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ETB

This commit is contained in:
rusEfi 2019-02-27 17:54:25 -05:00
parent 56e354e906
commit d1da63ecac
2 changed files with 19 additions and 7 deletions
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8
firmware/config/engines/custom_engine.cpp
View File

@ -270,14 +270,20 @@ void setEtbTestConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
/**
* remember that some H-bridges require 5v control lines, not just 3v logic outputs we have on stm32
*/
CONFIGB(etbDirectionPin1) = GPIOC_7;
CONFIGB(etbDirectionPin2) = GPIOC_9;
CONFIGB(etbControlPin1) = GPIOE_14;
#if EFI_PROD_CODE || defined(__DOXYGEN__)
setDefaultEtbParameters(PASS_ENGINE_PARAMETER_SIGNATURE);
engineConfiguration->etb.minValue = -100;
engineConfiguration->etb.maxValue = 100;
#endif
engineConfiguration->tpsAdcChannel = EFI_ADC_2; // PA2
engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_9; // PB1
engineConfiguration->debugMode = DBG_ELECTRONIC_THROTTLE_PID;
}
#endif /* CONFIG_ENGINES_CUSTOM_ENGINE_CPP_ */

18
firmware/controllers/electronic_throttle.cpp
View File

@ -70,6 +70,7 @@
#if EFI_ELECTRONIC_THROTTLE_BODY || defined(__DOXYGEN__)
#include "pin_repository.h"
#include "pwm_generator.h"
#include "DcMotor.h"
#include "pid_auto_tune.h"
#if EFI_TUNER_STUDIO || defined(__DOXYGEN__)
extern TunerStudioOutputChannels tsOutputChannels;
@ -93,6 +94,8 @@ CCM_OPTIONAL static SimplePwm etbPwmDown("etbDown");
/*CCM_OPTIONAL*/ static OutputPin outputDirectionOpen;
/*CCM_OPTIONAL*/ static OutputPin outputDirectionClose;
static TwoPinDcMotor dcMotor(&etbPwmUp, &outputDirectionOpen, &outputDirectionClose);
EXTERN_ENGINE;
static Pid pid(&engineConfiguration->etb);
@ -102,7 +105,9 @@ static percent_t currentEtbDuty;
//static bool wasEtbBraking = false;
// todo: need to fix PWM so that it supports zero duty cycle
#define PERCENT_TO_DUTY(X) (maxF(minI(X, 99.9), 0.1) / 100.0)
//#define PERCENT_TO_DUTY(X) (maxF(minI(X, 99.9), 0.1) / 100.0)
#define PERCENT_TO_DUTY(X) ((X) / 100.0)
class EtbController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
public:
@ -134,7 +139,7 @@ private:
}
if (!cisnan(valueOverride)) {
etbPwmUp.setSimplePwmDutyCycle(valueOverride);
dcMotor.Set(valueOverride);
return;
}
@ -151,7 +156,7 @@ private:
autoTune.output,
value);
scheduleMsg(&logger, "AT PID=%f", value);
etbPwmUp.setSimplePwmDutyCycle(PERCENT_TO_DUTY(value));
dcMotor.Set(PERCENT_TO_DUTY(value));
if (result) {
scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
@ -165,9 +170,10 @@ private:
feedForward = interpolate2d("etbb", targetPosition, engineConfiguration->etbBiasBins, engineConfiguration->etbBiasValues, ETB_BIAS_CURVE_LENGTH);
currentEtbDuty = feedForward + pid.getValue(targetPosition, actualThrottlePosition);
currentEtbDuty = feedForward +
pid.getValue(targetPosition, actualThrottlePosition);
etbPwmUp.setSimplePwmDutyCycle(PERCENT_TO_DUTY(currentEtbDuty));
dcMotor.Set(PERCENT_TO_DUTY(currentEtbDuty));
/*
if (CONFIGB(etbDirectionPin2) != GPIO_UNASSIGNED) {
bool needEtbBraking = absF(targetPosition - actualThrottlePosition) < 3;
@ -199,7 +205,7 @@ static void setThrottleDutyCycle(float level) {
float dc = PERCENT_TO_DUTY(level);
valueOverride = dc;
etbPwmUp.setSimplePwmDutyCycle(dc);
dcMotor.Set(dc);
scheduleMsg(&logger, "duty ETB duty=%f", dc);
}