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ETB progress

This commit is contained in:
rusefi 2019-02-10 19:13:04 -05:00
parent fe7d75a185
commit dc0ae33a54
2 changed files with 15 additions and 9 deletions
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10
firmware/controllers/electronic_throttle.cpp
View File

@ -4,6 +4,8 @@
*
* todo: make this more universal if/when we get other hardware options
*
* Jan 2019 actually driven around the block but still need some work.
*
* Jan 2017 status:
* Electronic throttle body with it's spring is definitely not linear - both P and I factors of PID are required to get any results
* PID implementation tested on a bench only
@ -86,8 +88,8 @@ static SimplePwm etbPwmUp("etbUp") CCM_OPTIONAL;
static float valueOverride = NAN;
/*
static SimplePwm etbPwmDown("etbDown") CCM_OPTIONAL;
static OutputPin outputDirectionOpen CCM_OPTIONAL;
*/
static OutputPin outputDirectionOpen CCM_OPTIONAL;
static OutputPin outputDirectionClose CCM_OPTIONAL;
EXTERN_ENGINE;
@ -157,7 +159,7 @@ static msg_t etbThread(void *arg) {
currentEtbDuty = pid.getValue(targetPosition, actualThrottlePosition);
etbPwmUp.setSimplePwmDutyCycle(PERCENT_TO_DUTY(currentEtbDuty));
/*
if (CONFIGB(etbDirectionPin2) != GPIO_UNASSIGNED) {
bool needEtbBraking = absF(targetPosition - actualThrottlePosition) < 3;
if (needEtbBraking != wasEtbBraking) {
@ -166,7 +168,7 @@ static msg_t etbThread(void *arg) {
}
outputDirectionClose.setValue(needEtbBraking);
}
*/
if (engineConfiguration->isVerboseETB) {
pid.showPidStatus(&logger, "ETB");
}
@ -295,8 +297,8 @@ void startETBPins(void) {
freq,
0.80,
applyPinState);
outputDirectionOpen.initPin("etb dir open", CONFIGB(etbDirectionPin1));
*/
outputDirectionOpen.initPin("etb dir open", CONFIGB(etbDirectionPin1));
outputDirectionClose.initPin("etb dir close", CONFIGB(etbDirectionPin2));
}

14
firmware/controllers/system/DcMotor.cpp
View File

@ -15,19 +15,23 @@ TwoPinDcMotor::TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2)
{
}
/**
* @param duty value between -1.0 and 1.0
*/
bool TwoPinDcMotor::Set(float duty)
{
bool dir;
bool isPositiveOrZero;
if(duty < 0)
{
dir = false;
isPositiveOrZero = false;
duty = -duty;
}
else
{
dir = true;
isPositiveOrZero = true;
}
// below here 'duty' is a not negative
// Clamp to 100%
if(duty > 1.0f)
@ -47,8 +51,8 @@ bool TwoPinDcMotor::Set(float duty)
}
else
{
m_dir1->setValue(dir);
m_dir2->setValue(!dir);
m_dir1->setValue(isPositiveOrZero);
m_dir2->setValue(!isPositiveOrZero);
}
m_pwm->setSimplePwmDutyCycle(duty);