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better Electronic Throttle body control #493

This commit is contained in:
rusEfi 2019-03-09 23:31:47 -05:00
parent c9edbf4225
commit 9a11d26cc3
13 changed files with 74 additions and 30 deletions
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1
firmware/config/engines/custom_engine.cpp
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@ -262,6 +262,7 @@ void setFrankensoBoardTestConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
// ETB_BENCH_ENGINE // ETB_BENCH_ENGINE
void setEtbTestConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) { void setEtbTestConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
setCustomEngineConfiguration(PASS_ENGINE_PARAMETER_SIGNATURE); setCustomEngineConfiguration(PASS_ENGINE_PARAMETER_SIGNATURE);
setMinimalPinsEngineConfiguration(PASS_ENGINE_PARAMETER_SIGNATURE);
// VAG test ETB // VAG test ETB
// set tps_min 54 // set tps_min 54

10
firmware/controllers/algo/engine_configuration_generated_structures.h
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@ -1,4 +1,4 @@
// this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Mar 02 13:30:15 EST 2019 // this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Mar 09 23:22:39 EST 2019
// begin // begin
#ifndef ENGINE_CONFIGURATION_GENERATED_H_ #ifndef ENGINE_CONFIGURATION_GENERATED_H_
#define ENGINE_CONFIGURATION_GENERATED_H_ #define ENGINE_CONFIGURATION_GENERATED_H_
@ -2311,7 +2311,11 @@ typedef struct {
/** /**
* offset 3984 * offset 3984
*/ */
int mainUnusedEnd[624]; float etbDeadband;
/**
* offset 3988
*/
int mainUnusedEnd[623];
/** total size 6480*/ /** total size 6480*/
} engine_configuration_s; } engine_configuration_s;
@ -2558,4 +2562,4 @@ typedef struct {
#endif #endif
// end // end
// this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Mar 02 13:30:15 EST 2019 // this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Mar 09 23:22:39 EST 2019

6
firmware/controllers/algo/rusefi_generated.h
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@ -1644,8 +1644,10 @@
#define etb_iTermMin_offset_hex f8c #define etb_iTermMin_offset_hex f8c
#define etb_iTermMax_offset 3982 #define etb_iTermMax_offset 3982
#define etb_iTermMax_offset_hex f8e #define etb_iTermMax_offset_hex f8e
#define mainUnusedEnd_offset 3984 #define etbDeadband_offset 3984
#define mainUnusedEnd_offset_hex f90 #define etbDeadband_offset_hex f90
#define mainUnusedEnd_offset 3988
#define mainUnusedEnd_offset_hex f94
#define cltCrankingCorrBins_offset 6480 #define cltCrankingCorrBins_offset 6480
#define cltCrankingCorrBins_offset_hex 1950 #define cltCrankingCorrBins_offset_hex 1950
#define cltCrankingCorr_offset 6512 #define cltCrankingCorr_offset 6512

44
firmware/controllers/electronic_throttle.cpp
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@ -4,6 +4,8 @@
* *
* todo: make this more universal if/when we get other hardware options * todo: make this more universal if/when we get other hardware options
* *
* Mar 2019 best results so far achieved with three-wire H-bridges like VNH2SP30
*
* Jan 2019 actually driven around the block but still need some work. * Jan 2019 actually driven around the block but still need some work.
* *
* Jan 2017 status: * Jan 2017 status:
@ -112,7 +114,9 @@ static percent_t currentEtbDuty;
// looks like my H-bridge does not like 100% duty cycle and it just hangs up? // 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 // so we use 98% to indicate that things are alive and never use PM_FULL of PWM generator
#define PERCENT_TO_DUTY(X) (maxF(minF((X / 100.0), FULL_PWM_THRESHOLD - 0.01), 0.01 - FULL_PWM_THRESHOLD)) //#define ETB_DUTY_LIMIT FULL_PWM_THRESHOLD
#define ETB_DUTY_LIMIT 0.4
#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) //#define PERCENT_TO_DUTY(X) ((X) / 100.0)
@ -180,6 +184,14 @@ private:
pid.iTermMin = engineConfiguration->etb_iTermMin; pid.iTermMin = engineConfiguration->etb_iTermMin;
pid.iTermMax = engineConfiguration->etb_iTermMax; 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 + currentEtbDuty = feedForward +
pid.getValue(targetPosition, actualThrottlePosition); pid.getValue(targetPosition, actualThrottlePosition);
@ -254,7 +266,12 @@ void setEtbPFactor(float value) {
static void etbReset() { static void etbReset() {
// TODO: what is this about? // TODO: what is this about?
// I am experiencing some weird instability with my H-bridge with my Monte Carlo attempts // I am experiencing some weird instability with my H-bridge with my Monte Carlo attempts
dcMotor.Break(); scheduleMsg(&logger, "etbReset");
for (int i = 0;i < 5;i++) {
// this is some crazy code to remind H-bridge that we are alive
dcMotor.BrakeGnd();
chThdSleepMilliseconds(10);
}
mockPedalPosition = MOCK_UNDEFINED; mockPedalPosition = MOCK_UNDEFINED;
pid.reset(); pid.reset();
} }
@ -378,14 +395,23 @@ void setDefaultEtbBiasCurve(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
engineConfiguration->etbBiasBins[6] = 99; engineConfiguration->etbBiasBins[6] = 99;
engineConfiguration->etbBiasBins[7] = 100; engineConfiguration->etbBiasBins[7] = 100;
engineConfiguration->etbBiasValues[0] = -100 / 255.0f * 100; // engineConfiguration->etbBiasValues[0] = -100 / 255.0f * 100;
engineConfiguration->etbBiasValues[1] = -95 / 255.0f * 100; // engineConfiguration->etbBiasValues[1] = -95 / 255.0f * 100;
engineConfiguration->etbBiasValues[2] = -80 / 255.0f * 100; // engineConfiguration->etbBiasValues[2] = -80 / 255.0f * 100;
// engineConfiguration->etbBiasValues[3] = 0 / 255.0f * 100;
// engineConfiguration->etbBiasValues[4] = 115 / 255.0f * 100;
// engineConfiguration->etbBiasValues[5] = 142 / 255.0f * 100;
// engineConfiguration->etbBiasValues[6] = 142 / 255.0f * 100;
// engineConfiguration->etbBiasValues[7] = 142 / 255.0f * 100;
engineConfiguration->etbBiasValues[0] = -20;
engineConfiguration->etbBiasValues[1] = -18;
engineConfiguration->etbBiasValues[2] = -17;
engineConfiguration->etbBiasValues[3] = 0 / 255.0f * 100; engineConfiguration->etbBiasValues[3] = 0 / 255.0f * 100;
engineConfiguration->etbBiasValues[4] = 115 / 255.0f * 100; engineConfiguration->etbBiasValues[4] = 20;
engineConfiguration->etbBiasValues[5] = 142 / 255.0f * 100; engineConfiguration->etbBiasValues[5] = 21;
engineConfiguration->etbBiasValues[6] = 142 / 255.0f * 100; engineConfiguration->etbBiasValues[6] = 22;
engineConfiguration->etbBiasValues[7] = 142 / 255.0f * 100; engineConfiguration->etbBiasValues[7] = 25;
} }
void initElectronicThrottle(void) { void initElectronicThrottle(void) {

2
firmware/controllers/engine_controller.cpp
View File

@ -778,5 +778,5 @@ int getRusEfiVersion(void) {
if (initBootloader() != 0) if (initBootloader() != 0)
return 123; return 123;
#endif /* EFI_BOOTLOADER_INCLUDE_CODE */ #endif /* EFI_BOOTLOADER_INCLUDE_CODE */
return 20190226; return 20190308;
} }

9
firmware/controllers/system/DcMotor.cpp
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@ -23,11 +23,16 @@ float TwoPinDcMotor::Get() {
return value; return value;
} }
void TwoPinDcMotor::Break() { void TwoPinDcMotor::BrakeGnd() {
m_dir1->setValue(false); m_dir1->setValue(false);
m_dir2->setValue(false); m_dir2->setValue(false);
} }
void TwoPinDcMotor::BrakeVcc() {
m_dir1->setValue(true);
m_dir2->setValue(true);
}
/** /**
* @param duty value between -1.0 and 1.0 * @param duty value between -1.0 and 1.0
*/ */
@ -59,7 +64,7 @@ bool TwoPinDcMotor::Set(float duty)
if(duty < 0.01f) if(duty < 0.01f)
{ {
Break(); BrakeGnd();
} }
else else
{ {

3
firmware/controllers/system/DcMotor.h
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@ -53,6 +53,7 @@ public:
virtual bool Set(float duty) override; virtual bool Set(float duty) override;
float Get(); float Get();
void Break(); void BrakeGnd();
void BrakeVcc();
bool isOpenDirection(); bool isOpenDirection();
}; };

3
firmware/integration/rusefi_config.txt
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@ -978,7 +978,8 @@ tChargeMode_e tChargeMode;
float hip9011Gain; float hip9011Gain;
int16_t etb_iTermMin;iTerm min value;"", 1, 0, -30000, 30000.0, 0 int16_t etb_iTermMin;iTerm min value;"", 1, 0, -30000, 30000.0, 0
int16_t etb_iTermMax;iTerm max value;"", 1, 0, -30000, 30000.0, 0 int16_t etb_iTermMax;iTerm max value;"", 1, 0, -30000, 30000.0, 0
int[624] mainUnusedEnd; float etbDeadband;;"", 1, 0, 0, 100.0, 2
int[623] mainUnusedEnd;
end_struct end_struct

6
firmware/tunerstudio/rusefi.ini
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@ -63,7 +63,7 @@ enable2ndByteCanID = false
; see PAGE_0_SIZE in C source code ; see PAGE_0_SIZE in C source code
; CONFIG_DEFINITION_START ; CONFIG_DEFINITION_START
; this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Tue Mar 05 18:08:49 EST 2019 ; this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Mar 09 23:22:39 EST 2019
pageSize = 20000 pageSize = 20000
page = 1 page = 1
@ -823,7 +823,8 @@ page = 1
;no TS info - skipping hip9011Gain offset 3976 ;no TS info - skipping hip9011Gain offset 3976
etb_iTermMin = scalar, S16, 3980, "", 1, 0, -30000, 30000.0, 0 etb_iTermMin = scalar, S16, 3980, "", 1, 0, -30000, 30000.0, 0
etb_iTermMax = scalar, S16, 3982, "", 1, 0, -30000, 30000.0, 0 etb_iTermMax = scalar, S16, 3982, "", 1, 0, -30000, 30000.0, 0
;no TS info - skipping mainUnusedEnd offset 3984 etbDeadband = scalar, F32, 3984, "", 1, 0, 0, 100.0, 2
;no TS info - skipping mainUnusedEnd offset 3988
cltCrankingCorrBins = array, F32, 6480, [8], "C", 1, 0, -100.0, 250.0, 2 cltCrankingCorrBins = array, F32, 6480, [8], "C", 1, 0, -100.0, 250.0, 2
cltCrankingCorr = array, F32, 6512, [8], "%", 1, 0, 0.0, 500.0, 2 cltCrankingCorr = array, F32, 6512, [8], "%", 1, 0, 0.0, 500.0, 2
idleAdvanceBins = array, F32, 6544, [8], "RPM", 1, 0, 0.0, 18000, 2 idleAdvanceBins = array, F32, 6544, [8], "RPM", 1, 0, 0.0, 18000, 2
@ -3124,6 +3125,7 @@ cmd_set_engine_type_etb_test = "w\x00\x30\x00\x3A"
field = "pid max", etb_maxValue, {throttlePedalPositionAdcChannel != 16} field = "pid max", etb_maxValue, {throttlePedalPositionAdcChannel != 16}
field = "iTermMin", etb_iTermMin, {throttlePedalPositionAdcChannel != 16} field = "iTermMin", etb_iTermMin, {throttlePedalPositionAdcChannel != 16}
field = "iTermMax", etb_iTermMax, {throttlePedalPositionAdcChannel != 16} field = "iTermMax", etb_iTermMax, {throttlePedalPositionAdcChannel != 16}
field = "etbDeadband", Deadband, {throttlePedalPositionAdcChannel != 16}
dialog = testSpark, "Spark" dialog = testSpark, "Spark"
commandButton = "Spark #1", cmd_test_spk1 commandButton = "Spark #1", cmd_test_spk1

1
firmware/tunerstudio/rusefi.input
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@ -2242,6 +2242,7 @@ cmd_set_engine_type_etb_test = "w\x00\x30\x00\x3A"
field = "pid max", etb_maxValue, {throttlePedalPositionAdcChannel != 16} field = "pid max", etb_maxValue, {throttlePedalPositionAdcChannel != 16}
field = "iTermMin", etb_iTermMin, {throttlePedalPositionAdcChannel != 16} field = "iTermMin", etb_iTermMin, {throttlePedalPositionAdcChannel != 16}
field = "iTermMax", etb_iTermMax, {throttlePedalPositionAdcChannel != 16} field = "iTermMax", etb_iTermMax, {throttlePedalPositionAdcChannel != 16}
field = "etbDeadband", Deadband, {throttlePedalPositionAdcChannel != 16}
dialog = testSpark, "Spark" dialog = testSpark, "Spark"
commandButton = "Spark #1", cmd_test_spk1 commandButton = "Spark #1", cmd_test_spk1

6
java_console/models/src/com/rusefi/config/Fields.java
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@ -1,6 +1,6 @@
package com.rusefi.config; package com.rusefi.config;
// this file was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Mar 02 13:30:15 EST 2019 // this file was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Mar 09 23:22:39 EST 2019
public class Fields { public class Fields {
public static final int LE_COMMAND_LENGTH = 200; public static final int LE_COMMAND_LENGTH = 200;
public static final int BLOCKING_FACTOR = 400; public static final int BLOCKING_FACTOR = 400;
@ -1039,7 +1039,8 @@ public class Fields {
public static final int hip9011Gain_offset = 3976; public static final int hip9011Gain_offset = 3976;
public static final int etb_iTermMin_offset = 3980; public static final int etb_iTermMin_offset = 3980;
public static final int etb_iTermMax_offset = 3982; public static final int etb_iTermMax_offset = 3982;
public static final int mainUnusedEnd_offset = 3984; public static final int etbDeadband_offset = 3984;
public static final int mainUnusedEnd_offset = 3988;
public static final int cltCrankingCorrBins_offset = 6480; public static final int cltCrankingCorrBins_offset = 6480;
public static final int cltCrankingCorrBins_offset_hex = 1950; public static final int cltCrankingCorrBins_offset_hex = 1950;
public static final int cltCrankingCorr_offset = 6512; public static final int cltCrankingCorr_offset = 6512;
@ -1889,6 +1890,7 @@ public class Fields {
public static final Field HIP9011GAIN = Field.create("HIP9011GAIN", 3976, FieldType.FLOAT); public static final Field HIP9011GAIN = Field.create("HIP9011GAIN", 3976, FieldType.FLOAT);
public static final Field ETB_ITERMMIN = Field.create("ETB_ITERMMIN", 3980, FieldType.INT); public static final Field ETB_ITERMMIN = Field.create("ETB_ITERMMIN", 3980, FieldType.INT);
public static final Field ETB_ITERMMAX = Field.create("ETB_ITERMMAX", 3982, FieldType.INT); public static final Field ETB_ITERMMAX = Field.create("ETB_ITERMMAX", 3982, FieldType.INT);
public static final Field ETBDEADBAND = Field.create("ETBDEADBAND", 3984, FieldType.FLOAT);
public static final Field FSIOFORMULAS1 = Field.create("FSIOFORMULAS1", 6672, FieldType.INT); public static final Field FSIOFORMULAS1 = Field.create("FSIOFORMULAS1", 6672, FieldType.INT);
public static final Field FSIOFORMULAS2 = Field.create("FSIOFORMULAS2", 6872, FieldType.INT); public static final Field FSIOFORMULAS2 = Field.create("FSIOFORMULAS2", 6872, FieldType.INT);
public static final Field FSIOFORMULAS3 = Field.create("FSIOFORMULAS3", 7072, FieldType.INT); public static final Field FSIOFORMULAS3 = Field.create("FSIOFORMULAS3", 7072, FieldType.INT);

1
java_console/ui/src/com/rusefi/ui/widgets/EtbMonteCarloSequence.java
View File

@ -44,6 +44,7 @@ public class EtbMonteCarloSequence {
":iFactor:" + iFactor + ":iFactor:" + iFactor +
":dFactor:" + dFactor; ":dFactor:" + dFactor;
MessagesCentral.getInstance().postMessage(EtbMonteCarloSequence.class, stats); MessagesCentral.getInstance().postMessage(EtbMonteCarloSequence.class, stats);
CommandQueue.getInstance().write("etbreset");
CommandQueue.getInstance().write("set etb_o " + offset); CommandQueue.getInstance().write("set etb_o " + offset);
CommandQueue.getInstance().write("set etb_p " + pFactor); CommandQueue.getInstance().write("set etb_p " + pFactor);
CommandQueue.getInstance().write("set etb_i " + iFactor); CommandQueue.getInstance().write("set etb_i " + iFactor);

12
java_console/ui/src/com/rusefi/ui/widgets/EtbTestSequence.java
View File

@ -44,11 +44,6 @@ public class EtbTestSequence {
private final JButton button = new JButton("ETB Test"); private final JButton button = new JButton("ETB Test");
private SequenceStep FIRST_STEP = new EtbTarget(10 * SECOND, 4 /*position*/);
{
addSequence(FIRST_STEP);
}
protected static SequenceStep addSequence(SequenceStep first_step) { protected static SequenceStep addSequence(SequenceStep first_step) {
return first_step.addNext(new SequenceStep(SECOND) { return first_step.addNext(new SequenceStep(SECOND) {
@ -85,7 +80,7 @@ public class EtbTestSequence {
.addNext(10 * SECOND, 30 /*position*/) .addNext(10 * SECOND, 30 /*position*/)
.addNext(10 * SECOND, 50 /*position*/) .addNext(10 * SECOND, 50 /*position*/)
.addNext(10 * SECOND, 70 /*position*/) .addNext(10 * SECOND, 70 /*position*/)
.addNext(10 * SECOND, 100 /*position*/) .addNext(10 * SECOND, 95 /*position*/)
.addNext(10 * SECOND, 50 /*position*/) .addNext(10 * SECOND, 50 /*position*/)
.addNext(10 * SECOND, 70 /*position*/) .addNext(10 * SECOND, 70 /*position*/)
.addNext(10 * SECOND, 4 /*position*/) .addNext(10 * SECOND, 4 /*position*/)
@ -97,7 +92,10 @@ public class EtbTestSequence {
button.addActionListener(e -> { button.addActionListener(e -> {
// 3000 data points at 10Hz should be 300 seconds worth of data // 3000 data points at 10Hz should be 300 seconds worth of data
metric.start(/* buffer size: */3000, /*period, ms: */ 100); metric.start(/* buffer size: */3000, /*period, ms: */ 100);
FIRST_STEP.execute(executor);
SequenceStep firstStep = new EtbTarget(10 * SECOND, 4 /*position*/);
addSequence(firstStep);
firstStep.execute(executor);
}); });
} }