Line | Branch | Decision | Exec | Source |
---|---|---|---|---|
1 | #pragma once | |||
2 | ||||
3 | #include "pch.h" | |||
4 | ||||
5 | struct LuaPid final { | |||
6 | LuaPid() = default; | |||
7 | ||||
8 | 2 | LuaPid(float kp, float ki, float kd, float min, float max) | ||
9 | 2 | : m_pid(&m_params) | ||
10 | { | |||
11 | 2 | m_params.pFactor = kp; | ||
12 | 2 | m_params.iFactor = ki; | ||
13 | 2 | m_params.dFactor = kd; | ||
14 | ||||
15 | 2 | m_params.offset = 0; | ||
16 | 2 | m_params.periodMs = 0; | ||
17 | 2 | m_params.minValue = min; | ||
18 | 2 | m_params.maxValue = max; | ||
19 | ||||
20 |
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2 | if (m_params.minValue >= m_params.maxValue) { |
21 | ✗ | criticalError("Lua: minValue %d/maxValue %d", m_params.minValue, m_params.maxValue); | ||
22 | } | |||
23 | ||||
24 | 2 | m_lastUpdate.reset(); | ||
25 | 2 | } | ||
26 | ||||
27 | 5 | float get(float target, float input) { | ||
28 | #if EFI_UNIT_TEST | |||
29 | // this is how we avoid zero dt | |||
30 | 5 | advanceTimeUs(1000); | ||
31 | #endif | |||
32 | ||||
33 | 5 | float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt()); | ||
34 | ||||
35 | 5 | return m_pid.getOutput(target, input, dt); | ||
36 | } | |||
37 | ||||
38 | 1 | void setOffset(float offset) { | ||
39 | 1 | m_params.offset = offset; | ||
40 | 1 | reset(); | ||
41 | 1 | } | ||
42 | ||||
43 | 1 | void reset() { | ||
44 | 1 | m_pid.reset(); | ||
45 | 1 | } | ||
46 | ||||
47 | private: | |||
48 | Pid m_pid; | |||
49 | Timer m_lastUpdate; | |||
50 | pid_s m_params; | |||
51 | }; | |||
52 | ||||
53 | // todo: use templates and reduce duplication between LuaPid and LuaIndustrialPid? | |||
54 | struct LuaIndustrialPid final { | |||
55 | LuaIndustrialPid() = default; | |||
56 | ||||
57 | ✗ | LuaIndustrialPid(float kp, float ki, float kd, float min, float max) | ||
58 | ✗ | : m_pid(&m_params) | ||
59 | { | |||
60 | ✗ | m_params.pFactor = kp; | ||
61 | ✗ | m_params.iFactor = ki; | ||
62 | ✗ | m_params.dFactor = kd; | ||
63 | ||||
64 | ✗ | m_params.offset = 0; | ||
65 | ✗ | m_params.periodMs = 0; | ||
66 | ✗ | m_params.minValue = min; | ||
67 | ✗ | m_params.maxValue = max; | ||
68 | ||||
69 | ✗ | if (m_params.minValue >= m_params.maxValue) { | ||
70 | ✗ | criticalError("Lua: minValue %d/maxValue %d", m_params.minValue, m_params.maxValue); | ||
71 | } | |||
72 | ||||
73 | ✗ | m_lastUpdate.reset(); | ||
74 | ✗ | } | ||
75 | ||||
76 | ✗ | float get(float target, float input) { | ||
77 | #if EFI_UNIT_TEST | |||
78 | // this is how we avoid zero dt | |||
79 | ✗ | advanceTimeUs(1000); | ||
80 | #endif | |||
81 | ||||
82 | ✗ | float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt()); | ||
83 | ||||
84 | ✗ | return m_pid.getOutput(target, input, dt); | ||
85 | } | |||
86 | ||||
87 | ✗ | void setOffset(float offset) { | ||
88 | ✗ | m_params.offset = offset; | ||
89 | ✗ | reset(); | ||
90 | ✗ | } | ||
91 | ||||
92 | ✗ | void setDerivativeFilterLoss(float derivativeFilterLoss) { | ||
93 | ✗ | m_pid.derivativeFilterLoss = derivativeFilterLoss; | ||
94 | ✗ | reset(); | ||
95 | ✗ | } | ||
96 | ||||
97 | ✗ | void setAntiwindupFreq(float antiwindupFreq) { | ||
98 | ✗ | m_pid.antiwindupFreq = antiwindupFreq; | ||
99 | ✗ | reset(); | ||
100 | ✗ | } | ||
101 | ||||
102 | ✗ | void reset() { | ||
103 | ✗ | m_pid.reset(); | ||
104 | ✗ | } | ||
105 | ||||
106 | private: | |||
107 | PidIndustrial m_pid; | |||
108 | Timer m_lastUpdate; | |||
109 | pid_s m_params; | |||
110 | }; | |||
111 |