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Multichannel (#134) 

* Multichannel AFR

* heater: fixes for multi channel mode

* f1_dual: fix configuration names

* pump_dac: fixes for multi-channel mode

* pwm: fixes for multichannel mode

* pump_control: reference instead of pointer

* sampling: reference instead of pointer

* heater_control: reference instead of pointer

* sampling: comment about heater/battery voltage

* f0_module: fixes for multi-channel update

* f1_rev2: fix for multichannel AFR

* hello rev 3

Co-authored-by: rusefillc <sdfsdfqsf2334234234>
This commit is contained in:
Andrey G 2022-08-30 03:19:30 +03:00 committed by GitHub
parent 2cc460adba
commit cddcd0d88c
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GPG Key ID: 4AEE18F83AFDEB23
23 changed files with 371 additions and 249 deletions
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5
firmware/auxout.cpp
View File

@ -53,7 +53,10 @@ void AuxOutThread(void*)
{
while(1)
{
SetAuxDac(0, GetLambda());
for (int ch = 0; ch < AFR_CHANNELS; ch++)
{
SetAuxDac(ch, GetLambda(ch));
}
chThdSleepMilliseconds(10);
}

4
firmware/boards/f0_module/io/io_pins.h
View File

@ -11,11 +11,11 @@
// PA7
#define HEATER_PWM_DEVICE PWMD1
#define HEATER_PWM_CHANNEL 0
#define HEATER_PWM_CHANNEL_0 0
// PA6
#define PUMP_DAC_PWM_DEVICE PWMD3
#define PUMP_DAC_PWM_CHANNEL 0
#define PUMP_DAC_PWM_CHANNEL_0 0
#define ID_SEL1_PORT GPIOB
#define ID_SEL1_PIN 1

10
firmware/boards/f1_dual/io/io_pins.h
View File

@ -31,13 +31,12 @@
// L_heater_pwm - PB7 TIM4_CH2
#define HEATER_PWM_DEVICE PWMD4
#define HEATER_PWM_CHANNEL 1
#define HEATER_PWM_CHANNEL_0 1
#define L_HEATER_PORT GPIOB
#define L_HEATER_PIN 7
// B_heater_pwm - PB6 TIM4_CH1
#define R_HEATER_PWM_DEVICE PWMD4
#define R_HEATER_PWM_CHANNEL 0
// R_heater_pwm - PB6 TIM4_CH1
#define HEATER_PWM_CHANNEL_1 0
#define R_HEATER_PORT GPIOB
#define R_HEATER_PIN 6
@ -51,7 +50,8 @@
// PA1 TIM2_CH2
#define PUMP_DAC_PWM_DEVICE PWMD2
#define PUMP_DAC_PWM_CHANNEL 1
#define PUMP_DAC_PWM_CHANNEL_0 2 /* left */
#define PUMP_DAC_PWM_CHANNEL_1 1 /* right */
// TIM1 - DAC for AUX outputs
#define AUXOUT_DAC_PWM_DEVICE PWMD1

4
firmware/boards/f1_rev2/io/io_pins.h
View File

@ -31,11 +31,11 @@
// PB6 TIM4_CH1
#define HEATER_PWM_DEVICE PWMD4
#define HEATER_PWM_CHANNEL 0
#define HEATER_PWM_CHANNEL_0 0
// PA1 TIM2_CH2
#define PUMP_DAC_PWM_DEVICE PWMD2
#define PUMP_DAC_PWM_CHANNEL 1
#define PUMP_DAC_PWM_CHANNEL_0 1
// TIM1 - DAC for AUX outputs
#define AUXOUT_DAC_PWM_DEVICE PWMD1

4
firmware/boards/f1_rev3/io/io_pins.h
View File

@ -31,11 +31,11 @@
// PB6 TIM4_CH1
#define HEATER_PWM_DEVICE PWMD4
#define HEATER_PWM_CHANNEL 0
#define HEATER_PWM_CHANNEL_0 0
// PA1 TIM2_CH2
#define PUMP_DAC_PWM_DEVICE PWMD2
#define PUMP_DAC_PWM_CHANNEL 1
#define PUMP_DAC_PWM_CHANNEL_0 1
// DAC for AUX outputs
#define AUXOUT_DAC_DEVICE DACD1

19
firmware/can.cpp
View File

@ -131,7 +131,8 @@ void InitCan()
void SendRusefiFormat(uint8_t idx)
{
auto baseAddress = WB_DATA_BASE_ADDR + 2 * idx;
auto esr = GetSensorInternalResistance();
/* TODO: */
int ch = 0;
{
CanTxTyped<wbo::StandardData> frame(baseAddress + 0);
@ -139,19 +140,21 @@ void SendRusefiFormat(uint8_t idx)
// The same header is imported by the ECU and checked against this data in the frame
frame.get().Version = RUSEFI_WIDEBAND_VERSION;
uint16_t lambda = GetLambda() * 10000;
uint16_t lambda = GetLambda(ch) * 10000;
frame.get().Lambda = lambda;
frame.get().TemperatureC = GetSensorTemperature();
frame.get().Valid = IsRunningClosedLoop() ? 0x01 : 0x00;
frame.get().TemperatureC = GetSensorTemperature(ch);
frame.get().Valid = IsRunningClosedLoop(ch) ? 0x01 : 0x00;
}
{
auto esr = GetSensorInternalResistance(ch);
CanTxTyped<wbo::DiagData> frame(baseAddress + 1);
frame.get().Esr = esr;
frame.get().NernstDc = GetNernstDc() * 1000;
frame.get().PumpDuty = GetPumpOutputDuty() * 255;
frame.get().Status = GetCurrentFault();
frame.get().HeaterDuty = GetHeaterDuty() * 255;
frame.get().NernstDc = GetNernstDc(ch) * 1000;
frame.get().PumpDuty = GetPumpOutputDuty(ch) * 255;
frame.get().Status = GetCurrentFault(ch);
frame.get().HeaterDuty = GetHeaterDuty(ch) * 255;
}
}

4
firmware/fault.cpp
View File

@ -4,7 +4,7 @@ using namespace wbo;
static Fault currentFault = Fault::None;
void SetFault(Fault fault)
void SetFault(int ch, Fault fault)
{
currentFault = fault;
}
@ -14,7 +14,7 @@ bool HasFault()
return currentFault != Fault::None;
}
Fault GetCurrentFault()
Fault GetCurrentFault(int ch)
{
return currentFault;
}

4
firmware/fault.h
View File

@ -4,6 +4,6 @@
#include "../for_rusefi/wideband_can.h"
void SetFault(wbo::Fault fault);
void SetFault(int ch, wbo::Fault fault);
bool HasFault();
wbo::Fault GetCurrentFault();
wbo::Fault GetCurrentFault(int ch);

165
firmware/heater_control.cpp
View File

@ -13,15 +13,74 @@
using namespace wbo;
// 400khz / 1024 = 390hz PWM
static Pwm heaterPwm(HEATER_PWM_DEVICE, HEATER_PWM_CHANNEL, 400'000, 1024);
static Pwm heaterPwm(HEATER_PWM_DEVICE);
PWMConfig heaterPwmConfig = {
400'000,
1024,
nullptr,
{
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr}
},
0,
0,
#if STM32_PWM_USE_ADVANCED
0
#endif
};
static constexpr int preheatTimeCounter = HEATER_PREHEAT_TIME / HEATER_CONTROL_PERIOD;
static constexpr int batteryStabTimeCounter = HEATER_BATTERY_STAB_TIME / HEATER_CONTROL_PERIOD;
static int timeCounter = preheatTimeCounter;
static int batteryStabTime = batteryStabTimeCounter;
static float rampVoltage = 0;
static HeaterState GetNextState(HeaterState state, HeaterAllow heaterAllowState, float batteryVoltage, float sensorEsr)
struct heater_state {
Pid heaterPid;
int timeCounter;
int batteryStabTime;
float rampVoltage;
HeaterState heaterState;
uint8_t ch;
uint8_t pwm_ch;
};
static struct heater_state state[AFR_CHANNELS] =
{
{
.heaterPid = Pid(
0.3f, // kP
0.3f, // kI
0.01f, // kD
3.0f, // Integrator clamp (volts)
HEATER_CONTROL_PERIOD
),
.timeCounter = preheatTimeCounter,
.batteryStabTime = batteryStabTimeCounter,
.rampVoltage = 0,
.heaterState = HeaterState::Preheat,
.ch = 0,
.pwm_ch = HEATER_PWM_CHANNEL_0,
},
#if (AFR_CHANNELS > 1)
{
.heaterPid = Pid(
0.3f, // kP
0.3f, // kI
0.01f, // kD
3.0f, // Integrator clamp (volts)
HEATER_CONTROL_PERIOD
),
.timeCounter = preheatTimeCounter,
.batteryStabTime = batteryStabTimeCounter,
.rampVoltage = 0,
.heaterState = HeaterState::Preheat,
.ch = 1,
.pwm_ch = HEATER_PWM_CHANNEL_1,
},
#endif
};
static HeaterState GetNextState(struct heater_state &s, HeaterAllow heaterAllowState, float batteryVoltage, float sensorEsr)
{
bool heaterAllowed = heaterAllowState == HeaterAllow::Allowed;
@ -31,37 +90,37 @@ static HeaterState GetNextState(HeaterState state, HeaterAllow heaterAllowState,
// measured voltage too low to auto-start heating
if (batteryVoltage < HEATER_BATTETY_OFF_VOLTAGE)
{
batteryStabTime = batteryStabTimeCounter;
s.batteryStabTime = batteryStabTimeCounter;
}
// measured voltage is high enougth to auto-start heating, wait some time to stabilize
if ((batteryVoltage > HEATER_BATTERY_ON_VOLTAGE) && (batteryStabTime > 0))
if ((batteryVoltage > HEATER_BATTERY_ON_VOLTAGE) && (s.batteryStabTime > 0))
{
batteryStabTime--;
s.batteryStabTime--;
}
heaterAllowed = batteryStabTime == 0;
heaterAllowed = s.batteryStabTime == 0;
}
if (!heaterAllowed)
{
// ECU hasn't allowed preheat yet, reset timer, and force preheat state
timeCounter = preheatTimeCounter;
s.timeCounter = preheatTimeCounter;
return HeaterState::Preheat;
}
switch (state)
switch (s.heaterState)
{
case HeaterState::Preheat:
timeCounter--;
s.timeCounter--;
// If preheat timeout, or sensor is already hot (engine running?)
if (timeCounter <= 0 || sensorEsr < HEATER_CLOSED_LOOP_THRESHOLD_ESR)
if (s.timeCounter <= 0 || sensorEsr < HEATER_CLOSED_LOOP_THRESHOLD_ESR)
{
// If enough time has elapsed, start the ramp
// Start the ramp at 4 volts
rampVoltage = 4;
s.rampVoltage = 4;
// Next phase times out at 15 seconds
timeCounter = HEATER_WARMUP_TIMEOUT / HEATER_CONTROL_PERIOD;
s.timeCounter = HEATER_WARMUP_TIMEOUT / HEATER_CONTROL_PERIOD;
return HeaterState::WarmupRamp;
}
@ -73,25 +132,25 @@ static HeaterState GetNextState(HeaterState state, HeaterAllow heaterAllowState,
{
return HeaterState::ClosedLoop;
}
else if (timeCounter == 0)
else if (s.timeCounter == 0)
{
SetFault(Fault::SensorDidntHeat);
SetFault(s.ch, Fault::SensorDidntHeat);
return HeaterState::Stopped;
}
timeCounter--;
s.timeCounter--;
break;
case HeaterState::ClosedLoop:
// Check that the sensor's ESR is acceptable for normal operation
if (sensorEsr < HEATER_OVERHEAT_ESR)
{
SetFault(Fault::SensorOverheat);
SetFault(s.ch, Fault::SensorOverheat);
return HeaterState::Stopped;
}
else if (sensorEsr > HEATER_UNDERHEAT_ESR)
{
SetFault(Fault::SensorUnderheat);
SetFault(s.ch, Fault::SensorUnderheat);
return HeaterState::Stopped;
}
@ -99,38 +158,30 @@ static HeaterState GetNextState(HeaterState state, HeaterAllow heaterAllowState,
case HeaterState::Stopped: break;
}
return state;
return s.heaterState;
}
static Pid heaterPid(
0.3f, // kP
0.3f, // kI
0.01f, // kD
3.0f, // Integrator clamp (volts)
HEATER_CONTROL_PERIOD
);
static float GetVoltageForState(HeaterState state, float heaterEsr)
static float GetVoltageForState(struct heater_state &s, float heaterEsr)
{
switch (state)
switch (s.heaterState)
{
case HeaterState::Preheat:
// Max allowed during condensation phase (preheat) is 2v
return 1.5f;
case HeaterState::WarmupRamp:
if (rampVoltage < 10)
if (s.rampVoltage < 10)
{
// 0.3 volt per second, divided by battery voltage and update rate
constexpr float rampRateVoltPerSecond = 0.3f;
constexpr float heaterFrequency = 1000.0f / HEATER_CONTROL_PERIOD;
rampVoltage += (rampRateVoltPerSecond / heaterFrequency);
s.rampVoltage += (rampRateVoltPerSecond / heaterFrequency);
}
return rampVoltage;
return s.rampVoltage;
case HeaterState::ClosedLoop:
// "nominal" heater voltage is 7.5v, so apply correction around that point (instead of relying on integrator so much)
// Negated because lower resistance -> hotter
return 7.5f - heaterPid.GetOutput(HEATER_TARGET_ESR, heaterEsr);
return 7.5f - s.heaterPid.GetOutput(HEATER_TARGET_ESR, heaterEsr);
case HeaterState::Stopped:
// Something has gone wrong, turn off the heater.
return 0;
@ -140,32 +191,34 @@ static float GetVoltageForState(HeaterState state, float heaterEsr)
return 0;
}
static HeaterState state = HeaterState::Preheat;
static THD_WORKING_AREA(waHeaterThread, 256);
static void HeaterThread(void*)
{
int ch;
// Wait for temperature sensing to stabilize so we don't
// immediately think we overshot the target temperature
chThdSleepMilliseconds(1000);
while (true)
{
// Read sensor state
float heaterEsr = GetSensorInternalResistance();
auto heaterAllowState = GetHeaterAllowed();
for (ch = 0; ch < AFR_CHANNELS; ch++) {
heater_state &s = state[ch];
// Read sensor state
float heaterEsr = GetSensorInternalResistance(ch);
// If we haven't heard from rusEFI, use the internally sensed
// battery voltage instead of voltage over CAN.
float batteryVoltage = heaterAllowState == HeaterAllow::Unknown
? GetInternalBatteryVoltage()
? GetInternalBatteryVoltage(ch)
: GetRemoteBatteryVoltage();
// Run the state machine
state = GetNextState(state, heaterAllowState, batteryVoltage, heaterEsr);
float heaterVoltage = GetVoltageForState(state, heaterEsr);
s.heaterState = GetNextState(s, heaterAllowState, batteryVoltage, heaterEsr);
float heaterVoltage = GetVoltageForState(s, heaterEsr);
// Limit to 11 volts
if (heaterVoltage > 11) {
@ -185,12 +238,13 @@ static void HeaterThread(void*)
if (batteryVoltage < 23)
{
// Pipe the output to the heater driver
heaterPwm.SetDuty(duty);
heaterPwm.SetDuty(s.pwm_ch, duty);
}
else
{
// Overvoltage protection - sensor not rated for PWM above 24v
heaterPwm.SetDuty(0);
heaterPwm.SetDuty(s.pwm_ch, 0);
}
}
// Loop at ~20hz
@ -200,25 +254,28 @@ static void HeaterThread(void*)
void StartHeaterControl()
{
heaterPwm.Start();
heaterPwm.SetDuty(0);
heaterPwm.Start(heaterPwmConfig);
heaterPwm.SetDuty(state[0].pwm_ch, 0);
#if (AFR_CHANNELS > 1)
heaterPwm.SetDuty(state[1].pwm_ch, 0);
#endif
chThdCreateStatic(waHeaterThread, sizeof(waHeaterThread), NORMALPRIO + 1, HeaterThread, nullptr);
}
bool IsRunningClosedLoop()
bool IsRunningClosedLoop(int ch)
{
return state == HeaterState::ClosedLoop;
return state[ch].heaterState == HeaterState::ClosedLoop;
}
float GetHeaterDuty()
float GetHeaterDuty(int ch)
{
return heaterPwm.GetLastDuty();
return heaterPwm.GetLastDuty(state[ch].pwm_ch);
}
HeaterState GetHeaterState()
HeaterState GetHeaterState(int ch)
{
return state;
return state[ch].heaterState;
}
const char* describeHeaterState(HeaterState state)

6
firmware/heater_control.h
View File

@ -11,7 +11,7 @@ enum class HeaterState
};
void StartHeaterControl();
bool IsRunningClosedLoop();
float GetHeaterDuty();
HeaterState GetHeaterState();
bool IsRunningClosedLoop(int ch);
float GetHeaterDuty(int ch);
HeaterState GetHeaterState(int ch);
const char* describeHeaterState(HeaterState state);

4
firmware/lambda_conversion.cpp
View File

@ -22,9 +22,9 @@ static float GetPhi(float pumpCurrent)
return gain * pumpCurrent + 0.99559f;
}
float GetLambda()
float GetLambda(int ch)
{
float pumpCurrent = GetPumpNominalCurrent();
float pumpCurrent = GetPumpNominalCurrent(ch);
// Lambda is reciprocal of phi
return 1 / GetPhi(pumpCurrent);

2
firmware/lambda_conversion.h
View File

@ -1,3 +1,3 @@
#pragma once
float GetLambda();
float GetLambda(int ch);

30
firmware/livedata.cpp
View File

@ -1,3 +1,4 @@
#include "wideband_config.h"
#include "livedata.h"
#include "lambda_conversion.h"
@ -9,18 +10,23 @@
#include <rusefi/fragments.h>
static livedata_common_s livedata_common;
static livedata_afr_s livedata_afr;
static livedata_afr_s livedata_afr[AFR_CHANNELS];
void SamplingUpdateLiveData()
{
livedata_afr.afr = GetLambda();
livedata_afr.temperature = GetSensorTemperature();
livedata_afr.nernstVoltage = GetNernstDc();
livedata_afr.pumpCurrentTarget = GetPumpCurrent();
livedata_afr.pumpCurrentMeasured = GetPumpNominalCurrent();
livedata_afr.heaterDuty = GetHeaterDuty();
for (int ch = 0; ch < AFR_CHANNELS; ch++)
{
volatile struct livedata_afr_s *data = &livedata_afr[ch];
livedata_common.vbatt = GetInternalBatteryVoltage();
data->afr = GetLambda(ch);
data->temperature = GetSensorTemperature(ch);
data->nernstVoltage = GetNernstDc(ch);
data->pumpCurrentTarget = GetPumpCurrent(ch);
data->pumpCurrentMeasured = GetPumpNominalCurrent(ch);
data->heaterDuty = GetHeaterDuty(ch);
}
livedata_common.vbatt = GetInternalBatteryVoltage(0);
}
const livedata_common_s * getCommonLiveDataStructAddr()
@ -28,14 +34,16 @@ const livedata_common_s * getCommonLiveDataStructAddr()
return &livedata_common;
}
const livedata_afr_s * getAfrLiveDataStructAddr()
const struct livedata_afr_s * getAfrLiveDataStructAddr(const int ch)
{
return &livedata_afr;
if (ch < AFR_CHANNELS)
return &livedata_afr[ch];
return NULL;
}
static const FragmentEntry fragments[] = {
getCommonLiveDataStructAddr(),
getAfrLiveDataStructAddr(),
getAfrLiveDataStructAddr(0),
};
FragmentList getFragments() {

4
firmware/livedata.h
View File

@ -2,6 +2,8 @@
#include <stdint.h>
#include "wideband_config.h"
/* +0 offset */
struct livedata_common_s {
union {
@ -33,4 +35,4 @@ void SamplingUpdateLiveData();
/* access functions */
const struct livedata_common_s * getCommonLiveDataStructAddr();
const struct livedata_afr_s * getAfrLiveDataStructAddr();
const struct livedata_afr_s * getAfrLiveDataStructAddr(const int ch);

6
firmware/main.cpp
View File

@ -42,7 +42,9 @@ int main() {
while(true)
{
auto fault = GetCurrentFault();
/* TODO: show error for all AFR channels */
/* TODO: show EGT errors */
auto fault = GetCurrentFault(0);
if (fault == Fault::None)
{
@ -53,7 +55,7 @@ int main() {
palTogglePad(LED_GREEN_PORT, LED_GREEN_PIN);
// Slow blink if closed loop, fast if not
chThdSleepMilliseconds(IsRunningClosedLoop() ? 700 : 50);
chThdSleepMilliseconds(IsRunningClosedLoop(0) ? 700 : 50);
}
else
{

34
firmware/pump_control.cpp
View File

@ -7,28 +7,46 @@
#include "ch.h"
// Bosch CJ125 is somewhere VERY ROUGHLY like 200-400A/(v*s) integrator gain
static Pid pumpPid(50.0f, 10000.0f, 0, 10, 2);
struct pump_control_state {
Pid pumpPid;
};
static struct pump_control_state state[AFR_CHANNELS] =
{
{
Pid(50.0f, 10000.0f, 0.0f, 10.0f, 2),
},
#if (AFR_CHANNELS > 1)
{
Pid(50.0f, 10000.0f, 0.0f, 10.0f, 2),
}
#endif
};
static THD_WORKING_AREA(waPumpThread, 256);
static void PumpThread(void*)
{
while(true)
{
// Only actuate pump when running closed loop!
if (IsRunningClosedLoop())
for (int ch = 0; ch < AFR_CHANNELS; ch++)
{
float nernstVoltage = GetNernstDc();
pump_control_state &s = state[ch];
float result = pumpPid.GetOutput(NERNST_TARGET, nernstVoltage);
// Only actuate pump when running closed loop!
if (IsRunningClosedLoop(ch))
{
float nernstVoltage = GetNernstDc(ch);
float result = s.pumpPid.GetOutput(NERNST_TARGET, nernstVoltage);
// result is in mA
SetPumpCurrentTarget(result * 1000);
SetPumpCurrentTarget(ch, result * 1000);
}
else
{
// Otherwise set zero pump current to avoid damaging the sensor
SetPumpCurrentTarget(0);
SetPumpCurrentTarget(ch, 0);
}
}
// Run at 500hz

55
firmware/pump_dac.cpp
View File

@ -7,28 +7,59 @@
#include "hal.h"
// 48MHz / 1024 = 46.8khz PWM
static Pwm pumpDac(PUMP_DAC_PWM_DEVICE, PUMP_DAC_PWM_CHANNEL, 48'000'000, 1024);
PWMConfig pumpDacConfig = {
48'000'000,
1024,
nullptr,
{
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr}
},
0,
0,
#if STM32_PWM_USE_ADVANCED
0
#endif
};
static int32_t curIpump;
static Pwm pumpDac(PUMP_DAC_PWM_DEVICE);
struct pump_dac_state {
int32_t curIpump;
};
static const uint8_t pumpDacPwmCh[] = {
PUMP_DAC_PWM_CHANNEL_0,
#if (AFR_CHANNELS > 1)
PUMP_DAC_PWM_CHANNEL_1,
#endif
};
static struct pump_dac_state state[AFR_CHANNELS];
void InitPumpDac()
{
pumpDac.Start();
pumpDac.Start(pumpDacConfig);
for (int ch = 0; ch < AFR_CHANNELS; ch++)
{
// Set zero current to start - sensor can be damaged if current flowing
// while warming up
SetPumpCurrentTarget(0);
SetPumpCurrentTarget(ch, 0);
}
}
void SetPumpCurrentTarget(int32_t microampere)
void SetPumpCurrentTarget(int ch, int32_t microampere)
{
// Don't allow pump current when the sensor isn't hot
if (!IsRunningClosedLoop())
if (!IsRunningClosedLoop(ch))
{
microampere = 0;
}
curIpump = microampere;
state[ch].curIpump = microampere;
// 47 ohm resistor
// 0.147 gain
@ -38,15 +69,15 @@ void SetPumpCurrentTarget(int32_t microampere)
// offset by half vcc
volts += HALF_VCC;
pumpDac.SetDuty(volts / VCC_VOLTS);
pumpDac.SetDuty(pumpDacPwmCh[ch], volts / VCC_VOLTS);
}
float GetPumpOutputDuty()
float GetPumpOutputDuty(int ch)
{
return pumpDac.GetLastDuty();
return pumpDac.GetLastDuty(ch);
}
float GetPumpCurrent()
float GetPumpCurrent(int ch)
{
return (float)curIpump / 1000.0;
return (float)state[ch].curIpump / 1000.0;
}

6
firmware/pump_dac.h
View File

@ -3,6 +3,6 @@
#include <cstdint>
void InitPumpDac();
void SetPumpCurrentTarget(int32_t microamperes);
float GetPumpOutputDuty();
float GetPumpCurrent();
void SetPumpCurrentTarget(int ch, int32_t microamperes);
float GetPumpOutputDuty(int ch);
float GetPumpCurrent(int ch);

21
firmware/pwm.cpp
View File

@ -2,17 +2,8 @@
#include <rusefi/math.h>
Pwm::Pwm(PWMDriver& driver, uint8_t channel, uint32_t counterFrequency, uint32_t counterPeriod)
: m_driver(&driver)
, m_channel(channel)
, m_counterFrequency(counterFrequency)
, m_counterPeriod(counterPeriod)
{
}
Pwm::Pwm(PWMDriver& driver)
: m_driver(&driver)
, m_channel(0)
, m_counterFrequency(0)
, m_counterPeriod(0)
{
@ -50,17 +41,13 @@ void Pwm::Start(PWMConfig& config)
void Pwm::SetDuty(int channel, float duty) {
auto dutyFloat = clampF(0, duty, 1);
m_dutyFloat = dutyFloat;
m_dutyFloat[channel] = dutyFloat;
pwmcnt_t highTime = m_counterPeriod * dutyFloat;
pwm_lld_enable_channel(m_driver, channel, highTime);
pwmEnableChannel(m_driver, channel, highTime);
}
void Pwm::SetDuty(float duty) {
SetDuty(m_channel, duty);
}
float Pwm::GetLastDuty() const
float Pwm::GetLastDuty(int channel)
{
return m_dutyFloat;
return m_dutyFloat[channel];
}

8
firmware/pwm.h
View File

@ -10,19 +10,17 @@ struct PWMDriver;
class Pwm
{
public:
Pwm(PWMDriver& driver, uint8_t channel, uint32_t counterFrequency, uint32_t counterPeriod);
Pwm(PWMDriver& driver);
void Start();
void Start(PWMConfig& config);
void SetDuty(float duty);
void SetDuty(int channel, float duty);
float GetLastDuty() const;
float GetLastDuty(int channel);
private:
PWMDriver* const m_driver;
const uint8_t m_channel;
//const uint8_t m_channel;
/* const */ uint32_t m_counterFrequency;
/* const */ uint16_t m_counterPeriod;
float m_dutyFloat;
float m_dutyFloat[4];
};

69
firmware/sampling.cpp
View File

@ -12,10 +12,14 @@
#include <rusefi/interpolation.h>
// Stored results
static float nernstAc = 0;
static float nernstDc = 0;
static float pumpCurrentSenseVoltage = 0;
static float internalBatteryVoltage = 0;
struct measure_results {
float nernstAc;
float nernstDc;
float pumpCurrentSenseVoltage;
float internalBatteryVoltage;
};
static struct measure_results results[AFR_CHANNELS];
// Last point is approximated by the greatest measurable sensor resistance
static const float lsu49TempBins[] = { 80, 150, 200, 250, 300, 350, 400, 450, 550, 650, 800, 1000, 1200, 2500, 5000 };
@ -30,22 +34,21 @@ static THD_WORKING_AREA(waSamplingThread, 256);
static void SamplingThread(void*)
{
float r_2 = 0;
float r_3 = 0;
float r_2[AFR_CHANNELS] = {0};
float r_3[AFR_CHANNELS] = {0};
/* GD32: Insert 20us delay after ADC enable */
chThdSleepMilliseconds(1);
while(true)
{
/* TODO: run for all channels */
int ch = 0;
auto result = AnalogSample();
// Toggle the pin after sampling so that any switching noise occurs while we're doing our math instead of when sampling
palTogglePad(NERNST_ESR_DRIVER_PORT, NERNST_ESR_DRIVER_PIN);
for (int ch = 0; ch < AFR_CHANNELS; ch++) {
measure_results &res = results[ch];
float r_1 = result.ch[ch].NernstVoltage;
// r2_opposite_phase estimates where the previous sample would be had we not been toggling
@ -53,28 +56,29 @@ static void SamplingThread(void*)
// of the AC component on the nernst voltage. We have to pull this trick so as to use the past 3
// samples to cancel out any slope in the DC (aka actual nernst cell output) from the AC measurement
// See firmware/sampling.png for a drawing of what's going on here
float r2_opposite_phase = (r_1 + r_3) / 2;
float r2_opposite_phase = (r_1 + r_3[ch]) / 2;
// Compute AC (difference) and DC (average) components
float nernstAcLocal = f_abs(r2_opposite_phase - r_2);
nernstDc = (r2_opposite_phase + r_2) / 2;
float nernstAcLocal = f_abs(r2_opposite_phase - r_2[ch]);
res.nernstDc = (r2_opposite_phase + r_2[ch]) / 2;
nernstAc =
(1 - ESR_SENSE_ALPHA) * nernstAc +
res.nernstAc =
(1 - ESR_SENSE_ALPHA) * res.nernstAc +
ESR_SENSE_ALPHA * nernstAcLocal;
// Exponential moving average (aka first order lpf)
pumpCurrentSenseVoltage =
(1 - PUMP_FILTER_ALPHA) * pumpCurrentSenseVoltage +
res.pumpCurrentSenseVoltage =
(1 - PUMP_FILTER_ALPHA) * res.pumpCurrentSenseVoltage +
PUMP_FILTER_ALPHA * (result.ch[ch].PumpCurrentVoltage - result.VirtualGroundVoltageInt);
#ifdef BATTERY_INPUT_DIVIDER
internalBatteryVoltage = result.ch[ch].BatteryVoltage;
res.internalBatteryVoltage = result.ch[ch].BatteryVoltage;
#endif
// Shift history over by one
r_3 = r_2;
r_2 = r_1;
r_3[ch] = r_2[ch];
r_2[ch] = r_1;
}
#if defined(TS_ENABLED)
/* tunerstudio */
@ -89,24 +93,24 @@ void StartSampling()
chThdCreateStatic(waSamplingThread, sizeof(waSamplingThread), NORMALPRIO + 5, SamplingThread, nullptr);
}
float GetNernstAc()
float GetNernstAc(int ch)
{
return nernstAc;
return results[ch].nernstAc;
}
float GetSensorInternalResistance()
float GetSensorInternalResistance(int ch)
{
// Sensor is the lowside of a divider, top side is 22k, and 3.3v AC pk-pk is injected
float totalEsr = ESR_SUPPLY_R / (VCC_VOLTS / GetNernstAc() - 1);
float totalEsr = ESR_SUPPLY_R / (VCC_VOLTS / GetNernstAc(ch) - 1);
// There is a resistor between the opamp and Vm sensor pin. Remove the effect of that
// resistor so that the remainder is only the ESR of the sensor itself
return totalEsr - VM_RESISTOR_VALUE;
}
float GetSensorTemperature()
float GetSensorTemperature(int ch)
{
float esr = GetSensorInternalResistance();
float esr = GetSensorInternalResistance(ch);
if (esr > 5000)
{
@ -116,21 +120,24 @@ float GetSensorTemperature()
return interpolate2d(esr, lsu49TempBins, lsu49TempValues);
}
float GetNernstDc()
float GetNernstDc(int ch)
{
return nernstDc;
return results[ch].nernstDc;
}
float GetPumpNominalCurrent()
float GetPumpNominalCurrent(int ch)
{
// Gain is 10x, then a 61.9 ohm resistor
// Effective resistance with the gain is 619 ohms
// 1000 is to convert to milliamperes
constexpr float ratio = -1000 / (PUMP_CURRENT_SENSE_GAIN * LSU_SENSE_R);
return pumpCurrentSenseVoltage * ratio;
return results[ch].pumpCurrentSenseVoltage * ratio;
}
float GetInternalBatteryVoltage()
float GetInternalBatteryVoltage(int ch)
{
return internalBatteryVoltage;
// Dual HW can measure heater voltage for each channel
// by measuring voltage on Heater- while FET is off
// TODO: rename function?
return results[ch].internalBatteryVoltage;
}

14
firmware/sampling.h
View File

@ -2,11 +2,9 @@
void StartSampling();
float GetNernstAc();
float GetSensorInternalResistance();
float GetSensorTemperature();
float GetNernstDc();
float GetPumpNominalCurrent();
float GetInternalBatteryVoltage();
float GetNernstAc(int ch);
float GetSensorInternalResistance(int ch);
float GetSensorTemperature(int ch);
float GetNernstDc(int ch);
float GetPumpNominalCurrent(int ch);
float GetInternalBatteryVoltage(int ch);

40
firmware/uart.cpp
View File

@ -33,33 +33,41 @@ static void UartThread(void*)
while(true)
{
float lambda = GetLambda();
int ch;
for (ch = 0; ch < AFR_CHANNELS; ch++) {
float lambda = GetLambda(ch);
int lambdaIntPart = lambda;
int lambdaThousandths = (lambda - lambdaIntPart) * 1000;
int batteryVoltageMv = GetInternalBatteryVoltage() * 1000;
int duty = GetHeaterDuty() * 100;
int batteryVoltageMv = GetInternalBatteryVoltage(ch) * 1000;
int duty = GetHeaterDuty(ch) * 100;
size_t writeCount = chsnprintf(printBuffer, 200,
"%d.%03d\tAC %d mV\tR: %d\tT: %d\tIpump: %d\tVbat: %d\theater: %s (%d)\tfault: %s\r\n",
"[AFR%d]: %d.%03d DC %4d mV AC %4d mV Rint: %5d T: %4d C Ipump: %6d uA Vheater: %5d heater: %s (%d)\tfault: %s\r\n",
ch,
lambdaIntPart, lambdaThousandths,
(int)(GetNernstAc() * 1000.0),
(int)GetSensorInternalResistance(),
(int)GetSensorTemperature(),
(int)(GetPumpNominalCurrent() * 1000),
(int)(GetNernstDc(ch) * 1000.0),
(int)(GetNernstAc(ch) * 1000.0),
(int)GetSensorInternalResistance(ch),
(int)GetSensorTemperature(ch),
(int)(GetPumpNominalCurrent(ch) * 1000),
batteryVoltageMv,
describeHeaterState(GetHeaterState()), duty,
describeFault(GetCurrentFault()));
describeHeaterState(GetHeaterState(ch)), duty,
describeFault(GetCurrentFault(ch)));
chnWrite(&SD1, (const uint8_t *)printBuffer, writeCount);
chThdSleepMilliseconds(50);
}
#if HAL_USE_SPI
writeCount = chsnprintf(printBuffer, 200,
"EGT: %d C (int %d C)\r\n",
(int)getEgtDrivers()[0].temperature,
(int)getEgtDrivers()[0].cold_joint_temperature);
for (ch = 0; ch < EGT_CHANNELS; ch++) {
size_t writeCount = chsnprintf(printBuffer, 200,
"EGT[%d]: %d C (int %d C)\r\n",
(int)getEgtDrivers()[ch].temperature,
(int)getEgtDrivers()[ch].cold_joint_temperature);
chnWrite(&SD1, (const uint8_t *)printBuffer, writeCount);
chThdSleepMilliseconds(50);
}
#endif /* HAL_USE_SPI */
chThdSleepMilliseconds(100);
}
}