PidCic Class Reference

#include <efi_pid.h>

Inheritance diagram for PidCic:

Collaboration diagram for PidCic:

Public Member Functions
	PidCic ()
	PidCic (pid_s *pid)
void	reset (void) override
float	getOutput (float target, float input, float dTime) override
float	getOutput (float target, float input)
virtual float	getOutput (float target, float input, float dTime)
Public Member Functions inherited from Pid
	Pid ()
	Pid (pid_s *parameters)
void	initPidClass (pid_s *parameters)
bool	isSame (const pid_s *parameters) const
float	getOutput (float target, float input)
float	getUnclampedOutput (float target, float input, float dTime)
void	updateFactors (float pFactor, float iFactor, float dFactor)
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 ()

Private Member Functions
void	updateITerm (float value) override

Private Attributes
float	iTermBuf [PID_AVG_BUF_SIZE]
float	iTermInvNum
int	totalItermCnt

Additional Inherited Members
Data Fields inherited from Pid
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 Attributes inherited from Pid
pid_s *	parameters = nullptr

Detailed Description

A PID implementation with a modified cascaded integrator-comb (CIC) filtering. Used for incremental auto-IAC control. See autoIdle() in idle_thread.cpp See pid_cic.md.

https://rusefi.com/forum/viewtopic.php?f=9&t=1315

Definition at line 83 of file efi_pid.h.

Constructor & Destructor Documentation

PidCic() [1/2]

PidCic::PidCic

(

)

Definition at line 201 of file efi_pid.cpp.

               {
    // call our derived reset()
    PidCic::reset();
}

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PidCic() [2/2]

PidCic::PidCic ( pid_s *  pid )

explicit

Definition at line 206 of file efi_pid.cpp.

                                  : Pid(p_parameters) {
    // call our derived reset()
    PidCic::reset();
}

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Member Function Documentation

getOutput() [1/3]

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 47 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);
}

getOutput() [2/3]

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

virtual

Parameters

dTime

seconds probably? :)

Reimplemented from Pid.

Definition at line 48 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;
}

getOutput() [3/3]

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

overridevirtual

Parameters

dTime

seconds probably? :)

Reimplemented from Pid.

Definition at line 220 of file efi_pid.cpp.

                                                                  {
    return getUnclampedOutput(p_target, p_input, dTime);
}

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reset()

void PidCic::reset ( void  )

overridevirtual

Reimplemented from Pid.

Definition at line 211 of file efi_pid.cpp.

                       {
    Pid::reset();
 
    totalItermCnt = 0;
    for (int i = 0; i < PID_AVG_BUF_SIZE; i++)
        iTermBuf[i] = 0;
    iTermInvNum = 1.0f / (float)PID_AVG_BUF_SIZE;
}

Referenced by PidCic(), and PidCic().

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updateITerm()

void PidCic::updateITerm ( float  value )

overrideprivatevirtual

Reimplemented from Pid.

Definition at line 224 of file efi_pid.cpp.

                                    {
    // use a variation of cascaded integrator-comb (CIC) filtering to get non-overflow iTerm
    totalItermCnt++;
    int localBufPos = (totalItermCnt >> PID_AVG_BUF_SIZE_SHIFT) % PID_AVG_BUF_SIZE;
    int localPrevBufPos = ((totalItermCnt - 1) >> PID_AVG_BUF_SIZE_SHIFT) % PID_AVG_BUF_SIZE;
 
    // reset old buffer cell
    if (localPrevBufPos != localBufPos)
        iTermBuf[localBufPos] = 0;
    // integrator stage
    iTermBuf[localBufPos] += value;
 
    // return moving average of all sums, to smoothen the result
    float iTermSum = 0;
    for (int i = 0; i < PID_AVG_BUF_SIZE; i++) {
        iTermSum += iTermBuf[i];
    }
    iTerm = iTermSum * iTermInvNum;
}

Field Documentation

iTermBuf

float PidCic::iTermBuf[PID_AVG_BUF_SIZE]

private

Definition at line 95 of file efi_pid.h.

Referenced by reset(), and updateITerm().

iTermInvNum

float PidCic::iTermInvNum

private

Definition at line 97 of file efi_pid.h.

Referenced by reset(), and updateITerm().

totalItermCnt

int PidCic::totalItermCnt

private

Definition at line 99 of file efi_pid.h.

Referenced by reset(), and updateITerm().

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

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