replace ETB index with function enum (#1807)
* two throttles one thread * look at all this RAM! * add enum * switch from index to function * test fixup * improve init logic * remove old vw idle mode bit
This commit is contained in:
Matthew Kennedy
GitHub
parent
c8c673b8e0
commit
f1c04efefa
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@ -99,56 +99,55 @@ static bool startupPositionError = false;
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#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
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static SensorType indexToTpsSensor(size_t index, bool dcMotorIdleValve) {
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if (dcMotorIdleValve) {
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return SensorType::Tps2;
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}
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switch(index) {
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case 0: return SensorType::Tps1;
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default: return SensorType::Tps2;
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static SensorType functionToPositionSensor(etb_function_e func) {
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switch(func) {
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case ETB_Throttle1: return SensorType::Tps1;
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case ETB_Throttle2: return SensorType::Tps2;
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case ETB_IdleValve: return SensorType::IdlePosition;
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case ETB_Wastegate: return SensorType::WastegatePosition;
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default: return SensorType::Invalid;
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}
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}
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static SensorType indexToTpsSensorPrimary(size_t index) {
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switch(index) {
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case 0: return SensorType::Tps1Primary;
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static SensorType functionToTpsSensorPrimary(etb_function_e func) {
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switch(func) {
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case ETB_Throttle1: return SensorType::Tps1Primary;
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default: return SensorType::Tps2Primary;
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}
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}
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static SensorType indexToTpsSensorSecondary(size_t index) {
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switch(index) {
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case 0: return SensorType::Tps1Secondary;
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static SensorType functionToTpsSensorSecondary(etb_function_e func) {
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switch(func) {
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case ETB_Throttle1: return SensorType::Tps1Secondary;
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default: return SensorType::Tps2Secondary;
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}
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}
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#if EFI_TUNER_STUDIO
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static TsCalMode indexToCalModePriMin(size_t index) {
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switch (index) {
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case 0: return TsCalMode::Tps1Min;
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static TsCalMode functionToCalModePriMin(etb_function_e func) {
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switch (func) {
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case ETB_Throttle1: return TsCalMode::Tps1Min;
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default: return TsCalMode::Tps2Min;
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}
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}
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static TsCalMode indexToCalModePriMax(size_t index) {
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switch (index) {
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case 0: return TsCalMode::Tps1Max;
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static TsCalMode functionToCalModePriMax(etb_function_e func) {
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switch (func) {
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case ETB_Throttle1: return TsCalMode::Tps1Max;
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default: return TsCalMode::Tps2Max;
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}
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}
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static TsCalMode indexToCalModeSecMin(size_t index) {
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switch (index) {
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case 0: return TsCalMode::Tps1SecondaryMin;
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static TsCalMode functionToCalModeSecMin(etb_function_e func) {
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switch (func) {
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case ETB_Throttle1: return TsCalMode::Tps1SecondaryMin;
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default: return TsCalMode::Tps2SecondaryMin;
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}
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}
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static TsCalMode indexToCalModeSecMax(size_t index) {
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switch (index) {
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case 0: return TsCalMode::Tps1SecondaryMax;
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static TsCalMode functionToCalModeSecMax(etb_function_e func) {
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switch (func) {
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case ETB_Throttle1: return TsCalMode::Tps1SecondaryMax;
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default: return TsCalMode::Tps2SecondaryMax;
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}
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}
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@ -161,12 +160,19 @@ static percent_t currentEtbDuty;
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// this macro clamps both positive and negative percentages from about -100% to 100%
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#define ETB_PERCENT_TO_DUTY(x) (clampF(-ETB_DUTY_LIMIT, 0.01f * (x), ETB_DUTY_LIMIT))
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void EtbController::init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) {
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m_positionSensor = positionSensor;
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bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) {
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if (function == ETB_None) {
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// if not configured, don't init.
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return false;
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}
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m_function = function;
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m_positionSensor = functionToPositionSensor(function);
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m_motor = motor;
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m_myIndex = ownIndex;
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m_pid.initPidClass(pidParameters);
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m_pedalMap = pedalMap;
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return true;
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}
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void EtbController::reset() {
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@ -192,20 +198,39 @@ void EtbController::setIdlePosition(percent_t pos) {
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}
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expected<percent_t> EtbController::getSetpoint() const {
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switch (m_function) {
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case ETB_Throttle1:
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case ETB_Throttle2:
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return getSetpointEtb();
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case ETB_IdleValve:
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return getSetpointIdleValve();
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case ETB_Wastegate:
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return getSetpointWastegate();
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default:
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return unexpected;
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}
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}
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expected<percent_t> EtbController::getSetpointIdleValve() const {
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// VW ETB idle mode uses an ETB only for idle (a mini-ETB sets the lower stop, and a normal cable
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// can pull the throttle up off the stop.), so we directly control the throttle with the idle position.
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#if EFI_TUNER_STUDIO
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tsOutputChannels.etbTarget = m_idlePosition;
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#endif // EFI_TUNER_STUDIO
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return clampF(0, m_idlePosition, 100);
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}
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expected<percent_t> EtbController::getSetpointWastegate() const {
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// TODO: implement me!
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return unexpected;
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}
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expected<percent_t> EtbController::getSetpointEtb() const {
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// A few extra preconditions if throttle control is invalid
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if (startupPositionError) {
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return unexpected;
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}
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// VW ETB idle mode uses an ETB only for idle (a mini-ETB sets the lower stop, and a normal cable
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// can pull the throttle up off the stop.), so we directly control the throttle with the idle position.
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if (CONFIG(dcMotorIdleValve)) {
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#if EFI_TUNER_STUDIO
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tsOutputChannels.etbTarget = m_idlePosition;
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#endif // EFI_TUNER_STUDIO
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return clampF(0, m_idlePosition, 100);
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}
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// If the pedal map hasn't been set, we can't provide a setpoint.
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if (!m_pedalMap) {
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return unexpected;
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@ -236,7 +261,7 @@ expected<percent_t> EtbController::getSetpoint() const {
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percent_t targetPosition = interpolateClamped(0, etbIdleAddition, 100, 100, targetFromTable);
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#if EFI_TUNER_STUDIO
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if (m_myIndex == 0) {
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if (m_function == ETB_Throttle1) {
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tsOutputChannels.etbTarget = targetPosition;
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}
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#endif // EFI_TUNER_STUDIO
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@ -360,15 +385,17 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
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}
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// Only report the 0th throttle
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if (m_myIndex == 0) {
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if (m_function == ETB_Throttle1) {
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#if EFI_TUNER_STUDIO
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// Error is positive if the throttle needs to open further
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tsOutputChannels.etb1Error = target - observation;
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#endif /* EFI_TUNER_STUDIO */
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}
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// Only allow autotune with stopped engine
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if (GET_RPM() == 0 && engine->etbAutoTune) {
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// Only allow autotune with stopped engine, and on the first throttle
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if (GET_RPM() == 0
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&& engine->etbAutoTune
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&& m_function == ETB_Throttle1) {
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return getClosedLoopAutotune(observation);
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} else {
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// Normal case - use PID to compute closed loop part
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@ -379,7 +406,7 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
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void EtbController::setOutput(expected<percent_t> outputValue) {
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#if EFI_TUNER_STUDIO
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// Only report first-throttle stats
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if (m_myIndex == 0) {
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if (m_function == ETB_Throttle1) {
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tsOutputChannels.etb1DutyCycle = outputValue.value_or(0);
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}
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#endif
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@ -396,9 +423,14 @@ void EtbController::setOutput(expected<percent_t> outputValue) {
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}
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void EtbController::update() {
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// If we didn't get initialized, fail fast
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if (!m_motor) {
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return;
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}
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#if EFI_TUNER_STUDIO
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// Only debug throttle #0
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if (m_myIndex == 0) {
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// Only debug throttle #1
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if (m_function == ETB_Throttle1) {
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// set debug_mode 17
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if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
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m_pid.postState(&tsOutputChannels);
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@ -474,7 +506,10 @@ DISPLAY(DISPLAY_IF(1))
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}
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void EtbController::autoCalibrateTps() {
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m_isAutocal = true;
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// Only auto calibrate throttles
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if (m_function == ETB_Throttle1 || m_function == ETB_Throttle2) {
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m_isAutocal = true;
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}
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}
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#if !EFI_UNIT_TEST
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@ -500,14 +535,14 @@ struct EtbImpl final : public EtbController {
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return;
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}
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size_t myIndex = getMyIndex();
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auto myFunction = getFunction();
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// First grab open
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motor->set(0.5f);
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motor->enable();
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chThdSleepMilliseconds(1000);
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float primaryMax = Sensor::getRaw(indexToTpsSensorPrimary(myIndex)) * TPS_TS_CONVERSION;
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float secondaryMax = Sensor::getRaw(indexToTpsSensorSecondary(myIndex)) * TPS_TS_CONVERSION;
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float primaryMax = Sensor::getRaw(functionToTpsSensorPrimary(myFunction)) * TPS_TS_CONVERSION;
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float secondaryMax = Sensor::getRaw(functionToTpsSensorSecondary(myFunction)) * TPS_TS_CONVERSION;
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// Let it return
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motor->set(0);
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@ -516,24 +551,24 @@ struct EtbImpl final : public EtbController {
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// Now grab closed
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motor->set(-0.5f);
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chThdSleepMilliseconds(1000);
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float primaryMin = Sensor::getRaw(indexToTpsSensorPrimary(myIndex)) * TPS_TS_CONVERSION;
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float secondaryMin = Sensor::getRaw(indexToTpsSensorSecondary(myIndex)) * TPS_TS_CONVERSION;
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float primaryMin = Sensor::getRaw(functionToTpsSensorPrimary(myFunction)) * TPS_TS_CONVERSION;
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float secondaryMin = Sensor::getRaw(functionToTpsSensorSecondary(myFunction)) * TPS_TS_CONVERSION;
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// Finally disable and reset state
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motor->disable();
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// Write out the learned values to TS, waiting briefly after setting each to let TS grab it
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tsOutputChannels.calibrationMode = indexToCalModePriMax(myIndex);
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tsOutputChannels.calibrationMode = functionToCalModePriMax(myFunction);
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tsOutputChannels.calibrationValue = primaryMax;
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chThdSleepMilliseconds(500);
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tsOutputChannels.calibrationMode = indexToCalModePriMin(myIndex);
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tsOutputChannels.calibrationMode = functionToCalModePriMin(myFunction);
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tsOutputChannels.calibrationValue = primaryMin;
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chThdSleepMilliseconds(500);
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tsOutputChannels.calibrationMode = indexToCalModeSecMax(myIndex);
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tsOutputChannels.calibrationMode = functionToCalModeSecMax(myFunction);
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tsOutputChannels.calibrationValue = secondaryMax;
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chThdSleepMilliseconds(500);
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tsOutputChannels.calibrationMode = indexToCalModeSecMin(myIndex);
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tsOutputChannels.calibrationMode = functionToCalModeSecMin(myFunction);
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tsOutputChannels.calibrationValue = secondaryMin;
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chThdSleepMilliseconds(500);
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@ -787,18 +822,14 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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addConsoleActionI("etb_freq", setEtbFrequency);
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#endif /* EFI_PROD_CODE */
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// If you don't have a pedal (or VW idle valve mode), we have no business here.
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if (!CONFIG(dcMotorIdleValve) && !Sensor::hasSensor(SensorType::AcceleratorPedalPrimary)) {
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// If you don't have a pedal we have no business here.
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if (!Sensor::hasSensor(SensorType::AcceleratorPedalPrimary)) {
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return;
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}
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pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
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if (CONFIG(dcMotorIdleValve)) {
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engine->etbActualCount = 1;
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} else {
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engine->etbActualCount = Sensor::hasSensor(SensorType::Tps2) ? 2 : 1;
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}
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engine->etbActualCount = Sensor::hasSensor(SensorType::Tps2) ? 2 : 1;
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for (int i = 0 ; i < engine->etbActualCount; i++) {
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auto motor = initDcMotor(i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);
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@ -806,8 +837,10 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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// If this motor is actually set up, init the etb
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if (motor)
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{
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auto positionSensor = indexToTpsSensor(i, CONFIG(dcMotorIdleValve));
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engine->etbControllers[i]->init(positionSensor, motor, i, &engineConfiguration->etb, &pedal2tpsMap);
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// TODO: configure per-motor in config so wastegate/VW idle works
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auto func = i == 0 ? ETB_Throttle1 : ETB_Throttle2;
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engine->etbControllers[i]->init(func, motor, &engineConfiguration->etb, &pedal2tpsMap);
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INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
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}
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}
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@ -27,7 +27,10 @@ class Logging;
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class IEtbController : public ClosedLoopController<percent_t, percent_t> {
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public:
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DECLARE_ENGINE_PTR;
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virtual void init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
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// Initialize the throttle.
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// returns true if the throttle was initialized, false otherwise.
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virtual bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
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virtual void reset() = 0;
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virtual void setIdlePosition(percent_t pos) = 0;
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virtual void update() = 0;
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@ -36,7 +39,7 @@ public:
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class EtbController : public IEtbController {
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public:
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void init(SensorType positionSensor, DcMotor *motor, int ownIndex, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
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bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
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void setIdlePosition(percent_t pos) override;
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void reset() override;
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@ -52,7 +55,11 @@ public:
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// Helpers for individual parts of throttle control
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expected<percent_t> observePlant() const override;
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expected<percent_t> getSetpoint() const override;
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expected<percent_t> getSetpointEtb() const;
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expected<percent_t> getSetpointWastegate() const;
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expected<percent_t> getSetpointIdleValve() const;
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expected<percent_t> getOpenLoop(percent_t target) const override;
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expected<percent_t> getClosedLoop(percent_t setpoint, percent_t observation) override;
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@ -70,11 +77,11 @@ protected:
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// This is set if an automatic TPS calibration should be run
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bool m_isAutocal = false;
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int getMyIndex() const { return m_myIndex; }
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etb_function_e getFunction() const { return m_function; }
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DcMotor* getMotor() { return m_motor; }
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private:
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int m_myIndex = 0;
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etb_function_e m_function = ETB_None;
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SensorType m_positionSensor = SensorType::Invalid;
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DcMotor *m_motor = nullptr;
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Pid m_pid;
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@ -224,10 +224,6 @@ void applyIACposition(percent_t position DECLARE_ENGINE_PARAMETER_SUFFIX) {
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} else if (CONFIG(useStepperIdle)) {
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iacMotor.setTargetPosition(duty * engineConfiguration->idleStepperTotalSteps);
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#endif /* EFI_UNIT_TEST */
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} else if (CONFIG(dcMotorIdleValve)) {
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#if EFI_ELECTRONIC_THROTTLE_BODY
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setEtbIdlePosition(position PASS_ENGINE_PARAMETER_SUFFIX);
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#endif // EFI_ELECTRONIC_THROTTLE_BODY
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} else {
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if (!CONFIG(isDoubleSolenoidIdle)) {
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idleSolenoidOpen.setSimplePwmDutyCycle(duty);
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@ -997,3 +997,11 @@ typedef enum __attribute__ ((__packed__)) {
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AFR_AccPedal = 3,
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AFR_CylFilling = 4,
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} afr_override_e;
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typedef enum __attribute__ ((__packed__)) {
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ETB_None = 0,
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ETB_Throttle1 = 1,
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ETB_Throttle2 = 2,
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ETB_IdleValve = 3,
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ETB_Wastegate = 4,
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} etb_function_e;
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@ -895,7 +895,7 @@ custom maf_sensor_type_e 4 bits, S32, @OFFSET@, [0:1], @@maf_sensor_type_e_enum@
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bit enableInnovateLC2
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bit showHumanReadableWarning
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bit stftIgnoreErrorMagnitude;+If enabled, adjust at a constant rate instead of a rate proportional to the current lambda error. This mode may be easier to tune, and more tolerant of sensor noise. Use of this mode is required if you have a narrowband O2 sensor.;
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bit dcMotorIdleValve;+Used on some German vehicles around late 90s: cable-operated throttle and DC motor idle air valve.\nSet the primary TPS to the cable-operated throttle's sensor\nSet the secondary TPS to the mini ETB's position sensor(s).
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bit unused976b11;
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bit enableSoftwareKnock
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bit verboseVVTDecoding;enable vvt_details
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bit invertCamVVTSignal;get invertCamVVTSignal
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@ -3036,12 +3036,11 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
|
|||
|
||||
dialog = etbDialogLeft
|
||||
field = "https://rusefi.com/s/etb"
|
||||
field = "Late 90s German DC Motor idle", dcMotorIdleValve, { throttlePedalPositionAdcChannel == @@ADC_CHANNEL_NONE@@ }
|
||||
field = "Detailed status in console", isVerboseETB
|
||||
field = "Disable ETB Motor", pauseEtbControl
|
||||
; we need the term about stepper idle in here, because there's a bug in TS that you can't have different visibility
|
||||
; criteria for the same panel when used in multiple places
|
||||
panel = hbridgeHardware, { throttlePedalPositionAdcChannel != @@ADC_CHANNEL_NONE@@ || (useStepperIdle && useHbridges) || dcMotorIdleValve }
|
||||
panel = hbridgeHardware, { throttlePedalPositionAdcChannel != @@ADC_CHANNEL_NONE@@ || (useStepperIdle && useHbridges) }
|
||||
|
||||
dialog = etbAutotune, "PID Autotune"
|
||||
field = "First step: calibrate TPS and hit 'Burn'"
|
||||
|
|
@ -3057,7 +3056,7 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
|
|||
|
||||
dialog = etbDialogRight
|
||||
panel = etbIdleDialog, { throttlePedalPositionAdcChannel != @@ADC_CHANNEL_NONE@@ }
|
||||
panel = etbPidDialog, { (throttlePedalPositionAdcChannel != @@ADC_CHANNEL_NONE@@) || dcMotorIdleValve }
|
||||
panel = etbPidDialog, { (throttlePedalPositionAdcChannel != @@ADC_CHANNEL_NONE@@) }
|
||||
panel = etbAutotune
|
||||
|
||||
; Neutral position handling not yet implemented!
|
||||
|
|
|
|||
|
|
@ -13,7 +13,7 @@ public:
|
|||
// IEtbController mocks
|
||||
MOCK_METHOD(void, reset, (), ());
|
||||
MOCK_METHOD(void, update, (), (override));
|
||||
MOCK_METHOD(void, init, (SensorType positionSensor, DcMotor* motor, int ownIndex, pid_s* pidParameters, const ValueProvider3D* pedalMap), (override));
|
||||
MOCK_METHOD(bool, init, (etb_function_e function, DcMotor* motor, pid_s* pidParameters, const ValueProvider3D* pedalMap), (override));
|
||||
MOCK_METHOD(void, setIdlePosition, (percent_t pos), (override));
|
||||
MOCK_METHOD(void, autoCalibrateTps, (), (override));
|
||||
|
||||
|
|
|
|||
|
|
@ -45,8 +45,8 @@ TEST(etb, initializationSingleThrottle) {
|
|||
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
|
||||
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
|
||||
|
||||
// Expect mock0 to be init with TPS 1, index 0, and PID params
|
||||
EXPECT_CALL(mocks[0], init(SensorType::Tps1, _, 0, &engineConfiguration->etb, Ne(nullptr)));
|
||||
// Expect mock0 to be init as throttle 1, and PID params
|
||||
EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
|
||||
EXPECT_CALL(mocks[0], reset);
|
||||
|
||||
// We do not expect throttle #2 to be initialized
|
||||
|
|
@ -70,42 +70,27 @@ TEST(etb, initializationDualThrottle) {
|
|||
// The presence of a second TPS indicates dual throttle
|
||||
Sensor::setMockValue(SensorType::Tps2, 25.0f);
|
||||
|
||||
// Expect mock0 to be init with TPS 1, index 0, and PID params
|
||||
EXPECT_CALL(mocks[0], init(SensorType::Tps1, _, 0, &engineConfiguration->etb, Ne(nullptr)));
|
||||
// Expect mock0 to be init as throttle 1, and PID params
|
||||
EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
|
||||
EXPECT_CALL(mocks[0], reset);
|
||||
|
||||
// Expect mock1 to be init with TPS 2, index 1, and PID params
|
||||
EXPECT_CALL(mocks[1], init(SensorType::Tps2, _, 1, &engineConfiguration->etb, Ne(nullptr)));
|
||||
// Expect mock1 to be init as throttle 2, and PID params
|
||||
EXPECT_CALL(mocks[1], init(ETB_Throttle2, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
|
||||
EXPECT_CALL(mocks[1], reset);
|
||||
|
||||
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
|
||||
}
|
||||
|
||||
TEST(etb, initializationDcMotorIdleValveMode) {
|
||||
StrictMock<MockEtb> mocks[ETB_COUNT];
|
||||
TEST(etb, initializationNoFunction) {
|
||||
StrictMock<MockMotor> motor;
|
||||
|
||||
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
|
||||
EtbController dut;
|
||||
|
||||
// Enable VW idle mode
|
||||
engineConfiguration->dcMotorIdleValve = true;
|
||||
// When init called with ETB_None, should ignore the provided params and return false
|
||||
EXPECT_FALSE(dut.init(ETB_None, &motor, nullptr, nullptr));
|
||||
|
||||
for (int i = 0; i < ETB_COUNT; i++) {
|
||||
engine->etbControllers[i] = &mocks[i];
|
||||
EXPECT_CALL(mocks[i], setIdlePosition(33.0f));
|
||||
}
|
||||
|
||||
// No accelerator pedal configured - this mode doesn't use it
|
||||
|
||||
// Expect mock0 to be init with TPS 2, index 0, and PID params
|
||||
EXPECT_CALL(mocks[0], init(SensorType::Tps2, _, 0, &engineConfiguration->etb, Ne(nullptr)));
|
||||
EXPECT_CALL(mocks[0], reset);
|
||||
|
||||
// We do not expect throttle #2 to be initialized
|
||||
|
||||
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
|
||||
|
||||
|
||||
applyIACposition(33.0f PASS_ENGINE_PARAMETER_SUFFIX);
|
||||
// This should no-op, it shouldn't call motor.set(float duty)
|
||||
dut.setOutput(0.5f);
|
||||
}
|
||||
|
||||
TEST(etb, idlePlumbing) {
|
||||
|
|
@ -144,7 +129,7 @@ TEST(etb, testSetpointOnlyPedal) {
|
|||
// Uninitialized ETB must return unexpected (and not deference a null pointer)
|
||||
EXPECT_EQ(etb.getSetpoint(), unexpected);
|
||||
|
||||
etb.init(SensorType::Invalid, nullptr, 0, nullptr, &pedalMap);
|
||||
etb.init(ETB_Throttle1, nullptr, nullptr, &pedalMap);
|
||||
|
||||
// Check endpoints and midpoint
|
||||
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
|
||||
|
|
@ -194,7 +179,7 @@ TEST(etb, setpointIdle) {
|
|||
.WillRepeatedly([](float xRpm, float y) {
|
||||
return y;
|
||||
});
|
||||
etb.init(SensorType::Invalid, nullptr, 0, nullptr, &pedalMap);
|
||||
etb.init(ETB_Throttle1, nullptr, nullptr, &pedalMap);
|
||||
|
||||
// No idle range, should just pass pedal
|
||||
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
|
||||
|
|
@ -231,14 +216,10 @@ TEST(etb, setpointIdle) {
|
|||
EXPECT_FLOAT_EQ(55, etb.getSetpoint().value_or(-1));
|
||||
}
|
||||
|
||||
TEST(etb, idleVolkswagenMode) {
|
||||
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
|
||||
|
||||
// In this mode the idle position should be passed thru as the setpoint directly
|
||||
engineConfiguration->dcMotorIdleValve = true;
|
||||
|
||||
TEST(etb, setpointIdleValveController) {
|
||||
EtbController etb;
|
||||
INJECT_ENGINE_REFERENCE(&etb);
|
||||
|
||||
etb.init(ETB_IdleValve, nullptr, nullptr, nullptr);
|
||||
|
||||
etb.setIdlePosition(0);
|
||||
EXPECT_FLOAT_EQ(0, etb.getSetpoint().value_or(-1));
|
||||
|
|
@ -258,20 +239,36 @@ TEST(etb, etbTpsSensor) {
|
|||
// Throw some distinct values on the TPS sensors so we can identify that we're getting the correct one
|
||||
Sensor::setMockValue(SensorType::Tps1, 25.0f);
|
||||
Sensor::setMockValue(SensorType::Tps2, 75.0f);
|
||||
Sensor::setMockValue(SensorType::WastegatePosition, 33.0f);
|
||||
Sensor::setMockValue(SensorType::IdlePosition, 66.0f);
|
||||
|
||||
// Test first throttle
|
||||
{
|
||||
EtbController etb;
|
||||
etb.init(SensorType::Tps1, nullptr, 0, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle1, nullptr, nullptr, nullptr);
|
||||
EXPECT_EQ(etb.observePlant().Value, 25.0f);
|
||||
}
|
||||
|
||||
// Test second throttle
|
||||
{
|
||||
EtbController etb;
|
||||
etb.init(SensorType::Tps2, nullptr, 1, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle2, nullptr, nullptr, nullptr);
|
||||
EXPECT_EQ(etb.observePlant().Value, 75.0f);
|
||||
}
|
||||
|
||||
// Test wastegate control
|
||||
{
|
||||
EtbController etb;
|
||||
etb.init(ETB_Wastegate, nullptr, nullptr, nullptr);
|
||||
EXPECT_EQ(etb.observePlant().Value, 33.0f);
|
||||
}
|
||||
|
||||
// Test idle valve control
|
||||
{
|
||||
EtbController etb;
|
||||
etb.init(ETB_IdleValve, nullptr, nullptr, nullptr);
|
||||
EXPECT_EQ(etb.observePlant().Value, 66.0f);
|
||||
}
|
||||
}
|
||||
|
||||
TEST(etb, setOutputInvalid) {
|
||||
|
|
@ -281,7 +278,7 @@ TEST(etb, setOutputInvalid) {
|
|||
|
||||
EtbController etb;
|
||||
INJECT_ENGINE_REFERENCE(&etb);
|
||||
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle1, &motor, nullptr, nullptr);
|
||||
|
||||
// Should be disabled in case of unexpected
|
||||
EXPECT_CALL(motor, disable());
|
||||
|
|
@ -295,7 +292,7 @@ TEST(etb, setOutputValid) {
|
|||
|
||||
EtbController etb;
|
||||
INJECT_ENGINE_REFERENCE(&etb);
|
||||
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle1, &motor, nullptr, nullptr);
|
||||
|
||||
// Should be enabled and value set
|
||||
EXPECT_CALL(motor, enable());
|
||||
|
|
@ -311,7 +308,7 @@ TEST(etb, setOutputValid2) {
|
|||
|
||||
EtbController etb;
|
||||
INJECT_ENGINE_REFERENCE(&etb);
|
||||
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle1, &motor, nullptr, nullptr);
|
||||
|
||||
// Should be enabled and value set
|
||||
EXPECT_CALL(motor, enable());
|
||||
|
|
@ -327,7 +324,7 @@ TEST(etb, setOutputOutOfRangeHigh) {
|
|||
|
||||
EtbController etb;
|
||||
INJECT_ENGINE_REFERENCE(&etb);
|
||||
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle1, &motor, nullptr, nullptr);
|
||||
|
||||
// Should be enabled and value set
|
||||
EXPECT_CALL(motor, enable());
|
||||
|
|
@ -343,7 +340,7 @@ TEST(etb, setOutputOutOfRangeLow) {
|
|||
|
||||
EtbController etb;
|
||||
INJECT_ENGINE_REFERENCE(&etb);
|
||||
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle1, &motor, nullptr, nullptr);
|
||||
|
||||
// Should be enabled and value set
|
||||
EXPECT_CALL(motor, enable());
|
||||
|
|
@ -359,7 +356,7 @@ TEST(etb, setOutputPauseControl) {
|
|||
|
||||
EtbController etb;
|
||||
INJECT_ENGINE_REFERENCE(&etb);
|
||||
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
|
||||
etb.init(ETB_Throttle1, &motor, nullptr, nullptr);
|
||||
|
||||
// Pause control - should get no output
|
||||
engineConfiguration->pauseEtbControl = true;
|
||||
|
|
@ -377,7 +374,7 @@ TEST(etb, closedLoopPid) {
|
|||
pid.minValue = -60;
|
||||
|
||||
EtbController etb;
|
||||
etb.init(SensorType::Invalid, nullptr, 0, &pid, nullptr);
|
||||
etb.init(ETB_Throttle1, nullptr, &pid, nullptr);
|
||||
|
||||
// Disable autotune for now
|
||||
Engine e;
|
||||
|
|
|
|||
Loading…
Reference in New Issue