PID

Data Structures
struct	_PID_Obj_
	Defines the PID controller object. More...

Typedefs
typedef struct _PID_Obj_	PID_Obj
	Defines the PID controller object. More...
typedef struct _PID_Obj_ *	PID_Handle
	Defines the PID handle. More...

Functions
void	PID_getDerFilterParams (PID_Handle handle, float32_t *b0, float32_t *b1, float32_t *a1, float32_t *x1, float32_t *y1)
	Gets the derivative filter parameters. More...
static float32_t	PID_getFbackValue (PID_Handle handle)
	Gets the feedback value in the PID controller. More...
static float32_t	PID_getFfwdValue (PID_Handle handle)
	Gets the feedforward value in the PID controller. More...
static void	PID_getGains (PID_Handle handle, float32_t *pKp, float32_t *pKi, float32_t *pKd)
	Gets the gains in the PID controller. More...
static float32_t	PID_getKd (PID_Handle handle)
	Gets the derivative gain in the PID controller. More...
static float32_t	PID_getKi (PID_Handle handle)
	Gets the integral gain in the PID controller. More...
static float32_t	PID_getKp (PID_Handle handle)
	Gets the proportional gain in the PID controller. More...
static void	PID_getMinMax (PID_Handle handle, float32_t *pOutMin, float32_t *pOutMax)
	Gets the minimum and maximum output value allowed in the PID controller. More...
static float32_t	PID_getOutMax (PID_Handle handle)
	Gets the maximum output value allowed in the PID controller. More...
static float32_t	PID_getOutMin (PID_Handle handle)
	Gets the minimum output value allowed in the PID controller. More...
static float32_t	PID_getRefValue (PID_Handle handle)
	Gets the reference value in the PID controller. More...
static float32_t	PID_getUi (PID_Handle handle)
	Gets the integrator start value in the PID controller. More...
PID_Handle	PID_init (void *pMemory, const size_t numBytes)
	Initializes the PID controller. More...
void	PID_setDerFilterParams (PID_Handle handle, const float32_t b0, const float32_t b1, const float32_t a1, const float32_t x1, const float32_t y1)
	Sets the derivative filter parameters. More...
static void	PID_setFbackValue (PID_Handle handle, const float32_t fbackValue)
	Sets the feedback value in the PID controller. More...
static void	PID_setFfwdValue (PID_Handle handle, const float32_t ffwdValue)
	Sets the feedforward value in the PID controller. More...
static void	PID_setGains (PID_Handle handle, const float32_t Kp, const float32_t Ki, const float32_t Kd)
	Sets the gains in the PID controller. More...
static void	PID_setKd (PID_Handle handle, const float32_t Kd)
	Sets the derivative gain in the PID controller. More...
static void	PID_setKi (PID_Handle handle, const float32_t Ki)
	Sets the integral gain in the PID controller. More...
static void	PID_setKp (PID_Handle handle, const float32_t Kp)
	Sets the proportional gain in the PID controller. More...
static void	PID_setMinMax (PID_Handle handle, const float32_t outMin, const float32_t outMax)
	Sets the minimum and maximum output value allowed in the PID controller. More...
static void	PID_setOutMax (PID_Handle handle, const float32_t outMax)
	Sets the maximum output value allowed in the PID controller. More...
static void	PID_setOutMin (PID_Handle handle, const float32_t outMin)
	Sets the minimum output value allowed in the PID controller. More...
static void	PID_setRefValue (PID_Handle handle, const float32_t refValue)
	Sets the reference value in the PID controller. More...
static void	PID_setUi (PID_Handle handle, const float32_t Ui)
	Sets the integrator start value in the PID controller. More...
static void	PID_run_parallel (PID_Handle handle, const float32_t refValue, const float32_t fbackValue, const float32_t ffwdValue, float32_t *pOutValue)
	Runs the parallel form of the PID controller. More...
static void	PID_run_series (PID_Handle handle, const float32_t refValue, const float32_t fbackValue, const float32_t ffwdValue, float32_t *pOutValue)
	Runs the series form of the PID controller. More...

Detailed Description

Typedef Documentation

PID_Obj

typedef struct _PID_Obj_ PID_Obj

Defines the PID controller object.

PID_Handle

typedef struct _PID_Obj_* PID_Handle

Defines the PID handle.

Function Documentation

PID_getDerFilterParams()

void PID_getDerFilterParams	(	PID_Handle	handle,
		float32_t *	b0,
		float32_t *	b1,
		float32_t *	a1,
		float32_t *	x1,
		float32_t *	y1
	)

Gets the derivative filter parameters.

       y[n] = b0*x[n] + b1*x[n-1] - a1*y[n-1]

Parameters

[in]	handle	The PID controller handle
[in]	b0	The numerator filter coefficient value for z^0
[in]	b1	The numerator filter coefficient value for z^(-1)
[in]	a1	The denominator filter coefficient value for z^(-1)
[in]	x1	The input value at time sample n=-1
[in]	y1	The output value at time sample n=-1

Returns

None

PID_getFbackValue()

static float32_t PID_getFbackValue ( PID_Handle  handle )

inlinestatic

Gets the feedback value in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The feedback value in the PID controller

References _PID_Obj_::fbackValue.

PID_getFfwdValue()

static float32_t PID_getFfwdValue ( PID_Handle  handle )

inlinestatic

Gets the feedforward value in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The feedforward value in the PID controller

References _PID_Obj_::ffwdValue.

PID_getGains()

static void PID_getGains ( PID_Handle  handle, float32_t *  pKp, float32_t *  pKi, float32_t *  pKd  )

inlinestatic

Gets the gains in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::Kd, _PID_Obj_::Ki, and _PID_Obj_::Kp.

PID_getKd()

static float32_t PID_getKd ( PID_Handle  handle )

inlinestatic

Gets the derivative gain in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The derivative gain in the PID controller

References _PID_Obj_::Kd.

Referenced by PID_run_parallel(), and PID_run_series().

PID_getKi()

static float32_t PID_getKi ( PID_Handle  handle )

inlinestatic

Gets the integral gain in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The integral gain in the PID controller

References _PID_Obj_::Ki.

Referenced by PID_run_parallel(), and PID_run_series().

PID_getKp()

static float32_t PID_getKp ( PID_Handle  handle )

inlinestatic

Gets the proportional gain in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The proportional gain in the PID controller

References _PID_Obj_::Kp.

Referenced by PID_run_parallel(), and PID_run_series().

PID_getMinMax()

static void PID_getMinMax ( PID_Handle  handle, float32_t *  pOutMin, float32_t *  pOutMax  )

inlinestatic

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

Parameters

[in]	handle	The PID 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 _PID_Obj_::outMax, and _PID_Obj_::outMin.

PID_getOutMax()

static float32_t PID_getOutMax ( PID_Handle  handle )

inlinestatic

Gets the maximum output value allowed in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The maximum output value allowed

References _PID_Obj_::outMax.

Referenced by PID_run_parallel(), and PID_run_series().

PID_getOutMin()

static float32_t PID_getOutMin ( PID_Handle  handle )

inlinestatic

Gets the minimum output value allowed in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The minimum output value allowed

References _PID_Obj_::outMin.

Referenced by PID_run_parallel(), and PID_run_series().

PID_getRefValue()

static float32_t PID_getRefValue ( PID_Handle  handle )

inlinestatic

Gets the reference value in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The reference value in the PID controller

References _PID_Obj_::refValue.

PID_getUi()

static float32_t PID_getUi ( PID_Handle  handle )

inlinestatic

Gets the integrator start value in the PID controller.

Parameters

[in]

handle

The PID controller handle

Returns

The integrator start value for the PID controller

References _PID_Obj_::Ui.

Referenced by PID_run_parallel(), and PID_run_series().

PID_init()

PID_Handle PID_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the PID controller.

Parameters

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

Returns

The PID controller (PID) object handle

PID_setDerFilterParams()

void PID_setDerFilterParams	(	PID_Handle	handle,
		const float32_t	b0,
		const float32_t	b1,
		const float32_t	a1,
		const float32_t	x1,
		const float32_t	y1
	)

Sets the derivative filter parameters.

       y[n] = b0*x[n] + b1*x[n-1] - a1*y[n-1]

Parameters

[in]	handle	The PID controller handle
[in]	b0	The numerator filter coefficient value for z^0
[in]	b1	The numerator filter coefficient value for z^(-1)
[in]	a1	The denominator filter coefficient value for z^(-1)
[in]	x1	The input value at time sample n=-1
[in]	y1	The output value at time sample n=-1

Returns

None

PID_setFbackValue()

static void PID_setFbackValue ( PID_Handle  handle, const float32_t  fbackValue  )

inlinestatic

Sets the feedback value in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::fbackValue.

Referenced by PID_run_parallel(), and PID_run_series().

PID_setFfwdValue()

static void PID_setFfwdValue ( PID_Handle  handle, const float32_t  ffwdValue  )

inlinestatic

Sets the feedforward value in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::ffwdValue.

Referenced by PID_run_parallel(), and PID_run_series().

PID_setGains()

static void PID_setGains ( PID_Handle  handle, const float32_t  Kp, const float32_t  Ki, const float32_t  Kd  )

inlinestatic

Sets the gains in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kp	The proportional gain for the PID controller
[in]	Ki	The integrator gain for the PID controller
[in]	Kd	The derivative gain for the PID controller

Returns

None

References _PID_Obj_::Kd, _PID_Obj_::Ki, and _PID_Obj_::Kp.

PID_setKd()

static void PID_setKd ( PID_Handle  handle, const float32_t  Kd  )

inlinestatic

Sets the derivative gain in the PID controller.

Parameters

[in]	handle	The PID controller handle
[in]	Kd	The derivative gain for the PID controller

Returns

None

References _PID_Obj_::Kd.

PID_setKi()

static void PID_setKi ( PID_Handle  handle, const float32_t  Ki  )

inlinestatic

Sets the integral gain in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::Ki.

PID_setKp()

static void PID_setKp ( PID_Handle  handle, const float32_t  Kp  )

inlinestatic

Sets the proportional gain in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::Kp.

PID_setMinMax()

static void PID_setMinMax ( PID_Handle  handle, const float32_t  outMin, const float32_t  outMax  )

inlinestatic

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

Parameters

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

Returns

None

References _PID_Obj_::outMax, and _PID_Obj_::outMin.

PID_setOutMax()

static void PID_setOutMax ( PID_Handle  handle, const float32_t  outMax  )

inlinestatic

Sets the maximum output value allowed in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::outMax.

PID_setOutMin()

static void PID_setOutMin ( PID_Handle  handle, const float32_t  outMin  )

inlinestatic

Sets the minimum output value allowed in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::outMin.

PID_setRefValue()

static void PID_setRefValue ( PID_Handle  handle, const float32_t  refValue  )

inlinestatic

Sets the reference value in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::refValue.

Referenced by PID_run_parallel(), and PID_run_series().

PID_setUi()

static void PID_setUi ( PID_Handle  handle, const float32_t  Ui  )

inlinestatic

Sets the integrator start value in the PID controller.

Parameters

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

Returns

None

References _PID_Obj_::Ui.

Referenced by PID_run_parallel(), and PID_run_series().

PID_run_parallel()

static void PID_run_parallel ( PID_Handle  handle, const float32_t  refValue, const float32_t  fbackValue, const float32_t  ffwdValue, float32_t *  pOutValue  )

inlinestatic

Runs the parallel form of the PID controller.

Parameters

[in]	handle	The PID 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 _PID_Obj_::derFilterHandle, _PID_Obj_::fbackValue, _PID_Obj_::ffwdValue, FILTER_FO_run(), _PID_Obj_::Kd, _PID_Obj_::Ki, _PID_Obj_::Kp, MATH_sat(), _PID_Obj_::outMax, _PID_Obj_::outMin, PID_getKd(), PID_getKi(), PID_getKp(), PID_getOutMax(), PID_getOutMin(), PID_getUi(), PID_setFbackValue(), PID_setFfwdValue(), PID_setRefValue(), PID_setUi(), _PID_Obj_::refValue, and _PID_Obj_::Ui.

PID_run_series()

static void PID_run_series ( PID_Handle  handle, const float32_t  refValue, const float32_t  fbackValue, const float32_t  ffwdValue, float32_t *  pOutValue  )

inlinestatic

Runs the series form of the PID controller.

Parameters

[in]	handle	The PID 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 _PID_Obj_::derFilterHandle, _PID_Obj_::fbackValue, _PID_Obj_::ffwdValue, FILTER_FO_run(), _PID_Obj_::Kd, _PID_Obj_::Ki, _PID_Obj_::Kp, MATH_sat(), _PID_Obj_::outMax, _PID_Obj_::outMin, PID_getKd(), PID_getKi(), PID_getKp(), PID_getOutMax(), PID_getOutMin(), PID_getUi(), PID_setFbackValue(), PID_setFfwdValue(), PID_setRefValue(), PID_setUi(), _PID_Obj_::refValue, and _PID_Obj_::Ui.