auto-sync

firmware/controllers/algo/can_header.h

@@ -1,25 +0,0 @@
-/**
- * @file	can_header.h
- *
- * @date Dec 21, 2013
- * @author Andrey Belomutskiy, (c) 2012-2016
- */
-
-#ifndef CAN_HEADER_H_
-#define CAN_HEADER_H_
-
-#include "rusefi_enums.h"
-
-/**
- * Net Body Computer types
- */
-typedef enum {
-	CAN_BUS_NBC_BMW = 0,
-	CAN_BUS_NBC_FIAT = 1,
-	CAN_BUS_NBC_VAG = 2,
-	CAN_BUS_MAZDA_RX8 = 3,
-
-	Internal_ForceMyEnumIntSize_can_nbc = ENUM_32_BITS,
-} can_nbc_e;
-
-#endif /* CAN_HEADER_H_ */

firmware/controllers/algo/engine_configuration.h

@@ -11,7 +11,6 @@
 
 #include "efifeatures.h"
 #include "crc.h"
-#include "can_header.h"
 #include "rusefi_enums.h"
 #include "global.h"
 #include "rusefi_types.h"

firmware/controllers/algo/engine_configuration_generated_structures.h

@@ -1,5 +1,9 @@
 // this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Thu Jan 14 23:21:45 EST 2016
 // begin
+
+#ifndef ENGINE_CONFIGURATION_GENERATED_H_
+#define ENGINE_CONFIGURATION_GENERATED_H_
+
 #include "rusefi_types.h"
 typedef struct {
 	/**
@@ -1607,5 +1611,6 @@ typedef struct {
 	/** total size 16088*/
 } persistent_config_s;
 
+#endif
 // end
 // this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Thu Jan 14 23:21:45 EST 2016

firmware/controllers/algo/rusefi_enums.h

@@ -640,5 +640,16 @@ typedef enum {
 	Internal_ForceMyEnumIntSize_chamber_stype = ENUM_32_BITS,
 } chamber_style_e;
 
+/**
+ * Net Body Computer types
+ */
+typedef enum {
+	CAN_BUS_NBC_BMW = 0,
+	CAN_BUS_NBC_FIAT = 1,
+	CAN_BUS_NBC_VAG = 2,
+	CAN_BUS_MAZDA_RX8 = 3,
+
+	Internal_ForceMyEnumIntSize_can_nbc = ENUM_32_BITS,
+} can_nbc_e;
 
 #endif /* RUSEFI_ENUMS_H_ */

firmware/controllers/alternatorController.cpp

@@ -16,6 +16,9 @@
 #include "voltage.h"
 #include "pid.h"
 
+#if EFI_ALTERNATOR_CONTROL || defined(__DOXYGEN__)
+
+
 EXTERN_ENGINE
 ;
 
@@ -25,7 +28,8 @@ static Logging *logger;
 
 static SimplePwm alternatorControl;
 static OutputPin alternatorPin;
-static Pid altPid(10, 0, 0, 1, 90);
+static pid_s *altPidS = &persistentState.persistentConfiguration.engineConfiguration.alternatorControl;
+static Pid altPid(altPidS, 1, 90);
 
 static THD_WORKING_AREA(alternatorControlThreadStack, UTILITY_THREAD_STACK_SIZE);
 
@@ -108,3 +112,5 @@ void initAlternatorCtrl(Logging *sharedLogger) {
 
 	applySettings();
 }
+
+#endif /* EFI_ALTERNATOR_CONTROL */

firmware/controllers/electronic_throttle.cpp

@@ -54,7 +54,8 @@ static OutputPin output2 CCM_OPTIONAL;
 static OutputPin outputDirectionOpen CCM_OPTIONAL;
 static OutputPin outputDirectionClose CCM_OPTIONAL;
 
-static Pid pid(1, 0, 0, 0, 100);
+static pid_s etbS;
+static Pid pid(&etbS, 0, 100);
 
 static float prevTps;
 

firmware/controllers/math/pid.cpp

@@ -9,10 +9,8 @@
 
 #include "pid.h"
 
-Pid::Pid(float pFactor, float iFactor, float dFactor, float minResult, float maxResult) {
-	this->pFactor = pFactor;
-	this->iFactor = iFactor;
-	this->dFactor = dFactor;
+Pid::Pid(pid_s *pid, float minResult, float maxResult) {
+	this->pid = pid;
 	this->minResult = minResult;
 	this->maxResult = maxResult;
 
@@ -23,9 +21,9 @@ Pid::Pid(float pFactor, float iFactor, float dFactor, float minResult, float max
 float Pid::getValue(float target, float input, float dTime) {
 	float error = target - input;
 
-	float pTerm = pFactor * error;
-	iTerm += iFactor * dTime * error;
-	float dTerm = dFactor / dTime * (error - prevError);
+	float pTerm = pid->pFactor * error;
+	iTerm += pid->iFactor * dTime * error;
+	float dTerm = pid->dFactor / dTime * (error - prevError);
 
 	prevError = error;
 
@@ -41,9 +39,9 @@ float Pid::getValue(float target, float input, float dTime) {
 }
 
 void Pid::updateFactors(float pFactor, float iFactor, float dFactor) {
-	this->pFactor = pFactor;
-	this->iFactor = iFactor;
-	this->dFactor = dFactor;
+	pid->pFactor = pFactor;
+	pid->iFactor = iFactor;
+	pid->dFactor = dFactor;
 	reset();
 }
 
@@ -53,11 +51,11 @@ void Pid::reset(void) {
 }
 
 float Pid::getP(void) {
-	return pFactor;
+	return pid->pFactor;
 }
 
 float Pid::getI(void) {
-	return iFactor;
+	return pid->iFactor;
 }
 
 float Pid::getIntegration(void) {
@@ -65,7 +63,7 @@ float Pid::getIntegration(void) {
 }
 
 float Pid::getD(void) {
-	return dFactor;
+	return pid->dFactor;
 }
 
 

firmware/controllers/math/pid.h

@@ -8,10 +8,12 @@
 #ifndef PID_H_
 #define PID_H_
 
+#include "engine_configuration_generated_structures.h"
+
 class Pid {
 
 public:
-	Pid(float pFactor, float iFactor, float dFactor, float minResult, float maxResult);
+	Pid(pid_s *pid, float minResult, float maxResult);
 	float getValue(float target, float input, float dTime);
 	void updateFactors(float pFactor, float iFactor, float dFactor);
 	void reset(void);
@@ -20,15 +22,12 @@ public:
 	float getIntegration(void);
 	float getD(void);
 private:
-	float pFactor;
-	float iFactor;
-	float dFactor;
+	pid_s *pid;
 	float minResult;
 	float maxResult;
 
 	float iTerm;
 	float prevError;
-
 };
 
 #endif /* PID_H_ */

firmware/hw_layer/can_hw.cpp

@@ -18,7 +18,6 @@
 
 #include "pin_repository.h"
 #include "engine_state.h"
-#include "can_header.h"
 #include "engine_configuration.h"
 #include "vehicle_speed.h"
 #endif /* EFI_PROD_CODE */

unit_tests/test_idle_controller.cpp

@@ -39,7 +39,12 @@ void testIdleController(void) {
 
 void testPidController(void) {
 	print("******************************************* testPidController\r\n");
-	Pid pid(50, 0.5, 0, 10, 90);
+	pid_s pidS;
+	pidS.pFactor = 50;
+	pidS.iFactor = 0.5;
+	pidS.dFactor = 0;
+
+	Pid pid(&pidS, 10, 90);
 
 	assertEquals(90, pid.getValue(14, 12, 0.1));