| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | /** | |||
| 2 | * @file idle_thread.h | |||
| 3 | * @brief Idle Valve Control thread | |||
| 4 | * | |||
| 5 | * @date May 23, 2013 | |||
| 6 | * @author Andrey Belomutskiy, (c) 2012-2020 | |||
| 7 | */ | |||
| 8 | ||||
| 9 | #pragma once | |||
| 10 | ||||
| 11 | #include "engine_module.h" | |||
| 12 | #include "rusefi_types.h" | |||
| 13 | #include "efi_pid.h" | |||
| 14 | #include "sensor.h" | |||
| 15 | #include "idle_state_generated.h" | |||
| 16 | #include "closed_loop_idle.h" | |||
| 17 | #include "biquad.h" | |||
| 18 | ||||
| 19 | struct IIdleController { | |||
| 20 | enum class Phase : uint8_t { | |||
| 21 | Cranking, // Below cranking threshold | |||
| 22 | Idling, // Below idle RPM, off throttle | |||
| 23 | Coasting, // Off throttle but above idle RPM | |||
| 24 | CrankToIdleTaper, // Taper between cranking and idling | |||
| 25 | Running, // On throttle | |||
| 26 | }; | |||
| 27 | ||||
| 28 | struct TargetInfo { | |||
| 29 | // Target speed for closed loop control | |||
| 30 | float ClosedLoopTarget; | |||
| 31 | ||||
| 32 | // If below this speed, enter idle | |||
| 33 | float IdleEntryRpm; | |||
| 34 | ||||
| 35 | // If above this speed, exit idle | |||
| 36 | float IdleExitRpm; | |||
| 37 | ||||
| 38 | 7 | bool operator==(const TargetInfo& other) const { | ||
| 39 |
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7 | return ClosedLoopTarget == other.ClosedLoopTarget && IdleEntryRpm == other.IdleEntryRpm && IdleExitRpm == other.IdleExitRpm; | |
| 40 | } | |||
| 41 | }; | |||
| 42 | ||||
| 43 | virtual Phase determinePhase(float rpm, TargetInfo targetRpm, SensorResult tps, float vss, float crankingTaperFraction) = 0; | |||
| 44 | virtual TargetInfo getTargetRpm(float clt) = 0; | |||
| 45 | virtual float getCrankingOpenLoop(float clt) const = 0; | |||
| 46 | virtual float getRunningOpenLoop(IIdleController::Phase phase, float rpm, float clt, SensorResult tps) = 0; | |||
| 47 | virtual float getOpenLoop(Phase phase, float rpm, float clt, SensorResult tps, float crankingTaperFraction) = 0; | |||
| 48 | virtual float getClosedLoop(Phase phase, float tps, float rpm, float target) = 0; | |||
| 49 | virtual float getCrankingTaperFraction(float clt) const = 0; | |||
| 50 | virtual bool isIdlingOrTaper() const = 0; | |||
| 51 | virtual bool isCoastingAdvance() const = 0; | |||
| 52 | virtual float getIdleTimingAdjustment(float rpm) = 0; | |||
| 53 | virtual Phase getCurrentPhase() const = 0; | |||
| 54 | }; | |||
| 55 | ||||
| 56 | class IdleController : public IIdleController, public EngineModule, public idle_state_s { | |||
| 57 | public: | |||
| 58 | // Mockable<> interface | |||
| 59 | using interface_t = IdleController; | |||
| 60 | ||||
| 61 | void init(); | |||
| 62 | ||||
| 63 | float getIdlePosition(float rpm); | |||
| 64 | ||||
| 65 | // TARGET DETERMINATION | |||
| 66 | TargetInfo getTargetRpm(float clt) override; | |||
| 67 | ||||
| 68 | // PHASE DETERMINATION: what is the driver trying to do right now? | |||
| 69 | Phase determinePhase(float rpm, TargetInfo targetRpm, SensorResult tps, float vss, float crankingTaperFraction) override; | |||
| 70 | float getCrankingTaperFraction(float clt) const override; | |||
| 71 | ||||
| 72 | // OPEN LOOP CORRECTIONS | |||
| 73 | percent_t getCrankingOpenLoop(float clt) const override; | |||
| 74 | percent_t getRunningOpenLoop(IIdleController::Phase phase, float rpm, float clt, SensorResult tps) override; | |||
| 75 | percent_t getOpenLoop(Phase phase, float rpm, float clt, SensorResult tps, float crankingTaperFraction) override; | |||
| 76 | ||||
| 77 | float getIdleTimingAdjustment(float rpm) override; | |||
| 78 | float getIdleTimingAdjustment(float rpm, float targetRpm, Phase phase); | |||
| 79 | ||||
| 80 | // CLOSED LOOP CORRECTION | |||
| 81 | float getClosedLoop(IIdleController::Phase phase, float tpsPos, float rpm, float targetRpm) override; | |||
| 82 | ||||
| 83 | void onConfigurationChange(engine_configuration_s const * previousConfig) override final; | |||
| 84 | void onFastCallback() override final; | |||
| 85 | void onEngineStop() override final; | |||
| 86 | ||||
| 87 | // Allow querying state from outside | |||
| 88 | 1094 | bool isIdlingOrTaper() const override { | ||
| 89 |
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1094 | return m_lastPhase == Phase::Idling || (engineConfiguration->useSeparateIdleTablesForCrankingTaper && m_lastPhase == Phase::CrankToIdleTaper); | |
| 90 | } | |||
| 91 | ||||
| 92 | ✗ | bool isCoastingAdvance() const override { | ||
| 93 | ✗ | return m_lastPhase == Phase::Coasting && engineConfiguration->useIdleAdvanceWhileCoasting; | ||
| 94 | } | |||
| 95 | ||||
| 96 | ✗ | Phase getCurrentPhase() const override { | ||
| 97 | ✗ | return m_lastPhase; | ||
| 98 | } | |||
| 99 | ||||
| 100 | PidIndustrial industrialWithOverrideIdlePid; | |||
| 101 | ||||
| 102 | #if EFI_IDLE_PID_CIC | |||
| 103 | // Use PID with CIC integrator | |||
| 104 | PidCic idleCicPid; | |||
| 105 | #endif //EFI_IDLE_PID_CIC | |||
| 106 | ||||
| 107 | 4049 | Pid * getIdlePid() { | ||
| 108 | #if EFI_IDLE_PID_CIC | |||
| 109 | if (engineConfiguration->useCicPidForIdle) { | |||
| 110 | return &idleCicPid; | |||
| 111 | } | |||
| 112 | #endif /* EFI_IDLE_PID_CIC */ | |||
| 113 | 4049 | return &industrialWithOverrideIdlePid; | ||
| 114 | } | |||
| 115 | ||||
| 116 | void updateLtit(float rpm, float clt, bool acActive, bool fan1Active, bool fan2Active, float idleIntegral); | |||
| 117 | void onIgnitionStateChanged(bool ignitionOn) override; | |||
| 118 | ||||
| 119 | private: | |||
| 120 | ||||
| 121 | // These are stored by getIdlePosition() and used by getIdleTimingAdjustment() | |||
| 122 | Phase m_lastPhase = Phase::Cranking; | |||
| 123 | efitimeus_t restoreAfterPidResetTimeUs = 0; | |||
| 124 | // used by 'dashpot' (hold+decay) logic for iacByTpsTaper | |||
| 125 | efitimeus_t lastTimeRunningUs = 0; | |||
| 126 | // used by "soft" idle entry | |||
| 127 | float m_crankTaperEndTime = 0.0f; | |||
| 128 | float m_idleTimingSoftEntryEndTime = 0.0f; | |||
| 129 | ||||
| 130 | Timer m_timeInIdlePhase; | |||
| 131 | ||||
| 132 | // This is stored by getClosedLoop and used in case we want to "do nothing" | |||
| 133 | float m_lastAutomaticPosition = 0; | |||
| 134 | ||||
| 135 | Pid m_timingPid; | |||
| 136 | float m_modeledFlowIdleTiming = 0; | |||
| 137 | Biquad m_timingHpf; | |||
| 138 | }; | |||
| 139 | ||||
| 140 | percent_t getIdlePosition(); | |||
| 141 | ||||
| 142 | void applyIACposition(percent_t position); | |||
| 143 | void setManualIdleValvePosition(int positionPercent); | |||
| 144 | ||||
| 145 | void startIdleThread(); | |||
| 146 | void setDefaultIdleParameters(); | |||
| 147 | void startIdleBench(void); | |||
| 148 | void setTargetIdleRpm(int value); | |||
| 149 | void startSwitchPins(); | |||
| 150 | void stopSwitchPins(); | |||
| 151 |