float/pid.c

Go to the documentation of this file.

/* --COPYRIGHT--,BSD
 * Copyright (c) 2014, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/


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

#include "sw/modules/pid/src/float/pid.h"


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


// **************************************************************************
// the globals


// **************************************************************************
// the functions

void PID_getDerFilterParams(PID_Handle handle,
                            float_t *b0,float_t *b1,float_t *a1,
                            float_t *x1,float_t *y1)
{
  PID_Obj *obj = (PID_Obj *)handle;

  *b0 = FILTER_FO_get_b0(obj->derFilterHandle);
  *b1 = FILTER_FO_get_b1(obj->derFilterHandle);
  *a1 = FILTER_FO_get_a1(obj->derFilterHandle);
  *x1 = FILTER_FO_get_x1(obj->derFilterHandle);
  *y1 = FILTER_FO_get_y1(obj->derFilterHandle);

  return;
} // end of PID_getDerFilterParams() function


PID_Handle PID_init(void *pMemory,const size_t numBytes)
{
  PID_Handle handle;
  PID_Obj    *obj;


  if(numBytes < sizeof(PID_Obj))
    return((PID_Handle)NULL);

  // assign the handle
  handle = (PID_Handle)pMemory;

  // assign a pointer
  obj = (PID_Obj *)handle;

  // initialize the derivative filter object
  obj->derFilterHandle = FILTER_FO_init(&(obj->derFilter),sizeof(obj->derFilter));

  return(handle);
} // end of PID_init() function


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)
{
  PID_Obj *obj = (PID_Obj *)handle;


  FILTER_FO_setNumCoeffs(obj->derFilterHandle,b0,b1);
  FILTER_FO_setDenCoeffs(obj->derFilterHandle,a1);
  FILTER_FO_setInitialConditions(obj->derFilterHandle,x1,y1);

  return;
} // end of PID_setDerFilterParams() function


// end of file