doc: renamed project
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Sylvan Arnold
Sylvan Arnold
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pico-sensor/McuLib/src/McuPidInt.c
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184
pico-sensor/McuLib/src/McuPidInt.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 : McuPidInt.h
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** Project : FRDM-K64F_Generator
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** Processor : MK64FN1M0VLL12
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** Component : PID_Int
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** Version : Component 01.010, 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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** Component name : McuPidInt
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** Variable for controller set point : no
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** P - Proportional : Enabled
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** constant : yes
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** Kp Factor : 1
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** Kp Divisor : 8
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** I - Integral : Enabled
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** constant : yes
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** Ki Factor : 1
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** Ki Divisor : 512
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** Anti Wind-Up : Enabled
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** constant : yes
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** Value : 1024
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** D - Differential : Enabled
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** constant : yes
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** Kd Factor : 4
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** Kd Divisor : 1
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** Hardware : Disabled
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** System :
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** SDK : McuLib
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** Contents :
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** PID - int32_t McuPidInt_PID(int32_t setPoint, int32_t currValue);
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** Control - void McuPidInt_Control(void);
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** SetPoint - void McuPidInt_SetPoint(int32_t value);
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** GetPoint - int32_t McuPidInt_GetPoint(void);
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**
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** * Copyright (c) 2012-2020, Erich Styger
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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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** * Redistribution and use in source and binary forms, with or without modification,
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** * are permitted provided that the following conditions are met:
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** *
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** * - Redistributions of source code must retain the above copyright notice, this list
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** * of conditions and the following disclaimer.
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** *
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** * - Redistributions in binary form must reproduce the above copyright notice, this
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** * list of conditions and the following disclaimer in the documentation and/or
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** * other materials provided with the distribution.
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** *
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** * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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** * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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** * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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** * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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** * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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** * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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** * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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** * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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** * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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** * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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** ###################################################################*/
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/*!
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** @file McuPidInt.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 McuPidInt_module McuPidInt module documentation
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** @{
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*/
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/* MODULE McuPidInt. */
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#include "McuPidInt.h"
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static int McuPidInt_setPoint; /* the value to be reached by the PID algorithm */
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static const int32_t McuPidInt_KpMul = 1, McuPidInt_KpDiv = 8; /* the Kp adjustment values */
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static const int32_t McuPidInt_KiMul = 1, McuPidInt_KiDiv = 512; /* the Ki adjustment values */
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static const int32_t McuPidInt_KdMul = 4, McuPidInt_KdDiv = 1; /* the Kd adjustment values */
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/*
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** ===================================================================
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** Method : PID (component PID_Int)
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**
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** Description :
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** Performs PID calculation
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** Parameters :
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** NAME - DESCRIPTION
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** setPoint - current setpoint (desired value)
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** currValue - current sensor value
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** Returns :
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** --- - output of PID calculation
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** ===================================================================
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*/
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#ifdef __HIWARE__
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#pragma MESSAGE DISABLE C5904 /* Division by one */
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#pragma MESSAGE DISABLE C5905 /* Multiplication with one */
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#endif
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int32_t McuPidInt_PID(int32_t setPoint, int32_t currValue)
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{
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/* Performs a PID calculation */
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int32_t regDifferential; /* temporary variable for the D part */
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static int32_t oldDiff = 0; /*!< Remember error for next round (for D part) */
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static int32_t regIntegral = 0; /*!< Remember integral part for next iteration */
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int32_t diff; /* actual error */
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int32_t pid; /* pid calculation value */
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pid = 0; /* initialize */
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diff = setPoint-currValue;
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/* P-Part */
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pid += (McuPidInt_KpMul*diff)/McuPidInt_KpDiv;
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/* I-Part */
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regIntegral += diff; /* integrate error */
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if (regIntegral > 1024) { /* anti wind-up */
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regIntegral = 1024;
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} else if (regIntegral < -1024) {
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regIntegral = -1024;
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}
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pid += (McuPidInt_KiMul*regIntegral)/McuPidInt_KiDiv;
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/* D-Part */
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regDifferential = diff-oldDiff;
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oldDiff = diff; /* remember for next iteration */
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pid += (McuPidInt_KdMul*regDifferential)/McuPidInt_KdDiv; /* add D part */
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return pid;
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}
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/*
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** ===================================================================
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** Method : Control (component PID_Int)
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**
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** Description :
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** Performs the PID control calculation.
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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 McuPidInt_Control(void)
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{
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return; /* hardware for sensor and actuator not enabled: enable them in the properties or use the PID() function instead */
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}
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/*
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** ===================================================================
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** Method : SetPoint (component PID_Int)
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**
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** Description :
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** Specifies the value to be reached by the PID controller.
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** Parameters :
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** NAME - DESCRIPTION
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** value - The value to be reached.
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** Returns : Nothing
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** ===================================================================
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*/
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void McuPidInt_SetPoint(int32_t value)
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{
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McuPidInt_setPoint = value;
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}
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/*
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** ===================================================================
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** Method : GetPoint (component PID_Int)
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**
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** Description :
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** Returns the current set point value
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** Parameters : None
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** Returns :
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** --- - The current set point
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** ===================================================================
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*/
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int32_t McuPidInt_GetPoint(void)
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{
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return McuPidInt_setPoint;
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}
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/* END McuPidInt. */
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/*!
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** @}
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*/
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