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steps towards dual ETB

This commit is contained in:
rusEfi 2019-11-21 00:49:38 -05:00
parent c6be861de2
commit f9ccaf5f01
4 changed files with 56 additions and 21 deletions
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2
firmware/config/engines/bmw_m73.cpp
View File

@ -162,6 +162,8 @@ GPIOA_6
boardConfiguration->etb1.directionPin2 = GPIOC_8;
CONFIG(etb1_use_two_wires) = true;
CONFIG(etb2_use_two_wires) = true;
boardConfiguration->injectionPins[0] = GPIO_UNASSIGNED;
boardConfiguration->injectionPins[1] = GPIO_UNASSIGNED;

67
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -170,7 +170,9 @@ public:
}
};
static EtbControl etb1;
#define ETB_COUNT 2
static EtbControl etbControls[ETB_COUNT];
extern percent_t mockPedalPosition;
@ -183,6 +185,10 @@ 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))
EtbController::EtbController(EtbControl *etb) {
this->etb = etb;
}
int EtbController::getPeriodMs() {
return GET_PERIOD_LIMITED(&engineConfiguration->etb);
@ -203,7 +209,7 @@ static percent_t currentEtbDuty;
}
if (startupPositionError) {
etb1.dcMotor.Set(0);
etb->dcMotor.Set(0);
return;
}
@ -213,12 +219,12 @@ static percent_t currentEtbDuty;
}
if (!cisnan(directPwmValue)) {
etb1.dcMotor.Set(directPwmValue);
etb->dcMotor.Set(directPwmValue);
return;
}
if (boardConfiguration->pauseEtbControl) {
etb1.dcMotor.Set(0);
etb->dcMotor.Set(0);
return;
}
@ -235,7 +241,7 @@ static percent_t currentEtbDuty;
autoTune.output,
value);
scheduleMsg(&logger, "AT PID=%f", value);
etb1.dcMotor.Set(ETB_PERCENT_TO_DUTY(value));
etb->dcMotor.Set(ETB_PERCENT_TO_DUTY(value));
if (result) {
scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
@ -267,7 +273,7 @@ static percent_t currentEtbDuty;
currentEtbDuty = engine->engineState.etbFeedForward +
etbPid.getOutput(targetPosition, actualThrottlePosition);
etb1.dcMotor.Set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
etb->dcMotor.Set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
if (engineConfiguration->isVerboseETB) {
etbPid.showPidStatus(&logger, "ETB");
@ -324,7 +330,7 @@ DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
#endif /* EFI_TUNER_STUDIO */
}
EtbController etbController;
EtbController etbController(&etbControls[0]);
/**
* set_etb_duty X
@ -339,7 +345,9 @@ void setThrottleDutyCycle(percent_t level) {
float dc = ETB_PERCENT_TO_DUTY(level);
directPwmValue = dc;
etb1.dcMotor.Set(dc);
for (int i = 0 ; i < ETB_COUNT; i++) {
etbControls[i].dcMotor.Set(dc);
}
scheduleMsg(&logger, "duty ETB duty=%f", dc);
}
@ -357,7 +365,7 @@ static void showEthInfo(void) {
getPinNameByAdcChannel("tPedal", engineConfiguration->throttlePedalPositionAdcChannel, pinNameBuffer));
scheduleMsg(&logger, "TPS=%.2f", getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
scheduleMsg(&logger, "dir=%d DC=%f", etb1.dcMotor.isOpenDirection(), etb1.dcMotor.Get());
scheduleMsg(&logger, "etbControlPin1=%s duty=%.2f freq=%d",
hwPortname(CONFIGB(etb1.controlPin1)),
@ -365,6 +373,13 @@ static void showEthInfo(void) {
engineConfiguration->etbFreq);
scheduleMsg(&logger, "dir1=%s", hwPortname(CONFIGB(etb1.directionPin1)));
scheduleMsg(&logger, "dir2=%s", hwPortname(CONFIGB(etb1.directionPin2)));
for (int i = 0 ; i < ETB_COUNT; i++) {
EtbControl *etb = &etbControls[i];
scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.Get());
}
etbPid.showPidStatus(&logger, "ETB");
#endif /* EFI_PROD_CODE */
}
@ -374,13 +389,17 @@ static void showEthInfo(void) {
static void setEtbFrequency(int frequency) {
engineConfiguration->etbFreq = frequency;
etb1.setFrequency(frequency);
for (int i = 0 ; i < ETB_COUNT; i++) {
etbControls[i].setFrequency(frequency);
}
}
static void etbReset() {
scheduleMsg(&logger, "etbReset");
etb1.dcMotor.Set(0);
for (int i = 0 ; i < ETB_COUNT; i++) {
etbControls[i].dcMotor.Set(0);
}
etbPid.reset();
mockPedalPosition = MOCK_UNDEFINED;
@ -514,7 +533,7 @@ void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *pre
void startETBPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
// controlPinMode is a strange feature - it's simply because I am short on 5v I/O on Frankenso with Miata NB2 test mule
etb1.start(
etbControls[0].start(
CONFIG(etb1_use_two_wires),
CONFIGB(etb1.controlPin1),
&CONFIGB(etb1.controlPinMode),
@ -590,7 +609,9 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
etbPid.initPidClass(&engineConfiguration->etb);
INJECT_ENGINE_REFERENCE(etb1);
for (int i = 0 ; i < ETB_COUNT; i++) {
INJECT_ENGINE_REFERENCE(etbControls[i]);
}
INJECT_ENGINE_REFERENCE(etbController);
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
@ -621,12 +642,20 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
#if EFI_PROD_CODE
if (engineConfiguration->etbCalibrationOnStart) {
etb1.dcMotor.Set(70);
chThdSleep(600);
grabTPSIsWideOpen();
etb1.dcMotor.Set(-70);
chThdSleep(600);
grabTPSIsClosed();
for (int i = 0 ; i < ETB_COUNT; i++) {
EtbControl *etb = &etbControls[i];
etb->dcMotor.Set(70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsWideOpen();
etb->dcMotor.Set(-70);
chThdSleep(600);
// todo: grab with proper index
grabTPSIsClosed();
}
}
// manual duty cycle control without PID. Percent value from 0 to 100

4
firmware/controllers/actuators/electronic_throttle.h
View File

@ -14,9 +14,13 @@
#include "engine.h"
#include "periodic_task.h"
class EtbControl;
class EtbController : public PeriodicTimerController {
public:
DECLARE_ENGINE_PTR;
EtbController(EtbControl *etb);
EtbControl *etb = nullptr;
int getPeriodMs() override;
void PeriodicTask() override;

4
firmware/controllers/engine_controller.cpp
View File

@ -797,7 +797,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
// help to notice when RAM usage goes up - if a code change adds to RAM usage these variables would fail
// linking process which is the way to raise the alarm
#ifndef RAM_UNUSED_SIZE
#define RAM_UNUSED_SIZE 3000
#define RAM_UNUSED_SIZE 2500
#endif
#ifndef CCM_UNUSED_SIZE
#define CCM_UNUSED_SIZE 4600
@ -818,6 +818,6 @@ int getRusEfiVersion(void) {
if (initBootloader() != 0)
return 123;
#endif /* EFI_BOOTLOADER_INCLUDE_CODE */
return 20191117;
return 20191120;
}
#endif /* EFI_UNIT_TEST */