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ETB Encapsulation & C++ Conventions (#1049) 

* encapsulate etb stuff, c++ conventions

* remove DECLARE_ENGINE_PTR/INJECT_ENGINE_REFERENCE

* reduce include dependencies

* Revert "reduce include dependencies"

This reverts commit c529bbbf757cd9070f6e00616f84b1229eeb768e.

* Revert "remove DECLARE_ENGINE_PTR/INJECT_ENGINE_REFERENCE"

This reverts commit ca98b18cd4dae24b993d1263a18daf509dcd54b9.
This commit is contained in:
Matthew Kennedy 2019-12-10 16:37:04 -08:00 committed by rusefi
parent 00840d99ec
commit 0e674f7eca
3 changed files with 75 additions and 42 deletions
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2
firmware/console/binary/tunerstudio.cpp
View File

@ -275,7 +275,7 @@ static const void * getStructAddr(int structId) {
return static_cast<trigger_state_s*>(&engine->triggerCentral.triggerState);
#if EFI_ELECTRONIC_THROTTLE_BODY
case LDS_ETB_PID_STATE_INDEX:
return static_cast<pid_state_s*>(&etbController[0].etbPid);
return etbController[0].getPidState();
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
#ifndef EFI_IDLE_CONTROL

92
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -180,9 +180,24 @@ static percent_t currentEtbDuty;
// this macro clamps both positive and negative percentages from about -100% to 100%
#define ETB_PERCENT_TO_DUTY(X) (maxF(minF((X * 0.01), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))
void EtbController::init(DcMotor *motor, int ownIndex) {
this->m_motor = motor;
this->ownIndex = ownIndex;
void EtbController::init(DcMotor *motor, int ownIndex, pid_s *pidParameters) {
m_motor = motor;
m_myIndex = ownIndex;
m_pid.initPidClass(pidParameters);
}
void EtbController::reset() {
m_shouldResetPid = true;
}
void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
if (m_pid.isSame(previousConfiguration)) {
m_shouldResetPid = true;
}
}
void EtbController::showStatus(Logging* logger) {
m_pid.showPidStatus(logger, "ETB");
}
int EtbController::getPeriodMs() {
@ -190,18 +205,19 @@ int EtbController::getPeriodMs() {
}
void EtbController::PeriodicTask() {
// set debug_mode 17
if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
#if EFI_TUNER_STUDIO
etbPid.postState(&tsOutputChannels);
tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
#endif /* EFI_TUNER_STUDIO */
} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
#if EFI_TUNER_STUDIO
// set debug_mode 29
tsOutputChannels.debugFloatField1 = directPwmValue;
#endif /* EFI_TUNER_STUDIO */
// Only debug throttle #0
if (m_myIndex == 0) {
// set debug_mode 17
if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
m_pid.postState(&tsOutputChannels);
tsOutputChannels.debugIntField5 = engine->engineState.etbFeedForward;
} else if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_EXTRA) {
// set debug_mode 29
tsOutputChannels.debugFloatField1 = directPwmValue;
}
}
#endif /* EFI_TUNER_STUDIO */
if (!m_motor) {
return;
@ -212,9 +228,9 @@ void EtbController::PeriodicTask() {
return;
}
if (shouldResetPid) {
etbPid.reset();
shouldResetPid = false;
if (m_shouldResetPid) {
m_pid.reset();
m_shouldResetPid = false;
}
if (!cisnan(directPwmValue)) {
@ -227,7 +243,7 @@ void EtbController::PeriodicTask() {
return;
}
percent_t actualThrottlePosition = getTPSWithIndex(ownIndex PASS_ENGINE_PARAMETER_SUFFIX);
percent_t actualThrottlePosition = getTPSWithIndex(m_myIndex PASS_ENGINE_PARAMETER_SUFFIX);
if (engine->etbAutoTune) {
autoTune.input = actualThrottlePosition;
@ -271,16 +287,16 @@ void EtbController::PeriodicTask() {
}
engine->engineState.etbFeedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues);
etbPid.iTermMin = engineConfiguration->etb_iTermMin;
etbPid.iTermMax = engineConfiguration->etb_iTermMax;
m_pid.iTermMin = engineConfiguration->etb_iTermMin;
m_pid.iTermMax = engineConfiguration->etb_iTermMax;
currentEtbDuty = engine->engineState.etbFeedForward +
etbPid.getOutput(targetPosition, actualThrottlePosition);
m_pid.getOutput(targetPosition, actualThrottlePosition);
m_motor->set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
if (engineConfiguration->isVerboseETB) {
etbPid.showPidStatus(&logger, "ETB");
m_pid.showPidStatus(&logger, "ETB");
}
DISPLAY_STATE(Engine)
@ -323,15 +339,19 @@ DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
/* DISPLAY_ELSE */
DISPLAY_TEXT(No_Pedal_Sensor);
/* DISPLAY_ENDIF */
// Only report the 0th throttle
if (m_myIndex == 0) {
#if EFI_TUNER_STUDIO
// 312
tsOutputChannels.etbTarget = targetPosition;
// 316
tsOutputChannels.etb1DutyCycle = currentEtbDuty;
// 320
// Error is positive if the throttle needs to open further
tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
// 312
tsOutputChannels.etbTarget = targetPosition;
// 316
tsOutputChannels.etb1DutyCycle = currentEtbDuty;
// 320
// Error is positive if the throttle needs to open further
tsOutputChannels.etb1Error = targetPosition - actualThrottlePosition;
#endif /* EFI_TUNER_STUDIO */
}
}
static EtbHardware etbHardware[ETB_COUNT];
@ -390,16 +410,17 @@ static void showEthInfo(void) {
for (int i = 0 ; i < ETB_COUNT; i++) {
EtbHardware *etb = &etbHardware[i];
scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
scheduleMsg(&logger, "ETB %%d", i);
scheduleMsg(&logger, "Motor: dir=%d DC=%f", etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
etbController[i].showStatus(&logger);
}
etbController[0].etbPid.showPidStatus(&logger, "ETB");
#endif /* EFI_PROD_CODE */
}
static void etbPidReset() {
for (int i = 0 ; i < ETB_COUNT; i++) {
etbController[i].etbPid.reset();
etbController[i].reset();
}
}
@ -419,6 +440,7 @@ static void etbReset() {
for (int i = 0 ; i < ETB_COUNT; i++) {
etbHardware[i].dcMotor.set(0);
}
etbPidReset();
mockPedalPosition = MOCK_UNDEFINED;
@ -555,9 +577,8 @@ void stopETBPins(void) {
#endif /* EFI_PROD_CODE */
void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
bool shouldResetPid = !etbController[0].etbPid.isSame(&previousConfiguration->etb);
for (int i = 0 ; i < ETB_COUNT; i++) {
etbController[i].shouldResetPid = shouldResetPid;
for (int i = 0; i < ETB_COUNT; i++) {
etbController[i].onConfigurationChange(&previousConfiguration->etb);
}
}
@ -644,8 +665,7 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
#endif /* EFI_PROD_CODE */
for (int i = 0 ; i < ETB_COUNT; i++) {
etbController[i].init(&etbHardware[i].dcMotor, i);
etbController[i].etbPid.initPidClass(&engineConfiguration->etb);
etbController[i].init(&etbHardware[i].dcMotor, i, &engineConfiguration->etb);
INJECT_ENGINE_REFERENCE(&etbController[i]);
}

23
firmware/controllers/actuators/electronic_throttle.h
View File

@ -15,20 +15,33 @@
#include "periodic_task.h"
class DcMotor;
class Logging;
class EtbController final : public PeriodicTimerController {
public:
DECLARE_ENGINE_PTR;
void init(DcMotor *motor, int ownIndex);
void init(DcMotor *motor, int ownIndex, pid_s *pidParameters);
void reset();
// PeriodicTimerController implementation
int getPeriodMs() override;
void PeriodicTask() override;
Pid etbPid;
bool shouldResetPid = false;
// Called when the configuration may have changed. Controller will
// reset if necessary.
void onConfigurationChange(pid_s* previousConfiguration);
// Print this throttle's status.
void showStatus(Logging* logger);
// Used to inspect the internal PID controller's state
const pid_state_s* getPidState() const { return &m_pid; };
private:
int ownIndex;
DcMotor *m_motor;
int m_myIndex;
DcMotor *m_motor;
Pid m_pid;
bool m_shouldResetPid = false;
};
void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);