33bbbf4827
git-svn-id: https://svn.vbchaos.nl/svn/hsb/trunk@418 05563f52-14a8-4384-a975-3d1654cca0fa
131 lines
4.1 KiB
C
131 lines
4.1 KiB
C
// -----------------------------------------------------------------------------
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/// @file PID.h
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/// @brief File description
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// -----------------------------------------------------------------------------
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// Micro-Key bv
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// Industrieweg 28, 9804 TG Noordhorn
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// Postbus 92, 9800 AB Zuidhorn
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// The Netherlands
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// Tel: +31 594 503020
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// Fax: +31 594 505825
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// Email: support@microkey.nl
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// Web: www.microkey.nl
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// -----------------------------------------------------------------------------
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/// $Revision$
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/// $Author$
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/// $Date$
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// (c) 2015 Micro-Key bv
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// -----------------------------------------------------------------------------
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/**
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* PID implementation
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* \defgroup PID Package PID
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* \ingroup HAL
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* @{
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*/
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#ifndef INC_PID_H_
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#define INC_PID_H_
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// -----------------------------------------------------------------------------
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// Include files
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// -----------------------------------------------------------------------------
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#include <stdbool.h>
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#include "stm32f10x.h"
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// -----------------------------------------------------------------------------
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// Constant and macro definitions
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// -----------------------------------------------------------------------------
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#define PID_FIXED_POINT_FACTOR (10000)
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// -----------------------------------------------------------------------------
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// Type definitions.
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// -----------------------------------------------------------------------------
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struct Pid
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{
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int iTerm;
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int Kp; // proportional constant
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int Ki; // integration constant
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int Kd; // differential constant
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int input_d1; // Input t-1
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int iMin;
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int iMax;
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bool initialized;
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};
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// -----------------------------------------------------------------------------
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// Function declarations
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// -----------------------------------------------------------------------------
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/** ----------------------------------------------------------------------------
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* PID_construct
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* Constructor for a PID regulator
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*
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* @param self PID object to construct
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* @param Kp proportional constant
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* @param Ki integration constant
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* @param Kd differential constant
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* @param iMin Minimum value for integrator
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* @param iMax Maximum value for integrator
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*
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* @return ErrorStatus SUCCESS if initialisation was successful
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* ERRROR otherwise
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*
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* @todo
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* -----------------------------------------------------------------------------
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*/
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extern ErrorStatus PID_construct(struct Pid* self, int Kp, int Ki, int Kd, int iMin, int iMax);
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/** ----------------------------------------------------------------------------
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* PID_destruct
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* Destructor for a PID regulator
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*
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* @param self PID object to destruct
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*
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* @return void
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*
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* @todo
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* -----------------------------------------------------------------------------
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*/
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extern void PID_destruct(struct Pid* self);
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/** ----------------------------------------------------------------------------
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* PID_reset
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* Resets the pid regulator and cleans all history
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*
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* @param self PID object to reset
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*
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* @return void
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*
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* @todo
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* -----------------------------------------------------------------------------
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*/
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extern void PID_reset(struct Pid* self);
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/** ----------------------------------------------------------------------------
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* PID_calculate
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* Calculate
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*
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* @param self The PID object
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* @param input The input
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* @param error the error input to calculate
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*
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* @return int calculated value
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*
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* @todo
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* -----------------------------------------------------------------------------
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*/
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extern int PID_calculate(struct Pid* self, int error);
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#endif /* INC_PID_H_ */
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/** @} */
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