Modules
	PI_OVERVIEW

Data Structures
struct	_PI_Obj_
	Defines the PI controller object. More...

Typedefs
typedef struct _PI_Obj_	PI_Obj
	Defines the PI controller object. More...

typedef struct _PI_Obj_ *	PI_Handle
	Defines the PI handle. More...

typedef struct _PI_Obj_	PI_Obj
	Defines the PI controller object. More...

typedef struct _PI_Obj_ *	PI_Handle
	Defines the PI handle. More...

Functions
static _iq	PI_getFbackValue (PI_Handle handle)
	Gets the feedback value in the PI controller. More...

static _iq	PI_getFfwdValue (PI_Handle handle)
	Gets the feedforward value in the PI controller. More...

static void	PI_getGains (PI_Handle handle, _iq pKp, _iq pKi)
	Gets the gains in the PI controller. More...

static _iq	PI_getKi (PI_Handle handle)
	Gets the integral gain in the PI controller. More...

static _iq	PI_getKp (PI_Handle handle)
	Gets the proportional gain in the PI controller. More...

static void	PI_getMinMax (PI_Handle handle, _iq pOutMin, _iq pOutMax)
	Gets the minimum and maximum output value allowed in the PI controller. More...

static _iq	PI_getOutMax (PI_Handle handle)
	Gets the maximum output value allowed in the PI controller. More...

static _iq	PI_getOutMin (PI_Handle handle)
	Gets the minimum output value allowed in the PI controller. More...

static _iq	PI_getRefValue (PI_Handle handle)
	Gets the reference value in the PI controller. More...

static _iq	PI_getUi (PI_Handle handle)
	Gets the integrator start value in the PI controller. More...

PI_Handle	PI_init (void *pMemory, const size_t numBytes)
	Initializes the PI controller. More...

static void	PI_setFbackValue (PI_Handle handle, const _iq fbackValue)
	Sets the feedback value in the PI controller. More...

static void	PI_setFfwdValue (PI_Handle handle, const _iq ffwdValue)
	Sets the feedforward value in the PI controller. More...

static void	PI_setGains (PI_Handle handle, const _iq Kp, const _iq Ki)
	Sets the gains in the PI controller. More...

static void	PI_setKi (PI_Handle handle, const _iq Ki)
	Sets the integral gain in the PI controller. More...

static void	PI_setKp (PI_Handle handle, const _iq Kp)
	Sets the proportional gain in the PI controller. More...

static void	PI_setMinMax (PI_Handle handle, const _iq outMin, const _iq outMax)
	Sets the minimum and maximum output value allowed in the PI controller. More...

static void	PI_setOutMax (PI_Handle handle, const _iq outMax)
	Sets the maximum output value allowed in the PI controller. More...

static void	PI_setOutMin (PI_Handle handle, const _iq outMin)
	Sets the minimum output value allowed in the PI controller. More...

static void	PI_setRefValue (PI_Handle handle, const _iq refValue)
	Sets the reference value in the PI controller. More...

static void	PI_setUi (PI_Handle handle, const _iq Ui)
	Sets the integrator start value in the PI controller. More...

static void	PI_run_parallel (PI_Handle handle, const _iq refValue, const _iq fbackValue, const _iq ffwdValue, _iq *pOutValue)
	Runs the parallel form of the PI controller. More...

static void	PI_run_series (PI_Handle handle, const _iq refValue, const _iq fbackValue, const _iq ffwdValue, _iq *pOutValue)
	Runs the series form of the PI controller. More...

static void	PI_getGains (PI_Handle handle, float_t pKp, float_t pKi)
	Gets the gains in the PI controller. More...

static void	PI_getMinMax (PI_Handle handle, float_t pOutMin, float_t pOutMax)
	Gets the minimum and maximum output value allowed in the PI controller. More...

static void	PI_setFbackValue (PI_Handle handle, const float_t fbackValue)
	Sets the feedback value in the PI controller. More...

static void	PI_setFfwdValue (PI_Handle handle, const float_t ffwdValue)
	Sets the feedforward value in the PI controller. More...

static void	PI_setGains (PI_Handle handle, const float_t Kp, const float_t Ki)
	Sets the gains in the PI controller. More...

static void	PI_setKi (PI_Handle handle, const float_t Ki)
	Sets the integral gain in the PI controller. More...

static void	PI_setKp (PI_Handle handle, const float_t Kp)
	Sets the proportional gain in the PI controller. More...

static void	PI_setMinMax (PI_Handle handle, const float_t outMin, const float_t outMax)
	Sets the minimum and maximum output value allowed in the PI controller. More...

static void	PI_setOutMax (PI_Handle handle, const float_t outMax)
	Sets the maximum output value allowed in the PI controller. More...

static void	PI_setOutMin (PI_Handle handle, const float_t outMin)
	Sets the minimum output value allowed in the PI controller. More...

static void	PI_setRefValue (PI_Handle handle, const float_t refValue)
	Sets the reference value in the PI controller. More...

static void	PI_setUi (PI_Handle handle, const float_t Ui)
	Sets the integrator start value in the PI controller. More...

static void	PI_run_parallel (PI_Handle handle, const float_t refValue, const float_t fbackValue, const float_t ffwdValue, float_t *pOutValue)
	Runs the parallel form of the PI controller. More...

static void	PI_run_series (PI_Handle handle, const float_t refValue, const float_t fbackValue, const float_t ffwdValue, float_t *pOutValue)
	Runs the series form of the PI controller. More...

Detailed Description

Data Structure Documentation

struct _PI_Obj_

Defines the PI controller object.

Definition at line 74 of file 32b/pi.h.

Data Fields
_iq	fbackValue	the feedback input value
float_t	fbackValue	the feedback input value
_iq	ffwdValue	the feedforward input value
float_t	ffwdValue	the feedforward input value
_iq	Ki	the integral gain for the PI controller
float_t	Ki	the integral gain for the PI controller
float_t	Kp	the proportional gain for the PI controller
_iq	Kp	the proportional gain for the PI controller
float_t	outMax	the maximum output value allowed for the PI controller
_iq	outMax	the maximum output value allowed for the PI controller
float_t	outMin	the minimum output value allowed for the PI controller
_iq	outMin	the minimum output value allowed for the PI controller
float_t	refValue	the reference input value
_iq	refValue	the reference input value
float_t	Ui	the integrator start value for the PI controller
_iq	Ui	the integrator start value for the PI controller

Typedef Documentation

typedef struct _PI_Obj_* PI_Handle

Defines the PI handle.

Definition at line 93 of file 32b/pi.h.

typedef struct _PI_Obj_* PI_Handle

Defines the PI handle.

Definition at line 93 of file float/pi.h.

typedef struct _PI_Obj_ PI_Obj

Defines the PI controller object.

typedef struct _PI_Obj_ PI_Obj

Defines the PI controller object.

Function Documentation

static _iq PI_getFbackValue ( PI_Handle handle )

inlinestatic

Gets the feedback value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The feedback value in the PI controller

Definition at line 102 of file 32b/pi.h.

References _PI_Obj_::fbackValue.

static _iq PI_getFfwdValue ( PI_Handle handle )

inlinestatic

Gets the feedforward value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The feedforward value in the PI controller

Definition at line 113 of file 32b/pi.h.

References _PI_Obj_::ffwdValue.

static void PI_getGains	(	PI_Handle	handle,
		_iq *	pKp,
		_iq *	pKi
	)

inlinestatic

Gets the gains in the PI controller.

Parameters

[in]	handle	The PI controller handle
[out]	pKp	The pointer to the proportional gain value
[out]	pKi	The pointer to the integrator gain value

Definition at line 125 of file 32b/pi.h.

References _PI_Obj_::Ki, and _PI_Obj_::Kp.

static void PI_getGains	(	PI_Handle	handle,
		float_t *	pKp,
		float_t *	pKi
	)

inlinestatic

Gets the gains in the PI controller.

Parameters

[in]	handle	The PI controller handle
[out]	pKp	The pointer to the proportional gain value
[out]	pKi	The pointer to the integrator gain value

Definition at line 125 of file float/pi.h.

References _PI_Obj_::Ki, and _PI_Obj_::Kp.

static _iq PI_getKi ( PI_Handle handle )

inlinestatic

Gets the integral gain in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The integral gain in the PI controller

Definition at line 139 of file 32b/pi.h.

References _PI_Obj_::Ki.

Referenced by PI_run_parallel(), and PI_run_series().

static _iq PI_getKp ( PI_Handle handle )

inlinestatic

Gets the proportional gain in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The proportional gain in the PI controller

Definition at line 150 of file 32b/pi.h.

References _PI_Obj_::Kp.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_getMinMax	(	PI_Handle	handle,
		_iq *	pOutMin,
		_iq *	pOutMax
	)

inlinestatic

Gets the minimum and maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[out]	pOutMin	The pointer to the minimum output value allowed
[out]	pOutMax	The pointer to the maximum output value allowed

Definition at line 162 of file 32b/pi.h.

References _PI_Obj_::outMax, and _PI_Obj_::outMin.

static void PI_getMinMax	(	PI_Handle	handle,
		float_t *	pOutMin,
		float_t *	pOutMax
	)

inlinestatic

Gets the minimum and maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[out]	pOutMin	The pointer to the minimum output value allowed
[out]	pOutMax	The pointer to the maximum output value allowed

Definition at line 162 of file float/pi.h.

References _PI_Obj_::outMax, and _PI_Obj_::outMin.

static _iq PI_getOutMax ( PI_Handle handle )

inlinestatic

Gets the maximum output value allowed in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The maximum output value allowed

Definition at line 176 of file 32b/pi.h.

References _PI_Obj_::outMax.

Referenced by PI_run_parallel(), and PI_run_series().

static _iq PI_getOutMin ( PI_Handle handle )

inlinestatic

Gets the minimum output value allowed in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The minimum output value allowed

Definition at line 187 of file 32b/pi.h.

References _PI_Obj_::outMin.

Referenced by PI_run_parallel(), and PI_run_series().

static _iq PI_getRefValue ( PI_Handle handle )

inlinestatic

Gets the reference value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The reference value in the PI controller

Definition at line 198 of file 32b/pi.h.

References _PI_Obj_::refValue.

Referenced by CTRL_getRefValue().

static _iq PI_getUi ( PI_Handle handle )

inlinestatic

Gets the integrator start value in the PI controller.

Parameters

[in] handle The PI controller handle

Returns: The integrator start value for the PI controller

Definition at line 209 of file 32b/pi.h.

References _PI_Obj_::Ui.

Referenced by PI_run_parallel(), and PI_run_series().

PI_Handle PI_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the PI controller.

Parameters

[in]	pMemory	A pointer to the memory for the PI controller object
[in]	numBytes	The number of bytes allocated for the PI controller object, bytes

Returns: The PI controller (PI) object handle

Definition at line 56 of file 32b/pi.c.

Referenced by CTRL_init().

static void PI_run_parallel	(	PI_Handle	handle,
		const float_t	refValue,
		const float_t	fbackValue,
		const float_t	ffwdValue,
		float_t *	pOutValue
	)

inlinestatic

Runs the parallel form of the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedforward value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 364 of file float/pi.h.

References _PI_Obj_::fbackValue, _PI_Obj_::Ki, _PI_Obj_::Kp, MATH_sat(), _PI_Obj_::outMax, _PI_Obj_::outMin, PI_getKi(), PI_getKp(), PI_getOutMax(), PI_getOutMin(), PI_getUi(), PI_setFbackValue(), PI_setFfwdValue(), PI_setRefValue(), PI_setUi(), and _PI_Obj_::Ui.

static void PI_run_parallel	(	PI_Handle	handle,
		const _iq	refValue,
		const _iq	fbackValue,
		const _iq	ffwdValue,
		_iq *	pOutValue
	)

inlinestatic

Runs the parallel form of the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedforward value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 364 of file 32b/pi.h.

References _IQmpy, _IQsat, _PI_Obj_::fbackValue, _PI_Obj_::Ki, _PI_Obj_::Kp, _PI_Obj_::outMax, _PI_Obj_::outMin, PI_getKi(), PI_getKp(), PI_getOutMax(), PI_getOutMin(), PI_getUi(), PI_setFbackValue(), PI_setFfwdValue(), PI_setRefValue(), PI_setUi(), and _PI_Obj_::Ui.

static void PI_run_series	(	PI_Handle	handle,
		const float_t	refValue,
		const float_t	fbackValue,
		const float_t	ffwdValue,
		float_t *	pOutValue
	)

inlinestatic

Runs the series form of the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedback value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 397 of file float/pi.h.

References _PI_Obj_::fbackValue, _PI_Obj_::Ki, _PI_Obj_::Kp, MATH_sat(), _PI_Obj_::outMax, _PI_Obj_::outMin, PI_getKi(), PI_getKp(), PI_getOutMax(), PI_getOutMin(), PI_getUi(), PI_setFbackValue(), PI_setFfwdValue(), PI_setRefValue(), PI_setUi(), and _PI_Obj_::Ui.

static void PI_run_series	(	PI_Handle	handle,
		const _iq	refValue,
		const _iq	fbackValue,
		const _iq	ffwdValue,
		_iq *	pOutValue
	)

inlinestatic

Runs the series form of the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value to the controller
[in]	fbackValue	The feedback value to the controller
[in]	ffwdValue	The feedback value to the controller
[in]	pOutValue	The pointer to the controller output value

Definition at line 397 of file 32b/pi.h.

References _IQmpy, _IQsat, _PI_Obj_::fbackValue, _PI_Obj_::Ki, _PI_Obj_::Kp, _PI_Obj_::outMax, _PI_Obj_::outMin, PI_getKi(), PI_getKp(), PI_getOutMax(), PI_getOutMin(), PI_getUi(), PI_setFbackValue(), PI_setFfwdValue(), PI_setRefValue(), PI_setUi(), and _PI_Obj_::Ui.

Referenced by CTRL_run().

static void PI_setFbackValue	(	PI_Handle	handle,
		const _iq	fbackValue
	)

inlinestatic

Sets the feedback value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	fbackValue	The feedback value

Definition at line 227 of file 32b/pi.h.

References _PI_Obj_::fbackValue.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_setFbackValue	(	PI_Handle	handle,
		const float_t	fbackValue
	)

inlinestatic

Sets the feedback value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	fbackValue	The feedback value

Definition at line 227 of file float/pi.h.

References _PI_Obj_::fbackValue.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_setFfwdValue	(	PI_Handle	handle,
		const float_t	ffwdValue
	)

inlinestatic

Sets the feedforward value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	ffwdValue	The feedforward value

Definition at line 240 of file float/pi.h.

References _PI_Obj_::ffwdValue.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_setFfwdValue	(	PI_Handle	handle,
		const _iq	ffwdValue
	)

inlinestatic

Sets the feedforward value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	ffwdValue	The feedforward value

Definition at line 240 of file 32b/pi.h.

References _PI_Obj_::ffwdValue.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_setGains	(	PI_Handle	handle,
		const _iq	Kp,
		const _iq	Ki
	)

inlinestatic

Sets the gains in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Kp	The proportional gain for the PI controller
[in]	Ki	The integrator gain for the PI controller

Definition at line 254 of file 32b/pi.h.

References _PI_Obj_::Ki, and _PI_Obj_::Kp.

static void PI_setGains	(	PI_Handle	handle,
		const float_t	Kp,
		const float_t	Ki
	)

inlinestatic

Sets the gains in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Kp	The proportional gain for the PI controller
[in]	Ki	The integrator gain for the PI controller

Definition at line 254 of file float/pi.h.

References _PI_Obj_::Ki, and _PI_Obj_::Kp.

static void PI_setKi	(	PI_Handle	handle,
		const float_t	Ki
	)

inlinestatic

Sets the integral gain in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Ki	The integral gain for the PI controller

Definition at line 268 of file float/pi.h.

References _PI_Obj_::Ki.

static void PI_setKi	(	PI_Handle	handle,
		const _iq	Ki
	)

inlinestatic

Sets the integral gain in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Ki	The integral gain for the PI controller

Definition at line 268 of file 32b/pi.h.

References _PI_Obj_::Ki.

Referenced by CTRL_setup().

static void PI_setKp	(	PI_Handle	handle,
		const float_t	Kp
	)

inlinestatic

Sets the proportional gain in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Kp	The proportional gain for the PI controller

Definition at line 281 of file float/pi.h.

References _PI_Obj_::Kp.

static void PI_setKp	(	PI_Handle	handle,
		const _iq	Kp
	)

inlinestatic

Sets the proportional gain in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Kp	The proportional gain for the PI controller

Definition at line 281 of file 32b/pi.h.

References _PI_Obj_::Kp.

Referenced by CTRL_setup().

static void PI_setMinMax	(	PI_Handle	handle,
		const float_t	outMin,
		const float_t	outMax
	)

inlinestatic

Sets the minimum and maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMin	The minimum output value allowed
[in]	outMax	The maximum output value allowed

Definition at line 295 of file float/pi.h.

References _PI_Obj_::outMax, and _PI_Obj_::outMin.

static void PI_setMinMax	(	PI_Handle	handle,
		const _iq	outMin,
		const _iq	outMax
	)

inlinestatic

Sets the minimum and maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMin	The minimum output value allowed
[in]	outMax	The maximum output value allowed

Definition at line 295 of file 32b/pi.h.

References _PI_Obj_::outMax, and _PI_Obj_::outMin.

Referenced by CTRL_run(), and CTRL_setParams().

static void PI_setOutMax	(	PI_Handle	handle,
		const _iq	outMax
	)

inlinestatic

Sets the maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMax	The maximum output value allowed

Definition at line 309 of file 32b/pi.h.

References _PI_Obj_::outMax.

static void PI_setOutMax	(	PI_Handle	handle,
		const float_t	outMax
	)

inlinestatic

Sets the maximum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMax	The maximum output value allowed

Definition at line 309 of file float/pi.h.

References _PI_Obj_::outMax.

static void PI_setOutMin	(	PI_Handle	handle,
		const float_t	outMin
	)

inlinestatic

Sets the minimum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMax	The minimum output value allowed

Definition at line 322 of file float/pi.h.

References _PI_Obj_::outMin.

static void PI_setOutMin	(	PI_Handle	handle,
		const _iq	outMin
	)

inlinestatic

Sets the minimum output value allowed in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	outMax	The minimum output value allowed

Definition at line 322 of file 32b/pi.h.

References _PI_Obj_::outMin.

static void PI_setRefValue	(	PI_Handle	handle,
		const _iq	refValue
	)

inlinestatic

Sets the reference value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value

Definition at line 335 of file 32b/pi.h.

References _PI_Obj_::refValue.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_setRefValue	(	PI_Handle	handle,
		const float_t	refValue
	)

inlinestatic

Sets the reference value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	refValue	The reference value

Definition at line 335 of file float/pi.h.

References _PI_Obj_::refValue.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_setUi	(	PI_Handle	handle,
		const float_t	Ui
	)

inlinestatic

Sets the integrator start value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Ui	The integral start value for the PI controller

Definition at line 348 of file float/pi.h.

References _PI_Obj_::Ui.

Referenced by PI_run_parallel(), and PI_run_series().

static void PI_setUi	(	PI_Handle	handle,
		const _iq	Ui
	)

inlinestatic

Sets the integrator start value in the PI controller.

Parameters

[in]	handle	The PI controller handle
[in]	Ui	The integral start value for the PI controller

Definition at line 348 of file 32b/pi.h.

References _PI_Obj_::Ui.

Referenced by CTRL_reset(), CTRL_setup(), PI_run_parallel(), and PI_run_series().

Modules

Data Structures

Typedefs

Functions

Detailed Description

Data Structure Documentation

Typedef Documentation

Function Documentation