[DRAFT] Fix cranking->idling taper phase for useSeparate*ForIdle tables (#3168)

* Rename Phase::CrankToRunTaper -> CrankToIdleTaper

* Change isIdling() to isIdlingOrTaper()

* test_idle_controller.cpp

* useSeparateIdleTablesForCrankingTaper setting

Co-authored-by: Andrei <andreikagit@users.noreply.github.com>

firmware/controllers/actuators/idle_thread.cpp

@@ -187,7 +187,7 @@ IIdleController::Phase IdleController::determinePhase(int rpm, int targetRpm, Se
 
 	// If still in the cranking taper, disable closed loop idle
 	if (crankingTaperFraction < 1) {
-		return Phase::CrankToRunTaper;
+		return Phase::CrankToIdleTaper;
 	}
 
 	// No other conditions met, we are idling!
@@ -506,8 +506,8 @@ float getIdleTimingAdjustment(int rpm) {
 	return idleControllerInstance.getIdleTimingAdjustment(rpm);
 }
 
-bool isIdling() {
-	return idleControllerInstance.isIdling();
+bool isIdlingOrTaper() {
+	return idleControllerInstance.isIdlingOrTaper();
 }
 
 static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {

firmware/controllers/actuators/idle_thread.h

@@ -18,7 +18,7 @@ struct IIdleController {
 		Cranking,	// Below cranking threshold
 		Idling,		// Below idle RPM, off throttle
 		Coasting,	// Off throttle but above idle RPM
-		CrankToRunTaper, // Taper between cranking and running
+		CrankToIdleTaper, // Taper between cranking and idling
 		Running,	// On throttle
 	};
 
@@ -59,8 +59,8 @@ public:
 	float getClosedLoop(IIdleController::Phase phase, float tpsPos, int rpm, int targetRpm) override;
 
 	// Allow querying state from outside
-	bool isIdling() {
-		return m_lastPhase == Phase::Idling;
+	bool isIdlingOrTaper() {
+		return m_lastPhase == Phase::Idling || (CONFIG(useSeparateIdleTablesForCrankingTaper) && m_lastPhase == Phase::CrankToIdleTaper);
 	}
 
 private:
@@ -79,7 +79,7 @@ percent_t getIdlePosition();
 
 float getIdleTimingAdjustment(int rpm);
 
-bool isIdling();
+bool isIdlingOrTaper();
 
 void applyIACposition(percent_t position DECLARE_ENGINE_PARAMETER_SUFFIX);
 void setManualIdleValvePosition(int positionPercent);

firmware/controllers/algo/advance_map.cpp

@@ -50,7 +50,7 @@ static angle_t getRunningAdvance(int rpm, float engineLoad DECLARE_ENGINE_PARAME
 	float advanceAngle = advanceMap.getValue((float) rpm, engineLoad);
 
 	// get advance from the separate table for Idle
-	if (CONFIG(useSeparateAdvanceForIdle) && isIdling()) {
+	if (CONFIG(useSeparateAdvanceForIdle) && isIdlingOrTaper()) {
 		float idleAdvance = interpolate2d(rpm, config->idleAdvanceBins, config->idleAdvance);
 
 		auto [valid, tps] = Sensor::get(SensorType::DriverThrottleIntent);

firmware/controllers/algo/airmass/airmass.cpp

@@ -24,7 +24,7 @@ float AirmassVeModelBase::getVe(int rpm, float load) const {
 
 	auto tps = Sensor::get(SensorType::Tps1);
 	// get VE from the separate table for Idle if idling
-	if (isIdling() && tps && CONFIG(useSeparateVeForIdle)) {
+	if (isIdlingOrTaper() && tps && CONFIG(useSeparateVeForIdle)) {
 		float idleVe = interpolate2d(rpm, config->idleVeBins, config->idleVe);
 		// interpolate between idle table and normal (running) table using TPS threshold
 		ve = interpolateClamped(0.0f, idleVe, CONFIG(idlePidDeactivationTpsThreshold), ve, tps.Value);

firmware/integration/rusefi_config.txt

@@ -587,7 +587,7 @@ bit cj125isUrDivided;+Is your UR CJ125 output wired to MCU via resistor divider?
 bit useCicPidForIdle;+Switch between Industrial and Cic PID implementation
 bit useTLE8888_cranking_hack;
 bit useInstantRpmForIdle;
-bit unused76b19;
+bit useSeparateIdleTablesForCrankingTaper;+This uses separate ignition timing and VE tables not only for idle conditions, also during the postcranking-to-idle taper transition (See also afterCrankingIACtaperDuration).
 bit launchControlEnabled;
 bit rollingLaunchEnabled;
 bit antiLagEnabled;

firmware/tunerstudio/rusefi.input

@@ -2708,6 +2708,7 @@ cmd_set_engine_type_default					= "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
 	dialog = idleExtra, "Extra Idle Features"
 		field = "Use idle ignition table",	useSeparateAdvanceForIdle
 		field = "Use idle VE table",		useSeparateVeForIdle
+		field = "Use idle tables for cranking taper",		useSeparateIdleTablesForCrankingTaper
 		field = "Use coasting idle table",	useIacTableForCoasting, {idleMode == 0}
 		field = useInstantRpmForIdle,					useInstantRpmForIdle
 		field = "Detailed status in console",			isVerboseIAC

unit_tests/tests/test_idle_controller.cpp

@@ -98,7 +98,7 @@ TEST(idle_v2, testDeterminePhase) {
 	EXPECT_EQ(ICP::Running, dut.determinePhase(1000, 1000, 0, 25, 10));
 
 	// Check that shortly after cranking, the cranking taper inhibits closed loop idle
-	EXPECT_EQ(ICP::CrankToRunTaper, dut.determinePhase(1000, 1000, 0, 0, 0.5f));
+	EXPECT_EQ(ICP::CrankToIdleTaper, dut.determinePhase(1000, 1000, 0, 0, 0.5f));
 
 	// Above TPS threshold should be outside the zone
 	EXPECT_EQ(ICP::Running, dut.determinePhase(1000, 1000, 10, 0, 10));
@@ -246,19 +246,19 @@ TEST(idle_v2, openLoopRunningTaper) {
 
 	// 0 cycles - no taper yet, pure cranking value
 	EXPECT_FLOAT_EQ(75, dut.getOpenLoop(ICP::Running, 30, 0, 0));
-	EXPECT_FLOAT_EQ(75, dut.getOpenLoop(ICP::CrankToRunTaper, 30, 0, 0));
+	EXPECT_FLOAT_EQ(75, dut.getOpenLoop(ICP::CrankToIdleTaper, 30, 0, 0));
 
 	// 1/2 taper - half way, 50% each value -> outputs 50
 	EXPECT_FLOAT_EQ(50, dut.getOpenLoop(ICP::Running, 30, 0, 0.5f));
-	EXPECT_FLOAT_EQ(50, dut.getOpenLoop(ICP::CrankToRunTaper, 30, 0, 0.5f));
+	EXPECT_FLOAT_EQ(50, dut.getOpenLoop(ICP::CrankToIdleTaper, 30, 0, 0.5f));
 
 	// 1x taper - fully tapered, should be running value
 	EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::Running, 30, 0, 1.0f));
-	EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::CrankToRunTaper, 30, 0, 1.0f));
+	EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::CrankToIdleTaper, 30, 0, 1.0f));
 
 	// 2x taper - still fully tapered, should be running value
 	EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::Running, 30, 0, 2.0f));
-	EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::CrankToRunTaper, 30, 0, 2.0f));
+	EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::CrankToIdleTaper, 30, 0, 2.0f));
 }
 
 TEST(idle_v2, getCrankingTaperFraction) {