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<table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>PID Status. <p>Setpoints and data used by the PID control algorithm <p>Referenced by <a class="el" href="pid_8c-source.html#l00112">pid_Reset_Integrator()</a>. </td> </tr></table><hr><h2>Function Documentation</h2><a class="anchor" name="a8" doxytag="pid.h::pid_Controller" ></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> <a class="el" href="stdint_8h.html#a57">int16_t</a> pid_Controller </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="stdint_8h.html#a57">int16_t</a> </td> <td class="mdname" nowrap> <em>setPoint</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td></td> <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a> </td> <td class="mdname" nowrap> <em>processValue</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td></td> <td class="md" nowrap>struct <a class="el" href="structPID__DATA.html">PID_DATA</a> * </td> <td class="mdname" nowrap> <em>pid_st</em></td> </tr> <tr> <td></td> <td class="md">) </td> <td class="md" colspan="2"></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>PID control algorithm. <p>Calculates output from setpoint, process value and PID status.<p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td></td><td valign=top><em>setPoint</em> </td><td>Desired value. </td></tr> <tr><td></td><td valign=top><em>processValue</em> </td><td>Measured value. </td></tr> <tr><td></td><td valign=top><em>pid_st</em> </td><td>PID status struct. </td></tr> </table></dl><p>Definition at line <a class="el" href="pid_8c-source.html#l00059">59</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.<p>References <a class="el" href="pid_8h-source.html#l00041">PID_DATA::D_Factor</a>, <a class="el" href="pid_8h-source.html#l00039">PID_DATA::I_Factor</a>, <a class="el" href="stdint_8h-source.html#l00028">int16_t</a>, <a class="el" href="stdint_8h-source.html#l00030">int32_t</a>, <a class="el" href="pid_8h-source.html#l00033">PID_DATA::lastProcessValue</a>, <a class="el" href="pid_8h-source.html#l00055">MAX_I_TERM</a>, <a class="el" href="pid_8h-source.html#l00053">MAX_INT</a>, <a class="el" href="pid_8h-source.html#l00043">PID_DATA::maxError</a>, <a class="el" href="pid_8h-source.html#l00045">PID_DATA::maxSumError</a>, <a class="el" href="pid_8h-source.html#l00037">PID_DATA::P_Factor</a>, <a class="el" href="pid_8h-source.html#l00025">SCALING_FACTOR</a>, and <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.<p>Referenced by <a class="el" href="main_8c-source.html#l00117">main()</a>.<p><pre class="fragment"><div>00060 {00061 <a class="code" href="stdint_8h.html#a57">int16_t</a> error, p_term, d_term;00062 <a class="code" href="stdint_8h.html#a59">int32_t</a> i_term, ret, temp;00063 00064 error = setPoint - processValue;00065 00066 <span class="comment">// Calculate Pterm and limit error overflow</span>00067 <span class="keywordflow">if</span> (error > pid_st-><a class="code" href="structPID__DATA.html#o3">maxError</a>){00068 p_term = <a class="code" href="pid_8h.html#a1">MAX_INT</a>;00069 }00070 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (error < -pid_st-><a class="code" href="structPID__DATA.html#o3">maxError</a>){00071 p_term = -<a class="code" href="pid_8h.html#a1">MAX_INT</a>;00072 }00073 <span class="keywordflow">else</span>{00074 p_term = pid_st-><a class="code" href="structPID__DATA.html#o5">P_Factor</a> * error;00075 }00076 00077 <span class="comment">// Calculate Iterm and limit integral runaway</span>00078 temp = pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> + error;00079 <span class="keywordflow">if</span>(temp > pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>){00080 i_term = <a class="code" href="pid_8h.html#a3">MAX_I_TERM</a>;00081 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>;00082 }00083 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(temp < -pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>){00084 i_term = -<a class="code" href="pid_8h.html#a3">MAX_I_TERM</a>;00085 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = -pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>;00086 }00087 <span class="keywordflow">else</span>{00088 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = temp;00089 i_term = pid_st-><a class="code" href="structPID__DATA.html#o1">I_Factor</a> * pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a>;00090 }00091 00092 <span class="comment">// Calculate Dterm</span>00093 d_term = pid_st-><a class="code" href="structPID__DATA.html#o0">D_Factor</a> * (pid_st-><a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> - processValue);00094 00095 pid_st-><a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = processValue;00096 00097 ret = (p_term + i_term + d_term) / <a class="code" href="pid_8h.html#a0">SCALING_FACTOR</a>;00098 <span class="keywordflow">if</span>(ret > <a class="code" href="pid_8h.html#a1">MAX_INT</a>){00099 ret = <a class="code" href="pid_8h.html#a1">MAX_INT</a>;00100 }00101 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(ret < -<a class="code" href="pid_8h.html#a1">MAX_INT</a>){00102 ret = -<a class="code" href="pid_8h.html#a1">MAX_INT</a>;00103 }00104 00105 <span class="keywordflow">return</span>((<a class="code" href="stdint_8h.html#a57">int16_t</a>)ret);00106 }</div></pre> </td> </tr></table><a class="anchor" name="a7" doxytag="pid.h::pid_Init" ></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> void pid_Init </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="stdint_8h.html#a57">int16_t</a> </td> <td class="mdname" nowrap> <em>p_factor</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td></td> <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a> </td> <td class="mdname" nowrap> <em>i_factor</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td></td> <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a> </td> <td class="mdname" nowrap> <em>d_factor</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td></td> <td class="md" nowrap>struct <a class="el" href="structPID__DATA.html">PID_DATA</a> * </td> <td class="mdname" nowrap> <em>pid</em></td> </tr> <tr> <td></td> <td class="md">) </td> <td class="md" colspan="2"></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>Initialisation of PID controller parameters. <p>Initialise the variables used by the PID algorithm.<p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td></td><td valign=top><em>p_factor</em> </td><td>Proportional term. </td></tr> <tr><td></td><td valign=top><em>i_factor</em> </td><td>Integral term. </td></tr> <tr><td></td><td valign=top><em>d_factor</em> </td><td>Derivate term. </td></tr> <tr><td></td><td valign=top><em>pid</em> </td><td>Struct with PID status. </td></tr> </table></dl><p>Definition at line <a class="el" href="pid_8c-source.html#l00035">35</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.<p>References <a class="el" href="pid_8h-source.html#l00041">PID_DATA::D_Factor</a>, <a class="el" href="pid_8h-source.html#l00039">PID_DATA::I_Factor</a>, <a class="el" href="pid_8h-source.html#l00033">PID_DATA::lastProcessValue</a>, <a class="el" href="pid_8h-source.html#l00055">MAX_I_TERM</a>, <a class="el" href="pid_8h-source.html#l00053">MAX_INT</a>, <a class="el" href="pid_8h-source.html#l00043">PID_DATA::maxError</a>, <a class="el" href="pid_8h-source.html#l00045">PID_DATA::maxSumError</a>, <a class="el" href="pid_8h-source.html#l00037">PID_DATA::P_Factor</a>, and <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.<p>Referenced by <a class="el" href="main_8c-source.html#l00075">Init()</a>.<p><pre class="fragment"><div>00037 {00038 <span class="comment">// Start values for PID controller</span>00039 pid-><a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;00040 pid-><a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = 0;00041 <span class="comment">// Tuning constants for PID loop</span>00042 pid-><a class="code" href="structPID__DATA.html#o5">P_Factor</a> = p_factor;00043 pid-><a class="code" href="structPID__DATA.html#o1">I_Factor</a> = i_factor;00044 pid-><a class="code" href="structPID__DATA.html#o0">D_Factor</a> = d_factor;00045 <span class="comment">// Limits to avoid overflow</span>00046 pid-><a class="code" href="structPID__DATA.html#o3">maxError</a> = <a class="code" href="pid_8h.html#a1">MAX_INT</a> / (pid-><a class="code" href="structPID__DATA.html#o5">P_Factor</a> + 1);00047 pid-><a class="code" href="structPID__DATA.html#o4">maxSumError</a> = <a class="code" href="pid_8h.html#a3">MAX_I_TERM</a> / (pid-><a class="code" href="structPID__DATA.html#o1">I_Factor</a> + 1);00048 }</div></pre> </td> </tr></table><a class="anchor" name="a9" doxytag="pid.h::pid_Reset_Integrator" ></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> void pid_Reset_Integrator </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="structPID__DATA.html">pidData_t</a> * </td> <td class="mdname1" valign="top" nowrap> <em>pid_st</em> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>Resets the integrator. <p>Calling this function will reset the integrator in the PID regulator. <p>Definition at line <a class="el" href="pid_8c-source.html#l00112">112</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.<p>References <a class="el" href="pid_8h.html#a6">pidData_t</a>, and <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.<p><pre class="fragment"><div>00113 {00114 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;00115 }</div></pre> </td> </tr></table><hr size="1"><address style="align: right;"><small>Generated on Thu Feb 16 16:22:41 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