mirror of https://github.com/rusefi/rusefi.git
120 lines
3.8 KiB
C++
120 lines
3.8 KiB
C++
/**
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* @file idle_thread.h
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* @brief Idle Valve Control thread
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*
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* @date May 23, 2013
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#pragma once
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#include "engine_module.h"
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#include "rusefi_types.h"
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#include "periodic_task.h"
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#include "efi_pid.h"
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#include "sensor.h"
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#include "idle_state_generated.h"
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struct IIdleController {
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enum class Phase : uint8_t {
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Cranking, // Below cranking threshold
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Idling, // Below idle RPM, off throttle
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Coasting, // Off throttle but above idle RPM
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CrankToIdleTaper, // Taper between cranking and idling
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Running, // On throttle
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};
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virtual Phase determinePhase(int rpm, int targetRpm, SensorResult tps, float vss, float crankingTaperFraction) = 0;
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virtual int getTargetRpm(float clt) = 0;
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virtual float getCrankingOpenLoop(float clt) const = 0;
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virtual float getRunningOpenLoop(IIdleController::Phase phase, float rpm, float clt, SensorResult tps) = 0;
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virtual float getOpenLoop(Phase phase, float rpm, float clt, SensorResult tps, float crankingTaperFraction) = 0;
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virtual float getClosedLoop(Phase phase, float tps, int rpm, int target) = 0;
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virtual float getCrankingTaperFraction() const = 0;
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virtual bool isIdlingOrTaper() const = 0;
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virtual float getIdleTimingAdjustment(int rpm) = 0;
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};
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class IdleController : public IIdleController, public EngineModule, public idle_state_s {
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public:
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// Mockable<> interface
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using interface_t = IIdleController;
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void init();
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float getIdlePosition(float rpm);
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// TARGET DETERMINATION
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int getTargetRpm(float clt) override;
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// PHASE DETERMINATION: what is the driver trying to do right now?
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Phase determinePhase(int rpm, int targetRpm, SensorResult tps, float vss, float crankingTaperFraction) override;
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float getCrankingTaperFraction() const override;
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// OPEN LOOP CORRECTIONS
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percent_t getCrankingOpenLoop(float clt) const override;
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percent_t getRunningOpenLoop(IIdleController::Phase phase, float rpm, float clt, SensorResult tps) override;
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percent_t getOpenLoop(Phase phase, float rpm, float clt, SensorResult tps, float crankingTaperFraction) override;
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float getIdleTimingAdjustment(int rpm) override;
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float getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase);
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// CLOSED LOOP CORRECTION
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float getClosedLoop(IIdleController::Phase phase, float tpsPos, int rpm, int targetRpm) override;
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void onConfigurationChange(engine_configuration_s const * previousConfig) final;
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void onSlowCallback() final;
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// Allow querying state from outside
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bool isIdlingOrTaper() const override {
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return m_lastPhase == Phase::Idling || (engineConfiguration->useSeparateIdleTablesForCrankingTaper && m_lastPhase == Phase::CrankToIdleTaper);
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}
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PidIndustrial industrialWithOverrideIdlePid;
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#if EFI_IDLE_PID_CIC
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// Use PID with CIC integrator
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PidCic idleCicPid;
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#endif //EFI_IDLE_PID_CIC
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Pid * getIdlePid() {
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#if EFI_IDLE_PID_CIC
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if (engineConfiguration->useCicPidForIdle) {
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return &idleCicPid;
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}
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#endif /* EFI_IDLE_PID_CIC */
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return &industrialWithOverrideIdlePid;
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}
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private:
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// These are stored by getIdlePosition() and used by getIdleTimingAdjustment()
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Phase m_lastPhase = Phase::Cranking;
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int m_lastTargetRpm = 0;
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efitimeus_t restoreAfterPidResetTimeUs = 0;
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// used by 'dashpot' (hold+decay) logic for iacByTpsTaper
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efitimeus_t lastTimeRunningUs = 0;
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// This is stored by getClosedLoop and used in case we want to "do nothing"
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float m_lastAutomaticPosition = 0;
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Pid m_timingPid;
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};
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percent_t getIdlePosition();
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void applyIACposition(percent_t position);
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void setManualIdleValvePosition(int positionPercent);
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void startIdleThread();
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void setDefaultIdleParameters();
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void startIdleBench(void);
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void setIdlePFactor(float value);
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void setIdleIFactor(float value);
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void setIdleDFactor(float value);
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void setIdleMode(idle_mode_e value);
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void setTargetIdleRpm(int value);
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void startPedalPins();
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void stopPedalPins();
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