PID refactoring

firmware/controllers/algo/aux_pid.cpp

@@ -35,7 +35,7 @@ static SimplePwm auxPidPwm[AUX_PID_COUNT];
 static OutputPin auxPidPin[AUX_PID_COUNT];
 
 static pid_s *auxPidS = &persistentState.persistentConfiguration.engineConfiguration.auxPid[0];
-static Pid auxPid(auxPidS, 0, 90);
+static Pid auxPid(auxPidS);
 static Logging *logger;
 
 static bool isEnabled(int index) {

firmware/controllers/algo/engine.cpp

@@ -264,7 +264,7 @@ void Engine::setConfig(persistent_config_s *config) {
 	this->config = config;
 	engineConfiguration = &config->engineConfiguration;
 	memset(config, 0, sizeof(persistent_config_s));
-	engineState.warmupAfrPid.init(&config->engineConfiguration.warmupAfrPid,  0.5, 1.5);
+	engineState.warmupAfrPid.init(&config->engineConfiguration.warmupAfrPid);
 }
 
 void Engine::printKnockState(void) {

firmware/controllers/alternatorController.cpp

@@ -29,7 +29,7 @@ int alternatorPidResetCounter = 0;
 
 static SimplePwm alternatorControl;
 static pid_s *altPidS = &persistentState.persistentConfiguration.engineConfiguration.alternatorControl;
-static Pid altPid(altPidS, 1, 90);
+static Pid altPid(altPidS);
 
 static THD_WORKING_AREA(alternatorControlThreadStack, UTILITY_THREAD_STACK_SIZE);
 

firmware/controllers/electronic_throttle.cpp

@@ -73,7 +73,7 @@ static OutputPin outputDirectionClose CCM_OPTIONAL;
 
 EXTERN_ENGINE;
 
-static Pid pid(&engineConfiguration->etb, 0, 100);
+static Pid pid(&engineConfiguration->etb);
 
 static float prevTps;
 
@@ -109,7 +109,7 @@ static msg_t etbThread(void *arg) {
 			pid.postState(&tsOutputChannels);
 		}
 		if (engineConfiguration->isVerboseETB) {
-			pid.showPidStatus(&logger, "ETB", engineConfiguration->etb.period);
+			pid.showPidStatus(&logger, "ETB");
 		}
 
 

firmware/controllers/idle_thread.cpp

@@ -45,7 +45,7 @@ EXTERN_ENGINE
 
 static bool shouldResetPid = false;
 
-static Pid idlePid(&engineConfiguration->idleRpmPid, 1, 99);
+static Pid idlePid(&engineConfiguration->idleRpmPid);
 
 // todo: extract interface for idle valve hardware, with solenoid and stepper implementations?
 static SimplePwm idleSolenoid;
@@ -83,7 +83,7 @@ static void showIdleInfo(void) {
 
 
 	if (engineConfiguration->idleMode == IM_AUTO) {
-		idlePid.showPidStatus(logger, "idle", engineConfiguration->idleRpmPid.period);
+		idlePid.showPidStatus(logger, "idle");
 	}
 }
 
@@ -239,7 +239,7 @@ static msg_t ivThread(int param) {
 		}
 
 		if (engineConfiguration->isVerboseIAC && engineConfiguration->idleMode == IM_AUTO) {
-			idlePid.showPidStatus(logger, "idle", engineConfiguration->idleRpmPid.period);
+			idlePid.showPidStatus(logger, "idle");
 
 		}
 

firmware/controllers/math/pid.cpp

@@ -12,14 +12,14 @@
 #include "math.h"
 
 Pid::Pid() {
-    init(NULL, NAN, NAN);
+    init(NULL);
 }
 
-Pid::Pid(pid_s *pid, float minResult, float maxResult) {
+Pid::Pid(pid_s *pid) {
-	init(pid, minResult, maxResult);
+	init(pid);
 }
 
-void Pid::init(pid_s *pid, float minResult, float maxResult) {
+void Pid::init(pid_s *pid) {
 	this->pid = pid;
 
 	dTerm = iTerm = 0;
@@ -123,7 +123,7 @@ void Pid::sleep() {
 #endif /* EFI_UNIT_TEST */
 }
 
-void Pid::showPidStatus(Logging *logging, const char*msg, int dTime) {
+void Pid::showPidStatus(Logging *logging, const char*msg) {
 	scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f dT=%d",
 			msg,
 			pid->offset,

firmware/controllers/math/pid.h

@@ -20,8 +20,8 @@ class Pid {
 
 public:
 	Pid();
-	Pid(pid_s *pid, float minResult, float maxResult);
+	Pid(pid_s *pid);
-	void init(pid_s *pid, float minResult, float maxResult);
+	void init(pid_s *pid);
 	bool isSame(pid_s *pid);
 
 	float getValue(float target, float input);
@@ -42,7 +42,7 @@ public:
 	float maxResult;
 	float iTerm;
 	float dTerm; // we are remembering this only for debugging purposes
-	void showPidStatus(Logging *logging, const char*msg, int dTime);
+	void showPidStatus(Logging *logging, const char*msg);
 	void sleep();
 private:
 	pid_s *pid;

firmware/controllers/trigger/main_trigger_callback.cpp

@@ -69,7 +69,7 @@ static const char *prevOutputName = NULL;
 static Logging *logger;
 #if ! EFI_UNIT_TEST
 static pid_s *fuelPidS = &persistentState.persistentConfiguration.engineConfiguration.fuelClosedLoopPid;
-static Pid fuelPid(fuelPidS, -100, 100);
+static Pid fuelPid(fuelPidS);
 extern TunerStudioOutputChannels tsOutputChannels;
 #endif