Pid Class Reference

#include <efi_pid.h>

Inheritance diagram for Pid:

Collaboration diagram for Pid:

Public Member Functions
	Pid ()
	Pid (pid_s *parameters)
void	initPidClass (pid_s *parameters)
bool	isSame (const pid_s *parameters) const
float	getOutput (float target, float input)
virtual float	getOutput (float target, float input, float dTime)
float	getUnclampedOutput (float target, float input, float dTime)
void	updateFactors (float pFactor, float iFactor, float dFactor)
virtual void	reset ()
float	getP () const
float	getI () const
float	getD () const
float	getOffset () const
float	getMinValue () const
float	getIntegration (void) const
float	getPrevError (void) const
void	setErrorAmplification (float coef)
void	postState (pid_status_s &pidStatus) const
void	showPidStatus (const char *msg) const
void	sleep ()

Data Fields
int	resetCounter
float	iTermMin = -1000000.0
float	iTermMax = 1000000.0
Data Fields inherited from pid_state_s
float	iTerm = (float)0
float	dTerm = (float)0
float	target = (float)0
float	input = (float)0
float	output = (float)0
float	errorAmplificationCoef = (float)0
float	previousError = (float)0

Protected Member Functions
virtual void	updateITerm (float value)

Protected Attributes
pid_s *	parameters = nullptr

Detailed Description

default basic implementation also known as PidParallelController

Definition at line 34 of file efi_pid.h.

Constructor & Destructor Documentation

Pid() [1/2]

Pid::Pid

(

)

Definition at line 16 of file efi_pid.cpp.

         {
    initPidClass(nullptr);
}

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Pid() [2/2]

Pid::Pid ( pid_s *  parameters )

explicit

Definition at line 20 of file efi_pid.cpp.

                            {
    initPidClass(p_parameters);
}

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Member Function Documentation

getD()

float Pid::getD

(

)

const

Definition at line 126 of file efi_pid.cpp.

                      {
    return parameters->dFactor;
}

getI()

float Pid::getI

(

)

const

Definition at line 114 of file efi_pid.cpp.

                      {
    return parameters->iFactor;
}

getIntegration()

float Pid::getIntegration

(

void

)

const

Definition at line 122 of file efi_pid.cpp.

                                {
    return iTerm;
}

getMinValue()

float Pid::getMinValue

(

void

)

const

Definition at line 134 of file efi_pid.cpp.

                                 {
    return parameters->minValue;
}

Referenced by getOutput(), and PidIndustrial::limitOutput().

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getOffset()

float Pid::getOffset

(

void

)

const

Definition at line 130 of file efi_pid.cpp.

                               {
    return parameters->offset;
}

Referenced by PidIndustrial::getOutput(), getUnclampedOutput(), and showPidStatus().

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getOutput() [1/2]

float Pid::getOutput	(	float	p_target,
		float	p_input
	)

This version of the method takes dTime from pid_s

Parameters

Controller

input / process output

Returns

Output from the PID controller / the input to the process

Parameters

Controller

input / process output

Returns

Output from the PID controller / the input to the process

Definition at line 56 of file efi_pid.cpp.

                                                  {
  efiAssert(ObdCode::OBD_PCM_Processor_Fault, parameters != nullptr, "PID::getOutput nullptr", 0);
    float dTime = MS2SEC(GET_PERIOD_LIMITED(parameters));
    return getOutput(p_target, p_input, dTime);
}

Referenced by LuaPid::get(), VvtController::getClosedLoop(), AlternatorController::getClosedLoop(), EtbController::getClosedLoop(), BoostController::getClosedLoopImpl(), IdleController::getIdleTimingAdjustment(), and getOutput().

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getOutput() [2/2]

float Pid::getOutput ( float  p_target, float  p_input, float  dTime  )

virtual

Parameters

dTime

seconds probably? :)

Reimplemented in PidCic, PidIndustrial, PidCic, and PidIndustrial.

Definition at line 84 of file efi_pid.cpp.

                                                               {
    float l_output = getUnclampedOutput(p_target, p_input, dTime);
 
    if (l_output > parameters->maxValue) {
        l_output = parameters->maxValue;
    } else if (l_output < getMinValue()) {
        l_output = getMinValue();
    }
    output = l_output;
    return output;
}

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getP()

float Pid::getP

(

)

const

Definition at line 110 of file efi_pid.cpp.

                      {
    return parameters->pFactor;
}

getPrevError()

float Pid::getPrevError

(

void

)

const

Definition at line 118 of file efi_pid.cpp.

                              {
    return previousError;
}

getUnclampedOutput()

float Pid::getUnclampedOutput	(	float	target,
		float	input,
		float	dTime
	)

Definition at line 62 of file efi_pid.cpp.

                                                                        {
    target = p_target;
    input = p_input;
    float error = (target - input) * errorAmplificationCoef;
 
    float pTerm = parameters->pFactor * error;
    updateITerm(parameters->iFactor * dTime * error);
    dTerm = parameters->dFactor / dTime * (error - previousError);
 
    previousError = error;
 
    if (dTime <=0) {
        warning(ObdCode::CUSTOM_PID_DTERM, "PID: unexpected dTime");
        return pTerm + getOffset();
    }
 
    return pTerm + iTerm + dTerm + getOffset();
}

Referenced by getOutput(), and PidCic::getOutput().

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initPidClass()

void Pid::initPidClass

(

pid_s *

parameters

)

Definition at line 24 of file efi_pid.cpp.

                                          {
    parameters = p_parameters;
    resetCounter = 0;
 
    Pid::reset();
}

Referenced by AlternatorController::AlternatorController(), IdleController::init(), VvtController::init(), EtbController::init(), BoostController::init(), Pid(), and Pid().

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isSame()

bool Pid::isSame

(

const pid_s *

parameters

)

const

Definition at line 39 of file efi_pid.cpp.

                                                {
    if (!parameters) {
        // this 'null' could happen on first execution during initialization
        return false;
    }
    efiAssert(ObdCode::OBD_PCM_Processor_Fault, p_parameters != nullptr, "PID::isSame nullptr", false);
    return isClose(parameters->pFactor, p_parameters->pFactor)
            && isClose(parameters->iFactor, p_parameters->iFactor)
            && isClose(parameters->dFactor, p_parameters->dFactor)
            && isClose(parameters->offset, p_parameters->offset)
            && isClose(parameters->periodMs, p_parameters->periodMs);
}

Referenced by BoostController::onConfigurationChange(), VvtController::onConfigurationChange(), IdleController::onConfigurationChange(), AlternatorController::onConfigurationChange(), and EtbController::onConfigurationChange().

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postState()

void Pid::postState

(

pid_status_s &

pidStatus

)

const

Definition at line 144 of file efi_pid.cpp.

                                                 {
    pidStatus.output = output;
    pidStatus.error = previousError;
    pidStatus.pTerm = parameters == nullptr ? 0 : parameters->pFactor * previousError;
    pidStatus.iTerm = iTerm;
    pidStatus.dTerm = dTerm;
    pidStatus.resetCounter = resetCounter;
}

Referenced by EtbController::checkStatus(), VvtController::getClosedLoop(), BoostController::getClosedLoop(), IdleController::getIdlePosition(), and AlternatorController::onFastCallback().

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reset()

void Pid::reset ( void  )

virtual

Reimplemented in PidCic.

Definition at line 103 of file efi_pid.cpp.

                {
    dTerm = iTerm = 0;
    output = input = target = previousError = 0;
    errorAmplificationCoef = 1.0f;
    resetCounter++;
}

Referenced by EtbController::getClosedLoop(), BoostController::getClosedLoopImpl(), IdleController::getIdleTimingAdjustment(), initPidClass(), VvtController::onConfigurationChange(), AlternatorController::onConfigurationChange(), IdleController::onEngineStop(), LuaPid::reset(), LuaIndustrialPid::reset(), PidCic::reset(), AlternatorController::setOutput(), VvtController::setOutput(), and updateFactors().

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setErrorAmplification()

void Pid::setErrorAmplification

(

float

coef

)

Definition at line 138 of file efi_pid.cpp.

                                          {
    errorAmplificationCoef = coef;
}

Referenced by VvtController::getClosedLoop(), and IdleController::getIdleTimingAdjustment().

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showPidStatus()

void Pid::showPidStatus

(

const char *

msg

)

const

Definition at line 161 of file efi_pid.cpp.

                                            {
    efiPrintf("%s settings: offset=%f P=%.5f I=%.5f D=%.5f period=%dms",
            msg,
            getOffset(),
            parameters->pFactor,
            parameters->iFactor,
            parameters->dFactor,
            parameters->periodMs);
 
    efiPrintf("%s status: value=%.2f input=%.2f/target=%.2f iTerm=%.5f dTerm=%.5f",
            msg,
            output,
            input,
            target,
            iTerm, dTerm);
 
}

Referenced by EtbController::showStatus().

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sleep()

void Pid::sleep

(

)

Definition at line 154 of file efi_pid.cpp.

                {
#if !EFI_UNIT_TEST
    int periodMs = maxI(10, parameters->periodMs);
    chThdSleepMilliseconds(periodMs);
#endif /* EFI_UNIT_TEST */
}

updateFactors()

void Pid::updateFactors	(	float	pFactor,
		float	iFactor,
		float	dFactor
	)

Definition at line 96 of file efi_pid.cpp.

                                                                   {
    parameters->pFactor = pFactor;
    parameters->iFactor = iFactor;
    parameters->dFactor = dFactor;
    reset();
}

Referenced by applyPidSettings().

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updateITerm()

void Pid::updateITerm ( float  value )

protectedvirtual

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

Reimplemented in PidCic.

Definition at line 179 of file efi_pid.cpp.

                                 {
    iTerm += value;
    /**
     * 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
     */
    if (iTerm > parameters->maxValue * 100) {
        iTerm = parameters->maxValue * 100;
    }
    if (iTerm > iTermMax) {
        iTerm = iTermMax;
    }
 
    // this is kind of a hack. a proper fix would be having separate additional settings 'maxIValue' and 'minIValye'
    if (iTerm < -parameters->maxValue * 100)
        iTerm = -parameters->maxValue * 100;
    if (iTerm < iTermMin) {
        iTerm = iTermMin;
    }
}

Referenced by PidIndustrial::getOutput(), and getUnclampedOutput().

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Field Documentation

iTermMax

float Pid::iTermMax = 1000000.0

Definition at line 69 of file efi_pid.h.

Referenced by AlternatorController::getClosedLoop(), IdleController::getIdlePosition(), EtbController::init(), BoostController::onFastCallback(), and updateITerm().

iTermMin

float Pid::iTermMin = -1000000.0

Definition at line 68 of file efi_pid.h.

Referenced by AlternatorController::getClosedLoop(), IdleController::getIdlePosition(), EtbController::init(), BoostController::onFastCallback(), and updateITerm().

parameters

pid_s* Pid::parameters = nullptr

protected

Definition at line 71 of file efi_pid.h.

Referenced by getD(), getI(), getMinValue(), getOffset(), getOutput(), getOutput(), PidIndustrial::getOutput(), getP(), getUnclampedOutput(), initPidClass(), isSame(), PidIndustrial::limitOutput(), postState(), showPidStatus(), sleep(), updateFactors(), and updateITerm().

resetCounter

int Pid::resetCounter

Definition at line 66 of file efi_pid.h.

Referenced by initPidClass(), postState(), and reset().

---

The documentation for this class was generated from the following files:

• util/math/efi_pid.h
• util/math/efi_pid.cpp