rusefi
/
rusefi-full
mirror of https://github.com/rusefi/rusefi-full.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

dead fields & better field name

This commit is contained in:
rusEfi 2019-09-01 18:41:51 -04:00
parent b85e91d103
commit f960587dc0
2 changed files with 44 additions and 46 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

80
firmware/util/math/pid.cpp
View File

@ -17,23 +17,23 @@ Pid::Pid() {
initPidClass(NULL); initPidClass(NULL);
} }
Pid::Pid(pid_s *pid) { Pid::Pid(pid_s *parameters) {
initPidClass(pid); initPidClass(parameters);
} }
void Pid::initPidClass(pid_s *pid) { void Pid::initPidClass(pid_s *parameters) {
this->pid = pid; this->parameters = parameters;
resetCounter = 0; resetCounter = 0;
reset(); reset();
} }
bool Pid::isSame(pid_s *pid) const { bool Pid::isSame(pid_s *parameters) const {
return this->pid->pFactor == pid->pFactor return this->parameters->pFactor == parameters->pFactor
&& this->pid->iFactor == pid->iFactor && this->parameters->iFactor == parameters->iFactor
&& this->pid->dFactor == pid->dFactor && this->parameters->dFactor == parameters->dFactor
&& this->pid->offset == pid->offset && this->parameters->offset == parameters->offset
&& this->pid->periodMs == pid->periodMs; && this->parameters->periodMs == parameters->periodMs;
} }
/** /**
@ -41,7 +41,7 @@ bool Pid::isSame(pid_s *pid) const {
* @returns Output from the PID controller / the input to the process * @returns Output from the PID controller / the input to the process
*/ */
float Pid::getOutput(float target, float input) { float Pid::getOutput(float target, float input) {
float dTime = MS2SEC(GET_PERIOD_LIMITED(pid)); float dTime = MS2SEC(GET_PERIOD_LIMITED(parameters));
return getOutput(target, input, dTime); return getOutput(target, input, dTime);
} }
@ -50,13 +50,13 @@ float Pid::getUnclampedOutput(float target, float input, float dTime) {
this->target = target; this->target = target;
this->input = input; this->input = input;
float pTerm = pid->pFactor * error; float pTerm = parameters->pFactor * error;
updateITerm(pid->iFactor * dTime * error); updateITerm(parameters->iFactor * dTime * error);
dTerm = pid->dFactor / dTime * (error - previousError); dTerm = parameters->dFactor / dTime * (error - previousError);
previousError = error; previousError = error;
return pTerm + iTerm + dTerm + pid->offset; return pTerm + iTerm + dTerm + parameters->offset;
} }
/** /**
@ -65,19 +65,19 @@ float Pid::getUnclampedOutput(float target, float input, float dTime) {
float Pid::getOutput(float target, float input, float dTime) { float Pid::getOutput(float target, float input, float dTime) {
float output = getUnclampedOutput(target, input, dTime); float output = getUnclampedOutput(target, input, dTime);
if (output > pid->maxValue) { if (output > parameters->maxValue) {
output = pid->maxValue; output = parameters->maxValue;
} else if (output < pid->minValue) { } else if (output < parameters->minValue) {
output = pid->minValue; output = parameters->minValue;
} }
this->output = output; this->output = output;
return output; return output;
} }
void Pid::updateFactors(float pFactor, float iFactor, float dFactor) { void Pid::updateFactors(float pFactor, float iFactor, float dFactor) {
pid->pFactor = pFactor; parameters->pFactor = pFactor;
pid->iFactor = iFactor; parameters->iFactor = iFactor;
pid->dFactor = dFactor; parameters->dFactor = dFactor;
reset(); reset();
} }
@ -89,11 +89,11 @@ void Pid::reset(void) {
} }
float Pid::getP(void) const { float Pid::getP(void) const {
return pid->pFactor; return parameters->pFactor;
} }
float Pid::getI(void) const { float Pid::getI(void) const {
return pid->iFactor; return parameters->iFactor;
} }
float Pid::getPrevError(void) const { float Pid::getPrevError(void) const {
@ -105,11 +105,11 @@ float Pid::getIntegration(void) const {
} }
float Pid::getD(void) const { float Pid::getD(void) const {
return pid->dFactor; return parameters->dFactor;
} }
float Pid::getOffset(void) const { float Pid::getOffset(void) const {
return pid->offset; return parameters->offset;
} }
void Pid::setErrorAmplification(float coef) { void Pid::setErrorAmplification(float coef) {
@ -131,18 +131,18 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels, int pMult) {
tsOutputChannels->debugFloatField4 = getI(); tsOutputChannels->debugFloatField4 = getI();
tsOutputChannels->debugFloatField5 = getD(); tsOutputChannels->debugFloatField5 = getD();
tsOutputChannels->debugFloatField6 = dTerm; tsOutputChannels->debugFloatField6 = dTerm;
// tsOutputChannels->debugFloatField6 = pid->minValue; // tsOutputChannels->debugFloatField6 = parameters->minValue;
tsOutputChannels->debugFloatField7 = pid->maxValue; tsOutputChannels->debugFloatField7 = parameters->maxValue;
tsOutputChannels->debugIntField1 = getP() * pMult; tsOutputChannels->debugIntField1 = getP() * pMult;
tsOutputChannels->debugIntField2 = getOffset(); tsOutputChannels->debugIntField2 = getOffset();
tsOutputChannels->debugIntField3 = resetCounter; tsOutputChannels->debugIntField3 = resetCounter;
tsOutputChannels->debugIntField4 = pid->periodMs; tsOutputChannels->debugIntField4 = parameters->periodMs;
} }
#endif /* EFI_TUNER_STUDIO */ #endif /* EFI_TUNER_STUDIO */
void Pid::sleep() { void Pid::sleep() {
#if !EFI_UNIT_TEST #if !EFI_UNIT_TEST
int periodMs = maxI(10, pid->periodMs); int periodMs = maxI(10, parameters->periodMs);
chThdSleepMilliseconds(periodMs); chThdSleepMilliseconds(periodMs);
#endif /* EFI_UNIT_TEST */ #endif /* EFI_UNIT_TEST */
} }
@ -150,11 +150,11 @@ void Pid::sleep() {
void Pid::showPidStatus(Logging *logging, const char*msg) { void Pid::showPidStatus(Logging *logging, const char*msg) {
scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f period=%dms", scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f period=%dms",
msg, msg,
pid->offset, parameters->offset,
pid->pFactor, parameters->pFactor,
pid->iFactor, parameters->iFactor,
pid->dFactor, parameters->dFactor,
pid->periodMs); parameters->periodMs);
scheduleMsg(logging, "%s status: value=%.2f input=%.2f/target=%.2f iTerm=%.5f dTerm=%.5f", scheduleMsg(logging, "%s status: value=%.2f input=%.2f/target=%.2f iTerm=%.5f dTerm=%.5f",
msg, msg,
@ -171,16 +171,16 @@ void Pid::updateITerm(float value) {
* If we have exceeded the ability of the controlled device to hit target, the I factor will keep accumulating and approach infinity. * If we have exceeded the ability of the controlled device to hit target, the I factor will keep accumulating and approach infinity.
* Here we limit the I-term #353 * Here we limit the I-term #353
*/ */
if (iTerm > pid->maxValue * 100) { if (iTerm > parameters->maxValue * 100) {
iTerm = pid->maxValue * 100; iTerm = parameters->maxValue * 100;
} }
if (iTerm > iTermMax) { if (iTerm > iTermMax) {
iTerm = iTermMax; iTerm = iTermMax;
} }
// this is kind of a hack. a proper fix would be having separate additional settings 'maxIValue' and 'minIValye' // this is kind of a hack. a proper fix would be having separate additional settings 'maxIValue' and 'minIValye'
if (iTerm < -pid->maxValue * 100) if (iTerm < -parameters->maxValue * 100)
iTerm = -pid->maxValue * 100; iTerm = -parameters->maxValue * 100;
if (iTerm < iTermMin) { if (iTerm < iTermMin) {
iTerm = iTermMin; iTerm = iTermMin;
} }
@ -192,7 +192,7 @@ PidCic::PidCic() {
reset(); reset();
} }
PidCic::PidCic(pid_s *pid) : Pid(pid) { PidCic::PidCic(pid_s *parameters) : Pid(parameters) {
// call our derived reset() // call our derived reset()
reset(); reset();
} }

10
firmware/util/math/pid.h
View File

@ -34,9 +34,9 @@ class Pid : public pid_state_s {
public: public:
Pid(); Pid();
explicit Pid(pid_s *pid); explicit Pid(pid_s *parameters);
void initPidClass(pid_s *pid); void initPidClass(pid_s *parameters);
bool isSame(pid_s *pid) const; bool isSame(pid_s *parameters) const;
/** /**
* This version of the method takes dTime from pid_s * This version of the method takes dTime from pid_s
@ -61,8 +61,6 @@ public:
void postState(TunerStudioOutputChannels *tsOutputChannels); void postState(TunerStudioOutputChannels *tsOutputChannels);
void postState(TunerStudioOutputChannels *tsOutputChannels, int pMult); void postState(TunerStudioOutputChannels *tsOutputChannels, int pMult);
#endif /* EFI_TUNER_STUDIO */ #endif /* EFI_TUNER_STUDIO */
float minResult;
float maxResult;
void showPidStatus(Logging *logging, const char*msg); void showPidStatus(Logging *logging, const char*msg);
void sleep(); void sleep();
int resetCounter; int resetCounter;
@ -70,7 +68,7 @@ public:
float iTermMin = -1000000.0; float iTermMin = -1000000.0;
float iTermMax = 1000000.0; float iTermMax = 1000000.0;
private: private:
pid_s *pid; pid_s *parameters;
float previousError; float previousError;