electronic_throttle.h File Reference

Detailed Description

Date

Dec 7, 2013

Author

Andrey Belomutskiy, (c) 2012-2020

Definition in file electronic_throttle.h.

Data Structures
class	IEtbController

Enumerations
enum class	EtbState : uint8_t {   Uninitialized , Autotune , NoMotor , NotEbt ,   LimpProhibited , Paused , NoOutput , Active ,   NoPedal , FailFast , InInit , SuccessfulInit }

Functions
void	initElectronicThrottle ()
void	doInitElectronicThrottle (bool isStartupInit)
void	setEtbIdlePosition (percent_t pos)
void	setEtbWastegatePosition (percent_t pos)
void	setEtbLuaAdjustment (percent_t adjustment)
void	setEwgLuaAdjustment (percent_t pos)
void	setHitachiEtbCalibration ()
void	pickEtbOrStepper ()
void	blinkEtbErrorCodes (bool blinkPhase)
void	setToyota89281_33010_pedal_position_sensor ()
void	setBoschVAGETB ()
void	setDefaultEtbBiasCurve ()
void	setDefaultEtbParameters ()
void	setBoschVNH2SP30Curve ()
void	onConfigurationChangeElectronicThrottleCallback (engine_configuration_s *previousConfiguration)
void	unregisterEtbPins ()
void	setProteusHitachiEtbDefaults ()
void	etbAutocal (dc_function_e function, bool reportToTs=true)
void	etbBenchTestStart (size_t throttleIndex)
EtbStatus	etbGetState (size_t throttleIndex)
float	getSanitizedPedal ()

Enumeration Type Documentation

EtbState

enum class EtbState : uint8_t

strong

Enumerator
Uninitialized
Autotune
NoMotor
NotEbt
LimpProhibited
Paused
NoOutput
Active
NoPedal
FailFast
InInit
SuccessfulInit

Definition at line 46 of file electronic_throttle.h.

                    : uint8_t {
  Uninitialized, // 0
  Autotune, // 1
  NoMotor, // 2
  NotEbt, // 3
  LimpProhibited, // 4
  Paused, // 5
  NoOutput, // 6
  Active, // 7
  NoPedal, // 8
  FailFast, // 9
  InInit, // 10
  SuccessfulInit, // 11
};

Function Documentation

blinkEtbErrorCodes()

void blinkEtbErrorCodes

(

bool

blinkPhase

)

Definition at line 733 of file electronic_throttle.cpp.

                                         {
    for (int i = 0;i<ETB_COUNT;i++) {
        int8_t etbErrorCode = etbControllers[i]->etbErrorCode;
        if (etbErrorCode && engine->etbAutoTune) {
            etbErrorCode = (int8_t)EtbStatus::AutoTune;
        }
        etbControllers[i]->etbErrorCodeBlinker = blinkPhase ? 0 : etbErrorCode;
    }
}

Referenced by updateTunerStudioState().

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doInitElectronicThrottle()

void doInitElectronicThrottle

(

bool

isStartupInit

)

Unexpected electronic throttle start-up position is worth a critical error

Definition at line 909 of file electronic_throttle.cpp.

                                                  {
    bool anyEtbConfigured = false;
 
    // todo: technical debt: we still have DC motor code initialization in ETB-specific file while DC motors are used not just as ETB
    // like DC motor wastegate code flow should probably NOT go through electronic_throttle.cpp right?
    // todo: rename etbFunctions to something-without-etb for same reason?
    for (int i = 0 ; i < ETB_COUNT; i++) {
        auto func = engineConfiguration->etbFunctions[i];
        if (func == DC_None) {
            // do not touch HW pins if function not selected, this way Lua can use DC motor hardware pins directly
            continue;
        }
        auto motor = initDcMotor("ETB disable",
                engineConfiguration->etbIo[i], i, engineConfiguration->etb_use_two_wires);
 
        auto controller = engine->etbControllers[i];
        criticalAssertVoid(controller != nullptr, "null ETB");
 
        auto pid = getPidForDcFunction(func);
 
        bool dcConfigured = controller->init(func, motor, pid, pedal2TpsProvider());
        if (isStartupInit && dcConfigured) {
            controller->reset("init");
        }
        anyEtbConfigured |= dcConfigured && controller->isEtbMode();
    }
 
    // It's not valid to have a PPS without any ETBs - check that at least one ETB was enabled along with the pedal
    if (!anyEtbConfigured && Sensor::hasSensor(SensorType::AcceleratorPedalPrimary)) {
        criticalError("A pedal position sensor was configured, but no electronic throttles are configured.");
    }
 
#if 0 && ! EFI_UNIT_TEST
    percent_t startupThrottlePosition = getTPS();
    if (std::abs(startupThrottlePosition - engineConfiguration->etbNeutralPosition) > STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD) {
        /**
         * Unexpected electronic throttle start-up position is worth a critical error
         */
        firmwareError(ObdCode::OBD_Throttle_Actuator_Control_Range_Performance_Bank_1, "startup ETB position %.2f not %d",
                startupThrottlePosition,
                engineConfiguration->etbNeutralPosition);
        startupPositionError = true;
    }
#endif /* EFI_UNIT_TEST */
 
#if !EFI_UNIT_TEST
    static bool started = false;
    if (started == false) {
        dcThread.start();
        started = true;
    }
#endif
}

Referenced by configureRusefiLuaHooks(), initElectronicThrottle(), and EtbController::onConfigurationChange().

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etbAutocal()

void etbAutocal	(	dc_function_e	function,
		bool	reportToTs = true
	)

Definition at line 774 of file electronic_throttle.cpp.

                                                         {
    for (size_t i = 0 ; i < ETB_COUNT; i++) {
        /* TODO: use from engine, add getFunction() to base class */
        //if (auto controller = engine->etbControllers[i]) {
        if (auto controller = etbControllers[i]) {
            assertNotNullVoid(controller);
            if (controller->getFunction() == function) {
                /* TODO: is it possible that we have several controllers with same function? */
                controller->autoCalibrateTps(reportToTs);
                // todo fix root cause! work-around: make sure not to write bad tune since that would brick requestBurn();
            }
        }
    }
}

Referenced by handleCommandX14(), and initElectronicThrottle().

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etbBenchTestStart()

void etbBenchTestStart

(

size_t

throttleIndex

)

Definition at line 789 of file electronic_throttle.cpp.

                                             {
    if (throttleIndex >= ETB_COUNT) {
        efiPrintf("ETB bench test: invalid index %d", (int)throttleIndex);
        return;
    }
    if (auto controller = etbControllers[throttleIndex]) {
        assertNotNullVoid(controller);
        controller->startBenchTest();
    }
}

Referenced by handleCommandX14().

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etbGetState()

EtbStatus etbGetState

(

size_t

throttleIndex

)

Definition at line 800 of file electronic_throttle.cpp.

{
    if (throttleIndex >= ETB_COUNT) {
        return EtbStatus::NotConfigured;
    }
 
    return (EtbStatus)etbControllers[throttleIndex]->etbErrorCode;
}

getSanitizedPedal()

float getSanitizedPedal

(

)

Definition at line 291 of file electronic_throttle.cpp.

                          {
    auto pedalPosition = Sensor::get(SensorType::AcceleratorPedal);
    // If the pedal has failed, just use 0 position.
    // This is safer than disabling throttle control - we can at least push the throttle closed
    // and let the engine idle.
    return clampPercentValue(pedalPosition.value_or(0));
}

Referenced by EtbController::getSetpointEtb().

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initElectronicThrottle()

void initElectronicThrottle

(

)

Definition at line 963 of file electronic_throttle.cpp.

                              {
    if (hasFirmwareError()) {
        return;
    }
 
    for (int i = 0; i < ETB_COUNT; i++) {
        engine->etbControllers[i] = etbControllers[i];
    }
 
#if EFI_PROD_CODE
    addConsoleAction("etbautocal", [](){
        efiPrintf("etbAutocal invoked");
        etbAutocal(DC_Throttle1);
    });
 
    addConsoleAction("etbinfo", [](){
        efiPrintf("etbAutoTune=%d", engine->etbAutoTune);
        efiPrintf("TPS=%.2f", Sensor::getOrZero(SensorType::Tps1));
 
        efiPrintf("ETB1 duty=%.2f",
            (float)engine->outputChannels.etb1DutyCycle);
 
        efiPrintf("ETB freq=%d",
            engineConfiguration->etbFreq);
 
        for (int i = 0; i < ETB_COUNT; i++) {
            efiPrintf("ETB%d", i);
            efiPrintf(" dir1=%s", hwPortname(engineConfiguration->etbIo[i].directionPin1));
            efiPrintf(" dir2=%s", hwPortname(engineConfiguration->etbIo[i].directionPin2));
            efiPrintf(" control=%s", hwPortname(engineConfiguration->etbIo[i].controlPin));
            efiPrintf(" disable=%s", hwPortname(engineConfiguration->etbIo[i].disablePin));
            showDcMotorInfo(i);
        }
    });
 
#endif /* EFI_PROD_CODE */
 
    pedal2tpsMap.initTable(config->pedalToTpsTable, config->pedalToTpsRpmBins, config->pedalToTpsPedalBins);
    throttle2TrimTable.initTable(config->throttle2TrimTable, config->throttle2TrimRpmBins, config->throttle2TrimTpsBins);
    tcEtbDropTable.initTable(engineConfiguration->tractionControlEtbDrop, engineConfiguration->tractionControlSlipBins, engineConfiguration->tractionControlSpeedBins);
 
    doInitElectronicThrottle(/*isStartupInit*/true);
}

Referenced by commonInitEngineController().

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onConfigurationChangeElectronicThrottleCallback()

void onConfigurationChangeElectronicThrottleCallback

(

engine_configuration_s *

previousConfiguration

)

Definition at line 874 of file electronic_throttle.cpp.

                                                                                                    {
    for (int i = 0; i < ETB_COUNT; i++) {
        etbControllers[i]->onConfigurationChange(&previousConfiguration->etb);
    }
}

Referenced by incrementGlobalConfigurationVersion().

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pickEtbOrStepper()

void pickEtbOrStepper

(

)

Definition at line 1108 of file electronic_throttle.cpp.

                        {
  if (!engineConfiguration->useHbridgesToDriveIdleStepper) {
    return;
  }
  for (size_t i = 0;i<ETB_COUNT;i++) {
      if (engineConfiguration->etbFunctions[i] != DC_None) {
      criticalError("Cannot use H-bridge for stepper while DC function is selected");
      }
    }
}

Referenced by validateConfigOnStartUpOrBurn().

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setBoschVAGETB()

void setBoschVAGETB

(

)

Definition at line 819 of file electronic_throttle.cpp.

                      {
    engineConfiguration->tpsMin = 890; // convert 12to10 bit (ADC/4)
    engineConfiguration->tpsMax = 70; // convert 12to10 bit (ADC/4)
 
    engineConfiguration->tps1SecondaryMin = 102;
    engineConfiguration->tps1SecondaryMax = 891;
 
    engineConfiguration->etb.pFactor = 5.12;
    engineConfiguration->etb.iFactor = 47;
    engineConfiguration->etb.dFactor = 0.088;
    engineConfiguration->etb.offset = 0;
}

Referenced by commonPassatB6(), and hellen121_vag_boardDefaultConfiguration().

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setBoschVNH2SP30Curve()

void setBoschVNH2SP30Curve

(

)

Definition at line 832 of file electronic_throttle.cpp.

                             {
    copyArray(config->etbBiasBins, boschBiasBins);
    copyArray(config->etbBiasValues, boschBiasValues);
}

Referenced by setEtbTestConfiguration().

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setDefaultEtbBiasCurve()

void setDefaultEtbBiasCurve

(

)

Definition at line 887 of file electronic_throttle.cpp.

                              {
    copyArray(config->etbBiasBins, defaultBiasBins);
    copyArray(config->etbBiasValues, defaultBiasValues);
    copyArray(config->dcWastegateBiasBins, defaultBiasBins);
    copyArray(config->dcWastegateBiasValues, defaultBiasValues);
}

Referenced by setDefaultEngineConfiguration().

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setDefaultEtbParameters()

void setDefaultEtbParameters

(

)

Definition at line 837 of file electronic_throttle.cpp.

                               {
    engineConfiguration->etbIdleThrottleRange = 15;
 
    setLinearCurve(config->pedalToTpsPedalBins, /*from*/0, /*to*/100, 1);
    setRpmTableBin(config->pedalToTpsRpmBins);
 
    for (int pedalIndex = 0;pedalIndex<PEDAL_TO_TPS_SIZE;pedalIndex++) {
        for (int rpmIndex = 0;rpmIndex<PEDAL_TO_TPS_RPM_SIZE;rpmIndex++) {
            config->pedalToTpsTable[pedalIndex][rpmIndex] = config->pedalToTpsPedalBins[pedalIndex];
        }
    }
 
    // Default is to run each throttle off its respective hbridge
    engineConfiguration->etbFunctions[0] = DC_Throttle1;
    engineConfiguration->etbFunctions[1] = DC_Throttle2;
 
    engineConfiguration->etbFreq = DEFAULT_ETB_PWM_FREQUENCY;
 
    // voltage, not ADC like with TPS
    setPPSCalibration(0, 5, 5, 0);
 
    engineConfiguration->etb = {
        1,      // Kp
        10,     // Ki
        0.05,   // Kd
        0,      // offset
        0,      // Update rate, unused
        -100, 100 // min/max
    };
 
    engineConfiguration->etb_iTermMin = -30;
    engineConfiguration->etb_iTermMax = 30;
 
    engineConfiguration->etbJamDetectThreshold = 10;
//  engineConfiguration->etbJamTimeout = 1;
}

Referenced by setDefaultEngineConfiguration().

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setEtbIdlePosition()

void setEtbIdlePosition

(

percent_t

pos

)

Definition at line 1007 of file electronic_throttle.cpp.

                                       {
    for (int i = 0; i < ETB_COUNT; i++) {
        if (auto etb = engine->etbControllers[i]) {
            assertNotNullVoid(etb);
            etb->setIdlePosition(pos);
        }
    }
}

Referenced by applyIACposition().

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setEtbLuaAdjustment()

void setEtbLuaAdjustment

(

percent_t

adjustment

)

Definition at line 1025 of file electronic_throttle.cpp.

                                        {
    for (int i = 0; i < ETB_COUNT; i++) {
        /* TODO: use from engine, add getFunction() to base class */
        //if (auto etb = engine->etbControllers[i]) {
        if (auto etb = etbControllers[i]) {
            assertNotNullVoid(etb);
            // try to adjust all ETB
            if (etb->getFunction() == DC_Throttle1 || etb->getFunction() == DC_Throttle2) {
                etb->setLuaAdjustment(pos);
            }
        }
    }
}

Referenced by configureRusefiLuaHooks().

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setEtbWastegatePosition()

void setEtbWastegatePosition

(

percent_t

pos

)

Definition at line 1016 of file electronic_throttle.cpp.

                                            {
    for (int i = 0; i < ETB_COUNT; i++) {
        if (auto etb = engine->etbControllers[i]) {
            assertNotNullVoid(etb);
            etb->setWastegatePosition(pos);
        }
    }
}

Referenced by BoostController::setOutput().

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setEwgLuaAdjustment()

void setEwgLuaAdjustment

(

percent_t

pos

)

Definition at line 1039 of file electronic_throttle.cpp.

                                        {
    for (int i = 0; i < ETB_COUNT; i++) {
        /* TODO: use from engine, add getFunction() to base class */
        //if (auto etb = engine->etbControllers[i]) {
        if (auto etb = etbControllers[i]) {
            assertNotNullVoid(etb);
            // try to adjust all ETB
            if (etb->getFunction() == DC_Wastegate) {
                etb->setLuaAdjustment(pos);
            }
        }
    }
}

Referenced by configureRusefiLuaHooks().

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setHitachiEtbCalibration()

void setHitachiEtbCalibration

(

)

Definition at line 1057 of file electronic_throttle.cpp.

                                {
    setToyota89281_33010_pedal_position_sensor();
 
    setHitachiEtbBiasBins();
 
    engineConfiguration->etb.pFactor = 2.7999;
    engineConfiguration->etb.iFactor = 25.5;
    engineConfiguration->etb.dFactor = 0.053;
    engineConfiguration->etb.offset = 0.0;
    engineConfiguration->etb.periodMs = 5.0;
    engineConfiguration->etb.minValue = -100.0;
    engineConfiguration->etb.maxValue = 100.0;
 
    // Nissan 60mm throttle
    engineConfiguration->tpsMin = engineConfiguration->tps2Min = 113;
    engineConfiguration->tpsMax = engineConfiguration->tps2Max = 846;
    engineConfiguration->tps1SecondaryMin = engineConfiguration->tps2SecondaryMin = 897;
    engineConfiguration->tps1SecondaryMax = engineConfiguration->tps2SecondaryMax = 161;
}

Referenced by setProteusHitachiEtbDefaults().

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setProteusHitachiEtbDefaults()

void setProteusHitachiEtbDefaults

(

)

Definition at line 1077 of file electronic_throttle.cpp.

                                    {
#if HW_PROTEUS
    setHitachiEtbCalibration();
 
    // EFI_ADC_12: "Analog Volt 3"
    engineConfiguration->tps1_2AdcChannel = PROTEUS_IN_TPS1_2;
    // EFI_ADC_13: "Analog Volt 4"
    engineConfiguration->tps2_1AdcChannel = PROTEUS_IN_TPS2_1;
    // EFI_ADC_0: "Analog Volt 5"
    engineConfiguration->tps2_2AdcChannel = PROTEUS_IN_ANALOG_VOLT_5;
    setPPSInputs(PROTEUS_IN_ANALOG_VOLT_6, PROTEUS_IN_PPS2);
#endif // HW_PROTEUS
}

Referenced by setEngineBMW_M73_Proteus().

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setToyota89281_33010_pedal_position_sensor()

void setToyota89281_33010_pedal_position_sensor

(

)

Definition at line 1053 of file electronic_throttle.cpp.

                                                  {
    setPPSCalibration(0, 4.1, 0.73, 4.9);
}

Referenced by setHitachiEtbCalibration().

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unregisterEtbPins()

void unregisterEtbPins

(

)

Definition at line 894 of file electronic_throttle.cpp.

                         {
    // todo: we probably need an implementation here?!
}

Referenced by EnginePins::unregisterPins().

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