Skip to content

Commit

Permalink
GB: Improve garage shifting
Browse files Browse the repository at this point in the history
  • Loading branch information
@rnd-ash
rnd-ash committed Oct 20, 2023
1 parent a834506 commit a5e3805
Showing 1 changed file with 47 additions and 40 deletions.
87 changes: 47 additions & 40 deletions src/gearbox.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -405,9 +405,6 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
bool recordable_shift = true;

int delta_rpm = 0;
int wp_pre_shift = pressure_manager->find_working_mpc_pressure(this->actual_gear);


float pre_overlap_torque = 0;
int rpm_to_overlap = 0;
int target_reduction_torque = 0; // Calculated on start of overlap phase
Expand Down Expand Up @@ -438,6 +435,8 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
break;
}
int wp_old_clutch = pressure_manager->find_working_pressure_for_clutch(this->actual_gear, releasing);
int wp_new_clutch = pressure_manager->find_working_pressure_for_clutch(this->target_gear, applying);

// Grab ratio informations
bool coasting_shift = 0 > sensor_data.static_torque;
int intercect_rpm = 0;
Expand Down Expand Up @@ -623,7 +622,8 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
current_working_pressure = interpolate_float(phase_elapsed, prev_working_pressure, wp_new_gear, 0, maxp.ramp_time, InterpType::Linear);
}

pressure_mgr->set_target_modulating_pressure(current_mod_clutch_pressure + current_working_pressure);
pressure_mgr->set_target_modulating_working_pressure(current_working_pressure);
pressure_mgr->set_target_modulating_releasing_pressure(current_mod_clutch_pressure);
pressure_mgr->set_target_shift_clutch_pressure(current_shift_clutch_pressure);
pressure_mgr->update_pressures(this->actual_gear);

Expand Down Expand Up @@ -673,6 +673,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
sr.shift_status = result;
sr.target_shift_speed = chars.target_shift_time;
pressure_manager->set_spc_p_max();
pressure_mgr->set_target_modulating_releasing_pressure(0);
pressure_manager->set_shift_circuit(sd.shift_circuit, false);
this->set_torque_request(TorqueRequestControlType::None, TorqueRequestBounds::LessThan, 0);
this->abort_shift = false;
Expand Down Expand Up @@ -707,7 +708,8 @@ void Gearbox::shift_thread()
}
if (!is_controllable_gear(curr_actual) && !is_controllable_gear(curr_target))
{ // N->P or P->N
this->pressure_mgr->set_target_shift_clutch_pressure(1000);
float prefill = pressure_manager->find_working_pressure_for_clutch(GearboxGear::Reverse_Second, Clutch::B3);
this->pressure_mgr->set_target_shift_clutch_pressure(prefill/2);
this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, true);
//sol_y4->write_pwm_12_bit(800); // 3-4 is pulsed at 20%
ESP_LOG_LEVEL(ESP_LOG_INFO, "SHIFTER", "No need to shift");
Expand All @@ -720,51 +722,52 @@ void Gearbox::shift_thread()
if (is_controllable_gear(curr_target))
{
bool into_reverse = this->shifter_pos == ShifterPosition::P_R || this->shifter_pos == ShifterPosition::R || this->shifter_pos == ShifterPosition::R_N;
pressure_mgr->set_target_shift_clutch_pressure(pressure_manager->get_max_solenoid_pressure());
pressure_mgr->set_target_modulating_pressure(pressure_manager->get_max_solenoid_pressure());
this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, false);
pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, false);
vTaskDelay(50);
pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, true);
if (into_reverse) {
float working = pressure_manager->find_working_mpc_pressure(GearboxGear::Reverse_Second)*0.5;
float prefill = pressure_manager->find_working_pressure_for_clutch(GearboxGear::Reverse_Second, Clutch::B3);
float b3_spring = pressure_manager->get_spring_pressure(Clutch::B3);
pressure_mgr->set_target_shift_clutch_pressure(b3_spring + (prefill/2));
pressure_mgr->set_target_modulating_working_pressure(working);
} else {
float working = pressure_manager->find_working_mpc_pressure(GearboxGear::Second);
pressure_mgr->set_target_shift_clutch_pressure(working/2);
pressure_mgr->set_target_modulating_working_pressure(working);
}


this->pressure_mgr->update_pressures(this->actual_gear);
// N/P -> R/D
// Defaults (Start in 2nd)
egs_can_hal->set_garage_shift_state(true);
/*
int spc = 500;
if (into_reverse) {
pressure_mgr->set_target_working_pressure(7700);
spc = 1000;
} else {
pressure_manager->set_target_shift_clutch_pressure(spc);
pressure_mgr->set_target_working_pressure(1000);
}
this->pressure_mgr->update_pressures();
*/
int elapsed = 0;
bool completed_ok = false;

float div = 0.5;
while(true) {
if (this->shifter_pos == ShifterPosition::P || this->shifter_pos == ShifterPosition::N) {
completed_ok = false;
break;
}


//if (elapsed > 100) {
// if (into_reverse) {
// //this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_1_2, true);
pressure_mgr->set_target_shift_clutch_pressure(pressure_manager->get_max_solenoid_pressure());
pressure_mgr->set_target_modulating_pressure(pressure_manager->get_max_solenoid_pressure());
// } else {
// this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, true);
// spc = interpolate_float(elapsed, 500, 7000, 100, 400, InterpType::Linear);
// pressure_manager->set_target_shift_clutch_pressure(spc);
// pressure_mgr->set_target_working_pressure(1000);
// }
//}
if (into_reverse) {
float working = pressure_manager->find_working_mpc_pressure(GearboxGear::Reverse_Second);
float prefill = pressure_manager->find_working_pressure_for_clutch(GearboxGear::Reverse_Second, Clutch::B3);
float b3_spring = pressure_manager->get_spring_pressure(Clutch::B3);
pressure_mgr->set_target_shift_clutch_pressure(working*div);
pressure_mgr->set_target_modulating_working_pressure(working+b3_spring);
div = MIN(div+0.015, 1.0);
} else {
float working = pressure_manager->find_working_mpc_pressure(GearboxGear::Second);
float b2_spring = pressure_manager->get_spring_pressure(Clutch::B2);
pressure_mgr->set_target_modulating_working_pressure(working+b2_spring);
pressure_mgr->set_target_shift_clutch_pressure(working*div);
div = MIN(div+0.015, 1.0);
}
this->pressure_mgr->update_pressures(this->actual_gear);

int turbine = this->rpm_reading.calc_rpm;
if (elapsed > 1500 && turbine <= 50+calc_input_rpm_from_req_gear(sensor_data.output_rpm, curr_target, &this->gearboxConfig)) {
if (elapsed > 1000 && turbine <= 50+calc_input_rpm_from_req_gear(sensor_data.output_rpm, curr_target, &this->gearboxConfig)) {
completed_ok = true;
break;
}
Expand All @@ -777,11 +780,12 @@ void Gearbox::shift_thread()
}

this->shifting_velocity = {0,0};
float prefill = pressure_manager->find_working_pressure_for_clutch(GearboxGear::Reverse_Second, Clutch::B3);
if (!completed_ok) {
ESP_LOGW("SHIFT", "Garage shift aborted");
curr_target = this->shifter_pos == ShifterPosition::P ? GearboxGear::Park : GearboxGear::Neutral;
curr_actual = this->shifter_pos == ShifterPosition::P ? GearboxGear::Park : GearboxGear::Neutral;
pressure_mgr->set_target_shift_clutch_pressure(1000);
pressure_mgr->set_target_shift_clutch_pressure(prefill/2);
//this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_1_2, false);
this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, true);
} else {
Expand All @@ -796,7 +800,8 @@ void Gearbox::shift_thread()
else
{
// Garage shifting to N or P, we can just set the pressure back to idle
pressure_mgr->set_target_shift_clutch_pressure(1000);
float prefill = pressure_manager->find_working_pressure_for_clutch(GearboxGear::Reverse_Second, Clutch::B3);
pressure_mgr->set_target_shift_clutch_pressure(prefill/2);
this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, true);
//sol_y4->write_pwm_12_bit(1024); // Back to idle
}
Expand Down Expand Up @@ -1094,13 +1099,15 @@ void Gearbox::controller_loop()
if (!shifting)
{ // If shifting then shift manager has control over MPC working
this->mpc_working = pressure_mgr->find_working_mpc_pressure(this->actual_gear);
this->pressure_mgr->set_target_modulating_pressure(this->mpc_working);
this->pressure_mgr->set_target_modulating_working_pressure(this->mpc_working);
}
}
if (Sensors::parking_lock_engaged(&lock_state) == ESP_OK)
{
if (lock_state) {
this->pressure_mgr->set_target_modulating_pressure(this->mpc_working);
float prefill = pressure_manager->find_working_pressure_for_clutch(GearboxGear::Reverse_Second, Clutch::B3);
this->pressure_mgr->set_target_modulating_working_pressure(this->mpc_working);
this->pressure_mgr->set_target_modulating_working_pressure(prefill/2);
this->pressure_mgr->set_shift_circuit(ShiftCircuit::sc_3_4, true);
//sol_y4->write_pwm_12_bit(1024);
}
Expand Down

0 comments on commit a5e3805

Please sign in to comment.