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Gearbox - better differentiate stationary and moving shifts
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@rnd-ash
rnd-ash committed Sep 4, 2023
1 parent 29513ea commit d5a9ba7
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Showing 2 changed files with 20 additions and 8 deletions.
27 changes: 19 additions & 8 deletions src/gearbox.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,10 @@ Gearbox::Gearbox()
this->output_avg_filter = new MovingAverage(10);
}

bool Gearbox::is_stationary() {
return this->sensor_data.input_rpm < 100 && this->sensor_data.output_rpm < 100;
}

void Gearbox::set_profile(AbstractProfile *prof)
{
if (prof != nullptr)
Expand Down Expand Up @@ -270,7 +274,6 @@ GearboxGear prev_gear(GearboxGear g)
}

#define SHIFT_DELAY_MS 10 // 10ms steps
#define MIN_RATIO_CALC_RPM 200 // Min INPUT RPM for ratio calculations and RPM readings
#define NUM_SCD_ENTRIES 100 / SHIFT_DELAY_MS // 100ms moving average window

ClutchSpeeds Gearbox::diag_get_clutch_speeds() {
Expand Down Expand Up @@ -430,7 +433,9 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
}
float current_toque_lim = prefill_torque_requested;
float pre_overlap_torque = 0;
float overlap_spc_start_pressure = prefill_data.fill_pressure_on_clutch + 250;
while(process_shift) {
bool stationary_shift = this->is_stationary();
bool skip_phase = false;
// Shifter moved mid shift!
if (!is_shifter_in_valid_drive_pos(this->shifter_pos)) {
Expand All @@ -443,7 +448,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
bool coasting_shift = 0 > sensor_data.static_torque;
int shift_speed_from_target = 1.0;
// Shift reporting
if (MIN_RATIO_CALC_RPM < sensor_data.input_rpm) {
if (!stationary_shift) {
int input_rpm_old_gear = calc_input_rpm_from_req_gear(sensor_data.output_rpm, this->actual_gear, &this->gearboxConfig);
delta_rpm = abs(sensor_data.input_rpm - input_rpm_old_gear);
now_cs = ClutchSpeedModel::get_shifting_clutch_speeds(sensor_data.output_rpm, this->rpm_reading, req_lookup, this->gearboxConfig.bounds);
Expand Down Expand Up @@ -539,6 +544,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
ESP_LOGI("SHIFT", "Overlap start");
phase_total_time = (chars.target_shift_time*2)+SBS.shift_timeout_coasting; //(No ramping) (Worse case time)
spc_delta = 0;
current_spc += (scale_number(sensor_data.pedal_pos, 0, prefill_data.fill_pressure_on_clutch/3, 0, 0xFF)); // Initial SPC bump
this->tcc->set_shift_target_state(InternalTccState::Slipping);
} else if (current_stage == ShiftStage::MaxPressure) {
if (!result) {
Expand Down Expand Up @@ -593,7 +599,11 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
// Ramp up to engage the new clutch at a steady pace
// --ADAPT--
// * TODO - Shift timing tuning
current_mpc = scale_number(phase_elapsed, fill_end_mpc, 400, 0, chars.target_shift_time/2);
if (now_cs.off_clutch_speed >= now_cs.on_clutch_speed) {
current_mpc = 400;
} else {
current_mpc = scale_number(phase_elapsed, fill_end_mpc, 400, 0, chars.target_shift_time/2);
}
if (phase_elapsed > chars.target_shift_time) {
float step_adder = scale_number(abs(sensor_data.input_torque), SBS.spc_multi_overlap_zero_trq, SBS.spc_multi_overlap_max_trq, 0, gearboxConfig.max_torque);
step_adder *= scale_number(chars.target_shift_time, &SBS.spc_multi_overlap_shift_speed);
Expand All @@ -613,7 +623,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil

// Timeout checking (Only in overlap)
if (ShiftStage::Overlap == current_stage) {
if (MIN_RATIO_CALC_RPM < sensor_data.input_rpm) { // Confirmed shift!
if (!stationary_shift) { // Confirmed shift!
if (detected_shift_done_clutch_progress) {
result = true;
skip_phase = true;
Expand All @@ -622,7 +632,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
this->shift_adapter->record_shift_end(current_stage, phase_elapsed, current_mpc, current_spc);
}
}
} else if (MIN_RATIO_CALC_RPM > sensor_data.input_rpm && phase_elapsed > 1000) {
} else if (stationary_shift && phase_elapsed > 1000) {
result = true;
skip_phase = true;
} else if (!coasting_shift && MAX(SBS.shift_timeout_pulling, phase_total_time*2) < phase_elapsed) { // TIMEOUT
Expand Down Expand Up @@ -991,14 +1001,15 @@ void Gearbox::controller_loop()
old_output_rpm = this->sensor_data.output_rpm;
last_output_measure_time = GET_CLOCK_TIME();
}
if (this->sensor_data.output_rpm > 0 && this->sensor_data.input_rpm > 0)
bool stationary = this->is_stationary();
if (!stationary)
{
// Store our ratio
this->sensor_data.gear_ratio = (float)this->sensor_data.input_rpm / (float)this->sensor_data.output_rpm;
this->shadow_ratio_n2 = (float)this->rpm_reading.n2_raw / (float)this->sensor_data.output_rpm;
this->shadow_ratio_n3 = (float)this->rpm_reading.n3_raw / (float)this->sensor_data.output_rpm;
}
if (!shifting && this->sensor_data.output_rpm > MIN_RATIO_CALC_RPM && this->sensor_data.input_rpm > MIN_RATIO_CALC_RPM)
if (!shifting && !stationary)
{
if (is_fwd_gear(this->actual_gear))
{
Expand Down Expand Up @@ -1037,7 +1048,7 @@ void Gearbox::controller_loop()
can_read = false;
gear_disagree_count = 0;
}
if (can_read && this->sensor_data.output_rpm >= 100)
if (can_read && !this->is_stationary())
{
bool rev = !is_fwd_gear(this->target_gear);
if (!this->calcGearFromRatio(rev))
Expand Down
1 change: 1 addition & 0 deletions src/gearbox.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ class Gearbox {
ShiftClutchVelocity shifting_velocity = {0,0};
ShiftAdaptationSystem* shift_adapter = nullptr;
private:
bool is_stationary();
ShiftReportSegment collect_report_segment(uint64_t start_time);
void set_torque_request(TorqueRequestControlType ctrl_type, TorqueRequestBounds bounds, float amount);
bool elapse_shift(ProfileGearChange req_lookup, AbstractProfile* profile);
Expand Down

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