EFI_IDLE_INCREMENTAL_PID_CIC should be a runtime parameter #806

firmware/config/boards/prometheus/board_configuration.cpp

@@ -29,6 +29,8 @@ static void setPrometheusDefaults(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	//engineConfiguration->useOnlyRisingEdgeForTrigger = true;
 	setAlgorithm(LM_SPEED_DENSITY PASS_CONFIG_PARAMETER_SUFFIX);
 
+	CONFIG(useCicPidForIdle) = true;
+
 	engineConfiguration->specs.cylindersCount = 4;
 	engineConfiguration->specs.firingOrder = FO_1_3_4_2;
 

firmware/controllers/actuators/idle_thread.cpp

@@ -70,12 +70,6 @@ static bool shouldResetPid = false;
 // See automaticIdleController().
 static bool mightResetPid = false;
 
-#if EFI_IDLE_PID_CIC
-// Use new PID with CIC integrator
-static PidCic idlePid;
-
-#else
-
 class PidWithOverrides : public PidIndustrial {
 public:
 	float getOffset() const override {
@@ -107,19 +101,28 @@ public:
 	}
 };
 
-static PidWithOverrides idlePid;
-#endif /* EFI_IDLE_PID_CIC */
+static PidWithOverrides industrialWithOverrideIdlePid;
 
-Pid * getIdlePid() {
-	return &idlePid;
+#if EFI_IDLE_PID_CIC
+// Use PID with CIC integrator
+static PidCic idleCicPid;
+#endif //EFI_IDLE_PID_CIC
+
+Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+#if EFI_IDLE_PID_CIC
+	if (CONFIG(useCicPidForIdle)) {
+		return &idleCicPid;
+	}
+#endif /* EFI_IDLE_PID_CIC */
+	return &industrialWithOverrideIdlePid;
 }
 
 float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	return getIdlePid()->getOffset();
+	return getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOffset();
 }
 
 float getIdlePidMinValue(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	return getIdlePid()->getMinValue();
+	return getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getMinValue();
 }
 
 // todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
@@ -181,7 +184,7 @@ static void showIdleInfo(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	}
 
 	if (engineConfiguration->idleMode == IM_AUTO) {
-		getIdlePid()->showPidStatus(logger, "idle");
+		getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus(logger, "idle");
 	}
 }
 
@@ -300,11 +303,9 @@ static bool isOutOfAutomaticIdleCondition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
  */
 static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_SUFFIX) {
 
-#if !EFI_IDLE_PID_CIC
 	// todo: move this to pid_s one day
-	idlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq;
-	idlePid.derivativeFilterLoss = engineConfiguration->idle_derivativeFilterLoss;
-#endif
+	industrialWithOverrideIdlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq;
+	industrialWithOverrideIdlePid.derivativeFilterLoss = engineConfiguration->idle_derivativeFilterLoss;
 
 	if (isOutOfAutomaticIdleCondition(PASS_ENGINE_PARAMETER_SIGNATURE)) {
 		// Don't store old I and D terms if PID doesn't work anymore.
@@ -347,9 +348,9 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 	if (rpm < targetRpm)
 		errorAmpCoef += (float)CONFIG(pidExtraForLowRpm) / PERCENT_MULT;
 	// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
-	getIdlePid()->setErrorAmplification(errorAmpCoef);
+	getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->setErrorAmplification(errorAmpCoef);
 
-	percent_t newValue = getIdlePid()->getOutput(targetRpm, rpm);
+	percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm);
 	engine->engineState.idle.idleState = PID_VALUE;
 
 	// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
@@ -400,8 +401,8 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 	 * @see stepper.cpp
 	 */
 
-		getIdlePid()->iTermMin = engineConfiguration->idlerpmpid_iTermMin;
-		getIdlePid()->iTermMax = engineConfiguration->idlerpmpid_iTermMax;
+		getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMin = engineConfiguration->idlerpmpid_iTermMin;
+		getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMax = engineConfiguration->idlerpmpid_iTermMax;
 
 		SensorResult tps = Sensor::get(SensorType::DriverThrottleIntent);
 
@@ -410,11 +411,11 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 		if (engineConfiguration->isVerboseIAC && engine->engineState.isAutomaticIdle) {
 			scheduleMsg(logger, "Idle state %s%s", getIdle_state_e(engine->engineState.idle.idleState),
 					(prettyClose ? " pretty close" : ""));
-			getIdlePid()->showPidStatus(logger, "idle");
+			getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->showPidStatus(logger, "idle");
 		}
 
 		if (shouldResetPid) {
-			getIdlePid()->reset();
+			getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->reset();
 //			alternatorPidResetCounter++;
 			shouldResetPid = false;
 		}
@@ -511,7 +512,7 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 			if (engineConfiguration->idleMode == IM_AUTO) {
 #if EFI_TUNER_STUDIO
 				// see also tsOutputChannels->idlePosition
-				getIdlePid()->postState(&tsOutputChannels, 1000000);
+				getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->postState(&tsOutputChannels, 1000000);
 				tsOutputChannels.debugIntField4 = engine->engineState.idle.idleState;
 #endif /* EFI_TUNER_STUDIO */
 			} else {
@@ -538,7 +539,7 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
 IdleController idleControllerInstance;
 
 static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	getIdlePid()->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
+	getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
 	iacPidMultMap.init(CONFIG(iacPidMultTable), CONFIG(iacPidMultLoadBins), CONFIG(iacPidMultRpmBins));
 }
 
@@ -555,7 +556,7 @@ void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 #if ! EFI_UNIT_TEST
 
 void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
-	shouldResetPid = !getIdlePid()->isSame(&previousConfiguration->idleRpmPid);
+	shouldResetPid = !getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->isSame(&previousConfiguration->idleRpmPid);
 	idleSolenoidOpen.setFrequency(CONFIG(idle).solenoidFrequency);
 	idleSolenoidClose.setFrequency(CONFIG(idle).solenoidFrequency);
 }
@@ -711,7 +712,7 @@ void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	logger = sharedLogger;
 	INJECT_ENGINE_REFERENCE(&idleControllerInstance);
 
-	getIdlePid()->initPidClass(&engineConfiguration->idleRpmPid);
+	getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->initPidClass(&engineConfiguration->idleRpmPid);
 
 #if ! EFI_UNIT_TEST
 	// todo: we still have to explicitly init all hardware on start in addition to handling configuration change via

firmware/controllers/actuators/idle_thread.h

@@ -37,5 +37,5 @@ void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 bool isIdleHardwareRestartNeeded();
 void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration);
 float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE);
-Pid * getIdlePid();
+Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 float getIdlePidMinValue(DECLARE_ENGINE_PARAMETER_SIGNATURE);