Faster responding boost PID

speeduino/auxiliaries.h

@@ -17,10 +17,15 @@ volatile unsigned int boost_pwm_cur_value;
 long boost_pwm_target_value;
 long boost_cl_target_boost;
 byte boostCounter;
+//Boost control uses a scaling factor of 100 on the MAP reading and MAP target in order to have a reasonable response time
+//These are the values that are passed to the PID controller
+long MAPx100;
+long boostTargetx100;
 
 volatile bool vvt_pwm_state;
 unsigned int vvt_pwm_max_count; //Used for variable PWM frequency
 volatile unsigned int vvt_pwm_cur_value;
 long vvt_pwm_target_value;
 
+
 #endif

speeduino/auxiliaries.ino

@@ -3,7 +3,8 @@ Speeduino - Simple engine management for the Arduino Mega 2560 platform
 Copyright (C) Josh Stewart
 A full copy of the license may be found in the projects root directory
 */
-integerPID boostPID(&currentStatus.MAP, &boost_pwm_target_value, &boost_cl_target_boost, configPage3.boostKP, configPage3.boostKI, configPage3.boostKD, DIRECT); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
+//integerPID boostPID(&currentStatus.MAP, &boost_pwm_target_value, &boost_cl_target_boost, configPage3.boostKP, configPage3.boostKI, configPage3.boostKD, DIRECT); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
+integerPID boostPID(&MAPx100, &boost_pwm_target_value, &boostTargetx100, configPage3.boostKP, configPage3.boostKI, configPage3.boostKD, DIRECT); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
 
 /*
 Fan control
@@ -48,6 +49,7 @@ void initialiseAuxPWM()
   TIMSK1 |= (1 << OCIE1B); //Turn on the B compare unit (ie turn on the interrupt)
 
   boostPID.SetOutputLimits(0, boost_pwm_max_count);
+  boostPID.SetTunings(configPage3.boostKP, configPage3.boostKI, configPage3.boostKD);
   boostPID.SetMode(AUTOMATIC); //Turn PID on
 
   boostCounter = 0;
@@ -58,10 +60,17 @@ void boostControl()
   if(configPage3.boostEnabled)
   {
     if(currentStatus.MAP < 100) { TIMSK1 &= ~(1 << OCIE1A); digitalWrite(pinBoost, LOW); return; } //Set duty to 0 and turn off timer compare
+    MAPx100 = currentStatus.MAP * 100;
+
     boost_cl_target_boost = get3DTableValue(&boostTable, currentStatus.TPS, currentStatus.RPM) * 2; //Boost target table is in kpa and divided by 2
+    boostTargetx100 = boost_cl_target_boost  * 100;
     currentStatus.boostTarget = boost_cl_target_boost >> 1; //Boost target is sent as a byte value to TS and so is divided by 2
+    if(currentStatus.boostTarget == 0) { TIMSK1 &= ~(1 << OCIE1A); digitalWrite(pinBoost, LOW); return; } //Set duty to 0 and turn off timer compare if the target is 0
+
     if( (boostCounter & 31) == 1) { boostPID.SetTunings(configPage3.boostKP, configPage3.boostKI, configPage3.boostKD); } //This only needs to be run very infrequently, once every 32 calls to boostControl(). This is approx. once per second
+
     boostPID.Compute();
+
     TIMSK1 |= (1 << OCIE1A); //Turn on the compare unit (ie turn on the interrupt)
   }
   else { TIMSK1 &= ~(1 << OCIE1A); } // Disable timer channel

speeduino/src/PID_v1/PID_v1.cpp

@@ -236,27 +236,28 @@ bool integerPID::Compute()
    unsigned long now = millis();
    //SampleTime = (now - lastTime);
    unsigned long timeChange = (now - lastTime);
-   if(timeChange>=SampleTime)
+   if(timeChange >= SampleTime)
    {
       /*Compute all the working error variables*/
-	  long input = *myInput;
+	    long input = *myInput;
       long error = *mySetpoint - input;
-      ITerm+= (ki * error)/1000; //Note that ki is multiplied by 1000 rather than 100, so it must be divided by 1000 here
+      ITerm += (ki * error)/1000; //Note that ki is multiplied by 1000 rather than 100, so it must be divided by 1000 here
-      if(ITerm > outMax) ITerm= outMax;
+      if(ITerm > outMax) { ITerm = outMax; }
-      else if(ITerm < outMin) ITerm= outMin;
+      else if(ITerm < outMin) { ITerm = outMin; }
       long dInput = (input - lastInput);
 
       /*Compute PID Output*/
       long output = (kp * error)/100 + ITerm - (kd * dInput)/100;
 
-	  if(output > outMax) output = outMax;
+	    if(output > outMax) output = outMax;
       else if(output < outMin) output = outMin;
-	  *myOutput = output;
+	    *myOutput = output;
 
       /*Remember some variables for next time*/
       lastInput = input;
       lastTime = now;
-	  return true;
+
+      return true;
    }
    else return false;
 }