Contains the public interface to the Proportional-Integral-Derivative (PID) controller module routines. More...

#include "sw/modules/types/src/types.h"
#include "sw/modules/filter/src/float/filter_fo.h"
#include "sw/modules/math/src/float/math.h"

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, float_t b0, float_t b1, float_t a1, float_t x1, float_t *y1)
	Gets the derivative filter parameters. More...

static float_t	PID_getFbackValue (PID_Handle handle)
	Gets the feedback value in the PID controller. More...

static float_t	PID_getFfwdValue (PID_Handle handle)
	Gets the feedforward value in the PID controller. More...

static void	PID_getGains (PID_Handle handle, float_t pKp, float_t pKi, float_t *pKd)
	Gets the gains in the PID controller. More...

static float_t	PID_getKd (PID_Handle handle)
	Gets the derivative gain in the PID controller. More...

static float_t	PID_getKi (PID_Handle handle)
	Gets the integral gain in the PID controller. More...

static float_t	PID_getKp (PID_Handle handle)
	Gets the proportional gain in the PID controller. More...

static void	PID_getMinMax (PID_Handle handle, float_t pOutMin, float_t pOutMax)
	Gets the minimum and maximum output value allowed in the PID controller. More...

static float_t	PID_getOutMax (PID_Handle handle)
	Gets the maximum output value allowed in the PID controller. More...

static float_t	PID_getOutMin (PID_Handle handle)
	Gets the minimum output value allowed in the PID controller. More...

static float_t	PID_getRefValue (PID_Handle handle)
	Gets the reference value in the PID controller. More...

static float_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 float_t b0, const float_t b1, const float_t a1, const float_t x1, const float_t y1)
	Sets the derivative filter parameters. More...

static void	PID_setFbackValue (PID_Handle handle, const float_t fbackValue)
	Sets the feedback value in the PID controller. More...

static void	PID_setFfwdValue (PID_Handle handle, const float_t ffwdValue)
	Sets the feedforward value in the PID controller. More...

static void	PID_setGains (PID_Handle handle, const float_t Kp, const float_t Ki, const float_t Kd)
	Sets the gains in the PID controller. More...

static void	PID_setKd (PID_Handle handle, const float_t Kd)
	Sets the derivative gain in the PID controller. More...

static void	PID_setKi (PID_Handle handle, const float_t Ki)
	Sets the integral gain in the PID controller. More...

static void	PID_setKp (PID_Handle handle, const float_t Kp)
	Sets the proportional gain in the PID controller. More...

static void	PID_setMinMax (PID_Handle handle, const float_t outMin, const float_t outMax)
	Sets the minimum and maximum output value allowed in the PID controller. More...

static void	PID_setOutMax (PID_Handle handle, const float_t outMax)
	Sets the maximum output value allowed in the PID controller. More...

static void	PID_setOutMin (PID_Handle handle, const float_t outMin)
	Sets the minimum output value allowed in the PID controller. More...

static void	PID_setRefValue (PID_Handle handle, const float_t refValue)
	Sets the reference value in the PID controller. More...

static void	PID_setUi (PID_Handle handle, const float_t Ui)
	Sets the integrator start value in the PID controller. More...

static void	PID_run_parallel (PID_Handle handle, const float_t refValue, const float_t fbackValue, const float_t ffwdValue, float_t *pOutValue)
	Runs the parallel form of the PID controller. More...

static void	PID_run_series (PID_Handle handle, const float_t refValue, const float_t fbackValue, const float_t ffwdValue, float_t *pOutValue)
	Runs the series form of the PID controller. More...