pi.h

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//#############################################################################
//
// FILE:   pi.h
//
// TITLE:  C28x InstaSPIN Proportional-Integral (PI) controller library
//         (floating point)
//
//#############################################################################
// $TI Release: MotorControl SDK v3.03.00.00 $
// $Release Date: Tue Sep 21 16:33:26 CDT 2021 $
// $Copyright:
// Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################
 
#ifndef PI_H
#define PI_H
 
//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif
 
//*****************************************************************************
//
//
//*****************************************************************************
 
#include "types.h"
#include "libraries/math/include/math.h"
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _PI_Obj_
{
    float32_t Kp;                
    float32_t Ki;                
    float32_t Ui;                
    float32_t refValue;          
    float32_t fbackValue;        
    float32_t ffwdValue;         
    float32_t outMin;            
    float32_t outMax;            
} PI_Obj;
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _PI_Obj_ *PI_Handle;
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getFbackValue(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->fbackValue);
} // end of PI_getFbackValue() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getFfwdValue(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->ffwdValue);
} // end of PI_getFfwdValue() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_getGains(PI_Handle handle, float32_t *pKp, float32_t *pKi)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    *pKp = obj->Kp;
    *pKi = obj->Ki;
 
    return;
} // end of PI_getGains() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getKi(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->Ki);
} // end of PI_getKi() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getKp(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->Kp);
} // end of PI_getKp() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_getMinMax(PI_Handle handle, float32_t *pOutMin, float32_t *pOutMax)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    *pOutMin = obj->outMin;
    *pOutMax = obj->outMax;
 
    return;
} // end of PI_getMinMax() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getOutMax(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->outMax);
} // end of PI_getOutMax() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getOutMin(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->outMin);
} // end of PI_getOutMin() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getRefValue(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->refValue);
} // end of PI_getRefValue() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PI_getUi(PI_Handle handle)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    return(obj->Ui);
} // end of PI_getUi() function
 
//*****************************************************************************
//
//
//*****************************************************************************
extern PI_Handle
PI_init(void *pMemory, const size_t numBytes);
 
extern PI_Handle
cla_PI_init(void *pMemory, const size_t numBytes);
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setFbackValue(PI_Handle handle, const float32_t fbackValue)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->fbackValue = fbackValue;
 
    return;
} // end of PI_setFbackValue() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setFfwdValue(PI_Handle handle, const float32_t ffwdValue)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->ffwdValue = ffwdValue;
 
    return;
} // end of PI_setFfwdValue() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setGains(PI_Handle handle, const float32_t Kp, const float32_t Ki)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->Kp = Kp;
    obj->Ki = Ki;
 
    return;
} // end of PI_setGains() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setKi(PI_Handle handle, const float32_t Ki)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->Ki = Ki;
 
    return;
} // end of PI_setKi() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setKp(PI_Handle handle, const float32_t Kp)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->Kp = Kp;
 
    return;
} // end of PI_setKp() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setMinMax(PI_Handle handle, const float32_t outMin, const float32_t outMax)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->outMin = outMin;
    obj->outMax = outMax;
 
    return;
} // end of PI_setMinMax() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setOutMax(PI_Handle handle, const float32_t outMax)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->outMax = outMax;
 
    return;
} // end of PI_setOutMax() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setOutMin(PI_Handle handle, const float32_t outMin)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->outMin = outMin;
 
    return;
} // end of PI_setOutMin() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setRefValue(PI_Handle handle, const float32_t refValue)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->refValue = refValue;
 
    return;
} // end of PI_setRefValue() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_setUi(PI_Handle handle, const float32_t Ui)
{
    PI_Obj *obj = (PI_Obj *)handle;
 
    obj->Ui = Ui;
 
    return;
} // end of PI_setUi() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_run_parallel(PI_Handle handle, const float32_t refValue,
                const float32_t fbackValue, const float32_t ffwdValue,
                float32_t *pOutValue)
{
    float32_t Error;
    float32_t Kp = PI_getKp(handle);
    float32_t Ki = PI_getKi(handle);
    float32_t Up;
    float32_t Ui = PI_getUi(handle);
    float32_t outMax = PI_getOutMax(handle);
    float32_t outMin = PI_getOutMin(handle);
 
    Error = refValue - fbackValue;
 
    //
    // Compute the proportional output
    //
    Up = Kp * Error;
    
    //
    // Compute the integral output
    //
    Ui = MATH_sat(Ui + (Ki * Error),outMax,outMin);
 
    PI_setUi(handle,Ui);
    PI_setRefValue(handle,refValue);
    PI_setFbackValue(handle,fbackValue);
    PI_setFfwdValue(handle,ffwdValue);
 
    //
    // Saturate the output
    //
    *pOutValue = MATH_sat(Up + Ui + ffwdValue,outMax,outMin);
 
    return;
} // end of PI_run_parallel() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_run_series(PI_Handle handle, const float32_t refValue,
              const float32_t fbackValue, const float32_t ffwdValue,
              float32_t *pOutValue)
{
    float32_t Error;
    float32_t Kp = PI_getKp(handle);
    float32_t Ki = PI_getKi(handle);
    float32_t Up;
    float32_t Ui = PI_getUi(handle);
    float32_t outMax = PI_getOutMax(handle);
    float32_t outMin = PI_getOutMin(handle);
 
    Error = refValue - fbackValue;
 
    //
    // Compute the proportional output
    //
    Up = Kp * Error;
 
    //
    // Compute the integral output with saturation
    //
#ifdef __TMS320C28XX_CLA__
    Ui = MATH_sat(Ui + (Ki * Up), outMax, outMin);
#else
    Ui = __fsat(Ui + (Ki * Up), outMax, outMin);
#endif  // __TMS320C28XX_CLA__
 
    PI_setUi(handle,Ui);
    PI_setRefValue(handle, refValue);
    PI_setFbackValue(handle, fbackValue);
    PI_setFfwdValue(handle, ffwdValue);
 
    //
    // Saturate the output
    //
#ifdef __TMS320C28XX_CLA__
    *pOutValue = MATH_sat(Up + Ui + ffwdValue, outMax, outMin);
#else
    *pOutValue = __fsat(Up + Ui + ffwdValue, outMax, outMin);
#endif  // __TMS320C28XX_CLA__
 
    return;
} // end of PI_run_series() function
 
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PI_run(PI_Handle handle, const float32_t refValue,
       const float32_t fbackValue, float32_t *pOutValue)
{
    float32_t Error;
    float32_t Kp = PI_getKp(handle);
    float32_t Ki = PI_getKi(handle);
    float32_t Up;
    float32_t Ui = PI_getUi(handle);
    float32_t outMax = PI_getOutMax(handle);
    float32_t outMin = PI_getOutMin(handle);
 
    Error = refValue - fbackValue;
 
    // Compute the proportional output
    Up = Kp * Error;
 
    // Compute the integral output with saturation
#ifdef __TMS320C28XX_CLA__
    Ui = MATH_sat(Ui + (Ki * Up), outMax, outMin);
#else
    Ui = __fsat(Ui + (Ki * Up), outMax, outMin);
#endif  // __TMS320C28XX_CLA__
 
    PI_setUi(handle,Ui);
    PI_setRefValue(handle, refValue);
    PI_setFbackValue(handle, fbackValue);
 
    // Saturate the output
#ifdef __TMS320C28XX_CLA__
    *pOutValue = MATH_sat(Up + Ui, outMax, outMin);
#else
    *pOutValue = __fsat(Up + Ui, outMax, outMin);
#endif  // __TMS320C28XX_CLA__
 
    return;
} // end of PI_run_series() function
 
//*****************************************************************************
//
// Close the Doxygen group.
//
//*****************************************************************************
 
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
 
#endif // end of PI_H defines