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1 | /* | |||
2 | * @file vvt.cpp | |||
3 | * | |||
4 | * @date Jun 26, 2016 | |||
5 | * @author Andrey Belomutskiy, (c) 2012-2020 | |||
6 | */ | |||
7 | ||||
8 | #include "pch.h" | |||
9 | ||||
10 | #include "local_version_holder.h" | |||
11 | #include "vvt.h" | |||
12 | #include "bench_test.h" | |||
13 | ||||
14 | using vvt_map_t = Map3D<VVT_TABLE_RPM_SIZE, VVT_TABLE_SIZE, int8_t, uint16_t, uint16_t>; | |||
15 | ||||
16 | // todo: rename to intakeVvtTable? | |||
17 | static vvt_map_t vvtTable1{"vvt1"}; | |||
18 | static vvt_map_t vvtTable2{"vvt2"}; | |||
19 | ||||
20 | 5 | VvtController::VvtController(int p_index) | ||
21 | 5 | : index(p_index) | ||
22 | 5 | , m_bank(BANK_BY_INDEX(p_index)) | ||
23 | 5 | , m_cam(CAM_BY_INDEX(p_index)) | ||
24 | { | |||
25 | 5 | } | ||
26 | ||||
27 | 4 | void VvtController::init(const ValueProvider3D* targetMap, IPwm* pwm) { | ||
28 | // Use the same settings for the Nth cam in every bank (ie, all exhaust cams use the same PID) | |||
29 | 4 | m_pid.initPidClass(&engineConfiguration->auxPid[m_cam]); | ||
30 | ||||
31 | 4 | m_targetMap = targetMap; | ||
32 | 4 | m_pwm = pwm; | ||
33 | 4 | } | ||
34 | ||||
35 | 1 | void VvtController::onFastCallback() { | ||
36 |
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1 | if (!m_pwm || !m_targetMap) { |
37 | // not init yet | |||
38 | ✗ | return; | ||
39 | } | |||
40 | ||||
41 | 1 | m_isRpmHighEnough = Sensor::getOrZero(SensorType::Rpm) > engineConfiguration->vvtControlMinRpm; | ||
42 | 1 | m_isCltWarmEnough = Sensor::getOrZero(SensorType::Clt) > engineConfiguration->vvtControlMinClt; | ||
43 | ||||
44 | 1 | auto nowNt = getTimeNowNt(); | ||
45 | 1 | m_engineRunningLongEnough = engine->rpmCalculator.getSecondsSinceEngineStart(nowNt) > engineConfiguration->vvtActivationDelayMs / MS_PER_SECOND; | ||
46 | ||||
47 | 1 | update(); | ||
48 | } | |||
49 | ||||
50 | ✗ | void VvtController::onConfigurationChange(engine_configuration_s const * previousConfig) { | ||
51 | ✗ | if (!previousConfig || !m_pid.isSame(&previousConfig->auxPid[m_cam])) { | ||
52 | ✗ | m_pid.reset(); | ||
53 | } | |||
54 | ✗ | } | ||
55 | ||||
56 | 2 | expected<angle_t> VvtController::observePlant() { | ||
57 | #if EFI_SHAFT_POSITION_INPUT | |||
58 |
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2 | return engine->triggerCentral.getVVTPosition(m_bank, m_cam); | |
59 | #else | |||
60 | return unexpected; | |||
61 | #endif // EFI_SHAFT_POSITION_INPUT | |||
62 | } | |||
63 | ||||
64 | 2 | expected<angle_t> VvtController::getSetpoint() { | ||
65 |
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2 | float rpm = Sensor::getOrZero(SensorType::Rpm); | |
66 | 6 | bool enabled = m_engineRunningLongEnough && | ||
67 | #if EFI_PROD_CODE || EFI_UNIT_TEST | |||
68 | // simulator functional test does not have CLT or flag? | |||
69 |
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4 | m_isCltWarmEnough && | |
70 | #endif | |||
71 |
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2 | m_isRpmHighEnough; | |
72 |
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2 | if (!enabled) { |
73 | ✗ | return unexpected; | ||
74 | } | |||
75 | ||||
76 |
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2 | float load = getFuelingLoad(); | |
77 |
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2 | float target = m_targetMap->getValue(rpm, load); | |
78 | ||||
79 | #if EFI_TUNER_STUDIO | |||
80 | 2 | engine->outputChannels.vvtTargets[index] = target; | ||
81 | #endif | |||
82 | ||||
83 | 2 | vvtTarget = target; | ||
84 | ||||
85 | 2 | return target; | ||
86 | } | |||
87 | ||||
88 | 2 | expected<percent_t> VvtController::getOpenLoop(angle_t target) { | ||
89 | // TODO: could we do VVT open loop? | |||
90 | UNUSED(target); | |||
91 | 2 | return 0; | ||
92 | } | |||
93 | ||||
94 | 3 | static bool shouldInvertVvt(int camIndex) { | ||
95 | // grumble grumble, can't do an array of bits in c++ | |||
96 |
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3 | switch (camIndex) { | |
97 |
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2 | case 0: return engineConfiguration->invertVvtControlIntake; | |
98 |
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1 | case 1: return engineConfiguration->invertVvtControlExhaust; | |
99 | } | |||
100 | ||||
101 | ✗ | return false; | ||
102 | } | |||
103 | ||||
104 | 3 | expected<percent_t> VvtController::getClosedLoop(angle_t target, angle_t observation) { | ||
105 | // User labels say "advance" and "retard" | |||
106 | // "advance" means that additional solenoid duty makes indicated VVT position more positive | |||
107 | // "retard" means that additional solenoid duty makes indicated VVT position more negative | |||
108 | 3 | bool isInverted = shouldInvertVvt(m_cam); | ||
109 |
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3 | m_pid.setErrorAmplification(isInverted ? -1.0f : 1.0f); | |
110 | ||||
111 |
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3 | float retVal = m_pid.getOutput(target, observation); | |
112 | ||||
113 | #if EFI_TUNER_STUDIO | |||
114 |
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3 | m_pid.postState(engine->outputChannels.vvtStatus[index]); | |
115 | #endif /* EFI_TUNER_STUDIO */ | |||
116 | ||||
117 | 6 | return retVal; | ||
118 | } | |||
119 | ||||
120 | 1 | void VvtController::setOutput(expected<percent_t> outputValue) { | ||
121 | #if EFI_SHAFT_POSITION_INPUT | |||
122 | 1 | vvtOutput = outputValue.value_or(0); | ||
123 | ||||
124 |
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1 | if (outputValue) { |
125 | 1 | m_pwm->setSimplePwmDutyCycle(PERCENT_TO_DUTY(outputValue.Value)); | ||
126 | } else { | |||
127 | ✗ | m_pwm->setSimplePwmDutyCycle(0); | ||
128 | ||||
129 | // we need to avoid accumulating iTerm while engine is not running | |||
130 | ✗ | m_pid.reset(); | ||
131 | } | |||
132 | #endif // EFI_SHAFT_POSITION_INPUT | |||
133 | 1 | } | ||
134 | ||||
135 | #if EFI_VVT_PID | |||
136 | ||||
137 | static const char *vvtOutputNames[CAM_INPUTS_COUNT] = { | |||
138 | "Vvt Output#1", | |||
139 | #if CAM_INPUTS_COUNT > 1 | |||
140 | "Vvt Output#2", | |||
141 | #endif | |||
142 | #if CAM_INPUTS_COUNT > 2 | |||
143 | "Vvt Output#3", | |||
144 | #endif | |||
145 | #if CAM_INPUTS_COUNT > 3 | |||
146 | "Vvt Output#4", | |||
147 | #endif | |||
148 | }; | |||
149 | ||||
150 | static OutputPin vvtPins[CAM_INPUTS_COUNT]; | |||
151 | static SimplePwm vvtPwms[CAM_INPUTS_COUNT] = { "VVT1", "VVT2", "VVT3", "VVT4" }; | |||
152 | ||||
153 | OutputPin* getVvtOutputPin(int index) { | |||
154 | return &vvtPins[index]; | |||
155 | } | |||
156 | ||||
157 | static void applyVvtPinState(int stateIndex, PwmConfig *state) /* pwm_gen_callback */ { | |||
158 | OutputPin *output = state->outputPins[0]; | |||
159 | if (output == getOutputOnTheBenchTest()) { | |||
160 | return; | |||
161 | } | |||
162 | state->applyPwmValue(output, stateIndex); | |||
163 | } | |||
164 | ||||
165 | static void turnVvtPidOn(int index) { | |||
166 | if (!isBrainPinValid(engineConfiguration->vvtPins[index])) { | |||
167 | return; | |||
168 | } | |||
169 | ||||
170 | startSimplePwmExt(&vvtPwms[index], vvtOutputNames[index], | |||
171 | &engine->scheduler, | |||
172 | engineConfiguration->vvtPins[index], | |||
173 | getVvtOutputPin(index), | |||
174 | engineConfiguration->vvtOutputFrequency, 0.1, | |||
175 | applyVvtPinState); | |||
176 | } | |||
177 | ||||
178 | void startVvtControlPins() { | |||
179 | for (int i = 0;i <CAM_INPUTS_COUNT;i++) { | |||
180 | turnVvtPidOn(i); | |||
181 | } | |||
182 | } | |||
183 | ||||
184 | void stopVvtControlPins() { | |||
185 | for (int i = 0;i < CAM_INPUTS_COUNT;i++) { | |||
186 | getVvtOutputPin(i)->deInit(); | |||
187 | } | |||
188 | } | |||
189 | ||||
190 | void initVvtActuators() { | |||
191 | ||||
192 | vvtTable1.initTable(config->vvtTable1, config->vvtTable1RpmBins, config->vvtTable1LoadBins); | |||
193 | vvtTable2.initTable(config->vvtTable2, config->vvtTable2RpmBins, config->vvtTable2LoadBins); | |||
194 | ||||
195 | ||||
196 | engine->module<VvtController1>()->init(&vvtTable1, &vvtPwms[0]); | |||
197 | engine->module<VvtController2>()->init(&vvtTable2, &vvtPwms[1]); | |||
198 | engine->module<VvtController3>()->init(&vvtTable1, &vvtPwms[2]); | |||
199 | engine->module<VvtController4>()->init(&vvtTable2, &vvtPwms[3]); | |||
200 | ||||
201 | startVvtControlPins(); | |||
202 | } | |||
203 | ||||
204 | #endif | |||
205 |