vvt.cpp

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/*
 * @file vvt.cpp
 *
 * @date Jun 26, 2016
 * @author Andrey Belomutskiy, (c) 2012-2020
 */
 
#include "pch.h"
 
#include "local_version_holder.h"
#include "vvt.h"
#include "bench_test.h"
 
#define NO_PIN_PERIOD 500
 
using vvt_map_t = Map3D<VVT_TABLE_SIZE, VVT_TABLE_SIZE, int8_t, uint16_t, uint16_t>;
 
// todo: rename to intakeVvtTable?
static vvt_map_t vvtTable1{"vvt1"};
static vvt_map_t vvtTable2{"vvt2"};
 
VvtController::VvtController(int p_index)
    : index(p_index)
    , m_bank(BANK_BY_INDEX(p_index))
    , m_cam(CAM_BY_INDEX(p_index))
{
}
 
void VvtController::init(const ValueProvider3D* targetMap, IPwm* pwm) {
    // Use the same settings for the Nth cam in every bank (ie, all exhaust cams use the same PID)
    m_pid.initPidClass(&engineConfiguration->auxPid[m_cam]);
 
    m_targetMap = targetMap;
    m_pwm = pwm;
}
 
void VvtController::onFastCallback() {
    if (!m_pwm || !m_targetMap) {
        // not init yet
        return;
    }
 
    m_isRpmHighEnough = Sensor::getOrZero(SensorType::Rpm) > engineConfiguration->vvtControlMinRpm;
    m_isCltWarmEnough = Sensor::getOrZero(SensorType::Clt) > engineConfiguration->vvtControlMinClt;
 
    auto nowNt = getTimeNowNt();
    m_engineRunningLongEnough = engine->rpmCalculator.getSecondsSinceEngineStart(nowNt) > engineConfiguration->vvtActivationDelayMs / MS_PER_SECOND;
 
    update();
}
 
void VvtController::onConfigurationChange(engine_configuration_s const * previousConfig) {
    if (!previousConfig || !m_pid.isSame(&previousConfig->auxPid[m_cam])) {
        m_pid.reset();
    }
}
 
expected<angle_t> VvtController::observePlant() {
#if EFI_SHAFT_POSITION_INPUT
    return engine->triggerCentral.getVVTPosition(m_bank, m_cam);
#else
    return unexpected;
#endif // EFI_SHAFT_POSITION_INPUT
}
 
expected<angle_t> VvtController::getSetpoint() {
    float rpm = Sensor::getOrZero(SensorType::Rpm);
    bool enabled = m_engineRunningLongEnough &&
#if EFI_PROD_CODE || EFI_UNIT_TEST
// simulator functional test does not have CLT or flag?
                        m_isCltWarmEnough &&
#endif
                        m_isRpmHighEnough;
    if (!enabled) {
        return unexpected;
    }
 
    float load = getFuelingLoad();
    float target = m_targetMap->getValue(rpm, load);
 
#if EFI_TUNER_STUDIO
    engine->outputChannels.vvtTargets[index] = target;
#endif
 
    vvtTarget = target;
 
    return target;
}
 
expected<percent_t> VvtController::getOpenLoop(angle_t target) {
    // TODO: could we do VVT open loop?
    UNUSED(target);
    return 0;
}
 
static bool shouldInvertVvt(int camIndex) {
    // grumble grumble, can't do an array of bits in c++
    switch (camIndex) {
        case 0: return engineConfiguration->invertVvtControlIntake;
        case 1: return engineConfiguration->invertVvtControlExhaust;
    }
 
    return false;
}
 
expected<percent_t> VvtController::getClosedLoop(angle_t target, angle_t observation) {
    // User labels say "advance" and "retard"
    // "advance" means that additional solenoid duty makes indicated VVT position more positive
    // "retard" means that additional solenoid duty makes indicated VVT position more negative
    bool isInverted = shouldInvertVvt(m_cam);
    m_pid.setErrorAmplification(isInverted ? -1.0f : 1.0f);
 
    float retVal = m_pid.getOutput(target, observation);
 
#if EFI_TUNER_STUDIO
    m_pid.postState(engine->outputChannels.vvtStatus[index]);
#endif /* EFI_TUNER_STUDIO */
 
    return retVal;
}
 
void VvtController::setOutput(expected<percent_t> outputValue) {
#if EFI_SHAFT_POSITION_INPUT
    vvtOutput = outputValue.value_or(0);
 
    if (outputValue) {
        m_pwm->setSimplePwmDutyCycle(PERCENT_TO_DUTY(outputValue.Value));
    } else {
        m_pwm->setSimplePwmDutyCycle(0);
 
        // we need to avoid accumulating iTerm while engine is not running
        m_pid.reset();
    }
#endif // EFI_SHAFT_POSITION_INPUT
}
 
#if EFI_VVT_PID
 
static const char *vvtOutputNames[CAM_INPUTS_COUNT] = {
"Vvt Output#1",
#if CAM_INPUTS_COUNT > 1
"Vvt Output#2",
#endif
#if CAM_INPUTS_COUNT > 2
"Vvt Output#3",
#endif
#if CAM_INPUTS_COUNT > 3
"Vvt Output#4",
#endif
 };
 
static OutputPin vvtPins[CAM_INPUTS_COUNT];
static SimplePwm vvtPwms[CAM_INPUTS_COUNT] = { "VVT1", "VVT2", "VVT3", "VVT4" };
 
OutputPin* getVvtOutputPin(int index) {
    return &vvtPins[index];
}
 
static void applyVvtPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ {
    OutputPin *output = state->outputPins[0];
    if (output == getOutputOnTheBenchTest()) {
        return;
    }
    state->applyPwmValue(output, stateIndex);
}
 
static void turnVvtPidOn(int index) {
    if (!isBrainPinValid(engineConfiguration->vvtPins[index])) {
        return;
    }
 
    startSimplePwmExt(&vvtPwms[index], vvtOutputNames[index],
            &engine->scheduler,
            engineConfiguration->vvtPins[index],
            getVvtOutputPin(index),
            engineConfiguration->vvtOutputFrequency, 0.1,
            applyVvtPinState);
}
 
void startVvtControlPins() {
    for (int i = 0;i <CAM_INPUTS_COUNT;i++) {
        turnVvtPidOn(i);
    }
}
 
void stopVvtControlPins() {
    for (int i = 0;i < CAM_INPUTS_COUNT;i++) {
        getVvtOutputPin(i)->deInit();
    }
}
 
void initVvtActuators() {
 
    vvtTable1.initTable(config->vvtTable1, config->vvtTable1RpmBins, config->vvtTable1LoadBins);
    vvtTable2.initTable(config->vvtTable2, config->vvtTable2RpmBins, config->vvtTable2LoadBins);
 
 
    engine->module<VvtController1>()->init(&vvtTable1, &vvtPwms[0]);
    engine->module<VvtController2>()->init(&vvtTable2, &vvtPwms[1]);
    engine->module<VvtController3>()->init(&vvtTable1, &vvtPwms[2]);
    engine->module<VvtController4>()->init(&vvtTable2, &vvtPwms[3]);
 
    startVvtControlPins();
}
 
#endif