Data Structures
struct	_PI_Obj_
	Defines the PI controller object. More...

Typedefs
typedef struct _PI_Obj_	PI_Obj
	Defines the PI controller object. More...

typedef struct _PI_Obj_ *	PI_Handle
	Defines the PI handle. More...

Functions
static float32_t	PI_getFbackValue (PI_Handle handle)
	Gets the feedback value in the PI controller. More...

static float32_t	PI_getFfwdValue (PI_Handle handle)
	Gets the feedforward value in the PI controller. More...

static void	PI_getGains (PI_Handle handle, float32_t pKp, float32_t pKi)
	Gets the gains in the PI controller. More...

static float32_t	PI_getKi (PI_Handle handle)
	Gets the integral gain in the PI controller. More...

static float32_t	PI_getKp (PI_Handle handle)
	Gets the proportional gain in the PI controller. More...

static void	PI_getMinMax (PI_Handle handle, float32_t pOutMin, float32_t pOutMax)
	Gets the minimum and maximum output value allowed in the PI controller. More...

static float32_t	PI_getOutMax (PI_Handle handle)
	Gets the maximum output value allowed in the PI controller. More...

static float32_t	PI_getOutMin (PI_Handle handle)
	Gets the minimum output value allowed in the PI controller. More...

static float32_t	PI_getRefValue (PI_Handle handle)
	Gets the reference value in the PI controller. More...

static float32_t	PI_getUi (PI_Handle handle)
	Gets the integrator start value in the PI controller. More...

PI_Handle	PI_init (void *pMemory, const size_t numBytes)
	Initializes the PI controller. More...

PI_Handle	cla_PI_init (void *pMemory, const size_t numBytes)

static void	PI_setFbackValue (PI_Handle handle, const float32_t fbackValue)
	Sets the feedback value in the PI controller. More...

static void	PI_setFfwdValue (PI_Handle handle, const float32_t ffwdValue)
	Sets the feedforward value in the PI controller. More...

static void	PI_setGains (PI_Handle handle, const float32_t Kp, const float32_t Ki)
	Sets the gains in the PI controller. More...

static void	PI_setKi (PI_Handle handle, const float32_t Ki)
	Sets the integral gain in the PI controller. More...

static void	PI_setKp (PI_Handle handle, const float32_t Kp)
	Sets the proportional gain in the PI controller. More...

static void	PI_setMinMax (PI_Handle handle, const float32_t outMin, const float32_t outMax)
	Sets the minimum and maximum output value allowed in the PI controller. More...

static void	PI_setOutMax (PI_Handle handle, const float32_t outMax)
	Sets the maximum output value allowed in the PI controller. More...

static void	PI_setOutMin (PI_Handle handle, const float32_t outMin)
	Sets the minimum output value allowed in the PI controller. More...

static void	PI_setRefValue (PI_Handle handle, const float32_t refValue)
	Sets the reference value in the PI controller. More...

static void	PI_setUi (PI_Handle handle, const float32_t Ui)
	Sets the integrator start value in the PI controller. More...

static void	PI_run_parallel (PI_Handle handle, const float32_t refValue, const float32_t fbackValue, const float32_t ffwdValue, float32_t *pOutValue)
	Runs the parallel form of the PI controller. More...

static void	PI_run_series (PI_Handle handle, const float32_t refValue, const float32_t fbackValue, const float32_t ffwdValue, float32_t *pOutValue)
	Runs the series form of the PI controller. More...

static void	PI_run (PI_Handle handle, const float32_t refValue, const float32_t fbackValue, float32_t *pOutValue)
	Runs the series form of the PI controller. More...

Detailed Description

Typedef Documentation

◆ PI_Obj

typedef struct _PI_Obj_ PI_Obj

Defines the PI controller object.

◆ PI_Handle

typedef struct _PI_Obj_* PI_Handle

Defines the PI handle.

Function Documentation

◆ PI_getFbackValue()

static float32_t PI_getFbackValue ( PI_Handle handle )

inlinestatic

Gets the feedback value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The feedback value in the PI controller

References _PI_Obj_::fbackValue.

◆ PI_getFfwdValue()

static float32_t PI_getFfwdValue ( PI_Handle handle )

inlinestatic

Gets the feedforward value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The feedforward value in the PI controller

References _PI_Obj_::ffwdValue.

◆ PI_getGains()

static void PI_getGains	(	PI_Handle	handle,
		float32_t *	pKp,
		float32_t *	pKi
	)

inlinestatic

Gets the gains in the PI controller.

Parameters

[in]	handle	The PI controller handle
[out]	pKp	The pointer to the proportional gain value
[out]	pKi	The pointer to the integrator gain value

Returns: None

References _PI_Obj_::Ki, and _PI_Obj_::Kp.

◆ PI_getKi()

static float32_t PI_getKi ( PI_Handle handle )

inlinestatic

Gets the integral gain in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The integral gain in the PI controller

References _PI_Obj_::Ki.

Referenced by PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_getKp()

static float32_t PI_getKp ( PI_Handle handle )

inlinestatic

Gets the proportional gain in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The proportional gain in the PI controller

References _PI_Obj_::Kp.

Referenced by PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_getMinMax()

static void PI_getMinMax	(	PI_Handle	handle,
		float32_t *	pOutMin,
		float32_t *	pOutMax
	)

inlinestatic

Gets the minimum and maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[out]	pOutMin	The pointer to the minimum output value allowed
[out]	pOutMax	The pointer to the maximum output value allowed

Returns: None

References _PI_Obj_::outMax, and _PI_Obj_::outMin.

◆ PI_getOutMax()

static float32_t PI_getOutMax ( PI_Handle handle )

inlinestatic

Gets the maximum output value allowed in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The maximum output value allowed

References _PI_Obj_::outMax.

Referenced by PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_getOutMin()

static float32_t PI_getOutMin ( PI_Handle handle )

inlinestatic

Gets the minimum output value allowed in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The minimum output value allowed

References _PI_Obj_::outMin.

Referenced by PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_getRefValue()

static float32_t PI_getRefValue ( PI_Handle handle )

inlinestatic

Gets the reference value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The reference value in the PI controller

References _PI_Obj_::refValue.

Referenced by CTRL_getRefValue().

◆ PI_getUi()

static float32_t PI_getUi ( PI_Handle handle )

inlinestatic

Gets the integrator start value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The integrator start value for the PI controller

References _PI_Obj_::Ui.

Referenced by PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_init()

PI_Handle PI_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the PI controller.

Parameters

[in]	pMemory	A pointer to the memory for the PI controller object
[in]	numBytes	The number of bytes allocated for the PI controller object, bytes

Returns: The PI controller (PI) object handle

◆ cla_PI_init()

PI_Handle cla_PI_init	(	void *	pMemory,
		const size_t	numBytes
	)

◆ PI_setFbackValue()

static void PI_setFbackValue	(	PI_Handle	handle,
		const float32_t	fbackValue
	)

inlinestatic

Sets the feedback value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	fbackValue	The feedback value

Returns: None

References _PI_Obj_::fbackValue.

Referenced by PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_setFfwdValue()

static void PI_setFfwdValue	(	PI_Handle	handle,
		const float32_t	ffwdValue
	)

inlinestatic

Sets the feedforward value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	ffwdValue	The feedforward value

Returns: None

References _PI_Obj_::ffwdValue.

Referenced by PI_run_parallel(), and PI_run_series().

◆ PI_setGains()

static void PI_setGains	(	PI_Handle	handle,
		const float32_t	Kp,
		const float32_t	Ki
	)

inlinestatic

Sets the gains in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Kp	The proportional gain for the PI controller
[in]	Ki	The integrator gain for the PI controller

Returns: None

References _PI_Obj_::Ki, and _PI_Obj_::Kp.

◆ PI_setKi()

static void PI_setKi	(	PI_Handle	handle,
		const float32_t	Ki
	)

inlinestatic

Sets the integral gain in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Ki	The integral gain for the PI controller

Returns: None

References _PI_Obj_::Ki.

Referenced by CTRL_setup(), FWC_setGains(), and FWC_setKi().

◆ PI_setKp()

static void PI_setKp	(	PI_Handle	handle,
		const float32_t	Kp
	)

inlinestatic

Sets the proportional gain in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Kp	The proportional gain for the PI controller

Returns: None

References _PI_Obj_::Kp.

Referenced by CTRL_setup(), FWC_setGains(), and FWC_setKp().

◆ PI_setMinMax()

static void PI_setMinMax	(	PI_Handle	handle,
		const float32_t	outMin,
		const float32_t	outMax
	)

inlinestatic

Sets the minimum and maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMin	The minimum output value allowed
[in]	outMax	The maximum output value allowed

Returns: None

References _PI_Obj_::outMax, and _PI_Obj_::outMin.

Referenced by CTRL_run(), and FWC_setAngleMinMax().

◆ PI_setOutMax()

static void PI_setOutMax	(	PI_Handle	handle,
		const float32_t	outMax
	)

inlinestatic

Sets the maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMax	The maximum output value allowed

Returns: None

References _PI_Obj_::outMax.

◆ PI_setOutMin()

static void PI_setOutMin	(	PI_Handle	handle,
		const float32_t	outMin
	)

inlinestatic

Sets the minimum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMax	The minimum output value allowed

Returns: None

References _PI_Obj_::outMin.

Referenced by FWC_setAngleMax().

◆ PI_setRefValue()

static void PI_setRefValue	(	PI_Handle	handle,
		const float32_t	refValue
	)

inlinestatic

Sets the reference value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value

Returns: None

References _PI_Obj_::refValue.

Referenced by PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_setUi()

static void PI_setUi	(	PI_Handle	handle,
		const float32_t	Ui
	)

inlinestatic

Sets the integrator start value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Ui	The integral start value for the PI controller

Returns: None

References _PI_Obj_::Ui.

Referenced by CTRL_setup(), FWC_resetUi(), FWC_setUi(), PI_run(), PI_run_parallel(), and PI_run_series().

◆ PI_run_parallel()

static void PI_run_parallel	(	PI_Handle	handle,
		const float32_t	refValue,
		const float32_t	fbackValue,
		const float32_t	ffwdValue,
		float32_t *	pOutValue
	)

inlinestatic

Runs the parallel form of the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedforward value to the controller
[in]	pOutValue	The pointer to the controller output value

Returns: None

References _PI_Obj_::fbackValue, _PI_Obj_::ffwdValue, _PI_Obj_::Ki, _PI_Obj_::Kp, MATH_sat(), _PI_Obj_::outMax, _PI_Obj_::outMin, PI_getKi(), PI_getKp(), PI_getOutMax(), PI_getOutMin(), PI_getUi(), PI_setFbackValue(), PI_setFfwdValue(), PI_setRefValue(), PI_setUi(), _PI_Obj_::refValue, and _PI_Obj_::Ui.

◆ PI_run_series()

static void PI_run_series	(	PI_Handle	handle,
		const float32_t	refValue,
		const float32_t	fbackValue,
		const float32_t	ffwdValue,
		float32_t *	pOutValue
	)

inlinestatic

Runs the series form of the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedback value to the controller
[in]	pOutValue	The pointer to the controller output value

Returns: None

References _PI_Obj_::fbackValue, _PI_Obj_::ffwdValue, _PI_Obj_::Ki, _PI_Obj_::Kp, MATH_sat(), _PI_Obj_::outMax, _PI_Obj_::outMin, PI_getKi(), PI_getKp(), PI_getOutMax(), PI_getOutMin(), PI_getUi(), PI_setFbackValue(), PI_setFfwdValue(), PI_setRefValue(), PI_setUi(), _PI_Obj_::refValue, and _PI_Obj_::Ui.

Referenced by CTRL_run(), and FWC_computeCurrentAngle().

◆ PI_run()

static void PI_run	(	PI_Handle	handle,
		const float32_t	refValue,
		const float32_t	fbackValue,
		float32_t *	pOutValue
	)

inlinestatic

Runs the series form of the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	pOutValue	The pointer to the controller output value

Returns: None

References _PI_Obj_::fbackValue, _PI_Obj_::Ki, _PI_Obj_::Kp, MATH_sat(), _PI_Obj_::outMax, _PI_Obj_::outMin, PI_getKi(), PI_getKp(), PI_getOutMax(), PI_getOutMin(), PI_getUi(), PI_setFbackValue(), PI_setRefValue(), PI_setUi(), _PI_Obj_::refValue, and _PI_Obj_::Ui.

Data Structures

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ PI_Obj

◆ PI_Handle

Function Documentation

◆ PI_getFbackValue()

◆ PI_getFfwdValue()

◆ PI_getGains()

◆ PI_getKi()

◆ PI_getKp()

◆ PI_getMinMax()

◆ PI_getOutMax()

◆ PI_getOutMin()

◆ PI_getRefValue()

◆ PI_getUi()

◆ PI_init()

◆ cla_PI_init()

◆ PI_setFbackValue()

◆ PI_setFfwdValue()

◆ PI_setGains()

◆ PI_setKi()

◆ PI_setKp()

◆ PI_setMinMax()

◆ PI_setOutMax()

◆ PI_setOutMin()

◆ PI_setRefValue()

◆ PI_setUi()

◆ PI_run_parallel()

◆ PI_run_series()

◆ PI_run()