lua_pid.h

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#pragma once
 
#include "pch.h"
 
struct LuaPid final {
    LuaPid() = default;
 
    LuaPid(float kp, float ki, float kd, float min, float max)
        : m_pid(&m_params)
    {
        m_params.pFactor = kp;
        m_params.iFactor = ki;
        m_params.dFactor = kd;
 
        m_params.offset = 0;
        m_params.periodMs = 0;
        m_params.minValue = min;
        m_params.maxValue = max;
 
        if (m_params.minValue >= m_params.maxValue) {
          criticalError("Lua: minValue %d/maxValue %d", m_params.minValue, m_params.maxValue);
        }
 
        m_lastUpdate.reset();
    }
 
    float get(float target, float input) {
#if EFI_UNIT_TEST
        // this is how we avoid zero dt
        advanceTimeUs(1000);
#endif
 
        float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
 
        return m_pid.getOutput(target, input, dt);
    }
 
    void setOffset(float offset) {
        m_params.offset = offset;
        reset();
    }
 
    void reset() {
        m_pid.reset();
    }
 
private:
    Pid m_pid;
    Timer m_lastUpdate;
    pid_s m_params;
};
 
// todo: use templates and reduce duplication between LuaPid and LuaIndustrialPid?
struct LuaIndustrialPid final {
    LuaIndustrialPid() = default;
 
    LuaIndustrialPid(float kp, float ki, float kd, float min, float max)
        : m_pid(&m_params)
    {
        m_params.pFactor = kp;
        m_params.iFactor = ki;
        m_params.dFactor = kd;
 
        m_params.offset = 0;
        m_params.periodMs = 0;
        m_params.minValue = min;
        m_params.maxValue = max;
 
        if (m_params.minValue >= m_params.maxValue) {
          criticalError("Lua: minValue %d/maxValue %d", m_params.minValue, m_params.maxValue);
        }
 
        m_lastUpdate.reset();
    }
 
    float get(float target, float input) {
#if EFI_UNIT_TEST
        // this is how we avoid zero dt
        advanceTimeUs(1000);
#endif
 
        float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
 
        return m_pid.getOutput(target, input, dt);
    }
 
    void setOffset(float offset) {
        m_params.offset = offset;
        reset();
    }
 
    void setDerivativeFilterLoss(float derivativeFilterLoss) {
        m_pid.derivativeFilterLoss = derivativeFilterLoss;
        reset();
    }
 
    void setAntiwindupFreq(float antiwindupFreq) {
        m_pid.antiwindupFreq = antiwindupFreq;
        reset();
    }
 
    void reset() {
        m_pid.reset();
    }
 
private:
    PidIndustrial m_pid;
    Timer m_lastUpdate;
    pid_s m_params;
};