boost_control.cpp

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/*
 * boost_control.cpp
 *
 *  Created on: 13. des. 2019
 *      Author: Ola Ruud
 */
#include "pch.h"
 
#if EFI_BOOST_CONTROL
 
#include "boost_control.h"
#include "electronic_throttle.h"
#include "gppwm_channel_reader.h"
 
#if defined(HAS_OS_ACCESS)
#error "Unexpected OS ACCESS HERE"
#endif
 
namespace {
    Map3D<BOOST_RPM_COUNT, BOOST_LOAD_COUNT, uint8_t, uint8_t, uint16_t> boostMapOpen{"bo"};
    Map3D<BOOST_RPM_COUNT, BOOST_LOAD_COUNT, uint8_t, uint8_t, uint16_t> boostMapClosed{"bc"};
    Map2D<BOOST_CURVE_SIZE, float, float> boostCltCorr { "clt" };
    Map2D<BOOST_CURVE_SIZE, float, float> boostIatCorr { "iat" };
    Map2D<BOOST_CURVE_SIZE, float, float> boostCltAdder { "clt (adder)" };
    Map2D<BOOST_CURVE_SIZE, float, float> boostIatAdder { "iat (adder)" };
    SimplePwm boostPwmControl("boost");
}
 
void BoostController::init(
    IPwm* const pwm,
    const ValueProvider3D* const openLoopMap,
    const ValueProvider3D* const closedLoopTargetMap,
    const ValueProvider2D& cltMultiplierProvider,
    const ValueProvider2D& iatMultiplierProvider,
    const ValueProvider2D& cltAdderProvider,
    const ValueProvider2D& iatAdderProvider,
    pid_s* const pidParams
) {
    m_pwm = pwm;
    m_openLoopMap = openLoopMap;
    m_closedLoopTargetMap = closedLoopTargetMap;
    m_cltBoostCorrMap = &cltMultiplierProvider;
    m_iatBoostCorrMap = &iatMultiplierProvider;
    m_cltBoostAdderMap = &cltAdderProvider;
    m_iatBoostAdderMap = &iatAdderProvider;
 
    m_pid.initPidClass(pidParams);
    resetLua();
 
    hasInitBoost = true;
}
 
void BoostController::resetLua() {
    luaTargetAdd = 0;
    luaTargetMult = 1;
    luaOpenLoopAdd = 0;
}
 
void BoostController::onConfigurationChange(engine_configuration_s const * previousConfig) {
#if EFI_PROD_CODE
  initBoostCtrl();
#endif
 
    if (!previousConfig || !m_pid.isSame(&previousConfig->boostPid)) {
        m_shouldResetPid = true;
    }
}
 
expected<float> BoostController::observePlant() {
    expected<float> map = Sensor::get(SensorType::Map);
    if (!map.Valid && engineConfiguration->boostType != CLOSED_LOOP) {
        // if we're in open loop only let's somewhat operate even without valid Map sensor
        map = 0;
    }
    isPlantValid = map.Valid;
    return map;
}
 
expected<float> BoostController::getSetpoint() {
    // If we're in open loop only mode, disregard any target computation.
    // Open loop needs to work even in case of invalid closed loop config
    isNotClosedLoop = engineConfiguration->boostType != CLOSED_LOOP;
    if (isNotClosedLoop) {
        boostControllerClosedLoopPart = 0;
        return (float)boostControllerClosedLoopPart;
    }
 
    float rpm = Sensor::getOrZero(SensorType::Rpm);
 
    auto driverIntent = Sensor::get(SensorType::DriverThrottleIntent);
    isTpsInvalid = !driverIntent.Valid;
 
    if (isTpsInvalid) {
        return unexpected;
    }
 
    efiAssert(ObdCode::OBD_PCM_Processor_Fault, m_closedLoopTargetMap != nullptr, "boost closed loop target", unexpected);
 
    float target = m_closedLoopTargetMap->getValue(rpm, driverIntent.Value);
#if EFI_ENGINE_CONTROL
    // Add any blends if configured
    for (size_t i = 0; i < efi::size(config->boostClosedLoopBlends); i++) {
        auto result = calculateBlend(config->boostClosedLoopBlends[i], rpm, driverIntent.Value);
 
        engine->outputChannels.boostClosedLoopBlendParameter[i] = result.BlendParameter;
        engine->outputChannels.boostClosedLoopBlendBias[i] = result.Bias;
        engine->outputChannels.boostClosedLoopBlendOutput[i] = result.Value;
        engine->outputChannels.boostClosedLoopBlendYAxis[i] = result.TableYAxis;
 
        target += result.Value;
    }
#endif //EFI_ENGINE_CONTROL
 
    target *= luaTargetMult;
    target += luaTargetAdd;
    const std::optional<float> temperatureAdder = getBoostControlTargetTemperatureAdder();
    if (temperatureAdder.has_value()) {
        target += temperatureAdder.value();
    }
    return target;
}
 
expected<percent_t> BoostController::getOpenLoop(float target) {
    // Boost control open loop doesn't care about target - only TPS/RPM
    UNUSED(target);
 
    float rpm = Sensor::getOrZero(SensorType::Rpm);
    auto driverIntent = readGppwmChannel(engineConfiguration->boostOpenLoopYAxis);
 
    isTpsInvalid = !driverIntent.Valid;
 
    if (isTpsInvalid) {
        return unexpected;
    }
 
    efiAssert(ObdCode::OBD_PCM_Processor_Fault, m_openLoopMap != nullptr, "boost open loop", unexpected);
    efiAssert(ObdCode::OBD_PCM_Processor_Fault, m_cltBoostCorrMap != nullptr, "boost CLT multiplier", unexpected);
    efiAssert(ObdCode::OBD_PCM_Processor_Fault, m_iatBoostCorrMap != nullptr, "boost IAT multiplier", unexpected);
 
    percent_t openLoop = luaOpenLoopAdd + getBoostControlDutyCycleWithTemperatureCorrections(rpm, driverIntent.Value);
    openLoopYAxis = driverIntent.Value;
 
#if EFI_ENGINE_CONTROL
    // Add any blends if configured
    for (size_t i = 0; i < efi::size(config->boostOpenLoopBlends); i++) {
        auto result = calculateBlend(config->boostOpenLoopBlends[i], rpm, driverIntent.Value);
 
        engine->outputChannels.boostOpenLoopBlendParameter[i] = result.BlendParameter;
        engine->outputChannels.boostOpenLoopBlendBias[i] = result.Bias;
        engine->outputChannels.boostOpenLoopBlendOutput[i] = result.Value;
        engine->outputChannels.boostOpenLoopBlendYAxis[i] = result.TableYAxis;
 
        openLoop += result.Value;
    }
#endif // EFI_ENGINE_CONTROL
 
    // Add gear-based adder
    auto gear = Sensor::getOrZero(SensorType::DetectedGear);
    float gearAdder = engineConfiguration->gearBasedOpenLoopBoostAdder[static_cast<int>(gear) + 1];
    openLoop += gearAdder;
 
    openLoopPart = openLoop;
    return openLoop;
}
 
percent_t BoostController::getClosedLoopImpl(float target, float manifoldPressure) {
    // If we're in open loop only mode, make no closed loop correction.
    isNotClosedLoop = engineConfiguration->boostType != CLOSED_LOOP;
    if (isNotClosedLoop) {
        return 0;
    }
 
    // Reset PID if requested
    if (m_shouldResetPid) {
        m_pid.reset();
        m_shouldResetPid = false;
    }
 
    // If the engine isn't running, don't correct.
    isZeroRpm = Sensor::getOrZero(SensorType::Rpm) == 0;
    if (isZeroRpm) {
        m_pid.reset();
        return 0;
    }
 
    isBelowClosedLoopThreshold = manifoldPressure < engineConfiguration->minimumBoostClosedLoopMap;
    if (isBelowClosedLoopThreshold) {
        // We're below the CL threshold, inhibit CL for now
        m_pid.reset();
        return 0;
    }
 
    return m_pid.getOutput(target, manifoldPressure, FAST_CALLBACK_PERIOD_MS / 1000.0f);
}
 
float BoostController::getBoostControlDutyCycleWithTemperatureCorrections(
    const float rpm,
    const float driverIntent
) const {
    float result = m_openLoopMap->getValue(rpm, driverIntent);
    std::optional<float> cltBoostMultiplier = getBoostTemperatureCorrection(SensorType::Clt, *m_cltBoostCorrMap);
    if (cltBoostMultiplier.has_value()) {
        result *= cltBoostMultiplier.value();
    }
    std::optional<float> iatBoostMultiplier = getBoostTemperatureCorrection(SensorType::Iat, *m_iatBoostCorrMap);
    if (iatBoostMultiplier.has_value()) {
        result *= iatBoostMultiplier.value();
    }
    return result;
}
 
std::optional<float> BoostController::getBoostControlTargetTemperatureAdder() const {
    std::optional<float> result = getBoostTemperatureCorrection(SensorType::Clt, *m_cltBoostAdderMap);
    const std::optional<float> iatBoostAdder = getBoostTemperatureCorrection(SensorType::Iat, *m_iatBoostAdderMap);
    if (iatBoostAdder.has_value()) {
        if (result.has_value()) {
            result.value() += iatBoostAdder.value();
        } else {
            result = iatBoostAdder;
        }
    }
    return result;
}
 
std::optional<float> BoostController::getBoostTemperatureCorrection(
    const SensorType sensorType,
    const ValueProvider2D& correctionCurve
) const {
    const SensorResult temperature = Sensor::get(sensorType);
    if (temperature.Valid) {
        const std::optional<float> boostCorrection = correctionCurve.getValue(temperature.Value);
        if (boostCorrection.has_value()) {
            return std::make_optional<float>(boostCorrection.value());
        }
    }
    return {};
}
 
 
expected<percent_t> BoostController::getClosedLoop(float target, float manifoldPressure) {
    boostControllerClosedLoopPart = getClosedLoopImpl(target, manifoldPressure);
 
    m_pid.postState(engine->outputChannels.boostStatus);
 
    boostControlTarget = target;
 
    return (float)boostControllerClosedLoopPart;
}
 
bool isBoostControlSolenoidMode() {
    return isBrainPinValid(engineConfiguration->boostControlPin);
}
 
void BoostController::setOutput(expected<float> output) {
    // this clamping is just for happier gauge #6339
    boostOutput = clampPercentValue(output.value_or(engineConfiguration->boostControlSafeDutyCycle));
 
    if (!engineConfiguration->isBoostControlEnabled) {
        // If not enabled, force 0% output
        boostOutput = 0;
    }
 
    float duty = PERCENT_TO_DUTY(boostOutput);
 
    if (m_pwm && isBoostControlSolenoidMode()) {
        m_pwm->setSimplePwmDutyCycle(duty);
    } else {
#if EFI_ELECTRONIC_THROTTLE_BODY
    // inject wastegate position into DC controllers, pretty weird workflow to be honest
    // todo: should it be DC controller pulling?
    setEtbWastegatePosition(boostOutput);
#endif // EFI_ELECTRONIC_THROTTLE_BODY
    }
}
 
void BoostController::onFastCallback() {
    if (!hasInitBoost) {
        return;
    }
 
    m_pid.iTermMin = -20;
    m_pid.iTermMax = 20;
 
    rpmTooLow = Sensor::getOrZero(SensorType::Rpm) < engineConfiguration->boostControlMinRpm;
    tpsTooLow = Sensor::getOrZero(SensorType::Tps1) < engineConfiguration->boostControlMinTps;
    mapTooLow = Sensor::getOrZero(SensorType::Map) < engineConfiguration->boostControlMinMap;
 
  isBoostControlled = !(rpmTooLow || tpsTooLow || mapTooLow);
 
    if (!isBoostControlled) {
        // Passing unexpected will use the safe duty cycle configured by the user
        setOutput(unexpected);
    } else {
        ClosedLoopController::update();
    }
}
 
void setDefaultBoostParameters() {
    engineConfiguration->boostPwmFrequency = 33;
    engineConfiguration->boostPid.offset = 0;
    engineConfiguration->boostPid.pFactor = 0.5;
    engineConfiguration->boostPid.iFactor = 0.3;
    engineConfiguration->boostPid.maxValue = 20;
    engineConfiguration->boostPid.minValue = -20;
    engineConfiguration->boostControlPinMode = OM_DEFAULT;
 
    setRpmTableBin(config->boostRpmBins);
    setLinearCurve(config->boostOpenLoopLoadBins, 0, 100, 1);
    setLinearCurve(config->boostClosedLoopLoadBins, 0, 100, 1);
 
    for (int loadIndex = 0; loadIndex < BOOST_LOAD_COUNT; loadIndex++) {
        for (int rpmIndex = 0; rpmIndex < BOOST_RPM_COUNT; rpmIndex++) {
            config->boostTableClosedLoop[loadIndex][rpmIndex] = (float)config->boostClosedLoopLoadBins[loadIndex];
        }
    }
 
    // Defaults for ETB-style wastegate actuator
    engineConfiguration->etbWastegatePid.pFactor = 1;
    engineConfiguration->etbWastegatePid.minValue = -60;
    engineConfiguration->etbWastegatePid.maxValue = 60;
}
 
void startBoostPin() {
#if !EFI_UNIT_TEST
    // Only init if a pin is set, no need to start PWM without a pin
    if (!engineConfiguration->isBoostControlEnabled || !isBrainPinValid(engineConfiguration->boostControlPin)) {
        return;
    }
 
    startSimplePwm(
        &boostPwmControl,
        "Boost",
        &engine->scheduler,
        &enginePins.boostPin,
        engineConfiguration->boostPwmFrequency,
        /*dutyCycle*/0
    );
#endif /* EFI_UNIT_TEST */
}
 
void initBoostCtrl() {
#if EFI_PROD_CODE
    if (engine->module<BoostController>().unmock().hasInitBoost) {
    // already initialized - nothing to do here
      return;
    }
    // todo: why do we have 'isBoostControlEnabled' setting exactly?
    // 'initVvtActuators' is an example of a subsystem without explicit enable
    if (!engineConfiguration->isBoostControlEnabled) {
        return;
    }
 
    bool hasAnyEtbWastegate = false;
 
    for (size_t i = 0; i < efi::size(engineConfiguration->etbFunctions); i++) {
        hasAnyEtbWastegate |= engineConfiguration->etbFunctions[i] == DC_Wastegate;
    }
 
    // If we have neither a boost PWM pin nor ETB wastegate, nothing more to do
    if (!isBrainPinValid(engineConfiguration->boostControlPin) && !hasAnyEtbWastegate) {
        return;
    }
#endif
 
    // Set up open & closed loop tables
    boostMapOpen.initTable(config->boostTableOpenLoop, config->boostRpmBins, config->boostOpenLoopLoadBins);
    boostMapClosed.initTable(config->boostTableClosedLoop, config->boostRpmBins, config->boostClosedLoopLoadBins);
    boostCltCorr.initTable(config->cltBoostCorr, config->cltBoostCorrBins);
    boostIatCorr.initTable(config->iatBoostCorr, config->iatBoostCorrBins);
    boostCltAdder.initTable(config->cltBoostAdder, config->cltBoostAdderBins);
    boostIatAdder.initTable(config->iatBoostAdder, config->iatBoostAdderBins);
 
    // Set up boost controller instance
    engine->module<BoostController>().unmock().init(
        &boostPwmControl,
        &boostMapOpen,
        &boostMapClosed,
        boostCltCorr,
        boostIatCorr,
        boostCltAdder,
        boostIatAdder,
        &engineConfiguration->boostPid
    );
 
#if !EFI_UNIT_TEST
    startBoostPin();
#endif
}
 
void BoostController::setDefaultConfiguration(){
    engineConfiguration->boostCutPressure = 300;
    engineConfiguration->boostCutPressureHyst = 20;
    engineConfiguration->boostControlMinRpm = 2000;
    engineConfiguration->boostControlMinTps = 30;
    engineConfiguration->boostControlMinMap = 110;
}
 
#endif // EFI_BOOST_CONTROL