mirror of https://github.com/rusefi/rusefi.git
158 lines
3.7 KiB
C++
158 lines
3.7 KiB
C++
/*
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* @file aux_pid.cpp
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*
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* This class is a copy-paste of alternator_controller.cpp TODO: do something about it? extract more common logic?
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*
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* @date Jun 26, 2016
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* @author Andrey Belomutskiy, (c) 2012-2018
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*/
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#include "aux_pid.h"
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#include "local_version_holder.h"
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#include "allsensors.h"
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#if EFI_AUX_PID
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#include "pwm_generator.h"
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#include "tunerstudio_configuration.h"
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#include "fsio_impl.h"
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#include "engine_math.h"
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#include "pin_repository.h"
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#include "periodic_task.h"
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#define NO_PIN_PERIOD 500
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#if defined(HAS_OS_ACCESS)
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#error "Unexpected OS ACCESS HERE"
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#endif
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EXTERN_ENGINE
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;
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extern fsio8_Map3D_f32t fsioTable1;
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// todo: this is to some extent a copy-paste of alternator_controller. maybe same loop
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// for all PIDs?
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static Logging *logger;
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static bool isEnabled(int index) {
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// todo: implement bit arrays for configuration
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switch(index) {
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case 0:
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return engineConfiguration->activateAuxPid1;
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case 1:
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return engineConfiguration->activateAuxPid2;
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case 2:
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return engineConfiguration->activateAuxPid3;
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default:
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return engineConfiguration->activateAuxPid4;
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}
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}
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class AuxPidController : public PeriodicTimerController {
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public:
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SimplePwm auxPidPwm;
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OutputPin auxOutputPin;
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void init(int index) {
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this->index = index;
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pid_s *auxPidS = &persistentState.persistentConfiguration.engineConfiguration.auxPid[index];
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auxPid.initPidClass(auxPidS);
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table = getFSIOTable(index);
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}
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int getPeriodMs() override {
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return engineConfiguration->auxPidPins[index] == GPIO_UNASSIGNED ? NO_PIN_PERIOD : GET_PERIOD_LIMITED(&engineConfiguration->auxPid[index]);
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}
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void PeriodicTask() override {
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if (engine->auxParametersVersion.isOld(engine->getGlobalConfigurationVersion())) {
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auxPid.reset();
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}
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float rpm = GET_RPM_VALUE;
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// todo: make this configurable?
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bool enabledAtCurrentRpm = rpm > engineConfiguration->cranking.rpm;
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if (!enabledAtCurrentRpm) {
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// we need to avoid accumulating iTerm while engine is not running
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auxPid.reset();
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return;
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}
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float value = engine->triggerCentral.vvtPosition;
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float targetValue = table->getValue(rpm, getEngineLoadT(PASS_ENGINE_PARAMETER_SIGNATURE));
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percent_t pwm = auxPid.getOutput(targetValue, value);
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if (engineConfiguration->isVerboseAuxPid1) {
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scheduleMsg(logger, "aux duty: %.2f/value=%.2f/p=%.2f/i=%.2f/d=%.2f int=%.2f", pwm, value,
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auxPid.getP(), auxPid.getI(), auxPid.getD(), auxPid.getIntegration());
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}
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if (engineConfiguration->debugMode == DBG_AUX_PID_1) {
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#if EFI_TUNER_STUDIO
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auxPid.postState(&tsOutputChannels);
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tsOutputChannels.debugIntField3 = (int)(10 * targetValue);
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#endif /* EFI_TUNER_STUDIO */
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}
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auxPidPwm.setSimplePwmDutyCycle(PERCENT_TO_DUTY(pwm));
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}
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private:
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Pid auxPid;
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int index = 0;
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ValueProvider3D *table = nullptr;
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};
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static AuxPidController instances[AUX_PID_COUNT];
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static void turnAuxPidOn(int index) {
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if (!isEnabled(index)) {
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return;
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}
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if (engineConfiguration->auxPidPins[index] == GPIO_UNASSIGNED) {
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return;
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}
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startSimplePwmExt(&instances[index].auxPidPwm, "Aux PID",
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&engine->executor,
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engineConfiguration->auxPidPins[index],
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&instances[index].auxOutputPin,
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engineConfiguration->auxPidFrequency[index], 0.1, (pwm_gen_callback*)applyPinState);
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}
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void startAuxPins(void) {
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for (int i = 0;i <AUX_PID_COUNT;i++) {
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turnAuxPidOn(i);
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}
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}
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void stopAuxPins(void) {
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#if EFI_PROD_CODE
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for (int i = 0;i < AUX_PID_COUNT;i++) {
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brain_pin_markUnused(activeConfiguration.auxPidPins[i]);
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}
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#endif /* EFI_PROD_CODE */
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}
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void initAuxPid(Logging *sharedLogger) {
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logger = sharedLogger;
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for (int i = 0;i < AUX_PID_COUNT;i++) {
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instances[i].init(i);
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}
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startAuxPins();
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for (int i = 0;i < AUX_PID_COUNT;i++) {
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instances[i].Start();
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}
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}
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#endif
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