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Sylvan Arnold
Sylvan Arnold
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pico-sensor/McuLib/src/McuPidFloat.c
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186
pico-sensor/McuLib/src/McuPidFloat.c
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/* ###################################################################
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** This component module is generated by Processor Expert. Do not modify it.
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** Filename : McuPidFloat.h
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** CDE edition : Community
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** Project : FRDM-K64F_Generator
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** Processor : MK64FN1M0VLL12
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** Component : PID_Float
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** Version : Component 01.007, Driver 01.00, CPU db: 3.00.000
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** Compiler : GNU C Compiler
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** Date/Time : 2020-08-14, 06:24, # CodeGen: 679
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** Abstract :
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**
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** Settings :
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** Contents :
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** Control - void McuPidFloat_Control(float error, void* *u);
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** Reset - void McuPidFloat_Reset(void);
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** Set_K - void McuPidFloat_Set_K(float k);
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** Set_Ti - void McuPidFloat_Set_Ti(float t);
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** Set_Td - void McuPidFloat_Set_Td(float t);
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**
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** * (c) Copyright Carlos Alvarez, 2013-2020
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** * For non-commercial use only.
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** * Web: https://mcuoneclipse.com
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** * SourceForge: https://sourceforge.net/projects/mcuoneclipse
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** * Git: https://github.com/ErichStyger/McuOnEclipse_PEx
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** * All rights reserved.
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** ###################################################################*/
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/*!
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** @file McuPidFloat.h
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** @version 01.00
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** @brief
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**
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*/
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/*!
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** @addtogroup McuPidFloat_module McuPidFloat module documentation
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** @{
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*/
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/* MODULE McuPidFloat. */
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#include "McuPidFloat.h"
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#define K_VAL 0.1 /* Constante proporcional */
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#define TI_VAL 100 /* Tiempo integrativo */
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#define TD_VAL 0 /* Tiempo derivativo */
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#define T_VAL 0.01 /* Per<65>odo de control */
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#define U_MIN 0 /* Valor de salida m<>nimo */
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#define U_MAX 65000 /* Valor de salida m<>ximo */
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#define U_CHG_MAX 0 /* Cambio m<>ximo en cada ciclo de control */
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/* Coeficientes del control PID */
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#define K1 (McuPidFloat_K*(1+(McuPidFloat_Td/T_VAL)))
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#define K2 (-McuPidFloat_K*(1+((2*McuPidFloat_Td)/T_VAL)-(T_VAL/McuPidFloat_Ti)))
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#define K3 (McuPidFloat_K*(McuPidFloat_Td/T_VAL))
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/* Variable para la constante proporcional */
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static float McuPidFloat_K = K_VAL;
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/* Variable para el tiempo integrativo */
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static float McuPidFloat_Ti = TI_VAL;
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/* Variable para el tiempo derivativo */
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static float McuPidFloat_Td = TD_VAL;
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/* Variable que almacena los errores */
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float McuPidFloat_error[2] = {0.0, 0.0};
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/*
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** ===================================================================
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** Method : Set_Td (component PID_Float)
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**
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** Description :
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** Change the Td parameter.
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** Parameters :
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** NAME - DESCRIPTION
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** t - New Td value.
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** Returns : Nothing
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** ===================================================================
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*/
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void McuPidFloat_Set_Td(float t)
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{
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if(t < 0) {
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return;
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}
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McuPidFloat_Td = t;
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}
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/*
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** ===================================================================
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** Method : Set_Ti (component PID_Float)
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**
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** Description :
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** Change the Ti parameter.
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** Parameters :
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** NAME - DESCRIPTION
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** t - New Ti value.
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** Returns : Nothing
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** ===================================================================
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*/
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void McuPidFloat_Set_Ti(float t)
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{
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if (t <= 0) {
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return;
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}
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McuPidFloat_Ti = t;
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}
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/*
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** ===================================================================
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** Method : Set_K (component PID_Float)
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**
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** Description :
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** Change the K parameter.
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** Parameters :
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** NAME - DESCRIPTION
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** k - New K value.
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** Returns : Nothing
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** ===================================================================
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*/
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void McuPidFloat_Set_K(float k)
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{
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if(k < 0) {
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return;
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}
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McuPidFloat_K = k;
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}
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/*
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** ===================================================================
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** Method : Reset (component PID_Float)
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**
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** Description :
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** Reset the PID.
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** Parameters : None
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** Returns : Nothing
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** ===================================================================
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*/
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void McuPidFloat_Reset(void)
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{
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McuPidFloat_error[0] = 0.0;
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McuPidFloat_error[1] = 0.0;
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}
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/*
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** ===================================================================
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** Method : Control (component PID_Float)
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**
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** Description :
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** Control function. Must be called every T time.
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** Parameters :
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** NAME - DESCRIPTION
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** error - Error signal. (Reference -
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** SystemOutput).
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** * u - Pointer to the control variable.
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** Returns : Nothing
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** ===================================================================
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*/
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#ifdef __HIWARE__
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#pragma MESSAGE DISABLE C5900
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#pragma MESSAGE DISABLE C5917
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#endif
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void McuPidFloat_Control(float error, uint16_t *u)
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{
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float ut = 0.0;
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ut = (float) *u;
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ut += K1 * error;
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ut += K2 * McuPidFloat_error[0];
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ut += K3 * McuPidFloat_error[1];
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McuPidFloat_error[1] = McuPidFloat_error[0];
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McuPidFloat_error[0] = error;
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if (ut > U_MAX) {
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*u = (uint16_t) U_MAX;
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} else if (ut < U_MIN) {
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*u = (uint16_t) U_MIN;
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} else {
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*u = (uint16_t) ut;
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}
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}
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#ifdef __HIWARE__
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#pragma MESSAGE DISABLE C5919
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#endif
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/* END McuPidFloat. */
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/*!
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** @}
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*/
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