mirror of https://github.com/rusefi/rusefi.git
140 lines
4.2 KiB
C++
140 lines
4.2 KiB
C++
/**
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* @file alternator_controller.cpp
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* @brief alternator controller - some newer vehicles control alternator with ECU
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*
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* @date Apr 6, 2014
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* @author Dmitry Sidin
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#include "pch.h"
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#if EFI_ALTERNATOR_CONTROL
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#include "alternator_controller.h"
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#include "efi_pid.h"
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#include "local_version_holder.h"
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#include "periodic_task.h"
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#if defined(HAS_OS_ACCESS)
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#error "Unexpected OS ACCESS HERE"
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#endif /* HAS_OS_ACCESS */
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static SimplePwm alternatorControl("alt");
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static percent_t currentAltDuty;
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static bool shouldResetPid = false;
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void AlternatorController::AlternatorController() {
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alternatorPid.initPidClass(&engineConfiguration->alternatorControl);
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}
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expected<float> AlternatorController::observePlant() {
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auto vBatt = Sensor::get(SensorType::BatteryVoltage);
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// if somehow battery voltage isn't valid
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if (!vBatt)
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return unexpected;
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return vBatt.Value;
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}
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expected<float> AlternatorController::getSetpoint() {
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// check if the engine is not running
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bool alternatorShouldBeEnabledAtCurrentRpm = Sensor::getOrZero(SensorType::Rpm) > engineConfiguration->cranking.rpm;
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if (!engineConfiguration->isAlternatorControlEnabled || !alternatorShouldBeEnabledAtCurrentRpm) {
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return unexpected;
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}
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return engineConfiguration->targetVBatt;
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}
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expected<percent_t> AlternatorController::getOpenLoop(float target) {
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UNUSED(target);
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return 0;
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}
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expected<percent_t> AlternatorController::getClosedLoop(float targetVoltage, float vBattVoltage) {
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percent_t altDuty = alternatorPid.getOutput(targetVoltage, vBattVoltage, FAST_CALLBACK_PERIOD_MS / 1000.0f);
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// this block could be executed even in on/off alternator control mode
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// but at least we would reflect latest state
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#if EFI_TUNER_STUDIO
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alternatorPid.postState(engine->outputChannels.alternatorStatus);
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#endif /* EFI_TUNER_STUDIO */
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// see "idle air Bump for AC" comment
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int acDutyBump = engine->module<AcController>().unmock().acButtonState ? engineConfiguration->acRelayAlternatorDutyAdder : 0;
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altDuty += acDutyBump;
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if (engineConfiguration->isVerboseAlternator) {
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efiPrintf("alt duty: %.2f/vbatt=%.2f/p=%.2f/i=%.2f/d=%.2f int=%.2f", altDuty, vBattVoltage,
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alternatorPid.getP(), alternatorPid.getI(), alternatorPid.getD(), alternatorPid.getIntegration());
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}
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return altDuty;
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}
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void AlternatorController::setOutput(expected<percent_t> outputValue) {
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if (outputValue) {
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currentAltDuty = outputValue.Value;
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alternatorControl.setSimplePwmDutyCycle(PERCENT_TO_DUTY(outputValue.Value));
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} else {
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// Shut off output if not needed
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alternatorControl.setSimplePwmDutyCycle(0);
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// we need to avoid accumulating iTerm while the alternator is not working
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pidReset();
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}
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}
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void AlternatorController::pidReset() {
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alternatorPid.reset();
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}
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void AlternatorController::onFastCallback() {
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if (!isBrainPinValid(engineConfiguration->alternatorControlPin)) {
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return;
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}
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#if ! EFI_UNIT_TEST
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if (shouldResetPid) {
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pidReset();
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shouldResetPid = false;
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}
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#endif
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ClosedLoopController::update();
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}
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void showAltInfo(void) {
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efiPrintf("alt=%s @%s t=%dms", boolToString(engineConfiguration->isAlternatorControlEnabled),
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hwPortname(engineConfiguration->alternatorControlPin),
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engineConfiguration->alternatorControl.periodMs);
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efiPrintf("p=%.2f/i=%.2f/d=%.2f offset=%.2f", engineConfiguration->alternatorControl.pFactor,
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0, 0, engineConfiguration->alternatorControl.offset); // todo: i & d
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efiPrintf("vbatt=%.2f/duty=%.2f/target=%.2f", Sensor::getOrZero(SensorType::BatteryVoltage), currentAltDuty,
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engineConfiguration->targetVBatt);
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}
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void setAltPFactor(float p) {
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engineConfiguration->alternatorControl.pFactor = p;
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efiPrintf("setAltPid: %.2f", p);
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engine->module<AlternatorController>()->pidReset();
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showAltInfo();
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}
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void AlternatorController::onConfigurationChange(engine_configuration_s const * previousConfiguration) {
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shouldResetPid = !alternatorPid.isSame(&previousConfiguration->alternatorControl);
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}
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void initAlternatorCtrl() {
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addConsoleAction("altinfo", showAltInfo);
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if (!isBrainPinValid(engineConfiguration->alternatorControlPin))
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return;
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startSimplePwm(&alternatorControl,
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"Alternator control",
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&engine->executor,
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&enginePins.alternatorPin,
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engineConfiguration->alternatorPwmFrequency, 0);
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}
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#endif /* EFI_ALTERNATOR_CONTROL */
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