mirror of https://github.com/rusefi/rusefi-1.git
117 lines
3.6 KiB
C++
117 lines
3.6 KiB
C++
/**
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* @file electronic_throttle.h
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*
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* @date Dec 7, 2013
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#pragma once
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/**
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* Hard code ETB update speed.
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* Since this is a safety critical system with no real reason for a user to ever need to change the update rate,
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* it's locked to 500hz, along with the ADC.
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* https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theorem
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*/
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#define ETB_LOOP_FREQUENCY 500
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#define DEFAULT_ETB_PWM_FREQUENCY 800
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#include "engine.h"
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#include "closed_loop_controller.h"
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#include "expected.h"
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class DcMotor;
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class Logging;
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class IEtbController : public ClosedLoopController<percent_t, percent_t> {
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public:
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DECLARE_ENGINE_PTR;
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virtual void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
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virtual void reset() = 0;
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virtual void setIdlePosition(percent_t pos) = 0;
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virtual void start() = 0;
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virtual void autoCalibrateTps() = 0;
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};
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class EtbController : public IEtbController {
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public:
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void init(DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
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void setIdlePosition(percent_t pos) override;
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void reset() override;
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void start() override {}
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void update(efitick_t nowNt);
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// Called when the configuration may have changed. Controller will
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// reset if necessary.
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void onConfigurationChange(pid_s* previousConfiguration);
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// Print this throttle's status.
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void showStatus(Logging* logger);
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// Helpers for individual parts of throttle control
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expected<percent_t> observePlant() const override;
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expected<percent_t> getSetpoint() const override;
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expected<percent_t> getOpenLoop(percent_t target) const override;
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expected<percent_t> getClosedLoop(percent_t setpoint, percent_t target) override;
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expected<percent_t> getClosedLoopAutotune(percent_t actualThrottlePosition);
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void setOutput(expected<percent_t> outputValue) override;
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// Used to inspect the internal PID controller's state
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const pid_state_s* getPidState() const { return &m_pid; };
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// Use the throttle to automatically calibrate the relevant throttle position sensor(s).
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void autoCalibrateTps() override;
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protected:
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// This is set if an automatic TPS calibration should be run
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bool m_isAutocal = false;
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int getMyIndex() const { return m_myIndex; }
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DcMotor* getMotor() { return m_motor; }
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private:
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int m_myIndex = 0;
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DcMotor *m_motor = nullptr;
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Pid m_pid;
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bool m_shouldResetPid = false;
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// Pedal -> target map
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const ValueProvider3D* m_pedalMap = nullptr;
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float m_idlePosition = 0;
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// Autotune helpers
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bool m_lastIsPositive = false;
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efitick_t m_cycleStartTime = 0;
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float m_minCycleTps = 0;
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float m_maxCycleTps = 0;
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// Autotune measured parameters: gain and ultimate period
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// These are set to correct order of magnitude starting points
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// so we converge more quickly on the correct values
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float m_a = 8;
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float m_tu = 0.1f;
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uint8_t m_autotuneCounter = 0;
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uint8_t m_autotuneCurrentParam = 0;
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};
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void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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void setEtbIdlePosition(percent_t pos DECLARE_ENGINE_PARAMETER_SUFFIX);
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void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
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void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
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void setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
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void setEtbPFactor(float value);
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void setEtbIFactor(float value);
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void setEtbDFactor(float value);
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void setEtbOffset(int value);
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void setThrottleDutyCycle(percent_t level);
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void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);
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void unregisterEtbPins();
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void etbAutocal(size_t throttleIndex);
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