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Rework shifting again
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@rnd-ash
rnd-ash committed Sep 20, 2023
1 parent 14b47b0 commit 09ab752
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Showing 3 changed files with 72 additions and 34 deletions.
100 changes: 68 additions & 32 deletions src/gearbox.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -375,11 +375,12 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
int torque_lim_ramp_shift = torque_lim_adapt/2;

// Prefill phase time calculations
int prefill_phase_1_duration = 50; // At prefill pressue * 2
int prefill_phase_2_duration = 100; // Ramp down to prefill pressure
int prefill_phase_3_duration = prefill_data.fill_time; // Full fill time
int prefill_phase_1_duration = prefill_data.fill_time; // At prefill pressue * 2
int prefill_phase_2_duration = 150; // Ramp down to prefill pressure
int prefill_phase_3_duration = 50; // Full fill time
int total_prefill_phase_time = prefill_phase_1_duration + prefill_phase_2_duration + prefill_phase_3_duration;

int torque_req_start_time = prefill_phase_1_duration + prefill_phase_2_duration;
int torque_req_max_time = total_prefill_phase_time + chars.target_shift_time/2;

if (prefill_adapt_flags != 0) {
ESP_LOGI("SHIFT", "Prefill adapting is not allowed. Reason flag is 0x%08X", (int)prefill_adapt_flags);
Expand All @@ -402,7 +403,8 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
int delta_rpm = 0;
int wp_pre_shift = pressure_manager->find_working_mpc_pressure(this->actual_gear);
int fill_end_mpc = 0;

int overlap_end_mpc = 0;
int overlap_end_spc = 0;
float pre_overlap_torque = 0;
float overlap_spc_start_pressure = prefill_data.fill_pressure_on_clutch + 250;
int rpm_to_overlap = 0;
Expand All @@ -414,6 +416,8 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
bool prefill_protection_active = false;
bool mpc_released = false;
int current_torque_req = 0;
int spc_delta = 0;
PressureStageTiming maxp = pressure_manager->get_max_pressure_timing();
while(process_shift) {
bool stationary_shift = this->is_stationary();
bool skip_phase = false;
Expand Down Expand Up @@ -474,6 +478,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
torque_req_upper_torque = MIN(torque_lim_adapt, torque_req_upper_torque);
}
// for Max Pressure or overlap
/*
if (current_stage >= ShiftStage::Overlap) {
if (current_torque_req == 0) {
current_torque_req = torque_req_upper_torque;
Expand All @@ -500,6 +505,20 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
}
}
}
*/
if (total_elapsed <= torque_req_start_time) {
target_reduction_torque = calc_torque_limit(req_lookup, chars.target_shift_time);
} else if (total_elapsed <= torque_req_max_time) {
int torque = scale_number(total_elapsed, torque_req_upper_torque, target_reduction_torque, torque_req_start_time, torque_req_max_time);
current_torque_req = MIN(torque, current_torque_req);
this->set_torque_request(TorqueRequestControlType::NormalSpeed, TorqueRequestBounds::LessThan, torque);
} else { // Decreasing still, or increasing
if (now_cs.off_clutch_speed > 100) {
int torque = scale_number(now_cs.on_clutch_speed, MAX(sensor_data.static_torque, sensor_data.driver_requested_torque), target_reduction_torque, 0, pre_cs.on_clutch_speed);
current_torque_req = MAX(torque, current_torque_req);
this->set_torque_request(TorqueRequestControlType::BackToDemandTorque, TorqueRequestBounds::LessThan, current_torque_req);
}
}

} else {
// If input speed is too low, use the overlap time as a way of measuring shift progress
Expand All @@ -521,10 +540,8 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
ESP_LOGI("SHIFT", "Fill start");
pressure_manager->set_shift_circuit(sd.shift_circuit, true);
phase_total_time = total_prefill_phase_time;
current_spc = prefill_data.fill_pressure_on_clutch * 1.5;
} else if (current_stage == ShiftStage::Overlap) {
ESP_LOGI("SHIFT", "Overlap start");
target_reduction_torque = calc_torque_limit(req_lookup, chars.target_shift_time);
phase_total_time = (chars.target_shift_time*2)+SBS.shift_timeout_coasting; //(No ramping) (Worse case time)
this->tcc->set_shift_target_state(InternalTccState::Open);
} else if (current_stage == ShiftStage::MaxPressure) {
Expand All @@ -534,8 +551,8 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
}
// Last stage
ESP_LOGI("SHIFT", "Max Pressure start");
PressureStageTiming maxp = pressure_manager->get_max_pressure_timing();
phase_total_time = maxp.hold_time + maxp.ramp_time;
maxp = pressure_manager->get_max_pressure_timing();
phase_total_time = maxp.hold_time + maxp.ramp_time_1 + maxp.ramp_time_2;
last_spc = current_spc;
}
} else if (phase_elapsed > phase_total_time && current_stage == ShiftStage::MaxPressure) {
Expand All @@ -548,8 +565,8 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
// Stays at working pressure
// --SPC--
// 50mBar to drain the 7bar stored in the SPC rail
current_spc = prefill_data.fill_pressure_on_clutch;
current_mpc = wp_current_gear + current_spc*1.5;
current_spc = prefill_data.fill_pressure_on_clutch*1.5;
current_mpc = wp_current_gear + prefill_data.fill_pressure_off_clutch;
} else if (current_stage == ShiftStage::Fill) {
//--MPC--
// Stays at working pressure
Expand All @@ -563,26 +580,14 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil

if (phase_elapsed <= prefill_phase_1_duration) {
// Phase 1. Highest pressure
current_spc = prefill_data.fill_pressure_on_clutch;
current_mpc = wp_current_gear + current_spc*1.5;
current_spc = prefill_data.fill_pressure_on_clutch*2;
} else if (phase_elapsed <= prefill_phase_1_duration + prefill_phase_2_duration) {
// Phase 2. Ramp down
current_spc = prefill_data.fill_pressure_on_clutch;
if (sensor_data.input_torque < torque_lim_adapt) {
current_mpc = 400; // Release MPC instantly
mpc_released = true;
} else if (!mpc_released) {
current_mpc = wp_current_gear + current_spc; // MPC stays high
}
current_spc = scale_number(total_elapsed, prefill_data.fill_pressure_on_clutch*2, prefill_data.fill_pressure_on_clutch, prefill_phase_1_duration, prefill_phase_1_duration + prefill_phase_2_duration);
} else { // Phase 3 (Hold at fill pressure)
current_spc = prefill_data.fill_pressure_on_clutch;
if (mpc_released) {
current_mpc = 400;
} else {
current_mpc = wp_current_gear + current_spc; // MPC stays high
}
}
fill_end_mpc = current_mpc;
fill_end_mpc = current_mpc = wp_current_gear + prefill_data.fill_pressure_off_clutch;
pre_overlap_torque = sensor_data.input_torque;
if (mpc_released && !prefill_protection_active && prefill_adapt_flags == 0x0000) {
// Do adapting for prefill
Expand All @@ -593,16 +598,47 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
if (now_cs.off_clutch_speed > now_cs.on_clutch_speed) {
this->tcc->on_shift_ending();
}
// Release shifting element
current_mpc = scale_number(phase_elapsed, fill_end_mpc, 400, 0, chars.target_shift_time/2);

float overlap_ending_mpc = scale_number(
sensor_data.input_torque,
MAX(400, wp_current_gear/2),
wp_current_gear,
100,
gearboxConfig.max_torque
);

float overlap_ending_spc = MAX(scale_number(
sensor_data.input_torque,
prefill_data.fill_pressure_on_clutch + prefill_data.fill_pressure_on_clutch,
wp_current_gear + prefill_data.fill_pressure_on_clutch,
100,
gearboxConfig.max_torque
), prefill_data.fill_pressure_on_clutch);




current_mpc = scale_number(phase_elapsed, fill_end_mpc, overlap_ending_mpc, 0, chars.target_shift_time);
current_spc = scale_number(phase_elapsed, prefill_data.fill_pressure_on_clutch, overlap_ending_spc, 0, chars.target_shift_time);
overlap_end_mpc = current_mpc;
overlap_end_spc = current_spc;



// Apply new shifting element
float step_adder = prefill_data.fill_pressure_on_clutch / (chars.target_shift_time/SHIFT_DELAY_MS);
current_spc += step_adder;
} else if (current_stage == ShiftStage::MaxPressure) {
// Ramp time is always 250ms
int wp_new_gear = pressure_manager->find_working_mpc_pressure(this->target_gear);
current_mpc = scale_number(phase_elapsed, 400, wp_new_gear, 0, 250);
current_spc = scale_number(phase_elapsed, last_spc, MIN(last_spc*1.5, 7000), 0, 250);
if (phase_elapsed < maxp.ramp_time_1) {
current_spc = scale_number(phase_elapsed, overlap_end_spc, MIN(7000, overlap_end_spc*1.25), 0, maxp.ramp_time_1);
current_mpc = overlap_end_mpc;
} else if (phase_elapsed < maxp.ramp_time_2) {
current_spc = scale_number(phase_elapsed, last_spc, 7000, maxp.ramp_time_1, maxp.ramp_time_1+maxp.ramp_time_2);
current_mpc = scale_number(phase_elapsed, overlap_end_mpc, wp_new_gear, maxp.ramp_time_1, maxp.ramp_time_1+maxp.ramp_time_2);
} else {
current_spc = 7000;
current_mpc = wp_new_gear;
}
}
pressure_mgr->set_target_spc_and_mpc_pressure(current_mpc, current_spc);

Expand Down
3 changes: 2 additions & 1 deletion src/pressure_manager.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -227,7 +227,8 @@ PrefillData PressureManager::make_fill_data(ProfileGearChange change) {
PressureStageTiming PressureManager::get_max_pressure_timing() {
return PressureStageTiming {
.hold_time = (uint16_t)scale_number(this->sensor_data->atf_temp, 1500, 100, -20, 30),
.ramp_time = 250,
.ramp_time_1 = 250,
.ramp_time_2 = 250,
};
}

Expand Down
3 changes: 2 additions & 1 deletion src/pressure_manager.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,8 @@ typedef struct {

typedef struct {
uint16_t hold_time;
uint16_t ramp_time;
uint16_t ramp_time_1;
uint16_t ramp_time_2;
} PressureStageTiming;

class PressureManager {
Expand Down

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