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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>AVR449: pid.c Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><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><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* This file has been prepared for Doxygen automatic documentation generation.*/</span><a name="l00028"></a>00028 <span class="preprocessor">#include "<a class="code" href="pid_8h.html">pid.h</a>"</span><a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="stdint_8h.html">stdint.h</a>"</span><a name="l00030"></a>00030 <a name="l00040"></a><a class="code" href="pid_8h.html#a7">00040</a> <span class="keywordtype">void</span> <a class="code" href="pid_8c.html#a0">pid_Init</a>(<a class="code" href="stdint_8h.html#a57">int16_t</a> p_factor, <a class="code" href="stdint_8h.html#a57">int16_t</a> i_factor, <a class="code" href="stdint_8h.html#a57">int16_t</a> d_factor, <span class="keyword">struct</span> <a class="code" href="structPID__DATA.html">PID_DATA</a> *pid)<a name="l00041"></a>00041 <span class="comment">// Set up PID controller parameters</span><a name="l00042"></a>00042 {<a name="l00043"></a>00043 <span class="comment">// Start values for PID controller</span><a name="l00044"></a>00044 pid-><a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;<a name="l00045"></a>00045 pid-><a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = 0;<a name="l00046"></a>00046 <span class="comment">// Tuning constants for PID loop</span><a name="l00047"></a>00047 pid-><a class="code" href="structPID__DATA.html#o5">P_Factor</a> = p_factor;<a name="l00048"></a>00048 pid-><a class="code" href="structPID__DATA.html#o1">I_Factor</a> = i_factor;<a name="l00049"></a>00049 pid-><a class="code" href="structPID__DATA.html#o0">D_Factor</a> = d_factor;<a name="l00050"></a>00050 <span class="comment">// Limits to avoid overflow</span><a name="l00051"></a>00051 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);<a name="l00052"></a>00052 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);<a name="l00053"></a>00053 }<a name="l00054"></a>00054 <a name="l00055"></a>00055 <a name="l00064"></a><a class="code" href="pid_8h.html#a8">00064</a> <a class="code" href="stdint_8h.html#a57">int16_t</a> <a class="code" href="pid_8c.html#a1">pid_Controller</a>(<a class="code" href="stdint_8h.html#a57">int16_t</a> setPoint, <a class="code" href="stdint_8h.html#a57">int16_t</a> processValue, <span class="keyword">struct</span> <a class="code" href="structPID__DATA.html">PID_DATA</a> *pid_st)<a name="l00065"></a>00065 {<a name="l00066"></a>00066 <a class="code" href="stdint_8h.html#a57">int16_t</a> error, p_term, d_term;<a name="l00067"></a>00067 <a class="code" href="stdint_8h.html#a59">int32_t</a> i_term, ret, temp;<a name="l00068"></a>00068 <a name="l00069"></a>00069 error = setPoint - processValue;<a name="l00070"></a>00070 <a name="l00071"></a>00071 <span class="comment">// Calculate Pterm and limit error overflow</span><a name="l00072"></a>00072 <span class="keywordflow">if</span> (error > pid_st-><a class="code" href="structPID__DATA.html#o3">maxError</a>){<a name="l00073"></a>00073 p_term = <a class="code" href="pid_8h.html#a1">MAX_INT</a>;<a name="l00074"></a>00074 }<a name="l00075"></a>00075 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (error < -pid_st->maxError){<a name="l00076"></a>00076 p_term = -<a class="code" href="pid_8h.html#a1">MAX_INT</a>;<a name="l00077"></a>00077 }<a name="l00078"></a>00078 <span class="keywordflow">else</span>{<a name="l00079"></a>00079 p_term = pid_st-><a class="code" href="structPID__DATA.html#o5">P_Factor</a> * error;<a name="l00080"></a>00080 }<a name="l00081"></a>00081 <a name="l00082"></a>00082 <span class="comment">// Calculate Iterm and limit integral runaway</span><a name="l00083"></a>00083 temp = pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> + error;<a name="l00084"></a>00084 <span class="keywordflow">if</span>(temp > pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>){<a name="l00085"></a>00085 i_term = <a class="code" href="pid_8h.html#a3">MAX_I_TERM</a>;<a name="l00086"></a>00086 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>;<a name="l00087"></a>00087 }<a name="l00088"></a>00088 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(temp < -pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>){<a name="l00089"></a>00089 i_term = -<a class="code" href="pid_8h.html#a3">MAX_I_TERM</a>;<a name="l00090"></a>00090 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = -pid_st-><a class="code" href="structPID__DATA.html#o4">maxSumError</a>;<a name="l00091"></a>00091 }<a name="l00092"></a>00092 <span class="keywordflow">else</span>{<a name="l00093"></a>00093 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = temp;<a name="l00094"></a>00094 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>;<a name="l00095"></a>00095 }<a name="l00096"></a>00096 <a name="l00097"></a>00097 <span class="comment">// Calculate Dterm</span><a name="l00098"></a>00098 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);<a name="l00099"></a>00099 <a name="l00100"></a>00100 pid_st-><a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = processValue;<a name="l00101"></a>00101 <a name="l00102"></a>00102 ret = (p_term + i_term + d_term) / <a class="code" href="pid_8h.html#a0">SCALING_FACTOR</a>;<a name="l00103"></a>00103 <span class="keywordflow">if</span>(ret > <a class="code" href="pid_8h.html#a1">MAX_INT</a>){<a name="l00104"></a>00104 ret = <a class="code" href="pid_8h.html#a1">MAX_INT</a>;<a name="l00105"></a>00105 }<a name="l00106"></a>00106 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(ret < -<a class="code" href="pid_8h.html#a1">MAX_INT</a>){<a name="l00107"></a>00107 ret = -<a class="code" href="pid_8h.html#a1">MAX_INT</a>;<a name="l00108"></a>00108 }<a name="l00109"></a>00109 <a name="l00110"></a>00110 <span class="keywordflow">return</span>((<a class="code" href="stdint_8h.html#a57">int16_t</a>)ret);<a name="l00111"></a>00111 }<a name="l00112"></a>00112 <a name="l00117"></a><a class="code" href="pid_8h.html#a9">00117</a> <span class="keywordtype">void</span> <a class="code" href="pid_8c.html#a2">pid_Reset_Integrator</a>(<a class="code" href="structPID__DATA.html">pidData_t</a> *pid_st)<a name="l00118"></a>00118 {<a name="l00119"></a>00119 pid_st-><a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;<a name="l00120"></a>00120 }</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon May 29 10:58:51 2006 for AVR449 by <a href="http://www.doxygen.org/index.html"><img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.4 </small></address></body></html>⌨️ 快捷键说明
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