xref: /openbmc/phosphor-pid-control/pid/pidcontroller.hpp (revision 22579ca422e4e608bfc21e237b02a8268e33a061)
122c257abSJames Feist #pragma once
222c257abSJames Feist 
322c257abSJames Feist #include "controller.hpp"
422c257abSJames Feist #include "ec/pid.hpp"
522c257abSJames Feist #include "fan.hpp"
622c257abSJames Feist 
7e30916c9SAndrew Geissler #include <limits>
822c257abSJames Feist #include <memory>
922c257abSJames Feist #include <vector>
1022c257abSJames Feist 
11a076487aSPatrick Venture namespace pid_control
12a076487aSPatrick Venture {
13a076487aSPatrick Venture 
1422c257abSJames Feist class ZoneInterface;
1522c257abSJames Feist 
1622c257abSJames Feist /*
1722c257abSJames Feist  * Base class for PID controllers.  Each PID that implements this needs to
18563a356fSPatrick Venture  * provide an inputProc, setptProc, and outputProc.
1922c257abSJames Feist  */
2022c257abSJames Feist class PIDController : public Controller
2122c257abSJames Feist {
2222c257abSJames Feist   public:
2322c257abSJames Feist     PIDController(const std::string& id, ZoneInterface* owner) :
24ccc8bb62SNirav Shah         Controller(), _owner(owner), _id(id)
25*22579ca4SHarvey Wu     {
26*22579ca4SHarvey Wu         _pid_info.initialized = false;
27*22579ca4SHarvey Wu         _pid_info.ts = static_cast<double>(0.0);
28*22579ca4SHarvey Wu         _pid_info.integral = static_cast<double>(0.0);
29*22579ca4SHarvey Wu         _pid_info.lastOutput = static_cast<double>(0.0);
30*22579ca4SHarvey Wu         _pid_info.proportionalCoeff = static_cast<double>(0.0);
31*22579ca4SHarvey Wu         _pid_info.integralCoeff = static_cast<double>(0.0);
32*22579ca4SHarvey Wu         _pid_info.feedFwdOffset = static_cast<double>(0.0);
33*22579ca4SHarvey Wu         _pid_info.feedFwdGain = static_cast<double>(0.0);
34*22579ca4SHarvey Wu         _pid_info.integralLimit.min = static_cast<double>(0.0);
35*22579ca4SHarvey Wu         _pid_info.integralLimit.max = static_cast<double>(0.0);
36*22579ca4SHarvey Wu         _pid_info.outLim.min = static_cast<double>(0.0);
37*22579ca4SHarvey Wu         _pid_info.outLim.max = static_cast<double>(0.0);
38*22579ca4SHarvey Wu         _pid_info.slewNeg = static_cast<double>(0.0);
39*22579ca4SHarvey Wu         _pid_info.slewPos = static_cast<double>(0.0);
40*22579ca4SHarvey Wu         _pid_info.negativeHysteresis = static_cast<double>(0.0);
41*22579ca4SHarvey Wu         _pid_info.positiveHysteresis = static_cast<double>(0.0);
42*22579ca4SHarvey Wu     }
4322c257abSJames Feist 
4422c257abSJames Feist     virtual ~PIDController()
45a83a3eccSPatrick Venture     {}
4622c257abSJames Feist 
475f59c0fdSPatrick Venture     virtual double inputProc(void) override = 0;
485f59c0fdSPatrick Venture     virtual double setptProc(void) = 0;
495f59c0fdSPatrick Venture     virtual void outputProc(double value) override = 0;
5022c257abSJames Feist 
51ee30648eSPatrick Venture     void process(void) override;
5222c257abSJames Feist 
53ee30648eSPatrick Venture     std::string getID(void) override
5422c257abSJames Feist     {
5522c257abSJames Feist         return _id;
5622c257abSJames Feist     }
575f59c0fdSPatrick Venture     double getSetpoint(void)
5822c257abSJames Feist     {
5922c257abSJames Feist         return _setpoint;
6022c257abSJames Feist     }
615f59c0fdSPatrick Venture     void setSetpoint(double setpoint)
6222c257abSJames Feist     {
6322c257abSJames Feist         _setpoint = setpoint;
6422c257abSJames Feist     }
6522c257abSJames Feist 
66563a356fSPatrick Venture     ec::pid_info_t* getPIDInfo(void)
6722c257abSJames Feist     {
6822c257abSJames Feist         return &_pid_info;
6922c257abSJames Feist     }
7022c257abSJames Feist 
71572c43daSJames Feist     double getLastInput(void)
72572c43daSJames Feist     {
73572c43daSJames Feist         return lastInput;
74572c43daSJames Feist     }
75572c43daSJames Feist 
7622c257abSJames Feist   protected:
7722c257abSJames Feist     ZoneInterface* _owner;
78ccc8bb62SNirav Shah     std::string _id;
7922c257abSJames Feist 
8022c257abSJames Feist   private:
8122c257abSJames Feist     // parameters
8222c257abSJames Feist     ec::pid_info_t _pid_info;
83ccc8bb62SNirav Shah     double _setpoint = 0;
84572c43daSJames Feist     double lastInput = std::numeric_limits<double>::quiet_NaN();
8522c257abSJames Feist };
86a076487aSPatrick Venture 
87a076487aSPatrick Venture } // namespace pid_control
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