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Shift release - Fix variable confusion
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@rnd-ash
rnd-ash committed Sep 8, 2024
1 parent de51d65 commit 3da9377
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Showing 2 changed files with 34 additions and 23 deletions.
56 changes: 33 additions & 23 deletions src/shifting_algo/shift_release.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,26 +52,29 @@ uint8_t ReleasingShift::step(
// Calculate torque request trq here. (Only used until we ramp down torque
if (phase_id <= PHASE_FILL_AND_RELEASE && subphase_mod == 0) {
int clutch_max_trq_req = pm->calc_max_torque_for_clutch(sid->targ_g, sid->applying, sid->SPC_MAX, true);
int trq_request_raw = calc_trq_req(sd->input_rpm, MAX(0, sd->driver_requested_torque), clutch_max_trq_req);
int trq_request_raw = calc_trq_req(sd->input_rpm, MAX(0, sd->static_torque_wo_request), clutch_max_trq_req);
if (is_upshift) {
this->trq_request_target = trq_request_raw;
} else {
// Downshift uses pedal multiplier
this->trq_request_target = MIN(this->sports_factor * trq_request_raw, abs_input_torque);
}
// Threshold RPM for ramping up based on torque
int effective_torque = MIN(this->trq_request_target,
(this->trq_request_target + this->torque_at_new_clutch) / 2);

this->threshold_rpm =
(effective_torque + this->torque_at_new_clutch) *
((80.0 + 40.0) / 1000.0) *
// 80 for MPC ramp time, 20*2 (40) for computation delay over CAN (Rx of Sta. Trq -> Tx of EGS Trq)
drag /
inertia;
this->threshold_rpm = MAX(this->threshold_rpm, 100);
this->trq_request_absolute_target = abs_input_torque - this->trq_request_target;
}
// Threshold RPM for ramping up based on torque
int freeing_torque = pm->find_freeing_torque(sid->change, sd->static_torque_wo_request, sd->output_rpm);
freeing_torque = MIN(this->sports_factor * freeing_torque, abs_input_torque);
int effective_torque = MIN(freeing_torque,
(freeing_torque + this->torque_at_new_clutch) / 2);

this->threshold_rpm =
(effective_torque + this->torque_at_new_clutch) *
((80.0 + 40.0) / 1000.0) *
// 80 for MPC ramp time, 20*2 (40) for computation delay over CAN (Rx of Sta. Trq -> Tx of EGS Trq)
drag /
inertia;
this->threshold_rpm = MAX(this->threshold_rpm, 100);
this->trq_request_absolute_target = abs_input_torque - this->trq_request_target;
//}

ShiftPressures* p_now = sid->ptr_w_pressures;
if (phase_id == PHASE_BLEED) {
Expand Down Expand Up @@ -154,7 +157,7 @@ uint8_t ReleasingShift::step(
p_now->on_clutch = sid->prefill_info.low_fill_pressure_on_clutch + filling_adder;
p_now->overlap_shift = sid->spring_on_clutch + p_now->on_clutch;
p_now->shift_sol_req = p_now->overlap_shift - centrifugal_force_on_clutch;
if ((sid->ptr_r_clutch_speeds->on_clutch_speed < (this->threshold_rpm)) || elapsed > 5000) {
if ((sid->ptr_r_clutch_speeds->on_clutch_speed < this->threshold_rpm) || elapsed > 5000) {
this->subphase_shift = 5;
this->ts_phase_shift = phase_elapsed;
}
Expand Down Expand Up @@ -186,7 +189,10 @@ uint8_t ReleasingShift::step(
if (sid->change == ProfileGearChange::TWO_ONE || sid->change == ProfileGearChange::THREE_TWO) {
max_time = 0;
} else {
int reduction = inertia * (float)(sid->ptr_r_clutch_speeds->on_clutch_speed) / drag / (float)this->trq_request_target;
int reduction = 0;
if (0 != freeing_torque) {
reduction = inertia * (float)(sid->ptr_r_clutch_speeds->on_clutch_speed) / drag / (float)freeing_torque;
}
max_time = MAX(max_time, max_time - reduction);
}
this->mod_time_phase_0 = max_time;
Expand Down Expand Up @@ -220,7 +226,7 @@ uint8_t ReleasingShift::step(
}


int wp_old_clutch = pm->find_working_pressure_for_clutch(sid->curr_g, sid->releasing, MAX(30, abs_input_torque - this->trq_request_target), false);
int wp_old_clutch = pm->find_working_pressure_for_clutch(sid->curr_g, sid->releasing, MAX(30, abs_input_torque - freeing_torque), false);
p_now->off_clutch = interpolate_float(elapsed, sid->ptr_prev_pressures->off_clutch, wp_old_clutch, 0, this->mod_time_phase_1, InterpType::Linear);
p_now->overlap_mod = sid->spring_off_clutch + p_now->off_clutch;
p_now->mod_sol_req = MAX(
Expand All @@ -240,7 +246,7 @@ uint8_t ReleasingShift::step(
} else if (2 == this->subphase_mod) {
// Reducing until releasing the clutch
this->filling_trq_reducer += (9.0 * this->sports_factor) + (this->sports_factor * 0.05 * this->filling_trq_reducer);
int trq = MAX(0, abs_input_torque - this->trq_request_target - filling_trq_reducer);
int trq = MAX(0, abs_input_torque - freeing_torque - filling_trq_reducer);

int wp_old_clutch = pm->find_working_pressure_for_clutch(sid->curr_g, sid->releasing, trq, false);

Expand All @@ -262,7 +268,7 @@ uint8_t ReleasingShift::step(

} else if (3 == this->subphase_mod) {
// Hold pressure until we can sync.
int trq = MAX(0, abs_input_torque - this->trq_request_target - filling_trq_reducer);
int trq = MAX(0, abs_input_torque - freeing_torque - filling_trq_reducer);
int wp_old_clutch = pm->find_working_pressure_for_clutch(sid->curr_g, sid->releasing, trq, false);
p_now->off_clutch = wp_old_clutch;
p_now->overlap_mod = sid->spring_off_clutch + p_now->off_clutch;
Expand All @@ -283,7 +289,7 @@ uint8_t ReleasingShift::step(
uint16_t elapsed = phase_elapsed - this->ts_phase_mod;
// No exit (Governed by shift pressure)
float fr_fo = pm->release_coefficient() / pm->friction_coefficient();
int trq_off_clutch = MAX(0, abs_input_torque - (((1.0-sid->inf.centrifugal_factor_off_clutch)*this->trq_request_target) + (fr_fo*this->torque_at_new_clutch)));
int trq_off_clutch = MAX(0, abs_input_torque - (((1.0-sid->inf.centrifugal_factor_off_clutch)*freeing_torque) + (fr_fo*this->torque_at_new_clutch)));
int wp_old_clutch = pm->find_working_pressure_for_clutch(sid->curr_g, sid->releasing, trq_off_clutch, false);

p_now->off_clutch = interpolate_float(elapsed, sid->ptr_prev_pressures->on_clutch, wp_old_clutch, 0, MOD_RAMP_4_TIME, InterpType::Linear);
Expand Down Expand Up @@ -361,7 +367,7 @@ uint8_t ReleasingShift::step(
ret = STEP_RES_END_SHIFT; // WTF? Should never happen
}

bool time_for_trq_req = (phase_id == PHASE_FILL_AND_RELEASE && subphase_shift >= 4) || (phase_id >= PHASE_OVERLAP && phase_id <= PHASE_MAX_PRESSURE);
bool time_for_trq_req = (phase_id == PHASE_FILL_AND_RELEASE && subphase_shift >= 3) || (phase_id >= PHASE_OVERLAP && phase_id <= PHASE_MAX_PRESSURE) || (!ramp_done && this->trq_ramp_up);

// Deal with torque ramping (To target reduction)
// This outputs the current target torque reduction based on the ramps
Expand All @@ -376,17 +382,21 @@ uint8_t ReleasingShift::step(
this->trq_req_end_time = total_elapsed;
}
int duration = total_elapsed - this->trq_req_end_time;
trq_ramp_value = interpolate_float(duration, this->trq_request_target, 0, 0, 120, InterpType::EaseIn);
trq_ramp_value = interpolate_float(duration, this->trq_request_target, 0, 0, 60+160, InterpType::Linear);
if (trq_ramp_value < 1) {
this->ramp_done = true;
}
} else {
// Decrease ramp
if (this->trq_req_start_time == 0) {
this->trq_req_start_time = total_elapsed;
}
int duration = total_elapsed - this->trq_req_start_time;
trq_ramp_value = interpolate_float(duration, 0, this->trq_request_target, 0, 140, InterpType::EaseOut);
trq_ramp_value = interpolate_float(duration, 0, this->trq_request_target, 0, 60+160, InterpType::Linear);
// Ramp up!
if (sid->ptr_r_clutch_speeds->on_clutch_speed < this->threshold_rpm) {
this->trq_ramp_up = true;
this->trq_request_target = trq_ramp_value;
}
}
}
Expand All @@ -395,7 +405,7 @@ uint8_t ReleasingShift::step(
// We can only request if engine torque is above engines min torque
if (sd->static_torque_wo_request > sd->min_torque && sd->driver_requested_torque > sd->min_torque && sd->input_rpm > 1000 && this->trq_req) {
int max_for_off_clutch = pm->calc_max_torque_for_clutch(sid->curr_g, sid->releasing, p_now->off_clutch, false);
if (phase_id == PHASE_FILL_AND_RELEASE && subphase_mod > 0 && subphase_shift < 4 && sd->input_torque > max_for_off_clutch) {
if (phase_id == PHASE_FILL_AND_RELEASE && subphase_mod > 0 && subphase_shift < 3 && sd->input_torque > max_for_off_clutch) {
trq_req_now = MAX(0, sd->input_torque - max_for_off_clutch);
} else if (time_for_trq_req) {
// We limit torque based on the lowest of the 2 values
Expand Down
1 change: 1 addition & 0 deletions src/shifting_algo/shift_release.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@ class ReleasingShift : public ShiftingAlgorithm {
bool trq_ramp_up = false;
float sports_trq_req_adder = 1.0;
bool trq_req = true;
bool ramp_done = false;

int mod_time_phase_0 = -1;
int mod_time_phase_1 = -1;
Expand Down

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