pid.c

arm7 sample code, some demo for arm7 of linux

/****************************************Copyright (c)**************************************************
**                               Guangzhou ZHIYUAN electronics Co.,LTD.
**                                     
**                                 http://www.embedtools.com
**
**--------------File Info-------------------------------------------------------------------------------
** File Name:          Pid.c
** Last modified Date: 2006-11-18
** Last Version:       v1.0
** Description:        PID增量式算法
** 
**------------------------------------------------------------------------------------------------------
** Created By:         Zhou Shaogang
** Created date:       2006-11-18
** Version:            v1.0
** Descriptions:
**
**------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
** Version:
** Description:
**
********************************************************************************************************/

#include "config.h"

long Ka_PC=(long)(Ka*100);      
long Kb_PC=(long)(Kb*100);
long Kc_PC=(long)(Kc*100);

/************************************************************************************
** Function name: PID_DltDuty
** Descriptions:  增量式PID算法
** Input:         E: 偏差值
** Output:        PWM占空比的脉冲数
** Created by:    Zhou Shaogang
** Created Date:  2006-11-18
**----------------------------------------------------------------------------------
** Modified by:
** Modified Date: 
**----------------------------------------------------------------------------------
************************************************************************************/
long PID_DltDuty(long E)
{
  static long Ek=0;
  static long Ek_1=0;
  static long Ek_2=0;

  Ek_2=Ek_1;                           
  Ek_1=Ek;
  Ek=E;
  
 #if PID_PC_CONST_EN
  return( (long) ((Ka_PC*Ek + Kb_PC*Ek_1 +Kc_PC*Ek_2)/100)*Dlt_Dty_Tck );
 #else
  return( (long) (Ka*Ek + Kb*Ek_1 +Kc*Ek_2)*Dlt_Dty_Tck );    
 #endif
}