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PID - fix dTime usages #776

This commit is contained in:
rusefi 2019-04-25 18:49:16 -04:00
parent 3c09b8f1f5
commit 05d43db76f
6 changed files with 12 additions and 5 deletions
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2
firmware/controllers/actuators/alternator_controller.cpp
View File

@ -49,7 +49,7 @@ public:
private:
void PeriodicTask(efitime_t nowNt) override {
UNUSED(nowNt);
setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->alternatorControl.periodMs));
setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->alternatorControl));
#if ! EFI_UNIT_TEST
if (shouldResetPid) {

2
firmware/controllers/actuators/aux_pid.cpp
View File

@ -62,7 +62,7 @@ public:
private:
void PeriodicTask(efitime_t nowNt) override {
UNUSED(nowNt);
setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->auxPid[0].periodMs));
setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->auxPid[0]));
if (engine->auxParametersVersion.isOld(engine->getGlobalConfigurationVersion())) {
pidReset();

2
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -167,7 +167,7 @@ private:
void PeriodicTask(efitime_t nowNt) override {
UNUSED(nowNt);
setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->etb.periodMs));
setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->etb));
// set debug_mode 17

2
firmware/controllers/actuators/idle_thread.cpp
View File

@ -265,7 +265,7 @@ public:
private:
void PeriodicTask(efitime_t nowNt) override {
UNUSED(nowNt);
setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->idleRpmPid.periodMs));
setPeriod(GET_PERIOD_LIMITED(&engineConfiguration->idleRpmPid));
/*
* Here we have idle logic thread - actual stepper movement is implemented in a separate

2
firmware/controllers/injector_central.cpp
View File

@ -222,7 +222,7 @@ public:
private:
void PeriodicTask(efitime_t nowNt) override {
UNUSED(nowNt);
setPeriod(NOT_TOO_OFTEN(10 /* ms */, engineConfiguration->auxPid[0].periodMs));
setPeriod(50 /* ms */);
// naive inter-thread communication - waiting for a flag
if (isBenchTestPending) {

7
firmware/util/math/pid.h
View File

@ -19,6 +19,13 @@
#define PID_AVG_BUF_SIZE_SHIFT 5
#define PID_AVG_BUF_SIZE (1<<PID_AVG_BUF_SIZE_SHIFT) // 32*sizeof(float)
// minimal period 5m meaning maximum control frequency 200Hz
#define PID_MINIMAL_PERIOD_MS 5
#define GET_PERIOD_LIMITED(pid_s_ptr) maxI(PID_MINIMAL_PERIOD_MS, ((pid_s_ptr)->periodMs))
#define MS2SEC(x) (x * 0.001)
class Pid {
public: