better Electronic Throttle body control #493
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rusefi
parent
60a5b2c5ea
commit
07c964af78
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@ -74,6 +74,8 @@
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#include "engine_controller.h"
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#include "PeriodicController.h"
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#define ETB_MAX_COUNT 2
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#if EFI_ELECTRONIC_THROTTLE_BODY || defined(__DOXYGEN__)
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#include "pin_repository.h"
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#include "pwm_generator.h"
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@ -90,20 +92,43 @@ static PID_AutoTune autoTune;
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static LoggingWithStorage logger("ETB");
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/**
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* @brief Pulse-Width Modulation state
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*/
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/*CCM_OPTIONAL*/ static SimplePwm etbPwmUp("etbUp");
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EXTERN_ENGINE;
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class EtbControl {
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public:
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EtbControl() : etbPwmUp("etbUp"), dcMotor(&etbPwmUp, &outputDirectionOpen, &outputDirectionClose) {}
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OutputPin outputDirectionOpen;
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OutputPin outputDirectionClose;
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OutputPin etbOutput;
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SimplePwm etbPwmUp;
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TwoPinDcMotor dcMotor;
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void start(brain_pin_e controlPin,
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brain_pin_e directionPin1,
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brain_pin_e directionPin2) {
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int freq = maxI(100, engineConfiguration->etbFreq);
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// this line used for PWM
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startSimplePwmExt(&etbPwmUp, "etb1",
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&engine->executor,
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controlPin,
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&etbOutput,
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freq,
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0.80,
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applyPinState);
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outputDirectionOpen.initPin("etb dir open", directionPin1);
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outputDirectionClose.initPin("etb dir close", directionPin2);
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}
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};
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static EtbControl etb1;
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static float valueOverride = NAN;
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/*
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CCM_OPTIONAL static SimplePwm etbPwmDown("etbDown");
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*/
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/*CCM_OPTIONAL*/ static OutputPin outputDirectionOpen;
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/*CCM_OPTIONAL*/ static OutputPin outputDirectionClose;
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static TwoPinDcMotor dcMotor(&etbPwmUp, &outputDirectionOpen, &outputDirectionClose);
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EXTERN_ENGINE;
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extern percent_t mockPedalPosition;
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static Pid pid(&engineConfiguration->etb);
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@ -150,7 +175,7 @@ private:
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}
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if (!cisnan(valueOverride)) {
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dcMotor.Set(valueOverride);
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etb1.dcMotor.Set(valueOverride);
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return;
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}
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@ -167,7 +192,7 @@ private:
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autoTune.output,
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value);
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scheduleMsg(&logger, "AT PID=%f", value);
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dcMotor.Set(PERCENT_TO_DUTY(value));
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etb1.dcMotor.Set(PERCENT_TO_DUTY(value));
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if (result) {
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scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
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@ -195,7 +220,7 @@ private:
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currentEtbDuty = feedForward +
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pid.getValue(targetPosition, actualThrottlePosition);
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dcMotor.Set(PERCENT_TO_DUTY(currentEtbDuty));
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etb1.dcMotor.Set(PERCENT_TO_DUTY(currentEtbDuty));
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/*
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if (CONFIGB(etbDirectionPin2) != GPIO_UNASSIGNED) {
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bool needEtbBraking = absF(targetPosition - actualThrottlePosition) < 3;
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@ -227,7 +252,7 @@ static void setThrottleDutyCycle(float level) {
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float dc = PERCENT_TO_DUTY(level);
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valueOverride = dc;
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dcMotor.Set(dc);
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etb1.dcMotor.Set(dc);
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scheduleMsg(&logger, "duty ETB duty=%f", dc);
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}
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@ -244,7 +269,7 @@ static void showEthInfo(void) {
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getPinNameByAdcChannel("tPedal", engineConfiguration->throttlePedalPositionAdcChannel, pinNameBuffer));
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scheduleMsg(&logger, "TPS=%.2f", getTPS());
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scheduleMsg(&logger, "dir=%d DC=%f", dcMotor.isOpenDirection(), dcMotor.Get());
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scheduleMsg(&logger, "dir=%d DC=%f", etb1.dcMotor.isOpenDirection(), etb1.dcMotor.Get());
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scheduleMsg(&logger, "etbControlPin1=%s duty=%.2f freq=%d",
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hwPortname(CONFIGB(etb1.controlPin1)),
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@ -269,7 +294,7 @@ static void etbReset() {
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scheduleMsg(&logger, "etbReset");
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for (int i = 0;i < 5;i++) {
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// this is some crazy code to remind H-bridge that we are alive
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dcMotor.BrakeGnd();
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etb1.dcMotor.BrakeGnd();
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chThdSleepMilliseconds(10);
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}
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mockPedalPosition = MOCK_UNDEFINED;
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@ -345,26 +370,10 @@ void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *pre
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void startETBPins(void) {
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int freq = maxI(100, engineConfiguration->etbFreq);
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// this line used for PWM
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startSimplePwmExt(&etbPwmUp, "etb1",
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&engine->executor,
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CONFIGB(etb1.controlPin1),
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&enginePins.etbOutput1,
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freq,
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0.80,
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applyPinState);
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/*
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startSimplePwmExt(&etbPwmDown, "etb2",
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CONFIGB(etbControlPin2),
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&enginePins.etbOutput2,
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freq,
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0.80,
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applyPinState);
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*/
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outputDirectionOpen.initPin("etb dir open", CONFIGB(etb1.directionPin1));
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outputDirectionClose.initPin("etb dir close", CONFIGB(etb1.directionPin2));
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etb1.start(CONFIGB(etb1.controlPin1),
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CONFIGB(etb1.directionPin1),
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CONFIGB(etb1.directionPin2)
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);
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}
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static void setTempOutput(float value) {
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@ -418,6 +427,10 @@ void setDefaultEtbBiasCurve(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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engineConfiguration->etbBiasValues[7] = 25;
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}
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void unregisterEtbPins() {
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}
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void initElectronicThrottle(void) {
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addConsoleAction("ethinfo", showEthInfo);
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addConsoleAction("etbreset", etbReset);
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@ -20,5 +20,6 @@ bool isETBRestartNeeded(void);
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void stopETBPins(void);
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void startETBPins(void);
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void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);
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void unregisterEtbPins();
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#endif /* ELECTRONIC_THROTTLE_H_ */
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@ -15,6 +15,10 @@
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#include "io_pins.h"
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#endif /* EFI_GPIO_HARDWARE */
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#if EFI_ELECTRONIC_THROTTLE_BODY
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#include "electronic_throttle.h"
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#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
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EXTERN_ENGINE;
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#if EFI_ENGINE_SNIFFER || defined(__DOXYGEN__)
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@ -88,6 +92,9 @@ bool EnginePins::stopPins() {
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}
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void EnginePins::unregisterPins() {
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#if EFI_ELECTRONIC_THROTTLE_BODY
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unregisterEtbPins();
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#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
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#if EFI_PROD_CODE || defined(__DOXYGEN__)
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fuelPumpRelay.unregisterOutput(activeConfiguration.bc.fuelPumpPin, engineConfiguration->bc.fuelPumpPin);
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fanRelay.unregisterOutput(activeConfiguration.bc.fanPin, engineConfiguration->bc.fanPin);
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@ -97,10 +104,10 @@ void EnginePins::unregisterPins() {
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sdCsPin.unregisterOutput(activeConfiguration.bc.sdCardCsPin, engineConfiguration->bc.sdCardCsPin);
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accelerometerCs.unregisterOutput(activeConfiguration.LIS302DLCsPin, engineConfiguration->LIS302DLCsPin);
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etbOutput1.unregisterOutput(activeConfiguration.bc.etb1.directionPin1,
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engineConfiguration->bc.etb1.directionPin1);
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etbOutput2.unregisterOutput(activeConfiguration.bc.etb1.directionPin2,
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engineConfiguration->bc.etb1.directionPin2);
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// etbOutput1.unregisterOutput(activeConfiguration.bc.etb1.directionPin1,
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// engineConfiguration->bc.etb1.directionPin1);
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// etbOutput2.unregisterOutput(activeConfiguration.bc.etb1.directionPin2,
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// engineConfiguration->bc.etb1.directionPin2);
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checkEnginePin.unregisterOutput(activeConfiguration.bc.malfunctionIndicatorPin,
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engineConfiguration->bc.malfunctionIndicatorPin);
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dizzyOutput.unregisterOutput(activeConfiguration.dizzySparkOutputPin,
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@ -132,8 +132,6 @@ public:
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NamedOutputPin tachOut;
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NamedOutputPin dizzyOutput;
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OutputPin etbOutput1;
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OutputPin etbOutput2;
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OutputPin fsioOutputs[FSIO_COMMAND_COUNT];
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OutputPin triggerDecoderErrorPin;
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OutputPin hipCs;
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