mirror of https://github.com/rusefi/rusefi-1.git
718 lines
23 KiB
C++
718 lines
23 KiB
C++
/**
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* @file idle_thread.cpp
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* @brief Idle Air Control valve thread.
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*
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* This thread looks at current RPM and decides if it should increase or decrease IAC duty cycle.
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* This file has the hardware & scheduling logic, desired idle level lives separately.
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*
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*
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* @date May 23, 2013
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* @author Andrey Belomutskiy, (c) 2012-2020
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*
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* enable verbose_idle
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* disable verbose_idle
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*
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* This file is part of rusEfi - see http://rusefi.com
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*
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* rusEfi is free software; you can redistribute it and/or modify it under the terms of
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* the GNU General Public License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
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* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with this program.
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* If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "global.h"
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#if EFI_IDLE_CONTROL
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#include "engine_configuration.h"
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#include "rpm_calculator.h"
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#include "idle_thread.h"
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#include "idle_hardware.h"
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#include "engine_math.h"
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#include "engine.h"
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#include "periodic_task.h"
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#include "allsensors.h"
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#include "vehicle_speed.h"
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#include "sensor.h"
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#include "dc_motors.h"
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#if EFI_TUNER_STUDIO
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#include "stepper.h"
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#endif
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EXTERN_ENGINE;
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// todo: move all static vars to engine->engineState.idle?
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static bool shouldResetPid = false;
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// The idea of 'mightResetPid' is to reset PID only once - each time when TPS > idlePidDeactivationTpsThreshold.
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// The throttle pedal can be pressed for a long time, making the PID data obsolete (thus the reset is required).
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// We set 'mightResetPid' to true only if PID was actually used (i.e. idlePid.getOutput() was called) to save some CPU resources.
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// See automaticIdleController().
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static bool mightResetPid = false;
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// This is needed to slowly turn on the PID back after it was reset.
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static bool wasResetPid = false;
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// This is used when the PID configuration is changed, to guarantee the reset
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static bool mustResetPid = false;
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static efitimeus_t restoreAfterPidResetTimeUs = 0;
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class PidWithOverrides : public PidIndustrial {
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public:
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float getOffset() const override {
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#if EFI_UNIT_TEST
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EXPAND_Engine;
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#endif
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float result = parameters->offset;
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#if EFI_FSIO
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if (engineConfiguration->useFSIO12ForIdleOffset) {
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return result + ENGINE(fsioState.fsioIdleOffset);
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}
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#endif /* EFI_FSIO */
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return result;
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}
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float getMinValue() const override {
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#if EFI_UNIT_TEST
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EXPAND_Engine;
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#endif
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float result = parameters->minValue;
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#if EFI_FSIO
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if (engineConfiguration->useFSIO13ForIdleMinValue) {
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return result + ENGINE(fsioState.fsioIdleMinValue);
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}
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#endif /* EFI_FSIO */
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return result;
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}
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};
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static PidWithOverrides industrialWithOverrideIdlePid;
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#if EFI_IDLE_PID_CIC
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// Use PID with CIC integrator
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static PidCic idleCicPid;
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#endif //EFI_IDLE_PID_CIC
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Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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#if EFI_IDLE_PID_CIC
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if (CONFIG(useCicPidForIdle)) {
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return &idleCicPid;
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}
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#endif /* EFI_IDLE_PID_CIC */
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return &industrialWithOverrideIdlePid;
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}
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float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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return getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOffset();
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}
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float getIdlePidMinValue(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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return getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getMinValue();
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}
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static uint32_t lastCrankingCyclesCounter = 0;
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static float lastCrankingIacPosition;
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static iacPidMultiplier_t iacPidMultMap;
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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(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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const char * idleModeStr = getIdle_mode_e(engineConfiguration->idleMode);
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efiPrintf("useStepperIdle=%s useHbridges=%s",
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boolToString(CONFIG(useStepperIdle)), boolToString(CONFIG(useHbridges)));
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efiPrintf("idleMode=%s position=%.2f",
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idleModeStr, getIdlePosition());
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if (CONFIG(useStepperIdle)) {
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if (CONFIG(useHbridges)) {
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efiPrintf("Coil A:");
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efiPrintf(" pin1=%s", hwPortname(CONFIG(stepperDcIo[0].directionPin1)));
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efiPrintf(" pin2=%s", hwPortname(CONFIG(stepperDcIo[0].directionPin2)));
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showDcMotorInfo(2);
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efiPrintf("Coil B:");
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efiPrintf(" pin1=%s", hwPortname(CONFIG(stepperDcIo[1].directionPin1)));
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efiPrintf(" pin2=%s", hwPortname(CONFIG(stepperDcIo[1].directionPin2)));
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showDcMotorInfo(3);
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} else {
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efiPrintf("directionPin=%s reactionTime=%.2f", hwPortname(CONFIG(idle).stepperDirectionPin),
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engineConfiguration->idleStepperReactionTime);
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efiPrintf("stepPin=%s steps=%d", hwPortname(CONFIG(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 (!CONFIG(isDoubleSolenoidIdle)) {
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efiPrintf("idle valve freq=%d on %s", CONFIG(idle).solenoidFrequency,
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hwPortname(CONFIG(idle).solenoidPin));
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} else {
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efiPrintf("idle valve freq=%d on %s", CONFIG(idle).solenoidFrequency,
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hwPortname(CONFIG(idle).solenoidPin));
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efiPrintf(" and %s", hwPortname(CONFIG(secondSolenoidPin)));
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}
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}
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if (engineConfiguration->idleMode == IM_AUTO) {
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus("idle");
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}
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}
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void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX) {
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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->engineState.idle.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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CONFIG(manIdlePosition) = positionPercent;
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}
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#endif /* EFI_UNIT_TEST */
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void IdleController::init(pid_s* idlePidConfig) {
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m_timingPid.initPidClass(idlePidConfig);
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}
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int IdleController::getTargetRpm(float clt) const {
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auto target = interpolate2d(clt, CONFIG(cltIdleRpmBins), CONFIG(cltIdleRpm));
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// Bump for AC
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target += engine->acSwitchState ? CONFIG(acIdleRpmBump) : 0;
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// Bump by FSIO
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target += engine->fsioState.fsioIdleTargetRPMAdjustment;
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return target;
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}
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IIdleController::Phase IdleController::determinePhase(int rpm, int targetRpm, SensorResult tps, float vss) const {
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if (!engine->rpmCalculator.isRunning()) {
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return Phase::Cranking;
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}
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if (!tps) {
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// If the TPS has failed, assume the engine is running
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return Phase::Running;
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}
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// if throttle pressed, we're out of the idle corner
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if (tps.Value > CONFIG(idlePidDeactivationTpsThreshold)) {
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return Phase::Running;
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}
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// If rpm too high (but throttle not pressed), we're coasting
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int maximumIdleRpm = targetRpm + CONFIG(idlePidRpmUpperLimit);
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if (rpm > maximumIdleRpm) {
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return Phase::Coasting;
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}
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// If the vehicle is moving too quickly, disable CL idle
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auto maxVss = CONFIG(maxIdleVss);
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if (maxVss != 0 && vss > maxVss) {
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return Phase::Running;
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}
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// No other conditions met, we are idling!
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return Phase::Idling;
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}
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float IdleController::getCrankingOpenLoop(float clt) const {
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float mult =
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CONFIG(overrideCrankingIacSetting)
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// Override to separate table
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? interpolate2d(clt, config->cltCrankingCorrBins, config->cltCrankingCorr)
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// Otherwise use plain running table
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: interpolate2d(clt, config->cltIdleCorrBins, config->cltIdleCorr);
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return CONFIG(crankingIACposition) * mult;
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}
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float IdleController::getRunningOpenLoop(float clt, SensorResult tps) const {
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float running =
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CONFIG(manIdlePosition) // Base idle position (slider)
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* interpolate2d(clt, config->cltIdleCorrBins, config->cltIdleCorr);
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// Now we bump it by the AC/fan amount if necessary
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running += engine->acSwitchState ? CONFIG(acIdleExtraOffset) : 0;
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running += enginePins.fanRelay.getLogicValue() ? CONFIG(fan1ExtraIdle) : 0;
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running += enginePins.fanRelay2.getLogicValue() ? CONFIG(fan2ExtraIdle) : 0;
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// Now bump it by the specified amount when the throttle is opened (if configured)
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// nb: invalid tps will make no change, no explicit check required
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running += interpolateClamped(
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0, 0,
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CONFIG(idlePidDeactivationTpsThreshold), CONFIG(iacByTpsTaper),
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tps.value_or(0));
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return clampF(0, running, 100);
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}
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float IdleController::getOpenLoop(Phase phase, float clt, SensorResult tps) const {
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float running = getRunningOpenLoop(clt, tps);
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float cranking = getCrankingOpenLoop(clt);
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// if we're cranking, nothing more to do.
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if (phase == Phase::Cranking) {
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return cranking;
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}
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// If coasting (and enabled), use the coasting position table instead of normal open loop
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// TODO: this should be a table of open loop mult vs. RPM, not vs. clt
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if (CONFIG(useIacTableForCoasting) && phase == Phase::Coasting) {
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return interpolate2d(clt, CONFIG(iacCoastingBins), CONFIG(iacCoasting));
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}
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// Interpolate between cranking and running over a short time
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// This clamps once you fall off the end, so no explicit check for running required
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auto revsSinceStart = engine->rpmCalculator.getRevolutionCounterSinceStart();
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return interpolateClamped(0, cranking, CONFIG(afterCrankingIACtaperDuration), running, revsSinceStart);
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}
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float IdleController::getIdleTimingAdjustment(int rpm) {
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return getIdleTimingAdjustment(rpm, m_lastTargetRpm, m_lastPhase);
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}
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float IdleController::getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase) {
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// if not enabled, do nothing
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if (!CONFIG(useIdleTimingPidControl)) {
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return 0;
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}
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// If not idling, do nothing
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if (phase != Phase::Idling) {
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m_timingPid.reset();
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return 0;
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}
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if (CONFIG(useInstantRpmForIdle)) {
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rpm = engine->triggerCentral.triggerState.getInstantRpm();
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}
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// If inside the deadzone, do nothing
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if (absI(rpm - targetRpm) < CONFIG(idleTimingPidDeadZone)) {
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m_timingPid.reset();
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return 0;
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}
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// We're now in the idle mode, and RPM is inside the Timing-PID regulator work zone!
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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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* idle blip is a development tool: alternator PID research for instance have benefited from a repetitive change of RPM
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*/
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static percent_t blipIdlePosition;
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static efitimeus_t timeToStopBlip = 0;
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efitimeus_t timeToStopIdleTest = 0;
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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 (timeToStopBlip != 0) {
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return; // already in idle blip
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}
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blipIdlePosition = idlePosition;
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timeToStopBlip = getTimeNowUs() + 1000 * durationMs;
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}
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static void finishIdleTestIfNeeded() {
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if (timeToStopIdleTest != 0 && getTimeNowUs() > timeToStopIdleTest)
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timeToStopIdleTest = 0;
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}
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static void undoIdleBlipIfNeeded() {
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if (timeToStopBlip != 0 && getTimeNowUs() > timeToStopBlip) {
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timeToStopBlip = 0;
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}
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}
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/**
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* @return idle valve position percentage for automatic closed loop mode
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*/
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float IdleController::getClosedLoop(IIdleController::Phase phase, float tpsPos, int rpm, int targetRpm) {
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auto idlePid = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE);
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if (shouldResetPid) {
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// we reset only if I-term is negative, because the positive I-term is good - it keeps RPM from dropping too low
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if (idlePid->getIntegration() <= 0 || mustResetPid) {
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idlePid->reset();
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mustResetPid = false;
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}
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// alternatorPidResetCounter++;
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shouldResetPid = false;
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wasResetPid = true;
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}
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// todo: move this to pid_s one day
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industrialWithOverrideIdlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq;
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industrialWithOverrideIdlePid.derivativeFilterLoss = engineConfiguration->idle_derivativeFilterLoss;
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efitimeus_t nowUs = getTimeNowUs();
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if (phase != IIdleController::Phase::Idling) {
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// Don't store old I and D terms if PID doesn't work anymore.
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// Otherwise they will affect the idle position much later, when the throttle is closed.
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if (mightResetPid) {
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mightResetPid = false;
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shouldResetPid = true;
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}
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engine->engineState.idle.idleState = TPS_THRESHOLD;
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// We aren't idling, so don't apply any correction. A positive correction could inhibit a return to idle.
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m_lastAutomaticPosition = 0;
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return 0;
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}
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// #1553 we need to give FSIO variable offset or minValue a chance
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bool acToggleJustTouched = (nowUs - engine->acSwitchLastChangeTime) < MS2US(500);
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// check if within the dead zone
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if (!acToggleJustTouched && absI(rpm - targetRpm) <= CONFIG(idlePidRpmDeadZone)) {
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engine->engineState.idle.idleState = RPM_DEAD_ZONE;
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// current RPM is close enough, no need to change anything
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return m_lastAutomaticPosition;
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}
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// When rpm < targetRpm, there's a risk of dropping RPM too low - and the engine dies out.
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// So PID reaction should be increased by adding extra percent to PID-error:
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percent_t errorAmpCoef = 1.0f;
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if (rpm < targetRpm) {
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errorAmpCoef += (float)CONFIG(pidExtraForLowRpm) / PERCENT_MULT;
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}
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// if PID was previously reset, we store the time when it turned on back (see errorAmpCoef correction below)
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if (wasResetPid) {
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restoreAfterPidResetTimeUs = nowUs;
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wasResetPid = false;
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}
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// increase the errorAmpCoef slowly to restore the process correctly after the PID reset
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// todo: move restoreAfterPidResetTimeUs to engineState.idle?
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efitimeus_t timeSincePidResetUs = nowUs - /*engine->engineState.idle.*/restoreAfterPidResetTimeUs;
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// todo: add 'pidAfterResetDampingPeriodMs' setting
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errorAmpCoef = interpolateClamped(0, 0, MS2US(/*CONFIG(pidAfterResetDampingPeriodMs)*/1000), errorAmpCoef, timeSincePidResetUs);
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// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
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idlePid->setErrorAmplification(errorAmpCoef);
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percent_t newValue = idlePid->getOutput(targetRpm, rpm, SLOW_CALLBACK_PERIOD_MS / 1000.0f);
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engine->engineState.idle.idleState = PID_VALUE;
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// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
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mightResetPid = true;
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// Apply PID Multiplier if used
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if (CONFIG(useIacPidMultTable)) {
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float engineLoad = getFuelingLoad(PASS_ENGINE_PARAMETER_SIGNATURE);
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float multCoef = iacPidMultMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, engineLoad);
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// PID can be completely disabled of multCoef==0, or it just works as usual if multCoef==1
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newValue = interpolateClamped(0, 0, 1, newValue, multCoef);
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}
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// Apply PID Deactivation Threshold as a smooth taper for TPS transients.
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// if tps==0 then PID just works as usual, or we completely disable it if tps>=threshold
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// TODO: should we just remove this? It reduces the gain if your zero throttle stop isn't perfect,
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// which could give unstable results.
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newValue = interpolateClamped(0, newValue, CONFIG(idlePidDeactivationTpsThreshold), 0, tpsPos);
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m_lastAutomaticPosition = newValue;
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return newValue;
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}
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float IdleController::getIdlePosition() {
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// Simplify hardware CI: we borrow the idle valve controller as a PWM source for various stimulation tasks
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// The logic in this function is solidly unit tested, so it's not necessary to re-test the particulars on real hardware.
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#ifdef HARDWARE_CI
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return CONFIG(manIdlePosition);
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#endif
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/*
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* Here we have idle logic thread - actual stepper movement is implemented in a separate
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* working thread,
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* @see stepper.cpp
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*/
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMin = engineConfiguration->idlerpmpid_iTermMin;
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMax = engineConfiguration->idlerpmpid_iTermMax;
|
|
|
|
|
|
// On failed sensor, use 0 deg C - should give a safe highish idle
|
|
float clt = Sensor::get(SensorType::Clt).value_or(0);
|
|
auto tps = Sensor::get(SensorType::DriverThrottleIntent);
|
|
|
|
float rpm;
|
|
if (CONFIG(useInstantRpmForIdle)) {
|
|
rpm = engine->triggerCentral.triggerState.getInstantRpm();
|
|
} else {
|
|
rpm = GET_RPM();
|
|
}
|
|
|
|
// Compute the target we're shooting for
|
|
auto targetRpm = getTargetRpm(clt);
|
|
m_lastTargetRpm = targetRpm;
|
|
|
|
// Determine what operation phase we're in - idling or not
|
|
auto phase = determinePhase(rpm, targetRpm, tps, getVehicleSpeed());
|
|
m_lastPhase = phase;
|
|
|
|
engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
|
|
|
|
if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) {
|
|
efiPrintf("Idle state %s", getIdle_state_e(engine->engineState.idle.idleState));
|
|
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus("idle");
|
|
}
|
|
|
|
finishIdleTestIfNeeded();
|
|
undoIdleBlipIfNeeded();
|
|
|
|
percent_t iacPosition;
|
|
|
|
if (timeToStopBlip != 0) {
|
|
iacPosition = blipIdlePosition;
|
|
engine->engineState.idle.idleState = BLIP;
|
|
} else {
|
|
// Always apply closed loop correction
|
|
iacPosition = getOpenLoop(phase, clt, tps);
|
|
engine->engineState.idle.baseIdlePosition = iacPosition;
|
|
|
|
// If TPS is working and automatic mode enabled, add any automatic correction
|
|
if (tps.Valid && engineConfiguration->idleMode == IM_AUTO) {
|
|
iacPosition += getClosedLoop(phase, tps.Value, rpm, targetRpm);
|
|
}
|
|
|
|
iacPosition = clampPercentValue(iacPosition);
|
|
}
|
|
|
|
|
|
#if EFI_TUNER_STUDIO
|
|
tsOutputChannels.isIdleClosedLoop = phase == Phase::Idling;
|
|
tsOutputChannels.isIdleCoasting = phase == Phase::Coasting;
|
|
|
|
if (engineConfiguration->debugMode == DBG_IDLE_CONTROL) {
|
|
if (engineConfiguration->idleMode == IM_AUTO) {
|
|
// see also tsOutputChannels->idlePosition
|
|
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->postState(&tsOutputChannels, 1000000);
|
|
tsOutputChannels.debugIntField4 = engine->engineState.idle.idleState;
|
|
} else {
|
|
tsOutputChannels.debugFloatField1 = iacPosition;
|
|
extern StepperMotor iacMotor;
|
|
tsOutputChannels.debugIntField1 = iacMotor.getTargetPosition();
|
|
}
|
|
}
|
|
#endif /* EFI_TUNER_STUDIO */
|
|
|
|
engine->engineState.idle.currentIdlePosition = iacPosition;
|
|
|
|
return iacPosition;
|
|
}
|
|
|
|
void IdleController::update() {
|
|
float position = getIdlePosition();
|
|
applyIACposition(position PASS_ENGINE_PARAMETER_SUFFIX);
|
|
}
|
|
|
|
IdleController idleControllerInstance;
|
|
|
|
void updateIdleControl()
|
|
{
|
|
idleControllerInstance.update();
|
|
}
|
|
|
|
float getIdleTimingAdjustment(int rpm) {
|
|
return idleControllerInstance.getIdleTimingAdjustment(rpm);
|
|
}
|
|
|
|
bool isIdling() {
|
|
return idleControllerInstance.isIdling();
|
|
}
|
|
|
|
static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
|
|
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
|
|
iacPidMultMap.init(CONFIG(iacPidMultTable), CONFIG(iacPidMultLoadBins), CONFIG(iacPidMultRpmBins));
|
|
}
|
|
|
|
void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
|
|
engineConfiguration->idleRpmPid.pFactor = 0.1f;
|
|
engineConfiguration->idleRpmPid.iFactor = 0.05f;
|
|
engineConfiguration->idleRpmPid.dFactor = 0.0f;
|
|
|
|
engineConfiguration->idlerpmpid_iTermMin = -20;
|
|
engineConfiguration->idlerpmpid_iTermMax = 20;
|
|
|
|
// Good starting point is 10 degrees per 100 rpm, aka 0.1 deg/rpm
|
|
CONFIG(idleTimingPid).pFactor = 0.1f;
|
|
CONFIG(idleTimingPid).iFactor = 0;
|
|
CONFIG(idleTimingPid).dFactor = 0;
|
|
|
|
// Allow +- 10 degrees adjustment
|
|
CONFIG(idleTimingPid).minValue = -10;
|
|
CONFIG(idleTimingPid).minValue = 10;
|
|
|
|
// Idle region is target + 100 RPM
|
|
CONFIG(idlePidRpmUpperLimit) = 100;
|
|
}
|
|
|
|
#if ! EFI_UNIT_TEST
|
|
|
|
void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
|
|
shouldResetPid = !getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->isSame(&previousConfiguration->idleRpmPid);
|
|
mustResetPid = shouldResetPid;
|
|
}
|
|
|
|
void setTargetIdleRpm(int value) {
|
|
setTargetRpmCurve(value PASS_ENGINE_PARAMETER_SUFFIX);
|
|
efiPrintf("target idle RPM %d", value);
|
|
showIdleInfo();
|
|
}
|
|
|
|
void setIdleOffset(float value) {
|
|
engineConfiguration->idleRpmPid.offset = value;
|
|
showIdleInfo();
|
|
}
|
|
|
|
void setIdlePFactor(float value) {
|
|
engineConfiguration->idleRpmPid.pFactor = value;
|
|
applyPidSettings();
|
|
showIdleInfo();
|
|
}
|
|
|
|
void setIdleIFactor(float value) {
|
|
engineConfiguration->idleRpmPid.iFactor = value;
|
|
applyPidSettings();
|
|
showIdleInfo();
|
|
}
|
|
|
|
void setIdleDFactor(float value) {
|
|
engineConfiguration->idleRpmPid.dFactor = value;
|
|
applyPidSettings();
|
|
showIdleInfo();
|
|
}
|
|
|
|
/**
|
|
* Idle test would activate the solenoid for three seconds
|
|
*/
|
|
void startIdleBench(void) {
|
|
timeToStopIdleTest = getTimeNowUs() + MS2US(3000); // 3 seconds
|
|
efiPrintf("idle valve bench test");
|
|
showIdleInfo();
|
|
}
|
|
|
|
#endif /* EFI_UNIT_TEST */
|
|
|
|
void startIdleThread(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
|
|
INJECT_ENGINE_REFERENCE(&idleControllerInstance);
|
|
idleControllerInstance.init(&CONFIG(idleTimingPid));
|
|
INJECT_ENGINE_REFERENCE(&industrialWithOverrideIdlePid);
|
|
|
|
ENGINE(idleController) = &idleControllerInstance;
|
|
|
|
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->initPidClass(&engineConfiguration->idleRpmPid);
|
|
|
|
#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(PASS_ENGINE_PARAMETER_SIGNATURE);
|
|
#endif /* EFI_UNIT_TEST */
|
|
|
|
DISPLAY_STATE(Engine)
|
|
DISPLAY_TEXT(Idle_State);
|
|
engine->engineState.idle.DISPLAY_FIELD(idleState) = INIT;
|
|
DISPLAY_TEXT(EOL);
|
|
DISPLAY_TEXT(Base_Position);
|
|
engine->engineState.idle.DISPLAY_FIELD(baseIdlePosition) = -100.0f;
|
|
DISPLAY_TEXT(Position_with_Adjustments);
|
|
engine->engineState.idle.DISPLAY_FIELD(currentIdlePosition) = -100.0f;
|
|
DISPLAY_TEXT(EOL);
|
|
DISPLAY_TEXT(EOL);
|
|
DISPLAY_SENSOR(TPS);
|
|
DISPLAY_TEXT(EOL);
|
|
DISPLAY_TEXT(Throttle_Up_State);
|
|
DISPLAY(DISPLAY_FIELD(throttlePedalUpState));
|
|
DISPLAY(DISPLAY_CONFIG(throttlePedalUpPin));
|
|
|
|
DISPLAY_TEXT(eol);
|
|
DISPLAY(DISPLAY_IF(isAutomaticIdle))
|
|
|
|
DISPLAY_STATE(idle_pid)
|
|
DISPLAY_TEXT(Output);
|
|
DISPLAY(DISPLAY_FIELD(output));
|
|
DISPLAY_TEXT(iTerm);
|
|
DISPLAY(DISPLAY_FIELD(iTerm));
|
|
DISPLAY_TEXT(eol);
|
|
|
|
DISPLAY_TEXT(Settings);
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_PFACTOR));
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_IFACTOR));
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_DFACTOR));
|
|
DISPLAY(DISPLAY_CONFIG(IDLERPMPID_OFFSET));
|
|
|
|
|
|
DISPLAY_TEXT(eol);
|
|
DISPLAY_TEXT(ETB_Idle);
|
|
DISPLAY_STATE(Engine)
|
|
DISPLAY(DISPLAY_FIELD(etbIdleAddition));
|
|
/* DISPLAY_ELSE */
|
|
DISPLAY_TEXT(Manual_idle_control);
|
|
/* DISPLAY_ENDIF */
|
|
|
|
#if ! EFI_UNIT_TEST
|
|
// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
|
|
// this switch is not used yet
|
|
if (isBrainPinValid(CONFIG(clutchDownPin))) {
|
|
efiSetPadMode("clutch down switch", CONFIG(clutchDownPin),
|
|
getInputMode(CONFIG(clutchDownPinMode)));
|
|
}
|
|
|
|
if (isBrainPinValid(CONFIG(clutchUpPin))) {
|
|
efiSetPadMode("clutch up switch", CONFIG(clutchUpPin),
|
|
getInputMode(CONFIG(clutchUpPinMode)));
|
|
}
|
|
|
|
if (isBrainPinValid(CONFIG(throttlePedalUpPin))) {
|
|
efiSetPadMode("throttle pedal up switch", CONFIG(throttlePedalUpPin),
|
|
getInputMode(CONFIG(throttlePedalUpPinMode)));
|
|
}
|
|
|
|
if (isBrainPinValid(engineConfiguration->brakePedalPin)) {
|
|
#if EFI_PROD_CODE
|
|
efiSetPadMode("brake pedal switch", engineConfiguration->brakePedalPin,
|
|
getInputMode(engineConfiguration->brakePedalPinMode));
|
|
#endif /* EFI_PROD_CODE */
|
|
}
|
|
|
|
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);
|
|
#endif /* EFI_UNIT_TEST */
|
|
applyPidSettings(PASS_ENGINE_PARAMETER_SIGNATURE);
|
|
}
|
|
|
|
#endif /* EFI_IDLE_CONTROL */
|