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remove idle thread; just call from periodicSlowCallback (#1924) 

* remove thread

* remove ui
This commit is contained in:
Matthew Kennedy 2020-11-11 18:47:19 -08:00 committed by GitHub
parent 584b7a6c9e
commit 0e3673e78c
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 29 additions and 40 deletions
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1
firmware/config/engines/mazda_miata_1_6.cpp
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@ -421,7 +421,6 @@ void setMiataNA6_MAP_MRE(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
engineConfiguration->idleTimingPid.dFactor = 0.0;
engineConfiguration->idleTimingPid.minValue = -13;
engineConfiguration->idleTimingPid.maxValue = 13;
engineConfiguration->idleTimingPid.periodMs = 8;
engineConfiguration->idleTimingPidWorkZone = 150;
engineConfiguration->idlePidFalloffDeltaRpm = 50;
engineConfiguration->idleTimingPidDeadZone = 10;

34
firmware/controllers/actuators/idle_thread.cpp
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@ -182,7 +182,7 @@ void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX) {
showIdleInfo();
}
percent_t getIdlePosition(void) {
percent_t getIdlePosition() {
return engine->engineState.idle.currentIdlePosition;
}
@ -329,7 +329,7 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->setErrorAmplification(errorAmpCoef);
percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm);
percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm, SLOW_CALLBACK_PERIOD_MS / 1000.0f);
engine->engineState.idle.idleState = PID_VALUE;
// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
@ -368,12 +368,8 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
return newValue;
}
int IdleController::getPeriodMs() {
return GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid);
}
void IdleController::PeriodicTask() {
efiAssertVoid(OBD_PCM_Processor_Fault, engineConfiguration != NULL, "engineConfiguration pointer");
float IdleController::getIdlePosition() {
efiAssert(OBD_PCM_Processor_Fault, engineConfiguration != NULL, "engineConfiguration pointer", 0);
/*
* Here we have idle logic thread - actual stepper movement is implemented in a separate
* working thread,
@ -508,11 +504,22 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
}
engine->engineState.idle.currentIdlePosition = iacPosition;
applyIACposition(engine->engineState.idle.currentIdlePosition PASS_ENGINE_PARAMETER_SUFFIX);
return iacPosition;
}
void IdleController::update() {
float position = getIdlePosition();
applyIACposition(position PASS_ENGINE_PARAMETER_SUFFIX);
}
IdleController idleControllerInstance;
void updateIdleControl()
{
idleControllerInstance.update();
}
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));
@ -522,7 +529,6 @@ void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
engineConfiguration->idleRpmPid.pFactor = 0.1f;
engineConfiguration->idleRpmPid.iFactor = 0.05f;
engineConfiguration->idleRpmPid.dFactor = 0.0f;
engineConfiguration->idleRpmPid.periodMs = 10;
engineConfiguration->idlerpmpid_iTermMin = -200;
engineConfiguration->idlerpmpid_iTermMax = 200;
@ -564,12 +570,6 @@ void setIdleDFactor(float value) {
showIdleInfo();
}
void setIdleDT(int value) {
engineConfiguration->idleRpmPid.periodMs = value;
applyPidSettings();
showIdleInfo();
}
/**
* Idle test would activate the solenoid for three seconds
*/
@ -637,8 +637,6 @@ void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
//scheduleMsg(logger, "initial idle %d", idlePositionController.value);
idleControllerInstance.Start();
#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

11
firmware/controllers/actuators/idle_thread.h
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@ -15,15 +15,16 @@
class Logging;
class Pid;
class IdleController : public PeriodicTimerController {
class IdleController {
public:
DECLARE_ENGINE_PTR;
int getPeriodMs() override;
void PeriodicTask() override;
float getIdlePosition();
void update();
};
percent_t getIdlePosition(void);
void updateIdleControl();
percent_t getIdlePosition();
void applyIACposition(percent_t position DECLARE_ENGINE_PARAMETER_SUFFIX);
void setManualIdleValvePosition(int positionPercent);
@ -31,14 +32,12 @@ void setManualIdleValvePosition(int positionPercent);
void startIdleThread(Logging* sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX);
void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
void startIdleBench(void);
void setIdleDT(int value);
void setIdleOffset(float value);
void setIdlePFactor(float value);
void setIdleIFactor(float value);
void setIdleDFactor(float value);
void setIdleMode(idle_mode_e value DECLARE_ENGINE_PARAMETER_SUFFIX);
void setTargetIdleRpm(int value);
void setIdleDT(int value);
void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration);
float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE);
Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE);

3
firmware/controllers/algo/advance_map.cpp
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@ -146,8 +146,7 @@ angle_t getAdvanceCorrections(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
shouldResetTimingPid = false;
}
// get PID value (this is not an actual Advance Angle, but just a additive correction!)
percent_t timingRawCorr = idleTimingPid.getOutput(targetRpm, rpm,
/* is this the right dTime? this period is not exactly the period at which this code is invoked*/engineConfiguration->idleTimingPid.periodMs);
percent_t timingRawCorr = idleTimingPid.getOutput(targetRpm, rpm, FAST_CALLBACK_PERIOD_MS / 1000.0f);
// tps idle-running falloff
pidTimingCorrection = interpolateClamped(0.0f, timingRawCorr, CONFIG(idlePidDeactivationTpsThreshold), 0.0f, tps);
// rpm falloff

3
firmware/controllers/algo/engine.cpp
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@ -25,6 +25,7 @@
#include "fsio_impl.h"
#include "perf_trace.h"
#include "backup_ram.h"
#include "idle_thread.h"
#include "idle_hardware.h"
#include "sensor.h"
#include "gppwm.h"
@ -189,6 +190,8 @@ void Engine::periodicSlowCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
updateGppwm();
updateIdleControl();
cylinderCleanupControl(PASS_ENGINE_PARAMETER_SIGNATURE);
standardAirCharge = getStandardAirCharge(PASS_ENGINE_PARAMETER_SIGNATURE);

1
firmware/controllers/algo/engine.h
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@ -31,6 +31,7 @@
#endif /* EFI_UNIT_TEST */
#define FAST_CALLBACK_PERIOD_MS 5
#define SLOW_CALLBACK_PERIOD_MS 50
class RpmCalculator;
class AirmassModelBase;

2
firmware/controllers/engine_controller.cpp
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@ -156,7 +156,7 @@ class PeriodicSlowController : public PeriodicTimerController {
int getPeriodMs() override {
// no reason to have this configurable, looks like everyone is happy with 20Hz
return 50;
return SLOW_CALLBACK_PERIOD_MS;
}
};

7
firmware/controllers/settings.cpp
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@ -996,12 +996,6 @@ const plain_get_integer_s getI_plain[] = {
// {"bor", setBor},
// {"can_mode", setCanType},
// {"idle_rpm", setTargetIdleRpm},
// {"idle_dt", setIdleDT},
// {"", },
// {"", },
// {"", },
// {"", },
// {"", },
};
const plain_get_float_s getF_plain[] = {
@ -1208,7 +1202,6 @@ const command_i_s commandsI[] = {{"ignition_mode", setIgnitionMode},
#if EFI_IDLE_CONTROL
{"idle_position", setManualIdleValvePosition},
{"idle_rpm", setTargetIdleRpm},
{"idle_dt", setIdleDT},
#endif /* EFI_IDLE_CONTROL */
#endif /* EFI_PROD_CODE */

5
firmware/tunerstudio/rusefi.input
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@ -79,8 +79,7 @@ enable2ndByteCanID = false
; CONFIG_DEFINITION_END
idleRpmPid_offset = "Constant base value"
idleRpmPid_periodMs = "PID recalculation period"
[Tuning]
spotDepth = 2 ; 0 = no indicators, 1 = Z only, 2 = XYZ indicators.
@ -2445,7 +2444,6 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
field = "Max", idleRpmPid_maxValue
field = "iTerm Min", idlerpmpid_iTermMin
field = "iTerm Max", idlerpmpid_iTermMax
field = "period", idleRpmPid_periodMs
field = "RPM dead zone to deactivate IAC pid", idlePidRpmDeadZone
field = "RPM upper limit to deactivate IAC pid",idlePidRpmUpperLimit
field = "PID Extra for low RPM", pidExtraForLowRpm
@ -2479,7 +2477,6 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
field = "Offset", idleTimingPid_offset, {useIdleTimingPidControl == 1}
field = "Min Delta", idleTimingPid_minValue, {useIdleTimingPidControl == 1}
field = "Max Delta", idleTimingPid_maxValue, {useIdleTimingPidControl == 1}
field = "period", idleTimingPid_periodMs, {useIdleTimingPidControl == 1}
field = "#See RPM dead zone to deactivate IAC pid"
field = "RPM working zone for timing pid", idleTimingPidWorkZone, {useIdleTimingPidControl == 1}
field = "RPM working zone falloff", idlePidFalloffDeltaRpm, {useIdleTimingPidControl == 1}

2
unit_tests/tests/test_idle_controller.cpp
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@ -58,7 +58,7 @@ TEST(idle, fsioPidParameters) {
// todo finish this unit test!
// timeNowUs = MS2US(700);
idleControllerInstance.PeriodicTask();
idleControllerInstance.update();
// ASSERT_EQ(0, engine->acSwitchLastChangeTime);
// ASSERT_EQ(1, engine->acSwitchState);
}