32b/pid.h

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#ifndef _PID_H_
#define _PID_H_



// **************************************************************************
// the includes

//modules
#include "sw/modules/iqmath/src/32b/IQmathLib.h"
#include "sw/modules/types/src/types.h"




// Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h

#ifdef __cplusplus
extern "C" {
#endif


// **************************************************************************
// the defines



// **************************************************************************
// the typedefs

typedef struct _PID_Obj_
{
  _iq Kp;                     
  _iq Ki;                     
  _iq Kd;                     

  _iq Ui;                     

  _iq refValue;               
  _iq fbackValue;             
                
  _iq outMin;                 
  _iq outMax;                 

} PID_Obj; 


typedef struct _PID_Obj_ *PID_Handle;


// **************************************************************************
// the function prototypes

static inline _iq PID_getFbackValue(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->fbackValue);
} // end of PID_getFbackValue() function


static inline void PID_getGains(PID_Handle handle,_iq *pKp,_iq *pKi,_iq *pKd)
{
  PID_Obj *obj = (PID_Obj *)handle;

  *pKp = obj->Kp;
  *pKi = obj->Ki;
  *pKd = obj->Kd;

  return;
} // end of PID_getGains() function


static inline _iq PID_getKd(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->Kd);
} // end of PID_getKd() function


static inline _iq PID_getKi(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->Ki);
} // end of PID_getKi() function


static inline _iq PID_getKp(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->Kp);
} // end of PID_getKp() function


static inline void PID_getMinMax(PID_Handle handle,_iq *pOutMin,_iq *pOutMax)
{
  PID_Obj *obj = (PID_Obj *)handle;

  *pOutMin = obj->outMin;
  *pOutMax = obj->outMax;

  return;
} // end of PID_getMinMax() function


static inline _iq PID_getOutMax(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->outMax);
} // end of PID_getOutMax() function


static inline _iq PID_getOutMin(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->outMin);
} // end of PID_getOutMin() function


static inline _iq PID_getRefValue(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->refValue);
} // end of PID_getRefValue() function


static inline _iq PID_getUi(PID_Handle handle)
{
  PID_Obj *obj = (PID_Obj *)handle;

  return(obj->Ui);
} // end of PID_getUi() function


extern PID_Handle PID_init(void *pMemory,const size_t numBytes);


static inline void PID_run(PID_Handle handle,const _iq refValue,const _iq fbackValue,_iq *pOutValue)
{
  PID_Obj *obj = (PID_Obj *)handle;

  _iq Error;
  _iq Up,Ui;


  Error = refValue - fbackValue;

  Ui = obj->Ui;                                                  // load the previous integral output
  Up = _IQmpy(obj->Kp,Error);                                    // Compute the proportional output
  Ui = _IQsat(Ui + _IQmpy(obj->Ki,Up),obj->outMax,obj->outMin);  // Compute the integral output

  obj->Ui = Ui;                                                  // store the intetral output
  obj->refValue = refValue;
  obj->fbackValue = fbackValue;

  *pOutValue = _IQsat(Up + Ui,obj->outMax,obj->outMin);          // Saturate the output

  return;
} // end of PID_run() function


static inline void PID_run_spd(PID_Handle handle,const _iq refValue,const _iq fbackValue,_iq *pOutValue)
{
  PID_Obj *obj = (PID_Obj *)handle;

  _iq Error;
  _iq Up,Ui;

  Error = refValue - fbackValue;

  Ui = obj->Ui;                                                     // load the previous integral output
  Up = _IQmpy(obj->Kp,Error);                                       // Compute the proportional output
  Ui = _IQsat(Ui + _IQmpy(obj->Ki,Error),obj->outMax,obj->outMin);  // Compute the integral output

  obj->Ui = Ui;                                                     // store the intetral output
  obj->refValue = refValue;
  obj->fbackValue = fbackValue;

  *pOutValue = _IQsat(Up + Ui,obj->outMax,obj->outMin);             // Saturate the output

  return;
} // end of PID_run_spd() function


static inline void PID_setFbackValue(PID_Handle handle,const _iq fbackValue)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->fbackValue = fbackValue;

  return;
} // end of PID_setFbackValue() function


static inline void PID_setGains(PID_Handle handle,const _iq Kp,const _iq Ki,const _iq Kd)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->Kp = Kp;
  obj->Ki = Ki;
  obj->Kd = Kd;

  return;
} // end of PID_setGains() function


static inline void PID_setKd(PID_Handle handle,const _iq Kd)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->Kd = Kd;

  return;
} // end of PID_setKd() function


static inline void PID_setKi(PID_Handle handle,const _iq Ki)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->Ki = Ki;

  return;
} // end of PID_setKi() function


static inline void PID_setKp(PID_Handle handle,const _iq Kp)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->Kp = Kp;

  return;
} // end of PID_setKp() function


static inline void PID_setMinMax(PID_Handle handle,const _iq outMin,const _iq outMax)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->outMin = outMin;
  obj->outMax = outMax;

  return;
} // end of PID_setMinMax() function


static inline void PID_setOutMax(PID_Handle handle,const _iq outMax)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->outMax = outMax;

  return;
} // end of PID_setOutMax() function


static inline void PID_setOutMin(PID_Handle handle,const _iq outMin)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->outMin = outMin;

  return;
} // end of PID_setOutMin() function


static inline void PID_setRefValue(PID_Handle handle,const _iq refValue)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->refValue = refValue;

  return;
} // end of PID_setRefValue() function


static inline void PID_setUi(PID_Handle handle,const _iq Ui)
{
  PID_Obj *obj = (PID_Obj *)handle;

  obj->Ui = Ui;

  return;
} // end of PID_setUi() function


#ifdef __cplusplus
}
#endif // extern "C"

#endif //end of _PID_H_ definition