TPS Auto Calibration with ETB (#1382)

* switch to thread

* actually use default frequency define

* crank ADC too

* make space in RAM

* remove TS field

* this should work for test

* auto cal

* wire up bench testing

* s

* fix

* rearrange a bit

* inject

* remove unused bit

* mock repair

* guard for ECUs without ETB

firmware/controllers/actuators/electronic_throttle.cpp

@@ -326,12 +326,12 @@ void EtbController::update(efitick_t nowNt) {
 		return;
 	}
 
-	if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
 #if EFI_TUNER_STUDIO
+	if (engineConfiguration->debugMode == DBG_ETB_LOGIC) {
 		tsOutputChannels.debugFloatField1 = engine->engineState.targetFromTable;
 		tsOutputChannels.debugFloatField2 = engine->engineState.idle.etbIdleAddition;
-#endif /* EFI_TUNER_STUDIO */
 	}
+#endif
 
 	m_pid.iTermMin = engineConfiguration->etb_iTermMin;
 	m_pid.iTermMax = engineConfiguration->etb_iTermMax;
@@ -383,6 +383,10 @@ void EtbController::update(efitick_t nowNt) {
 /* DISPLAY_ENDIF */
 }
 
+void EtbController::autoCalibrateTps() {
+	m_isAutocal = true;
+}
+
 #if !EFI_UNIT_TEST
 /**
  * Things running on a timer (instead of a thread) don't participate it the RTOS's thread priority system,
@@ -394,6 +398,52 @@ struct EtbImpl final : public EtbController, public PeriodicController<512> {
 	EtbImpl() : PeriodicController("ETB", NORMALPRIO + 3, ETB_LOOP_FREQUENCY) {}
 
 	void PeriodicTask(efitick_t nowNt) override {
+
+#if EFI_TUNER_STUDIO
+	if (m_isAutocal) {
+		// Don't allow if engine is running!
+		if (GET_RPM() > 0) {
+			m_isAutocal = false;
+			return;
+		}
+
+		auto motor = getMotor();
+		if (!motor) {
+			m_isAutocal = false;
+			return;
+		}
+
+		size_t myIndex = getMyIndex();
+
+		// First grab open
+		motor->set(0.5f);
+		motor->enable();
+		chThdSleepMilliseconds(1000);
+		tsOutputChannels.calibrationMode = TsCalMode::Tps1Max;
+		tsOutputChannels.calibrationValue = Sensor::getRaw(indexToTpsSensor(myIndex)) * TPS_TS_CONVERSION;
+
+		// Let it return
+		motor->set(0);
+		chThdSleepMilliseconds(200);
+
+		// Now grab closed
+		motor->set(-0.5f);
+		chThdSleepMilliseconds(1000);
+		tsOutputChannels.calibrationMode = TsCalMode::Tps1Min;
+		tsOutputChannels.calibrationValue = Sensor::getRaw(indexToTpsSensor(myIndex)) * TPS_TS_CONVERSION;
+
+		// Finally disable and reset state
+		motor->disable();
+
+		// Wait to let TS grab the state before we leave cal mode
+		chThdSleepMilliseconds(500);
+		tsOutputChannels.calibrationMode = TsCalMode::None;
+
+		m_isAutocal = false;
+		return;
+	}
+#endif /* EFI_TUNER_STUDIO */
+
 		EtbController::update(nowNt);
 	}
 
@@ -515,7 +565,19 @@ void setEtbOffset(int value) {
 	showEthInfo();
 }
 
-#endif /* EFI_UNIT_TEST */
+void etbAutocal(size_t throttleIndex) {
+	if (throttleIndex >= ETB_COUNT) {
+		return;
+	}
+
+	auto etb = engine->etbControllers[throttleIndex];
+
+	if (etb) {
+		etb->autoCalibrateTps();
+	}
+}
+
+#endif /* !EFI_UNIT_TEST */
 
 /**
  * This specific throttle has default position of about 7% open
@@ -643,25 +705,6 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	}
 #endif /* EFI_UNIT_TEST */
 
-#if EFI_PROD_CODE
-	if (engineConfiguration->etbCalibrationOnStart) {
-
-		for (int i = 0 ; i < engine->etbActualCount; i++) {
-			setDcMotorDuty(i, 70);
-			chThdSleep(600);
-			// todo: grab with proper index
-			grabTPSIsWideOpen();
-			setDcMotorDuty(i, -70);
-			chThdSleep(600);
-			// todo: grab with proper index
-			grabTPSIsClosed();
-		}
-	}
-
-	// manual duty cycle control without PID. Percent value from 0 to 100
-	addConsoleActionNANF(CMD_ETB_DUTY, setThrottleDutyCycle);
-#endif /* EFI_PROD_CODE */
-
 	etbPidReset(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	for (int i = 0 ; i < engine->etbActualCount; i++) {

firmware/controllers/actuators/electronic_throttle.h

@@ -30,6 +30,7 @@ public:
 	virtual void reset() = 0;
 	virtual void setIdlePosition(percent_t pos) = 0;
 	virtual void start() = 0;
+	virtual void autoCalibrateTps() = 0;
 };
 
 class EtbController : public IEtbController {
@@ -61,6 +62,16 @@ public:
 	// 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;
+
+	int getMyIndex() const { return m_myIndex; }
+	DcMotor* getMotor() { return m_motor; }
+
 private:
 	int m_myIndex = 0;
 	DcMotor *m_motor = nullptr;
@@ -95,3 +106,5 @@ void setEtbOffset(int value);
 void setThrottleDutyCycle(percent_t level);
 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration);
 void unregisterEtbPins();
+
+void etbAutocal(size_t throttleIndex);

firmware/controllers/bench_test.cpp

@@ -37,6 +37,7 @@
 #include "idle_thread.h"
 #include "periodic_thread_controller.h"
 #include "tps.h"
+#include "electronic_throttle.h"
 #include "cj125.h"
 #include "malfunction_central.h"
 
@@ -264,6 +265,11 @@ static void handleCommandX14(uint16_t index) {
 	case 0xD:
 		engine->directSelfStimulation = true;
 		return;
+#if EFI_ELECTRONIC_THROTTLE_BODY
+	case 0xE:
+		etbAutocal(0);
+		return;
+#endif
 	}
 }
 

firmware/integration/rusefi_config.txt

@@ -944,7 +944,7 @@ bit useFixedBaroCorrFromMap
 bit useSeparateAdvanceForCranking;+This activates a separate advance table for cranking conditions, this allows cranking advance to be RPM dependant.
 bit useAdvanceCorrectionsForCranking;+This enables the various ignition corrections during cranking (IAT, CLT, FSIO and PID idle).
 bit useTPSAdvanceTable;+This flag allows to use TPS for ignition lookup while in Speed Density Fuel Mode
-bit etbCalibrationOnStart
+bit unused1476b20;
 bit useIacPidMultTable;+This flag allows to use a special 'PID Multiplier' table (0.0-1.0) to compensate for nonlinear nature of IAC-RPM controller
 bit isBoostControlEnabled;
 bit launchSmoothRetard;+Interpolates the Ignition Retard from 0 to 100% within the RPM Range

firmware/tunerstudio/rusefi.input

@@ -412,6 +412,8 @@ fileVersion = { @@TS_FILE_VERSION@@ }
      ; defaultValue = constantName, value;
     defaultValue = wueAfrTargetOffset, -1.5 -1.4 -1.15 -0.95 -0.775 -0.65 -0.5625 -0.5 -0.4375 -0.375 -0.3125 -0.25 -0.1875 -0.125 -0.0625 0
 
+	maintainConstantValue = tpsMax, { (calibrationMode == 1 ) ? calibrationValue : tpsMax }
+	maintainConstantValue = tpsMin, { (calibrationMode == 2 ) ? calibrationValue : tpsMin }
 
      requiresPowerCycle = warningLedPin
      requiresPowerCycle = runningLedPin
@@ -1500,6 +1502,7 @@ cmd_write_config     		 = "w\x00\x14\x00\x0A"
 cmd_test_starter_relay     	 = "w\x00\x14\x00\x0B"
 cmd_etb_autotune             = "w\x00\x14\x00\x0C"
 cmd_enable_self_stim         = "w\x00\x14\x00\x0D"
+cmb_etb_auto_calibrate       = "w\x00\x14\x00\x0E"
 
 cmd_test_radiator_fan        = "w\x00\x15\x00\x01"
 cmd_test_check_engine_light  = "w\x00\x16\x00\x01"
@@ -2794,7 +2797,6 @@ cmd_set_engine_type_default					= "w\x00\x31\x00\x00"
 		field = "https://rusefi.com/s/etb"
 		field = "Detailed status in console",			isVerboseETB
 		field = "Disable ETB Motor",					pauseEtbControl
-		field = etbCalibrationOnStart,					etbCalibrationOnStart
 		; 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 != 16 || useStepperIdle && useHbridges  }
@@ -2803,6 +2805,7 @@ cmd_set_engine_type_default					= "w\x00\x31\x00\x00"
 		field = "!Set debug mode below to 'ETB Autotune' to show results"
 		field = "Debug mode",							debugMode
 		commandButton = "ETB PID Autotune", cmd_etb_autotune
+		commandButton = "Auto Calibrate TPS", cmb_etb_auto_calibrate
 
 	dialog = etbDialogRight
 		panel = etbIdleDialog

unit_tests/mocks.h

@@ -12,6 +12,7 @@ public:
 	MOCK_METHOD(void, start, (), (override));
 	MOCK_METHOD(void, init, (DcMotor* motor, int ownIndex, pid_s* pidParameters, const ValueProvider3D* pedalMap), (override));
 	MOCK_METHOD(void, setIdlePosition, (percent_t pos), (override));
+	MOCK_METHOD(void, autoCalibrateTps, (), (override));
 
 	// ClosedLoopController mocks
 	MOCK_METHOD(expected<percent_t>, getSetpoint, (), (const, override));