float/pi.h

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#ifndef _PI_H_
#define _PI_H_



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

// modules
#include "sw/modules/types/src/types.h"
#include "sw/modules/math/src/float/math.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_
{
  float_t Kp;                     
  float_t Ki;                     

  float_t Ui;                     

  float_t refValue;               
  float_t fbackValue;             
  float_t ffwdValue;              
                
  float_t outMin;                 
  float_t outMax;                 

} PI_Obj; 


typedef struct _PI_Obj_ *PI_Handle;


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

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

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


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

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

  return;
} // end of PI_getGains() function


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

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


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

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

  return;
} // end of PI_getMinMax() function


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

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


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

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


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

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


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

  Error = refValue - fbackValue;

  Up = Kp * Error;                                     // Compute the proportional output
  Ui = MATH_sat(Ui + (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 = MATH_sat(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 float_t refValue,const float_t fbackValue,
                                 const float_t ffwdValue,float_t *pOutValue)
{
  float_t Error;
  float_t Kp = PI_getKp(handle);
  float_t Ki = PI_getKi(handle);
  float_t Up;
  float_t Ui = PI_getUi(handle);
  float_t outMax = PI_getOutMax(handle);
  float_t outMin = PI_getOutMin(handle);


  Error = refValue - fbackValue;

  Up = Kp * Error;                                           // Compute the proportional output

  Ui = MATH_sat(Ui + (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 = MATH_sat(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