update throttles in sync with ADC conversion

FOME-Tech · Aug 7, 2024 · 7b4fc13 · 7b4fc13
1 parent 47d0ce1
commit 7b4fc13
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Showing 4 changed files with 10 additions and 29 deletions.
diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -75,7 +75,7 @@
 
 static pedal2tps_t pedal2tpsMap;
 
-constexpr float etbPeriodSeconds = 1.0f / ETB_LOOP_FREQUENCY;
+static constexpr float etbPeriodSeconds = 1.0f / SLOW_ADC_RATE;
 
 static bool startupPositionError = false;
 
@@ -754,23 +754,6 @@ static EtbImpl<EtbController2> etb2;
 static_assert(ETB_COUNT == 2);
 static EtbController* etbControllers[] = { &etb1, &etb2 };
 
-#if !EFI_UNIT_TEST
-
-struct DcThread final : public PeriodicController<512> {
-	DcThread() : PeriodicController("DC", PRIO_ETB, ETB_LOOP_FREQUENCY) {}
-
-	void PeriodicTask(efitick_t) override {
-		// Simply update all controllers
-		for (int i = 0 ; i < ETB_COUNT; i++) {
-			etbControllers[i]->update();
-		}
-	}
-};
-
-static DcThread dcThread CCM_OPTIONAL;
-
-#endif // EFI_UNIT_TEST
-
 void etbPidReset() {
 	for (int i = 0 ; i < ETB_COUNT; i++) {
 		if (auto controller = engine->etbControllers[i]) {
@@ -957,14 +940,6 @@ void doInitElectronicThrottle() {
 		startupPositionError = true;
 	}
 #endif /* EFI_UNIT_TEST */
-
-#if !EFI_UNIT_TEST
-	static bool started = false;
-	if (started == false) {
-		dcThread.start();
-		started = true;
-	}
-#endif
 }
 
 void initElectronicThrottle() {

diff --git a/firmware/controllers/actuators/electronic_throttle_impl.h b/firmware/controllers/actuators/electronic_throttle_impl.h
@@ -22,7 +22,6 @@
  * it's locked to 500hz, along with the ADC.
  * https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theorem
  */
-#define ETB_LOOP_FREQUENCY 500
 #define DEFAULT_ETB_PWM_FREQUENCY 800
 
 class EtbController : public IEtbController, public electronic_throttle_s {

diff --git a/firmware/controllers/thread_priority.h b/firmware/controllers/thread_priority.h
@@ -10,7 +10,6 @@
 
 // ADC and ETB get highest priority - not much else actually runs the engine
 #define PRIO_ADC (NORMALPRIO + 10)
-#define PRIO_ETB (NORMALPRIO + 9)
 
 // GPIO chips should be fast and go right back to sleep, plus can be timing sensitive
 #define PRIO_GPIOCHIP (NORMALPRIO + 8)

diff --git a/firmware/hw_layer/adc/adc_inputs.cpp b/firmware/hw_layer/adc/adc_inputs.cpp
@@ -32,6 +32,7 @@ float __attribute__((weak)) getAnalogInputDividerCoefficient(adc_channel_e) {
 #include "mpu_util.h"
 #include "periodic_thread_controller.h"
 #include "protected_gpio.h"
+#include "electronic_throttle.h"
 
 /* Depth of the conversion buffer, channels are sampled X times each.*/
 #ifndef ADC_BUF_DEPTH_FAST
@@ -277,7 +278,7 @@ int getSlowAdcCounter() {
 }
 
 
-class SlowAdcController : public PeriodicController<256> {
+class SlowAdcController : public PeriodicController<512> {
 public:
 	SlowAdcController() 
 		: PeriodicController("ADC", PRIO_ADC, SLOW_ADC_RATE)
@@ -305,6 +306,13 @@ class SlowAdcController : public PeriodicController<256> {
 
 			protectedGpio_check(nowNt);
 		}
+
+		{
+			// Update throttle control in sync with ADC
+			for (int i = 0; i < ETB_COUNT; i++) {
+				engine->etbControllers[i]->update();
+			}
+		}
 	}
 };