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fix etb (#789)

This commit is contained in:
Matthew Kennedy 2019-05-04 21:42:50 -07:00 committed by rusefi
parent 6b4f3d9f45
commit 6810aa3268
3 changed files with 83 additions and 125 deletions
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128
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -100,48 +100,62 @@ static LoggingWithStorage logger("ETB");
EXTERN_ENGINE;
class EtbControl;
static void applyEtbPinState(int stateIndex, EtbControl *etb) /* pwm_gen_callback */;
class EtbControl {
public:
EtbControl() : etbPwmUp("etbUp"), dcMotor(&etbPwmUp, &outputDirectionOpen, &outputDirectionClose) {}
OutputPin outputDirectionOpen;
OutputPin outputDirectionClose;
OutputPin etbOutput;
private:
OutputPin m_pinEnable;
OutputPin m_pinDir1;
OutputPin m_pinDir2;
SimplePwm m_pwmEnable;
SimplePwm m_pwmDir1;
SimplePwm m_pwmDir2;
SimplePwm etbPwmUp;
public:
EtbControl() : etbPwmUp("etbUp"), dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2) {}
TwoPinDcMotor dcMotor;
void start(bool useTwoWires, brain_pin_e controlPin,
brain_pin_e directionPin1,
brain_pin_e directionPin2) {
etbPwmUp.arg = this;
dcMotor.useTwoWires = useTwoWires;
if (!dcMotor.useTwoWires) {
// this line used for PWM in case of three wire mode
etbOutput.initPin("etb", controlPin);
}
void start(bool useTwoWires,
brain_pin_e pinEnable,
brain_pin_e pinDir1,
brain_pin_e pinDir2) {
dcMotor.SetType(useTwoWires ? TwoPinDcMotor::ControlType::TwoDirection : TwoPinDcMotor::ControlType::TwoDirectionAndEnable);
m_pinEnable.initPin("ETB Enable", pinEnable);
m_pinDir1.initPin("ETB Dir 1", pinDir1);
m_pinDir2.initPin("ETB Dir 2", pinDir2);
// Clamp to >100hz
int freq = maxI(100, engineConfiguration->etbFreq);
startSimplePwm(&etbPwmUp, "etb1",
startSimplePwm(&m_pwmEnable, "ETB Enable",
&engine->executor,
&etbOutput,
&m_pinEnable,
freq,
0.80,
(pwm_gen_callback*)applyEtbPinState);
outputDirectionOpen.initPin("etb dir open", directionPin1);
outputDirectionClose.initPin("etb dir close", directionPin2);
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir1, "ETB Dir 1",
&engine->executor,
&m_pinDir1,
freq,
0,
(pwm_gen_callback*)applyPinState);
startSimplePwm(&m_pwmDir2, "ETB Dir 2",
&engine->executor,
&m_pinDir2,
freq,
0,
(pwm_gen_callback*)applyPinState);
}
};
static EtbControl etb1;
static float directPwmValue = NAN;
/*
CCM_OPTIONAL static SimplePwm etbPwmDown("etbDown");
*/
extern percent_t mockPedalPosition;
@ -149,16 +163,9 @@ static Pid pid(&engineConfiguration->etb);
static percent_t currentEtbDuty;
//static bool wasEtbBraking = false;
// looks like my H-bridge does not like 100% duty cycle and it just hangs up?
// so we use 98% to indicate that things are alive and never use PM_FULL of PWM generator
//#define ETB_DUTY_LIMIT FULL_PWM_THRESHOLD
#define ETB_DUTY_LIMIT 0.4
#define ETB_DUTY_LIMIT 0.9
#define PERCENT_TO_DUTY(X) (maxF(minF((X / 100.0), ETB_DUTY_LIMIT - 0.01), 0.01 - ETB_DUTY_LIMIT))
//#define PERCENT_TO_DUTY(X) ((X) / 100.0)
class EtbController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
public:
EtbController() : PeriodicController("ETB") { }
@ -228,28 +235,11 @@ private:
pid.iTermMin = engineConfiguration->etb_iTermMin;
pid.iTermMax = engineConfiguration->etb_iTermMax;
/*
if (absF(actualThrottlePosition - targetPosition) < 0.5) {
// we are pretty close to desired position, let's hold it
dcMotor.BrakeVcc();
scheduleMsg(&logger, "VCC braking %f %f", targetPosition, actualThrottlePosition);
return;
}
*/
currentEtbDuty = feedForward +
pid.getOutput(targetPosition, actualThrottlePosition);
etb1.dcMotor.Set(PERCENT_TO_DUTY(currentEtbDuty));
/*
if (CONFIGB(etbDirectionPin2) != GPIO_UNASSIGNED) {
bool needEtbBraking = absF(targetPosition - actualThrottlePosition) < 3;
if (needEtbBraking != wasEtbBraking) {
scheduleMsg(&logger, "need ETB braking: %d", needEtbBraking);
wasEtbBraking = needEtbBraking;
}
outputDirectionClose.setValue(needEtbBraking);
}
*/
if (engineConfiguration->isVerboseETB) {
pid.showPidStatus(&logger, "ETB");
}
@ -308,16 +298,12 @@ void setEtbPFactor(float value) {
}
static void etbReset() {
// TODO: what is this about?
// I am experiencing some weird instability with my H-bridge with my Monte Carlo attempts
scheduleMsg(&logger, "etbReset");
for (int i = 0;i < 5;i++) {
// this is some crazy code to remind H-bridge that we are alive
etb1.dcMotor.BrakeGnd();
chThdSleepMilliseconds(10);
}
mockPedalPosition = MOCK_UNDEFINED;
etb1.dcMotor.Set(0);
pid.reset();
mockPedalPosition = MOCK_UNDEFINED;
}
/**
@ -453,20 +439,6 @@ void unregisterEtbPins() {
}
static void applyEtbPinState(int stateIndex, EtbControl *etb) /* pwm_gen_callback */ {
efiAssertVoid(CUSTOM_ERR_6663, stateIndex < PWM_PHASE_MAX_COUNT, "invalid stateIndex");
int value = etb->etbPwmUp.multiWave.getChannelState(0, stateIndex);
if (etb->dcMotor.useTwoWires) {
OutputPin *output = etb->dcMotor.twoWireModeControl;
if (output != NULL) {
output->setValue(value);
}
} else {
OutputPin *output = &etb->etbOutput;
output->setValue(value);
}
}
void initElectronicThrottle(void) {
addConsoleAction("ethinfo", showEthInfo);
addConsoleAction("etbreset", etbReset);

52
firmware/controllers/system/dc_motor.cpp
View File

@ -8,29 +8,19 @@
#include "dc_motor.h"
TwoPinDcMotor::TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2)
: m_pwm(pwm)
TwoPinDcMotor::TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2)
: m_enable(enable)
, m_dir1(dir1)
, m_dir2(dir2)
{
}
bool TwoPinDcMotor::isOpenDirection() {
return isPositiveOrZero;
return m_value >= 0;
}
float TwoPinDcMotor::Get() {
return value;
}
void TwoPinDcMotor::BrakeGnd() {
m_dir1->setValue(false);
m_dir2->setValue(false);
}
void TwoPinDcMotor::BrakeVcc() {
m_dir1->setValue(true);
m_dir2->setValue(true);
return m_value;
}
/**
@ -38,17 +28,15 @@ void TwoPinDcMotor::BrakeVcc() {
*/
bool TwoPinDcMotor::Set(float duty)
{
this->value = duty;
m_value = duty;
if(duty < 0)
bool isPositive = duty > 0;
if(!isPositive)
{
isPositiveOrZero = false;
duty = -duty;
}
else
{
isPositiveOrZero = true;
}
// below here 'duty' is a not negative
// Clamp to 100%
@ -62,23 +50,15 @@ bool TwoPinDcMotor::Set(float duty)
duty = 0.0f;
}
if(duty < 0.01f)
{
BrakeGnd();
}
else
{
if (isPositiveOrZero) {
twoWireModeControl = m_dir1;
} else {
twoWireModeControl = m_dir2;
}
// If we're in two pin mode, force 100%, else use this pin to PWM
float enableDuty = m_type == ControlType::TwoDirection ? 1 : duty;
m_dir1->setValue(isPositiveOrZero);
m_dir2->setValue(!isPositiveOrZero);
}
// If we're in dir + en mode, force 100%, else use the dir pins for PMW
float dirDuty = m_type == ControlType::TwoDirection ? duty : 1;
m_pwm->setSimplePwmDutyCycle(duty);
m_enable->setSimplePwmDutyCycle(enableDuty);
m_dir1->setSimplePwmDutyCycle(isPositive ? dirDuty : 0);
m_dir2->setSimplePwmDutyCycle(isPositive ? 0 : dirDuty);
// This motor has no fault detection, so always return false (indicate success).
return false;

28
firmware/controllers/system/dc_motor.h
View File

@ -37,25 +37,31 @@ public:
*/
class TwoPinDcMotor : public DcMotor
{
public:
enum class ControlType
{
TwoDirection,
TwoDirectionAndEnable,
};
private:
SimplePwm* const m_pwm;
OutputPin* const m_dir1;
OutputPin* const m_dir2;
float value = 0;
bool isPositiveOrZero = false;
SimplePwm* const m_enable;
SimplePwm* const m_dir1;
SimplePwm* const m_dir2;
float m_value = 0;
ControlType m_type;
public:
/**
* @param pwm SimplePwm driver for enable pin, for PWM speed control.
* @param enable SimplePwm driver for enable pin, for PWM speed control.
* @param dir1 Enable 1 or direction 1 pin. Gets set high to rotate forward.
* @param dir2 Enable 2 or direction 2 pin. Gets set high to rotate backward.
*/
TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2);
TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2);
bool useTwoWires = false;
OutputPin* twoWireModeControl = NULL;
virtual bool Set(float duty) override;
float Get();
void BrakeGnd();
void BrakeVcc();
bool isOpenDirection();
void SetType(ControlType type) { m_type = type; }
};