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Revert "Split ETB in to interface + implementation headers (#2040)" 

This reverts commit d9a82c09
This commit is contained in:
rusefi 2020-12-07 01:11:19 -05:00
parent d9a82c09af
commit 4f4bb95770
6 changed files with 104 additions and 128 deletions
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2
firmware/console/binary/tunerstudio.cpp
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@ -262,7 +262,7 @@ static const void * getStructAddr(int structId) {
return static_cast<trigger_state_s*>(&engine->triggerCentral.triggerState);
#if EFI_ELECTRONIC_THROTTLE_BODY
case LDS_ETB_PID_STATE_INDEX:
return engine->etbControllers[0]->getPidState();
return static_cast<EtbController*>(engine->etbControllers[0])->getPidState();
#endif /* EFI_ELECTRONIC_THROTTLE_BODY */
#ifndef EFI_IDLE_CONTROL

3
firmware/controllers/actuators/electronic_throttle.cpp
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@ -75,8 +75,7 @@
#if EFI_ELECTRONIC_THROTTLE_BODY
#include "electronic_throttle_impl.h"
#include "engine.h"
#include "electronic_throttle.h"
#include "tps.h"
#include "sensor.h"
#include "dc_motor.h"

124
firmware/controllers/actuators/electronic_throttle.h
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@ -7,9 +7,108 @@
#pragma once
#include "engine_ptr.h"
/**
* Hard code ETB update speed.
* Since this is a safety critical system with no real reason for a user to ever need to change the update rate,
* it's locked to 500hz, along with the ADC.
* https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theorem
*/
#define ETB_LOOP_FREQUENCY 500
#define DEFAULT_ETB_PWM_FREQUENCY 800
#include "engine.h"
#include "closed_loop_controller.h"
#include "rusefi_types.h"
#include "expected.h"
#include "sensor.h"
class DcMotor;
class Logging;
class IEtbController : public ClosedLoopController<percent_t, percent_t> {
public:
DECLARE_ENGINE_PTR;
// Initialize the throttle.
// returns true if the throttle was initialized, false otherwise.
virtual bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
virtual void reset() = 0;
virtual void setIdlePosition(percent_t pos) = 0;
virtual void setWastegatePosition(percent_t pos) = 0;
virtual void update() = 0;
virtual void autoCalibrateTps() = 0;
};
class EtbController : public IEtbController {
public:
bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
void setIdlePosition(percent_t pos) override;
void setWastegatePosition(percent_t pos) override;
void reset() override;
// Update the controller's state: read sensors, send output, etc
void update();
// Called when the configuration may have changed. Controller will
// reset if necessary.
void onConfigurationChange(pid_s* previousConfiguration);
// Print this throttle's status.
void showStatus(Logging* logger);
// Helpers for individual parts of throttle control
expected<percent_t> observePlant() const override;
expected<percent_t> getSetpoint() const override;
expected<percent_t> getSetpointEtb() const;
expected<percent_t> getSetpointWastegate() const;
expected<percent_t> getSetpointIdleValve() const;
expected<percent_t> getOpenLoop(percent_t target) const override;
expected<percent_t> getClosedLoop(percent_t setpoint, percent_t observation) override;
expected<percent_t> getClosedLoopAutotune(percent_t actualThrottlePosition);
void setOutput(expected<percent_t> outputValue) override;
// Used to inspect the internal PID controller's state
const pid_state_s* getPidState() const { return &m_pid; };
// Use the throttle to automatically calibrate the relevant throttle position sensor(s).
void autoCalibrateTps() override;
protected:
// This is set if an automatic TPS calibration should be run
bool m_isAutocal = false;
etb_function_e getFunction() const { return m_function; }
DcMotor* getMotor() { return m_motor; }
private:
etb_function_e m_function = ETB_None;
SensorType m_positionSensor = SensorType::Invalid;
DcMotor *m_motor = nullptr;
Pid m_pid;
bool m_shouldResetPid = false;
// Pedal -> target map
const ValueProvider3D* m_pedalMap = nullptr;
float m_idlePosition = 0;
float m_wastegatePosition = 0;
// Autotune helpers
bool m_lastIsPositive = false;
efitick_t m_cycleStartTime = 0;
float m_minCycleTps = 0;
float m_maxCycleTps = 0;
// Autotune measured parameters: gain and ultimate period
// These are set to correct order of magnitude starting points
// so we converge more quickly on the correct values
float m_a = 8;
float m_tu = 0.1f;
uint8_t m_autotuneCounter = 0;
uint8_t m_autotuneCurrentParam = 0;
};
void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
@ -29,24 +128,3 @@ void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *pre
void unregisterEtbPins();
void etbAutocal(size_t throttleIndex);
class DcMotor;
struct pid_s;
class ValueProvider3D;
struct pid_state_s;
class IEtbController : public ClosedLoopController<percent_t, percent_t> {
public:
DECLARE_ENGINE_PTR;
// Initialize the throttle.
// returns true if the throttle was initialized, false otherwise.
virtual bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) = 0;
virtual void reset() = 0;
virtual void setIdlePosition(percent_t pos) = 0;
virtual void setWastegatePosition(percent_t pos) = 0;
virtual void update() = 0;
virtual void autoCalibrateTps() = 0;
virtual const pid_state_s* getPidState() const = 0;
};

97
firmware/controllers/actuators/electronic_throttle_impl.h
View File

@ -1,97 +0,0 @@
/**
* @file electronic_throttle_impl.h
*
* @date Dec 7, 2013
* @author Andrey Belomutskiy, (c) 2012-2020
*/
#pragma once
// include the "public" ETB interface
#include "electronic_throttle.h"
#include "sensor.h"
#include "pid.h"
/**
* Hard code ETB update speed.
* Since this is a safety critical system with no real reason for a user to ever need to change the update rate,
* it's locked to 500hz, along with the ADC.
* https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theorem
*/
#define ETB_LOOP_FREQUENCY 500
#define DEFAULT_ETB_PWM_FREQUENCY 800
class Logging;
class EtbController : public IEtbController {
public:
bool init(etb_function_e function, DcMotor *motor, pid_s *pidParameters, const ValueProvider3D* pedalMap) override;
void setIdlePosition(percent_t pos) override;
void setWastegatePosition(percent_t pos) override;
void reset() override;
// Update the controller's state: read sensors, send output, etc
void update();
// Called when the configuration may have changed. Controller will
// reset if necessary.
void onConfigurationChange(pid_s* previousConfiguration);
// Print this throttle's status.
void showStatus(Logging* logger);
// Helpers for individual parts of throttle control
expected<percent_t> observePlant() const override;
expected<percent_t> getSetpoint() const override;
expected<percent_t> getSetpointEtb() const;
expected<percent_t> getSetpointWastegate() const;
expected<percent_t> getSetpointIdleValve() const;
expected<percent_t> getOpenLoop(percent_t target) const override;
expected<percent_t> getClosedLoop(percent_t setpoint, percent_t observation) override;
expected<percent_t> getClosedLoopAutotune(percent_t actualThrottlePosition);
void setOutput(expected<percent_t> outputValue) override;
// Used to inspect the internal PID controller's state
const pid_state_s* getPidState() const override { return &m_pid; };
// Use the throttle to automatically calibrate the relevant throttle position sensor(s).
void autoCalibrateTps() override;
protected:
// This is set if an automatic TPS calibration should be run
bool m_isAutocal = false;
etb_function_e getFunction() const { return m_function; }
DcMotor* getMotor() { return m_motor; }
private:
etb_function_e m_function = ETB_None;
SensorType m_positionSensor = SensorType::Invalid;
DcMotor *m_motor = nullptr;
Pid m_pid;
bool m_shouldResetPid = false;
// Pedal -> target map
const ValueProvider3D* m_pedalMap = nullptr;
float m_idlePosition = 0;
float m_wastegatePosition = 0;
// Autotune helpers
bool m_lastIsPositive = false;
efitick_t m_cycleStartTime = 0;
float m_minCycleTps = 0;
float m_maxCycleTps = 0;
// Autotune measured parameters: gain and ultimate period
// These are set to correct order of magnitude starting points
// so we converge more quickly on the correct values
float m_a = 8;
float m_tu = 0.1f;
uint8_t m_autotuneCounter = 0;
uint8_t m_autotuneCurrentParam = 0;
};

1
unit_tests/mocks.h
View File

@ -17,7 +17,6 @@ public:
MOCK_METHOD(void, setIdlePosition, (percent_t pos), (override));
MOCK_METHOD(void, setWastegatePosition, (percent_t pos), (override));
MOCK_METHOD(void, autoCalibrateTps, (), (override));
MOCK_METHOD(const pid_state_s*, getPidState, (), (const, override));
// ClosedLoopController mocks
MOCK_METHOD(expected<percent_t>, getSetpoint, (), (const, override));

5
unit_tests/tests/test_etb.cpp
View File

@ -6,7 +6,7 @@
*/
#include "engine_test_helper.h"
#include "electronic_throttle_impl.h"
#include "electronic_throttle.h"
#include "dc_motor.h"
#include "engine_controller.h"
#include "sensor.h"
@ -313,9 +313,6 @@ TEST(etb, setpointIdle) {
TEST(etb, setpointNoPedalMap) {
EtbController etb;
// Must have TPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
// Don't pass a pedal map
etb.init(ETB_Throttle1, nullptr, nullptr, nullptr);