mirror of https://github.com/FOME-Tech/fome-fw.git
98 lines
2.3 KiB
C++
98 lines
2.3 KiB
C++
/**
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* @file pid.h
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*
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* @date Sep 16, 2014
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* @author Andrey Belomutskiy, (c) 2012-2017
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*/
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#ifndef PID_H_
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#define PID_H_
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#include "main.h"
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#include "engine_configuration_generated_structures.h"
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#if EFI_PROD_CODE || EFI_SIMULATOR
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#include "tunerstudio_configuration.h"
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#endif
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// See PidCic below
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#define PID_AVG_BUF_SIZE_SHIFT 5
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#define PID_AVG_BUF_SIZE (1<<PID_AVG_BUF_SIZE_SHIFT) // 32*sizeof(float)
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class Pid {
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public:
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Pid();
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Pid(pid_s *pid);
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void initPidClass(pid_s *pid);
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bool isSame(pid_s *pid);
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float getValue(float target, float input);
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// todo: dTime should be taken from pid_s
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virtual float getValue(float target, float input, float dTime);
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// doesn't limit the result (used in incremental CIC PID, see below)
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float getRawValue(float target, float input, float dTime);
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void updateFactors(float pFactor, float iFactor, float dFactor);
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virtual void reset(void);
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float getP(void);
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float getI(void);
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float getD(void);
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float getOffset(void);
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float getIntegration(void);
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float getPrevError(void);
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void setErrorAmplification(float coef);
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#if EFI_PROD_CODE || EFI_SIMULATOR
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void postState(TunerStudioOutputChannels *tsOutputChannels);
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void postState(TunerStudioOutputChannels *tsOutputChannels, int pMult);
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#endif
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float minResult;
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float maxResult;
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float iTerm;
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float dTerm; // we are remembering this only for debugging purposes
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void showPidStatus(Logging *logging, const char*msg);
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void sleep();
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int resetCounter;
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private:
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pid_s *pid;
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float prevError;
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// these are only used for logging
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float prevTarget;
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float prevInput;
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float prevResult;
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float errorAmplificationCoef;
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private:
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virtual void updateITerm(float value);
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};
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/**
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* A PID impl. with a modified cascaded integrator-comb (CIC) filtering.
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* Used for incremental auto-IAC control. See autoIdle() in idle_thread.cpp
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*
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* https://rusefi.com/forum/viewtopic.php?f=9&t=1315
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*/
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class PidCic : public Pid {
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public:
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PidCic();
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PidCic(pid_s *pid);
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virtual void reset(void);
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virtual float getValue(float target, float input, float dTime);
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private:
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// Circular running-average buffer for I-term, used by CIC-like filter
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float iTermBuf[PID_AVG_BUF_SIZE];
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// Needed by averaging (smoothing) of iTerm sums
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float iTermInvNum;
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// Total PID iterations (>240 days max. for 10ms update period)
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int totalItermCnt;
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private:
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virtual void updateITerm(float value);
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};
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#endif /* PID_H_ */
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