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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>AVR221 - PID controller: pid.c Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.3.7 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="annotated.html">Data Structures</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Data Fields</a> | <a class="qindex" href="globals.html">Globals</a> | <a class="qindex" href="pages.html">Related Pages</a></div><h1>pid.c</h1><a href="pid_8c.html">Go to the documentation of this file.</a><pre class="fragment"><div>00001 <span class="comment">/*This file has been prepared for Doxygen automatic documentation generation.*/</span>00023 <span class="preprocessor">#include "<a class="code" href="pid_8h.html">pid.h</a>"</span>00024 <span class="preprocessor">#include "<a class="code" href="stdint_8h.html">stdint.h</a>"</span>00025 <a name="l00035"></a><a class="code" href="pid_8h.html#a7">00035</a> <span class="keywordtype">void</span> <a class="code" href="pid_8h.html#a7">pid_Init</a>(int16_t p_factor, int16_t i_factor, int16_t d_factor, <span class="keyword">struct</span> <a class="code" href="structPID__DATA.html">PID_DATA</a> *pid)00036 <span class="comment">// Set up PID controller parameters</span>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 }00049 00050 <a name="l00059"></a><a class="code" href="pid_8h.html#a8">00059</a> <a class="code" href="stdint_8h.html#a57">int16_t</a> <a class="code" href="pid_8h.html#a8">pid_Controller</a>(int16_t setPoint, int16_t processValue, <span class="keyword">struct</span> <a class="code" href="structPID__DATA.html">PID_DATA</a> *pid_st)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 }00107 <a name="l00112"></a><a class="code" href="pid_8h.html#a9">00112</a> <span class="keywordtype">void</span> <a class="code" href="pid_8h.html#a9">pid_Reset_Integrator</a>(<a class="code" href="structPID__DATA.html">pidData_t</a> *pid_st)00113 {00114 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;00115 }</div></pre><hr size="1"><address style="align: right;"><small>Generated on Thu Feb 16 16:22:40 2006 for AVR221 - PID controller by<a href="http://www.doxygen.org/index.html"><img src="doxygen.png" alt="doxygen" align="middle" border=0 ></a> 1.3.7 </small></address></body></html>⌨️ 快捷键说明
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