32b/pi.h

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#ifndef _PI_H_
#define _PI_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 _PI_Obj_
{
  _iq Kp;                     
  _iq Ki;                     

  _iq Ui;                     

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

} PI_Obj; 


typedef struct _PI_Obj_ *PI_Handle;


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

static inline _iq PI_getFbackValue(PI_Handle handle)
{
  PI_Obj *obj = (PI_Obj *)handle;

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


static inline _iq 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,_iq *pKp,_iq *pKi)
{
  PI_Obj *obj = (PI_Obj *)handle;

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

  return;
} // end of PI_getGains() function


static inline _iq PI_getKi(PI_Handle handle)
{
  PI_Obj *obj = (PI_Obj *)handle;

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


static inline _iq 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,_iq *pOutMin,_iq *pOutMax)
{
  PI_Obj *obj = (PI_Obj *)handle;

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

  return;
} // end of PI_getMinMax() function


static inline _iq PI_getOutMax(PI_Handle handle)
{
  PI_Obj *obj = (PI_Obj *)handle;

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


static inline _iq PI_getOutMin(PI_Handle handle)
{
  PI_Obj *obj = (PI_Obj *)handle;

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


static inline _iq PI_getRefValue(PI_Handle handle)
{
  PI_Obj *obj = (PI_Obj *)handle;

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


static inline _iq 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);


static inline void PI_setFbackValue(PI_Handle handle,const _iq 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 _iq 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 _iq Kp,const _iq 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 _iq 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 _iq 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 _iq outMin,const _iq 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 _iq 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 _iq 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 _iq 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 _iq 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 _iq refValue,const _iq fbackValue,
                                   const _iq ffwdValue,_iq *pOutValue)
{
  _iq Error;
  _iq Kp = PI_getKp(handle);
  _iq Ki = PI_getKi(handle);
  _iq Up;
  _iq Ui = PI_getUi(handle);
  _iq outMax = PI_getOutMax(handle);
  _iq outMin = PI_getOutMin(handle);

  Error = refValue - fbackValue;

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

  PI_setUi(handle,Ui);
  PI_setRefValue(handle,refValue);
  PI_setFbackValue(handle,fbackValue);
  PI_setFfwdValue(handle,ffwdValue);

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

  return;
} // end of PI_run_parallel() function


static inline void PI_run_series(PI_Handle handle,const _iq refValue,const _iq fbackValue,
                                 const _iq ffwdValue,_iq *pOutValue)
{
  _iq Error;
  _iq Kp = PI_getKp(handle);
  _iq Ki = PI_getKi(handle);
  _iq Up;
  _iq Ui = PI_getUi(handle);
  _iq outMax = PI_getOutMax(handle);
  _iq outMin = PI_getOutMin(handle);


  Error = refValue - fbackValue;

  Up = _IQmpy(Kp,Error);                                    // Compute the proportional output

  Ui = _IQsat(Ui + _IQmpy(Ki,Up),outMax,outMin);            // Compute the integral output with saturation

  PI_setUi(handle,Ui);
  PI_setRefValue(handle,refValue);
  PI_setFbackValue(handle,fbackValue);
  PI_setFfwdValue(handle,ffwdValue);

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

  return;
} // end of PI_run_series() function


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

#endif //end of _PI_H_ definition