alternator uses closed loop controller

firmware/controllers/actuators/alternator_controller.cpp

@@ -48,36 +48,39 @@ void AlternatorController::onFastCallback() {
 	alternatorPid.postState(engine->outputChannels.alternatorStatus);
 #endif /* EFI_TUNER_STUDIO */
 
+	update();
+}
+
+expected<float> AlternatorController::getSetpoint() {
 	bool alternatorShouldBeEnabledAtCurrentRpm = Sensor::getOrZero(SensorType::Rpm) > engineConfiguration->cranking.rpm;
 
 	if (!engineConfiguration->isAlternatorControlEnabled || !alternatorShouldBeEnabledAtCurrentRpm) {
-		// we need to avoid accumulating iTerm while engine is not running
-		pidReset();
-
-		// Shut off output if not needed
-		alternatorControl.setSimplePwmDutyCycle(0);
-
-		return;
+		return unexpected;
 	}
 
-	auto vBatt = Sensor::get(SensorType::BatteryVoltage);
-	float targetVoltage = engineConfiguration->targetVBatt;
+	return engineConfiguration->targetVBatt;
+}
 
-	if (!vBatt) {
-		// Somehow battery voltage isn't valid, disable alternator control
+expected<float> AlternatorController::observePlant() const {
+	return Sensor::get(SensorType::BatteryVoltage);
+}
+
+expected<percent_t> AlternatorController::getOpenLoop(float /*target*/) {
+	// see "idle air Bump for AC" comment
+	return engine->module<AcController>().unmock().acButtonState ? engineConfiguration->acRelayAlternatorDutyAdder : 0;
+}
+
+expected<percent_t> AlternatorController::getClosedLoop(float setpoint, float observation) {
+	return alternatorPid.getOutput(setpoint, observation, FAST_CALLBACK_PERIOD_MS / 1000.0f);
+}
+
+void AlternatorController::setOutput(expected<percent_t> outputValue) {
+	if (outputValue) {
+		alternatorControl.setSimplePwmDutyCycle(PERCENT_TO_DUTY(outputValue.Value));
+	} else {
+		// turn off in case of fault and reset
 		alternatorPid.reset();
 		alternatorControl.setSimplePwmDutyCycle(0);
-	} else {
-		currentAltDuty = alternatorPid.getOutput(targetVoltage, vBatt.Value, FAST_CALLBACK_PERIOD_MS / 1000.0f);
-    	// see "idle air Bump for AC" comment
-		int acDutyBump = engine->module<AcController>().unmock().acButtonState ? engineConfiguration->acRelayAlternatorDutyAdder : 0;
-		currentAltDuty += acDutyBump;
-		if (engineConfiguration->isVerboseAlternator) {
-			efiPrintf("alt duty: %.2f/vbatt=%.2f/p=%.2f/i=%.2f/d=%.2f int=%.2f", currentAltDuty, vBatt.Value,
-					alternatorPid.getP(), alternatorPid.getI(), alternatorPid.getD(), alternatorPid.getIntegration());
-		}
-
-		alternatorControl.setSimplePwmDutyCycle(PERCENT_TO_DUTY(currentAltDuty));
 	}
 }
 

firmware/controllers/actuators/alternator_controller.h

@@ -10,10 +10,20 @@
 
 #pragma once
 
+#include "engine_module.h"
+#include "closed_loop_controller.h"
+
 void initAlternatorCtrl();
 
-class AlternatorController : public EngineModule {
+class AlternatorController : public EngineModule, public ClosedLoopController<float, percent_t> {
 public:
 	void onFastCallback() override;
 	void onConfigurationChange(engine_configuration_s const* previousConfiguration) override;
+
+protected:
+	expected<float> observePlant() const override;
+	expected<float> getSetpoint() override;
+	expected<percent_t> getOpenLoop(float target) override;
+	expected<percent_t> getClosedLoop(float setpoint, float observation) override;
+	void setOutput(expected<percent_t> outputValue) override;
 };

firmware/integration/rusefi_config.txt

@@ -697,7 +697,7 @@ bit is_enabled_spi_2
 	bit is_enabled_spi_3
 	bit isSdCardEnabled;enable sd/disable sd
 	bit rusefiVerbose29b,"29 bit","11 bit";Use 11 bit (standard) or 29 bit (extended) IDs for FOME verbose CAN format.
-	bit isVerboseAlternator
+	bit unused644b5
 	bit useStepperIdle;This setting should only be used if you have a stepper motor idle valve and a stepper motor driver installed.
 	
 	bit enabledStep1Limiter

firmware/tunerstudio/rusefi.input

@@ -3586,7 +3586,6 @@ cmd_set_engine_type_default					= "@@TS_IO_TEST_COMMAND_char@@@@ts_command_e_TS_
 		field = "PWM frequency",						alternatorPwmFrequency, {isAlternatorControlEnabled == 1}
 		field = "Off Above TPS",						alternatorOffAboveTps, {isAlternatorControlEnabled == 1}
 		field = "A/C duty adder",                       acRelayAlternatorDutyAdder, {isAlternatorControlEnabled == 1}
-		field = "Detailed status in console",			isVerboseAlternator, {isAlternatorControlEnabled == 1}
 		field = "#PID control"
 		field = "offset",								alternatorControl_offset, {isAlternatorControlEnabled == 1}
 		field = "P factor",								alternatorControl_pFactor, {isAlternatorControlEnabled == 1}