mirror of https://github.com/rusefi/rusefi-1.git
391 lines
13 KiB
C++
391 lines
13 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) 2012-2022
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*/
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#include "pch.h"
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#if EFI_IDLE_CONTROL
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#include "idle_thread.h"
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#include "idle_hardware.h"
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#include "periodic_task.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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int IdleController::getTargetRpm(float clt) {
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targetRpmByClt = interpolate2d(clt, config->cltIdleRpmBins, config->cltIdleRpm);
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// Bump for AC
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targetRpmAcBump = engine->acSwitchState ? engineConfiguration->acIdleRpmBump : 0;
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return targetRpmByClt + targetRpmAcBump;
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}
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IIdleController::Phase IdleController::determinePhase(int rpm, int targetRpm, SensorResult tps, float vss, float crankingTaperFraction) {
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#if EFI_SHAFT_POSITION_INPUT
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if (!engine->rpmCalculator.isRunning()) {
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return Phase::Cranking;
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}
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badTps = !tps;
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if (badTps) {
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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 > engineConfiguration->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 + engineConfiguration->idlePidRpmUpperLimit;
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looksLikeCoasting = rpm > maximumIdleRpm;
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if (looksLikeCoasting) {
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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 = engineConfiguration->maxIdleVss;
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looksLikeRunning = maxVss != 0 && vss > maxVss;
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if (looksLikeRunning) {
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return Phase::Running;
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}
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// If still in the cranking taper, disable closed loop idle
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looksLikeCrankToIdle = crankingTaperFraction < 1;
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if (looksLikeCrankToIdle) {
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return Phase::CrankToIdleTaper;
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}
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#endif // EFI_SHAFT_POSITION_INPUT
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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::getCrankingTaperFraction() const {
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return (float)engine->rpmCalculator.getRevolutionCounterSinceStart() / engineConfiguration->afterCrankingIACtaperDuration;
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}
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float IdleController::getCrankingOpenLoop(float clt) const {
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float mult =
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engineConfiguration->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 engineConfiguration->crankingIACposition * mult;
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}
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percent_t IdleController::getRunningOpenLoop(float clt, SensorResult tps) {
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float running =
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engineConfiguration->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 ? engineConfiguration->acIdleExtraOffset : 0;
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running += enginePins.fanRelay.getLogicValue() ? engineConfiguration->fan1ExtraIdle : 0;
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running += enginePins.fanRelay2.getLogicValue() ? engineConfiguration->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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iacByTpsTaper = interpolateClamped(
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0, 0,
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engineConfiguration->idlePidDeactivationTpsThreshold, engineConfiguration->iacByTpsTaper,
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tps.value_or(0));
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running += iacByTpsTaper;
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return clampF(0, running, 100);
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}
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percent_t IdleController::getOpenLoop(Phase phase, float clt, SensorResult tps, float crankingTaperFraction) {
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percent_t crankingValvePosition = getCrankingOpenLoop(clt);
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isCoasting = phase == Phase::Cranking;
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// if we're cranking, nothing more to do.
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if (isCoasting) {
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return crankingValvePosition;
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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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useIacTableForCoasting = engineConfiguration->useIacTableForCoasting && phase == Phase::Coasting;
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if (useIacTableForCoasting) {
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return interpolate2d(clt, config->iacCoastingBins, config->iacCoasting);
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}
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percent_t running = getRunningOpenLoop(clt, tps);
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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 >1 required
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return interpolateClamped(0, crankingValvePosition, 1, running, crankingTaperFraction);
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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 (!engineConfiguration->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 EFI_SHAFT_POSITION_INPUT
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if (engineConfiguration->useInstantRpmForIdle) {
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rpm = engine->triggerCentral.triggerState.getInstantRpm();
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}
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#endif // EFI_SHAFT_POSITION_INPUT
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// If inside the deadzone, do nothing
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if (absI(rpm - targetRpm) < engineConfiguration->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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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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}
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static void undoIdleBlipIfNeeded() {
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if (engine->timeToStopBlip != 0 && getTimeNowUs() > engine->timeToStopBlip) {
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engine->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();
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if (shouldResetPid) {
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needReset = idlePid->getIntegration() <= 0 || mustResetPid;
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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 (needReset) {
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idlePid->reset();
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mustResetPid = false;
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}
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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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notIdling = phase != IIdleController::Phase::Idling;
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if (notIdling) {
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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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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 = (US2MS(nowUs) - engine->module<AcController>().unmock().acSwitchLastChangeTimeMs) < 500/*ms*/;
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// check if within the dead zone
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isInDeadZone = !acToggleJustTouched && absI(rpm - targetRpm) <= engineConfiguration->idlePidRpmDeadZone;
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if (isInDeadZone) {
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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)engineConfiguration->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 idle?
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efitimeus_t timeSincePidResetUs = nowUs - restoreAfterPidResetTimeUs;
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// todo: add 'pidAfterResetDampingPeriodMs' setting
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errorAmpCoef = interpolateClamped(0, 0, MS2US(/*engineConfiguration->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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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 (engineConfiguration->useIacPidMultTable) {
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float engineLoad = getFuelingLoad();
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float multCoef = interpolate3d(
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config->iacPidMultTable,
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config->iacPidMultLoadBins, engineLoad,
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config->iacPidMultRpmBins, rpm
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);
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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, engineConfiguration->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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#if EFI_SHAFT_POSITION_INPUT
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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 engineConfiguration->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 see stepper.cpp
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*/
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getIdlePid()->iTermMin = engineConfiguration->idlerpmpid_iTermMin;
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getIdlePid()->iTermMax = engineConfiguration->idlerpmpid_iTermMax;
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// On failed sensor, use 0 deg C - should give a safe highish idle
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float clt = Sensor::getOrZero(SensorType::Clt);
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auto tps = Sensor::get(SensorType::DriverThrottleIntent);
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// this variable is here to make Live View happier
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useInstantRpmForIdle = engineConfiguration->useInstantRpmForIdle;
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float rpm;
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if (useInstantRpmForIdle) {
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rpm = engine->triggerCentral.triggerState.getInstantRpm();
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} else {
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rpm = Sensor::getOrZero(SensorType::Rpm);
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}
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// Compute the target we're shooting for
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auto targetRpm = getTargetRpm(clt);
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m_lastTargetRpm = targetRpm;
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// Determine cranking taper
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float crankingTaper = getCrankingTaperFraction();
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// Determine what operation phase we're in - idling or not
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float vehicleSpeed = Sensor::getOrZero(SensorType::VehicleSpeed);
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auto phase = determinePhase(rpm, targetRpm, tps, vehicleSpeed, crankingTaper);
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m_lastPhase = phase;
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bool isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
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isVerboseIAC = engineConfiguration->isVerboseIAC && isAutomaticIdle;
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if (isVerboseIAC) {
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efiPrintf("Idle state %s", getIdle_state_e(idleState));
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getIdlePid()->showPidStatus("idle");
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}
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finishIdleTestIfNeeded();
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undoIdleBlipIfNeeded();
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percent_t iacPosition;
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isBlipping = engine->timeToStopBlip != 0;
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if (isBlipping) {
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iacPosition = engine->blipIdlePosition;
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idleState = BLIP;
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} else {
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// Always apply closed loop correction
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iacPosition = getOpenLoop(phase, clt, tps, crankingTaper);
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baseIdlePosition = iacPosition;
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useClosedLoop = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
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// If TPS is working and automatic mode enabled, add any automatic correction
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if (useClosedLoop) {
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iacPosition += getClosedLoop(phase, tps.Value, rpm, targetRpm);
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}
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iacPosition = clampPercentValue(iacPosition);
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}
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#if EFI_TUNER_STUDIO && (EFI_PROD_CODE || EFI_SIMULATOR)
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engine->outputChannels.isIdleClosedLoop = phase == Phase::Idling;
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engine->outputChannels.isIdleCoasting = phase == Phase::Coasting;
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if (engineConfiguration->idleMode == IM_AUTO) {
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// see also tsOutputChannels->idlePosition
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getIdlePid()->postState(engine->outputChannels.idleStatus);
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} else {
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engine->outputChannels.idleCurrentPosition = iacPosition;
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extern StepperMotor iacMotor;
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engine->outputChannels.idleTargetPosition = iacMotor.getTargetPosition();
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}
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#endif /* EFI_TUNER_STUDIO */
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currentIdlePosition = iacPosition;
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return iacPosition;
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#else
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return 0;
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#endif // EFI_SHAFT_POSITION_INPUT
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}
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void IdleController::onSlowCallback() {
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float position = getIdlePosition();
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applyIACposition(position);
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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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mustResetPid = shouldResetPid;
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#endif
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}
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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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