| 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 |