFIX) {
if (shouldResetPid) {
// we reset only if I-term is negative, because the positive I-term is good - it keeps RPM from dropping too low
if (getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getIntegration() <= 0 || mustResetPid) {
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->reset();
mustResetPid = false;
}
// alternatorPidResetCounter++;
shouldResetPid = false;
wasResetPid = true;
}
// todo: move this to pid_s one day // todo: move this to pid_s one day
industrialWithOverrideIdlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq; industrialWithOverrideIdlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq;
@ -346,7 +326,7 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm
efitimeus_t nowUs = getTimeNowUs(); efitimeus_t nowUs = getTimeNowUs();
if (isOutOfAutomaticIdleCondition(rpm, targetRpm PASS_ENGINE_PARAMETER_SUFFIX)) { if (phase != IIdleController::Phase::Idling) {
// Don't store old I and D terms if PID doesn't work anymore. // Don't store old I and D terms if PID doesn't work anymore.
// Otherwise they will affect the idle position much later, when the throttle is closed. // Otherwise they will affect the idle position much later, when the throttle is closed.
if (mightResetPid) { if (mightResetPid) {
@ -453,6 +433,9 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm
// Compute the target we're shooting for // Compute the target we're shooting for
auto targetRpm = getTargetRpm(clt); auto targetRpm = getTargetRpm(clt);
// Determine what operation phase we're in - idling or not
auto phase = determinePhase(rpm, targetRpm, tps);
engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO; engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) { if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) {
@ -460,29 +443,13 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus(logger, "idle"); getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus(logger, "idle");
} }
if (shouldResetPid) {
// we reset only if I-term is negative, because the positive I-term is good - it keeps RPM from dropping too low
if (getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getIntegration() <= 0 || mustResetPid) {
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->reset();
mustResetPid = false;
}
// alternatorPidResetCounter++;
shouldResetPid = false;
wasResetPid = true;
}
finishIdleTestIfNeeded(); finishIdleTestIfNeeded();
undoIdleBlipIfNeeded(); undoIdleBlipIfNeeded();
#if EFI_SHAFT_POSITION_INPUT
bool isRunning = engine->rpmCalculator.isRunning();
#else
bool isRunning = false;
#endif /* EFI_SHAFT_POSITION_INPUT */
// cltCorrection is used only for cranking or running in manual mode // cltCorrection is used only for cranking or running in manual mode
float cltCorrection; float cltCorrection;
// Use separate CLT correction table for cranking // Use separate CLT correction table for cranking
if (engineConfiguration->overrideCrankingIacSetting && !isRunning) { if (engineConfiguration->overrideCrankingIacSetting && phase == IIdleController::Phase::Cranking) {
cltCorrection = interpolate2d("cltCrankingT", clt, config->cltCrankingCorrBins, config->cltCrankingCorr); cltCorrection = interpolate2d("cltCrankingT", clt, config->cltCrankingCorrBins, config->cltCrankingCorr);
} else { } else {
// this value would be ignored if running in AUTO mode // this value would be ignored if running in AUTO mode
@ -496,7 +463,7 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm
iacPosition = blipIdlePosition; iacPosition = blipIdlePosition;
engine->engineState.idle.baseIdlePosition = iacPosition; engine->engineState.idle.baseIdlePosition = iacPosition;
engine->engineState.idle.idleState = BLIP; engine->engineState.idle.idleState = BLIP;
} else if (!isRunning) { } else if (phase == IIdleController::Phase::Cranking) {
// during cranking it's always manual mode, PID would make no sense during cranking // during cranking it's always manual mode, PID would make no sense during cranking
iacPosition = clampPercentValue(cltCorrection * engineConfiguration->crankingIACposition); iacPosition = clampPercentValue(cltCorrection * engineConfiguration->crankingIACposition);
// save cranking position & cycles counter for taper transition // save cranking position & cycles counter for taper transition
@ -508,7 +475,7 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm
// let's re-apply CLT correction // let's re-apply CLT correction
iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX); iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
} else { } else {
iacPosition = automaticIdleController(tps.Value, rpm, targetRpm PASS_ENGINE_PARAMETER_SUFFIX); iacPosition = automaticIdleController(tps.Value, rpm, targetRpm, phase PASS_ENGINE_PARAMETER_SUFFIX);
} }
iacPosition = clampPercentValue(iacPosition); iacPosition = clampPercentValue(iacPosition);