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speeduino
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Adapt PID usage to float free library

This commit is contained in:
Josh Stewart 2016-04-07 13:28:13 +10:00
parent 202bfd7003
commit 4afbf17f12
4 changed files with 31 additions and 9 deletions
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8
corrections.ino
View File

@ -207,7 +207,7 @@ This continues until either:
PID (Best suited to wideband sensors):
*/
double PID_O2, PID_output, PID_AFRTarget;
long PID_O2, PID_output, PID_AFRTarget;
PID egoPID(&PID_O2, &PID_output, &PID_AFRTarget, configPage3.egoKP, configPage3.egoKI, configPage3.egoKD, REVERSE); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
byte correctionsAFRClosedLoop()
@ -255,10 +255,10 @@ byte correctionsAFRClosedLoop()
{
//*************************************************************************************************************************************
//PID algorithm
egoPID.SetOutputLimits((double)(-configPage3.egoLimit), (double)(configPage3.egoLimit)); //Set the limits again, just incase the user has changed them since the last loop. Note that these are sent to the PID library as (Eg:) -15 and +15
egoPID.SetOutputLimits((long)(-configPage3.egoLimit), (long)(configPage3.egoLimit)); //Set the limits again, just incase the user has changed them since the last loop. Note that these are sent to the PID library as (Eg:) -15 and +15
egoPID.SetTunings(configPage3.egoKP, configPage3.egoKI, configPage3.egoKD); //Set the PID values again, just incase the user has changed them since the last loop
PID_O2 = (double)(currentStatus.O2);
PID_AFRTarget = (double)(currentStatus.afrTarget);
PID_O2 = (long)(currentStatus.O2);
PID_AFRTarget = (long)(currentStatus.afrTarget);
egoPID.Compute();
//currentStatus.egoCorrection = 100 + PID_output;

8
globals.h
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@ -317,9 +317,11 @@ struct config3 {
byte lnchRetard;
byte lnchHardLim;
byte lnchFuelAdd;
byte unused53;
byte unused54;
byte unused55;
//PID values for idle needed to go here as out of room in the idle page
byte idleKP;
byte idleKI;
byte idleKD;
byte unused56;
byte unused57;
byte unused58;

5
idle.h
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@ -1,3 +1,5 @@
#include "globals.h"
#define STEPPER_FORWARD 0
#define STEPPER_BACKWARD 1
#define IDLE_TABLE_SIZE 10
@ -30,7 +32,8 @@ volatile byte idle2_pin_mask;
volatile bool idle_pwm_state;
unsigned int idle_pwm_max_count; //Used for variable PWM frequency
volatile unsigned int idle_pwm_cur_value;
unsigned int idle_pwm_target_value;
long idle_pwm_target_value;
long idle_cl_target_rpm;
void initialiseIdle();

19
idle.ino
View File

@ -12,6 +12,9 @@ These functions cover the PWM and stepper idle control
Idle Control
Currently limited to on/off control and open loop PWM and stepper drive
*/
long longRPM;
PID idlePID(&longRPM, &idle_pwm_target_value, &idle_cl_target_rpm, configPage3.idleKP, configPage3.idleKI, configPage3.idleKD, DIRECT); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
void initialiseIdle()
{
//By default, turn off the PWM interrupt (It gets turned on below if needed)
@ -62,6 +65,14 @@ void initialiseIdle()
iacCrankDutyTable.xSize = 4;
iacCrankDutyTable.values = configPage4.iacCrankDuty;
iacCrankDutyTable.axisX = configPage4.iacCrankBins;
idle_pin_port = portOutputRegister(digitalPinToPort(pinIdle1));
idle_pin_mask = digitalPinToBitMask(pinIdle1);
idle2_pin_port = portOutputRegister(digitalPinToPort(pinIdle2));
idle2_pin_mask = digitalPinToBitMask(pinIdle2);
idle_pwm_max_count = 1000000L / (16 * configPage3.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 16uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 512hz
idlePID.SetOutputLimits(0, idle_pwm_max_count);
TIMSK4 |= (1 << OCIE4C); //Turn on the C compare unit (ie turn on the interrupt)
break;
case 4:
@ -133,7 +144,13 @@ void idleControl()
else if (idleOn) { digitalWrite(pinIdle1, LOW); idleOn = false; }
break;
case 3: //Case 3 is PWM closed loop (Not currently implemented)
case 3: //Case 3 is PWM closed loop
//No cranking specific value for closed loop (yet?)
idle_cl_target_rpm = table2D_getValue(&iacClosedLoopTable, currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) * 2; //All temps are offset by 40 degrees
longRPM = currentStatus.RPM; //The PID object needs a long as the RPM input. A separate variable is used for this
//idle_pwm_target_value = percentage(currentStatus.idleDuty, idle_pwm_max_count);
idlePID.Compute();
break;
case 4: //Case 4 is open loop stepper control